AM263x Digital Power SDK  09.01.00
dcl_pidf64.h
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32 
33 #ifndef _DCL_PID64_H_
34 #define _DCL_PID64_H_
35 
36 #ifdef __cplusplus
37 extern "C" {
38 #endif
39 
48 #include "../dcl_common.h"
49 
50 //--- Linear PID 64bit controller --------------------------------------------------
51 
55 typedef struct dcl_pid64_sps {
56  float64_t Kp;
57  float64_t Ki;
58  float64_t Kd;
59  float64_t Kr;
60  float64_t c1;
61  float64_t c2;
62  float64_t Umax;
63  float64_t Umin;
64 } DCL_PIDF64_SPS;
65 
68 #define PIDF64_SPS_DEFAULTS { 1.0L, 0.0L, 0.0L, 1.0L, 1.0L, 0.0L, 1.0L, -1.0L }
69 
72 typedef _DCL_VOLATILE struct dcl_pidf64 {
73  /* controller parameter */
74  float64_t Kp;
75  float64_t Ki;
76  float64_t Kd;
77  float64_t Kr;
78  float64_t c1;
79  float64_t c2;
80  float64_t Umax;
81  float64_t Umin;
82 
83  /* internal storage */
84  float64_t d2;
85  float64_t d3;
86  float64_t i10;
87  float64_t i14;
88 
89  /* miscellaneous */
90  DCL_PIDF64_SPS *sps;
91  DCL_CSSF64 *css;
92 } DCL_PIDF64, *PIDF64_Handle;
93 
96 #define PIDF64_DEFAULTS { 1.0L, 0.0L, 0.0L, 1.0L, 1.0L, 0.0L, \
97  1.0L, -1.0L, 0.0L, 0.0L, 0.0L, 1.0L, \
98 &(DCL_PIDF64_SPS)PIDF64_SPS_DEFAULTS, &(DCL_CSSF64)DCL_CSSF64_DEFAULTS }
99 
108 #define PIDF64_INT_DEFAULTS .d2=0.0L, .d3=0.0L, .i10=0.0L, .i14=1.0L, \
109  .sps=&(DCL_PIDF64_SPS)PI_SPS_DEFAULTS, .css=&(DCL_CSSF64)DCL_CSS_DEFAULTS
110 
116 #define DCL_initPIDF64() &(DCL_PIDF64)PIDF64_DEFAULTS
117 
124 #define DCL_initPIDF64asParam(kp,ki,kd,kr,_c1,_c2,umax,umin) &(DCL_PIDF64){ .Kp=kp, .Ki=ki, .Kd=kd, .Kr=kr, \
125  .c1=_c1, .c2=_c2, .Umax=umax, .Umin=umin, PIDF64_INT_DEFAULTS }
126 
137 #define DCL_initPIDF64asSPS(pid_ptr,sps_ptr) \
138 ({ \
139  DCL_PIDF64* new_pid = (pid_ptr) ? pid_ptr : DCL_initPID(); \
140  DCL_PIDF64_SPS* new_sps = (sps_ptr) ? sps_ptr : &(DCL_PIDF64_SPS)PID_SPS_DEFAULTS; \
141  if(sps_ptr) \
142  { \
143  *new_pi = (DCL_PID){ (new_sps)->Kp, (new_sps)->Ki, (new_sps)->Kd,(new_sps)->Kr,\
144  (new_sps)->c1, (new_sps)->c2, (new_sps)->Umax, (new_sps)->Umin, 0.0L, 0.0L, \
145  0.0L, 1.0L,(DCL_PIDF64_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS }; \
146  } \
147  new_pid; \
148 })
149 
154 _DCL_CODE_ACCESS
155 void DCL_resetPIDF64(DCL_PIDF64 *pid)
156 {
157  dcl_interrupt_t ints;
158  ints = DCL_disableInts();
159  pid->d2 = pid->d3 = pid->i10 = 0.0L;
160  pid->i14 = 1.0L;
161  DCL_restoreInts(ints);
162 }
163 
168 _DCL_CODE_ACCESS
169 void DCL_forceUpdatePIDF64(DCL_PIDF64 *pid)
170 {
171 
172 #ifdef DCL_ERROR_HANDLING_ENABLED
173  float64_t tau = (2.0L - pid->sps->c1 * p->css->T) / (2.0L * pid->sps->c1);
174  float64_t ec2 = pid->sps->c1 * (pid->css->T - 2.0L * tau) / 2.0L;
175  uint32_t err_code = dcl_none;
176  err_code |= DCL_isValue(pid->sps->c2, ec2) ? dcl_none : dcl_param_invalid_err;
177  err_code |= (pid->sps->Umax > pid->sps->Umin) ? dcl_none : dcl_param_invalid_err;
178  err_code |= (pid->css->T > 0.0L) ? dcl_none : dcl_param_range_err;
179  err_code |= ((pid->sps->Kp > 0.0L) && (pid->sps->Ki > 0.0L) && (pid->sps->Kd > 0.0L) && (pid->sps->Kr > 0.0L)) ? dcl_none : dcl_param_range_err ;
180  if (err_code)
181  {
182  DCL_setError(pid,err_code);
183  DCL_getErrorInfo(pid);
184  DCL_runErrorHandler(pid);
