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).
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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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* $WIZ$ module_name = "pid_control"
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* $WIZ$ module_depends = "timer"
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*/
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#ifndef ALGO_PID_CONTROL_H
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#define ALGO_PID_CONTROL_H
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#include <drv/timer.h>
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/**
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* Data type for pid coefficient.
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*/
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typedef float pidk_t;
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typedef float piddata_t;
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/**
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* PID context structure.
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*/
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typedef struct PidCfg
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{
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pidk_t kp; ///< Proportional term of PID control method (Gain).
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pidk_t ki; ///< Integral term of PID control method (Integral Gain).
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pidk_t kd; ///< Derivative of PID control method (Derivative Gain).
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piddata_t i_max; ///< Max value of integral term.
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piddata_t i_min; ///< Min value of integral term.
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piddata_t out_max; ///< Man value of output.
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piddata_t out_min; ///< Min value of output.
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mtime_t sample_period; ///< Sample period in milliseconds.
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} PidCfg;
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/**
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* PID context structure.
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*/
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typedef struct PidContext
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{
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const PidCfg *cfg;
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piddata_t prev_err; ///< Previous error.
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piddata_t i_state; ///< Integrator state (sum of all the preceding errors).
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} PidContext;
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/**
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* Set Kp, Ki, Kd constants of PID control.
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*/
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INLINE void pid_control_setPid(PidCfg *pid_cfg, pidk_t kp, pidk_t ki, pidk_t kd)
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{
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pid_cfg->kp = kp;
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pid_cfg->ki = ki;
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pid_cfg->kd = kd;
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}
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/**
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* Set sample period for PID control.
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*/
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INLINE void pid_control_setPeriod(PidCfg *pid_cfg, mtime_t sample_period)
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{
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pid_cfg->sample_period = sample_period;
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}
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/**
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* Clear a pid control structure
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*/
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INLINE void pid_control_reset(PidContext *pid_ctx)
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{
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pid_ctx->i_state = 0;
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pid_ctx->prev_err = 0;
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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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void pid_control_init(PidContext *pid_ctx, const PidCfg *pid_cfg);
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#endif /* ALGO_PID_CONTROL_H */
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