dcl_pi2.h File Reference

Introduction

Contains PI2 (double integrator) controller with its related structures and functions.

Go to the source code of this file.

Data Structures
struct	DCL_PI2_SPS
	Defines DCL_PI2 shadow parameter set used for updating controller parameter. More...
struct	dcl_pi2
	DCL_PI2 object for storing PI2 specific parameters PI2 - PI controller with double integrators. More...

Macros
#define	PI2_SPS_DEFAULTS   { 1.0f, 0.0f, 1.0f, -1.0f }
	Defines default values to initialize DCL_PI2_SPS. More...
#define	PI2_DEFAULTS
	Defines default values to initialize DCL_PI2. More...
#define	PI2_INT_DEFAULTS
	Macro for internal default values to initialize DCL_PI2 Example: DCL_PI2 pi2_ctrl = { .Kp = 1.0f, .Ki = 0.0f, .Umax = 1.0f, .Umin = -1.0f, PI2_INT_DEFAULTS };. More...
#define	DCL_initPI2()   &(DCL_PI2)PI2_DEFAULTS
	Initialize DCL_PI2 struct with default parameters Example: DCL_PI2 pi2_ctrl = DCL_initPI2();. More...
#define	DCL_initPI2asParam(kp, ki, umax, umin)
	Initialize DCL_PI2 struct with input controller parameters Example: DCL_PI2* pi2_ctrl = DCL_initPI2asParam(1.0f,0.0f,1.0f,-1.0f); Note: input parameter needs to be in the same order as listed in PI2_SPS struct. More...
#define	DCL_initPI2asSPS(pi2_ptr, sps_ptr)
	Initialize DCL_PI2 struct with sps parameters Example: DCL_PI2_SPS pi2_sps = { .Kp = , .Ki = , ...}; DCL_PI2 pi2_ctrl; DCL_initPI2asSPS(&pi2_ctrl,&pi2_sps);. More...

Typedefs
typedef _DCL_VOLATILE struct dcl_pi2	DCL_PI2
typedef _DCL_VOLATILE struct dcl_pi2 *	PI2_Handle

Functions
_DCL_CODE_ACCESS void	DCL_resetPI2 (DCL_PI2 *pi2)
	Resets PI2 internal storage data with interrupt protection. More...
_DCL_CODE_ACCESS void	DCL_forceUpdatePI2 (DCL_PI2 *pi2)
	Loads PI2 tuning parameter from its SPS parameter without interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION void	DCL_updatePI2NoCheck (DCL_PI2 *pi2)
	Loads PI2 tuning parameter from its SPS parameter with interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION bool	DCL_updatePI2 (DCL_PI2 *pi2)
	A conditional update based on the update flag. If the update status is set, the function will update PI2 parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_setUpdateStatus(pi2) to set the update status. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runPI2Series (DCL_PI2 *pi2, float32_t rk, float32_t yk)
	Executes an inline series form PI2 controller on the FPU32. More...