TMS320F28069F: motorware software : PID_setGains() and CTRL_setGains()

Hello,

I have a question on the motorware software package.

Specfically it is on some code snippets in the function of CTRL_setParams() listed in the file of ctrl.c

The code snippets are as follows:

  PID_setGains(obj->pidHandle_Iq,Kp,Ki,Kd);
  PID_setUi(obj->pidHandle_Iq,_IQ(0.0));
  PID_setMinMax(obj->pidHandle_Iq,outMin,outMax);
  CTRL_setGains(handle,CTRL_Type_PID_Iq,Kp,Ki,Kd);

Here why do we need to call two similar functions of PID_setGains() and CTRL_setGains()?

How are they different?

Thank you for your guidance.

With regards,

JS Yoo