dcl_df23.h File Reference

Introduction

Contains direct form 2 3rd order DF23 compensator with its related structures and functions.

Go to the source code of this file.

Data Structures
struct	DCL_DF23_SPS
	Defines DCL_DF23 shadow parameter set used for updating compensator parameter. More...
struct	dcl_df23
	DCL_DF23 object for storing df23 specific parameters. More...

Macros
#define	DF23_SPS_DEFAULTS   { 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f }
#define	DF23_DEFAULTS
	Defines default values to initialize DCL_DF23. More...
#define	DF23_INT_DEFAULTS
	Macro for internal default values to initialize DCL_DF23 Example: DCL_DF23 df23_ctrl = { .b0 = 1.0f, .b1 = 0.0f, ... .a3 = 0.0f, DF23_INT_DEFAULTS };. More...
#define	DCL_initDF23()   &(DCL_DF23)DF23_DEFAULTS
	Initialize DCL_DF23 struct with default parameters Example: DCL_DF23* df23_ctrl = DCL_initDF23();. More...
#define	DCL_initDF23asParam(_b0, _b1, _b2, _b3, _a1, _a2, _a3)
	Initialize DCL_DF23 struct with input compensator parameters Example: DCL_DF23* DF23_ctrl = DCL_initDF23asParam(1.0f,0.0f,0.0f,0.0f,0.0f,0.0f,0.0f); Note: input parameter needs to be in the same order as listed in DF23_SPS struct. More...
#define	DCL_initDF23asSPS(df_ptr, sps_ptr)
	Initialize DCL_DF23 struct with sps parameters Example: DCL_DF23_SPS df_sps = { .b0 = , .b1 = , ...}; //initial parameter DCL_DF23 df_ctrl; DCL_initDF23asSPS(&df_ctrl,&df_sps);. More...

Typedefs
typedef _DCL_VOLATILE struct dcl_df23	DCL_DF23
typedef _DCL_VOLATILE struct dcl_df23 *	DF23_Handle

Functions
_DCL_CODE_ACCESS void	DCL_resetDF23 (DCL_DF23 *df)
	Resets DF23 internal storage data with interrupt protection. More...
_DCL_CODE_ACCESS void	DCL_forceUpdateDF23 (DCL_DF23 *df)
	Loads DF23 tuning parameter from its SPS parameter without interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION void	DCL_updateDF23NoCheck (DCL_DF23 *df)
	Updates DF23 parameter from its SPS parameter with interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION bool	DCL_updateDF23 (DCL_DF23 *df)
	A conditional update based on the update flag. If the update status is set, the function will update DF23 parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_setUpdateStatus(df) to set the update status. More...
_DCL_CODE_ACCESS bool	DCL_isStableDF23 (DCL_DF23 *df)
	Determines stability of the shadow compensator. More...
_DCL_CODE_ACCESS void	DCL_loadDF23asZPK (DCL_DF23 *df, DCL_ZPK3 *zpk)
	Loads the DF23 shadow coefficients from a ZPK3 description Note: Sampling period df->css->T are used in the calculation. New settings take effect after DCL_updateDF23(). More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runDF23 (DCL_DF23 *df, float32_t ek)
	Executes a 3rd order Direct Form 2 controller. More...
_DCL_CODE_ACCESS float32_t	DCL_runDF23PartialCompute (DCL_DF23 *df, float32_t ek)
	Immediate computation to obtain DF23 servo error without updating the controller. More...
_DCL_CODE_ACCESS void	DCL_runDF23PartialUpdate (DCL_DF23 *df, float32_t ek, float32_t uk)
	Update DF22 controller based on pre-computed control effort. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runDF23Clamp (DCL_DF23 *df, float32_t ek, float32_t Umax, float32_t Umin)
	Executes a 3rd order Direct Form 2 controller with clamp. More...