116 lines
3.2 KiB
C
116 lines
3.2 KiB
C
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/**
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* \file
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* <!--
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* This file is part of BeRTOS.
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*
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* Bertos is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* As a special exception, you may use this file as part of a free software
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* library without restriction. Specifically, if other files instantiate
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* templates or use macros or inline functions from this file, or you compile
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* this file and link it with other files to produce an executable, this
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* file does not by itself cause the resulting executable to be covered by
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* the GNU General Public License. This exception does not however
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* invalidate any other reasons why the executable file might be covered by
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* the GNU General Public License.
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*
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* Copyright 2008 Develer S.r.l. (http://www.develer.com/)
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* -->
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*
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*
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* \brief Proportional, integral, derivative controller (PID controller) (implementation)
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*
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*
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* \author Daniele Basile <asterix@develer.com>
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*/
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#include "pid_control.h"
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#include "cfg/cfg_pid.h"
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// Define logging setting (for cfg/log.h module).
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#define LOG_LEVEL PID_LOG_LEVEL
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#define LOG_VERBOSITY PID_LOG_FORMAT
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#include <cfg/log.h>
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#include <cfg/debug.h>
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/**
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* Compute next value for reaching \a target point.
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*/
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piddata_t pid_control_update(PidContext *pid_ctx, piddata_t target, piddata_t curr_pos)
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{
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piddata_t P;
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piddata_t I;
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piddata_t D;
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piddata_t err;
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//Compute current error.
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err = target - curr_pos;
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/*
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* Compute Proportional contribute
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*/
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P = err * pid_ctx->cfg->kp;
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//Update integral state error
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pid_ctx->i_state += err;
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//Clamp integral state between i_min and i_max
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pid_ctx->i_state = MINMAX(pid_ctx->cfg->i_min, pid_ctx->i_state, pid_ctx->cfg->i_max);
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/*
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* Compute Integral contribute
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*
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* note: for computing the integral contribute we use a sample period in seconds
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* and so we divide sample_period in microsenconds for 1000.
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*/
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I = pid_ctx->i_state * pid_ctx->cfg->ki * ((piddata_t)pid_ctx->cfg->sample_period / 1000);
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/*
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* Compute derivative contribute
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*/
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D = (err - pid_ctx->prev_err) * pid_ctx->cfg->kd / ((piddata_t)pid_ctx->cfg->sample_period / 1000);
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LOG_INFO("curr_pos[%lf],tgt[%lf],err[%f],P[%f],I[%f],D[%f]", curr_pos, target, err, P, I, D);
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//Store the last error value
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pid_ctx->prev_err = err;
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piddata_t pid = MINMAX(pid_ctx->cfg->out_min, (P + I + D), pid_ctx->cfg->out_max);
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LOG_INFO("pid[%lf]",pid);
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//Clamp out between out_min and out_max
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return pid;
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}
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/**
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* Init PID control.
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*/
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void pid_control_init(PidContext *pid_ctx, const PidCfg *pid_cfg)
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{
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/*
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* Init all values of pid control struct
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*/
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pid_ctx->cfg = pid_cfg;
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pid_control_reset(pid_ctx);
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}
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