pid.h File Reference

this is the header file of pid.c, which defines the structure of PID algorithm and closed-loop state macro. More...

Go to the source code of this file.

Data Structures
struct	PID_Structure_t
	structure of PID algorithm More...

Macros
#define	TORQUE_LOOP_CONTROL   1
	torque loop control mode More...
#define	SPEED_LOOP_CONTROL   2
	speed loop control mode More...
#define	ANGLE_LOOP_CONTROL   3
	angle loop control mode More...

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
	flag variable for PID parameter availability More...
volatile unsigned char	pid_control_mode_flag
	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

this is the header file of pid.c, which defines the structure of PID algorithm and closed-loop state macro.

Author

Lao·Zhu

Version

V1.0.1

Date

9. October 2021

Definition in file pid.h.

Macro Definition Documentation

ANGLE_LOOP_CONTROL

#define ANGLE_LOOP_CONTROL   3

angle loop control mode

Definition at line 18 of file pid.h.

SPEED_LOOP_CONTROL

#define SPEED_LOOP_CONTROL   2

speed loop control mode

Definition at line 16 of file pid.h.

TORQUE_LOOP_CONTROL

#define TORQUE_LOOP_CONTROL   1

torque loop control mode

Definition at line 14 of file pid.h.

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

extern

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

extern

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

extern

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

extern

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().