pid.c File Reference

PID algorithm implementation source code. More...

#include "pid.h"
#include "fast_math.h"
#include "system.h"

Go to the source code of this file.

Functions
void	pid_config (unsigned char mode)
	configure pid loop parameters More...
float	pid_calculate_result (PID_Structure_t *pid_handler, float collect)
	calculate result using sampling value More...

Variables
unsigned char	pid_parameter_available_flag = 1
	flag variable for PID parameter availability More...
volatile unsigned char	pid_control_mode_flag = 0
	flag variable of PID closed loop mode More...
volatile PID_Structure_t	speed_pid_handler
	algorithm handler of PID speed loop More...
volatile PID_Structure_t	angle_pid_handler
	algorithm handler of PID angle loop More...

Detailed Description

PID algorithm implementation source code.

Author

Lao·Zhu

Version

V1.0.2

Date

29. October 2021

Definition in file pid.c.

Function Documentation

pid_calculate_result()

float pid_calculate_result	(	PID_Structure_t *	pid_handler,
		float	collect
	)

calculate result using sampling value

Parameters

[in]	pid_handler	PID data handler
[in]	collect	sampled data

Return values

calculated

output value of PID controller

Definition at line 61 of file pid.c.

References PID_Structure_t::expect, fast_constrain, PID_Structure_t::kd, PID_Structure_t::ki, PID_Structure_t::kp, PID_Structure_t::last_error, PID_Structure_t::maximum, PID_Structure_t::minimum, PID_Structure_t::sum_maximum, and PID_Structure_t::summary.

Referenced by TIMER13_IRQHandler().

pid_config()

void pid_config

(

unsigned char

mode

)

configure pid loop parameters

Definition at line 33 of file pid.c.

References angle_pid_handler, PID_Structure_t::kd, PID_Structure_t::ki, PID_Structure_t::kp, PID_Structure_t::maximum, PID_Structure_t::minimum, pid_control_mode_flag, speed_pid_handler, PID_Structure_t::sum_maximum, and user_memset().

Referenced by main(), and mdtp_callback_handler().

Variable Documentation

angle_pid_handler

volatile PID_Structure_t angle_pid_handler

algorithm handler of PID angle loop

Definition at line 28 of file pid.c.

Referenced by flash_read_parameters(), flash_write_parameters(), mdtp_callback_handler(), pid_config(), report_local_variable(), and TIMER13_IRQHandler().

pid_control_mode_flag

volatile unsigned char pid_control_mode_flag = 0

flag variable of PID closed loop mode

Definition at line 20 of file pid.c.

Referenced by main(), mdtp_callback_handler(), pid_config(), report_local_variable(), and TIMER13_IRQHandler().

pid_parameter_available_flag

unsigned char pid_parameter_available_flag = 1

flag variable for PID parameter availability

Definition at line 16 of file pid.c.

Referenced by flash_read_parameters(), flash_write_parameters(), mdtp_callback_handler(), and report_local_variable().

speed_pid_handler

volatile PID_Structure_t speed_pid_handler

algorithm handler of PID speed loop

Definition at line 24 of file pid.c.

Referenced by flash_read_parameters(), flash_write_parameters(), mdtp_callback_handler(), pid_config(), report_local_variable(), and TIMER13_IRQHandler().