Introduction

Contains 32-bit PID controller with its related structures and functions.

Data Structures
struct	DCL_PID_SPS
	Defines DCL_PID shadow parameter set used for updating controller parameter. More...

struct	dcl_pid
	DCL_PID object for storing PID specific parameters. More...

Macros
#define	PID_SPS_DEFAULTS { 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, -1.0f }
	Defines default values to initialize DCL_PID_SPS. More...

#define	PID_DEFAULTS
	Defines default values to initialize the DCL_PID structure. More...

#define	PID_INT_DEFAULTS
	Macro for internal default values to initialize DCL_PID Example: DCL_PID pid_ctrl = { .Kp = 1.0f, .Ki = 0.0f, ... .Umin = -1.0f, PID_INT_DEFAULTS };. More...

#define	DCL_initPID() &(DCL_PID)PID_DEFAULTS
	Initialize DCL_PID struct with default parameters Example: DCL_PID* pid_ctrl = DCL_initPID();. More...

#define	DCL_initPIDasParam(kp, ki, kd, kr, _c1, _c2, umax, umin)
	Initialize DCL_PID struct with input controller parameters Example: DCL_PID* pid_ctrl = DCL_initPIDasParam(1.0f,0.0f,0.0f,1.0f,1.0f,0.0f,1.0f,-1.0f); Note: input parameter needs to be in the same order as listed in PID_SPS struct. More...

#define	DCL_initPIDasSPS(pid_ptr, sps_ptr)
	Initialize DCL_PID struct with SPS parameters Example: DCL_PID_SPS pid_sps = { .Kp = , .Ki = , ...}; //initial parameter DCL_PID pid_ctrl; DCL_initPIasSPS(&pid_ctrl,&pid_sps); Note: The newly declared DCL_PID structure will use the SPS input parameter as its attribute for sps. More...

Typedefs
typedef _DCL_VOLATILE struct dcl_pid	DCL_PID

typedef _DCL_VOLATILE struct dcl_pid *	PID_Handle

Functions
_DCL_CODE_ACCESS void	DCL_resetPID (DCL_PID *pid)
	Resets PID internal storage data with interrupt protection. More...

_DCL_CODE_ACCESS void	DCL_forceUpdatePID (DCL_PID *pid)
	Loads PID tuning parameter from its SPS parameter without interrupt protection. More...

_DCL_CODE_ACCESS _DCL_CODE_SECTION void	DCL_updatePIDNoCheck (DCL_PID *pid)
	Loads PID tuning parameter from its SPS parameter with interrupt protection. More...

_DCL_CODE_ACCESS _DCL_CODE_SECTION bool	DCL_updatePID (DCL_PID *pid)
	A conditional update based on the update flag. If the update status is set, the function will update PID parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_getUpdateStatus(pid) to set the update status. More...

_DCL_CODE_ACCESS void	DCL_setPIDfilterBW (DCL_PID *pid, float32_t fc)
	Loads the derivative path filter shadow coefficients. Note: Sampling period pid->css->T are used in the calculation. New coefficients take effect when DCL_updatePID() is called. More...

_DCL_CODE_ACCESS void	DCL_setActivePIDfilterBW (DCL_PID *pid, float32_t fc, float32_t T)
	Loads the PID derivative path filter active coefficients Note: Sampling period pid->css->T are used in the calculation. New coefficients take effect immediately. SPS & CSS contents are unaffected. More...

_DCL_CODE_ACCESS float32_t	DCL_getPIDfilterBW (DCL_PID *pid)
	Calculates the active derivative path filter bandwidth in Hz. Note: Sampling period pid->css->T are used in the calculation. More...

_DCL_CODE_ACCESS void	DCL_loadSeriesPIDasZPK (DCL_PID pid, DCL_ZPK3 zpk)
	Configures a series PID controller parameter in ZPK form. Note: Sampling period pid->css->T are used in the calculation. Parameters take effect after call to DCL_updatePID(). Only z1, z2 & p2 considered, p1 = 0 assumed. More...

_DCL_CODE_ACCESS void	DCL_loadParallelPIDasZPK (DCL_PID pid, DCL_ZPK3 zpk)
	Configures a parallel PID controller in ZPK form. Note: Sampling period pid->css->T are used in the calculation. Parameters take effect after call to DCL_updatePID(). Only z1, z2 & p2 considered, p1 = 0 assumed. More...

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runPIDSeries (DCL_PID *pid, float32_t rk, float32_t yk, float32_t lk)
	Executes an ideal form PID controller. More...

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runPIDParallel (DCL_PID *pid, float32_t rk, float32_t yk, float32_t lk)
	Executes a parallel form PID controller. More...

Introduction

Data Structures

Macros

Typedefs

Functions