185  }
186 #endif
187 
188  pid->Kp = pid->sps->Kp;
189  pid->Ki = pid->sps->Ki;
190  pid->Kd = pid->sps->Kd;
191  pid->Kr = pid->sps->Kr;
192  pid->c1 = pid->sps->c1;
193  pid->c2 = pid->sps->c2;
194  pid->Umax = pid->sps->Umax;
195  pid->Umin = pid->sps->Umin;
196 }
197 
198 
203 _DCL_CODE_ACCESS
204 void DCL_updatePIDF64NoCheck(DCL_PIDF64 *pid)
205 {
206 
207 #ifdef DCL_ERROR_HANDLING_ENABLED
208  float64_t tau = (2.0L - pid->sps->c1 * pid->css->T) / (2.0L * pid->sps->c1);
209  float64_t ec2 = pid->sps->c1 * (pid->css->T - 2.0L * tau) / 2.0L;
210  uint32_t err_code = dcl_none;
211  err_code |= DCL_isValue(pid->sps->c2, ec2) ? dcl_none : dcl_param_invalid_err;
212  err_code |= (pid->sps->Umax > pid->sps->Umin) ? dcl_none : dcl_param_invalid_err;
213  err_code |= (pid->css->T > 0.0L) ? dcl_none : dcl_param_range_err;
214  err_code |= ((pid->sps->Kp > 0.0L) && (pid->sps->Ki > 0.0L) && (pid->sps->Kd > 0.0L) && (pid->sps->Kr > 0.0L)) ? dcl_none : dcl_param_range_err ;
215  if (err_code)
216  {
217  DCL_setError(pid,err_code);
218  DCL_getErrorInfo(pid);
219  DCL_runErrorHandler(pid);
220  }
221 #endif
222 
223  dcl_interrupt_t ints;
224  ints = DCL_disableInts();
225  pid->Kp = pid->sps->Kp;
226  pid->Ki = pid->sps->Ki;
227  pid->Kd = pid->sps->Kd;
228  pid->Kr = pid->sps->Kr;
229  pid->c1 = pid->sps->c1;
230  pid->c2 = pid->sps->c2;
231  pid->Umax = pid->sps->Umax;
232  pid->Umin = pid->sps->Umin;
233  DCL_restoreInts(ints);
234 }
235 
244 _DCL_CODE_ACCESS
245 bool DCL_updatePIDF64(DCL_PIDF64 *pid)
246 {
247  if (DCL_getUpdateStatus(pid))
248  {
249  DCL_updatePIDF64NoCheck(pid);
250  DCL_clearUpdateStatus(pid);
251  return true;
252  }
253  return false;
254 }
255 
263 _DCL_CODE_ACCESS
264 void DCL_setPIDF64filterBW(DCL_PIDF64 *pid, float64_t fc)
265 {
266 
267 #ifdef DCL_ERROR_HANDLING_ENABLED
268  uint32_t err_code;
269  err_code = ((fc >= 1.0L / (2.0L * pid->css->T)) || (fc <= 0.0L)) ? dcl_param_range_err : dcl_none;
270  if (err_code)
271  {
272  DCL_setError(pid,err_code);
273  DCL_getErrorInfo(pid);
274  DCL_runErrorHandler(pid);
275  }
276 #endif
277 
278  float64_t T = pid->css->T;
279  float64_t tau = 1.0L / (2.0L * CONST_PI_F64 * fc);
280  pid->sps->c1 = 2.0L / (T + (2.0L * tau));
281  pid->sps->c2 = (T - (2.0L * tau)) / (T + (2.0L * tau));
282 }
283 
292 _DCL_CODE_ACCESS
293 void DCL_setActivePIDF64filterBW(DCL_PIDF64 *pid, float64_t fc, float64_t T)
294 {
295 
296 #ifdef DCL_ERROR_HANDLING_ENABLED
297  uint32_t err_code;
298  err_code = ((fc >= 1.0L / (2.0L * T)) || (fc <= 0.0L)) ? dcl_param_range_err : dcl_none;
299  if (err_code)
300  {
301  DCL_setError(pid,err_code);
302  DCL_getErrorInfo(pid);
303  DCL_runErrorHandler(pid);
304  }
305 #endif
306 
307  float64_t tau = 1.0L / (2.0L * CONST_PI_F64 * fc);
308  pid->c1 = 2.0L / (T + (2.0L * tau));
309  pid->c2 = (T - (2.0L * tau)) / (T + (2.0L * tau));
310 }
311 
318 _DCL_CODE_ACCESS
319 float64_t DCL_getPIDF64filterBW(DCL_PIDF64 *pid)
320 {
321  float64_t tau = ((2.0L - pid->c1 * pid->css->T) / (2.0L * pid->c1));
322  return(1.0L / (2.0L * CONST_PI_F64 * tau));
323 }
324 
333 _DCL_CODE_ACCESS
334 float64_t DCL_runPIDF64Series(DCL_PIDF64 *pid, float64_t rk, float64_t yk, float64_t lk)
335 {
336  float64_t v1, v4, v5, v8, v9, v10, v12;
337 
338  v5 = (pid->Kr * rk) - yk;
339  v8 = ((rk - yk) * pid->Ki * pid->Kp * pid->i14) + pid->i10;
340  pid->i10 = v8;
341  v1 = yk * pid->Kd * pid->c1;
342  v4 = v1 - pid->d2 - pid->d3;
343  pid->d2 = v1;
344  pid->d3 = v4 * pid->c2;
345  v9 = ((v5 - v4) * pid->Kp) + v8;
346  v10 = DCL_runSat(v9, pid->Umax, pid->Umin);
347  v12 = (v10 == v9) ? 1.0 : 0.0;
348  pid->i14 = v12 * lk;
349 
350 #ifdef DCL_TESTPOINTS_ENABLED
351  pid->css->tpt = v5;
352 #endif
353 
354  return(v10);
355 }
356 
365 _DCL_CODE_ACCESS
366 float64_t DCL_runPIDF64Parallel(DCL_PIDF64 *pid, float64_t rk, float64_t yk, float64_t lk)
367 {
368  float64_t v1, v4, v5, v6, v8, v9, v10, v12;
369 
370  v5 = rk - yk;
371  v6 = v5 * pid->Kp;
372  v8 = v5 * pid->Ki * pid->i14 + pid->i10;
373  pid->i10 = v8;
374  v1 = v5 * pid->Kd * pid->c1;
375  v4 = v1 - pid->d2 - pid->d3;
376  pid->d2 = v1;
377  pid->d3 = v4 * pid->c2;
378  v9 = v6 + v8 + v4;
379  v10 = DCL_runSat(v9, pid->Umax, pid->Umin);
380  v12 = (v10 == v9) ? 1.0f : 0.0f;
381  pid->i14 = v12 * lk;
382 
383 #ifdef DCL_TESTPOINTS_ENABLED
384  pid->css->tpt = v8;
385 #endif
386 
387  return(v10);
388 }
389 
392 #ifdef __cplusplus
393 }
394 #endif // extern "C"
395 
396 #endif // _DCL_PIDF64_H_
DCL_updatePIDF64NoCheck
_DCL_CODE_ACCESS void DCL_updatePIDF64NoCheck(DCL_PIDF64 *pid)
Updates PID parameter from its SPS parameter with interrupt protection.
Definition: dcl_pidf64.h:204
dcl_pidf64::c1
float64_t c1
D-term filter coefficient 1, default is 1.
Definition: dcl_pidf64.h:78
DCL_forceUpdatePIDF64
_DCL_CODE_ACCESS void DCL_forceUpdatePIDF64(DCL_PIDF64 *pid)
Loads PIDF64 tuning parameter from its SPS parameter without interrupt protection.
Definition: dcl_pidf64.h:169
DCL_isValue
#define DCL_isValue(x, y)
Determines numerical proximity to specified value.
Definition: dcl_aux.h:72
DCL_PIDF64_SPS::Umax
float64_t Umax
Upper saturation limit.
Definition: dcl_pidf64.h:62
DCL_PIDF64_SPS::c1
float64_t c1
D-term filter coefficient 1, default is 1.
Definition: dcl_pidf64.h:60
DCL_setPIDF64filterBW
_DCL_CODE_ACCESS void DCL_setPIDF64filterBW(DCL_PIDF64 *pid, float64_t fc)
Loads the derivative path filter shadow coefficients Note: Sampling period pid->css->T are used in th...
Definition: dcl_pidf64.h:264
dcl_pidf64::Kp
float64_t Kp
Proportional gain.
Definition: dcl_pidf64.h:74
DCL_runPIDF64Parallel
_DCL_CODE_ACCESS float64_t DCL_runPIDF64Parallel(DCL_PIDF64 *pid, float64_t rk, float64_t yk, float64_t lk)
Executes an parallel form PID64 controller.
Definition: dcl_pidf64.h:366
DCL_resetPIDF64
_DCL_CODE_ACCESS void DCL_resetPIDF64(DCL_PIDF64 *pid)
Resets PID64 internal storage data with interrupt protection.
Definition: dcl_pidf64.h:155
dcl_pidf64::d3
float64_t d3
D path feedback value (c2)
Definition: dcl_pidf64.h:85
DCL_getPIDF64filterBW
_DCL_CODE_ACCESS float64_t DCL_getPIDF64filterBW(DCL_PIDF64 *pid)
Returns the active derivative path filter bandwidth in Hz Note: Sampling period pid->css->T are used ...
Definition: dcl_pidf64.h:319
DCL_updatePIDF64
_DCL_CODE_ACCESS bool DCL_updatePIDF64(DCL_PIDF64 *pid)
A conditional update based on the update flag. If the update status is set, the function will update ...
Definition: dcl_pidf64.h:245
dcl_pidf64::Umin
float64_t Umin
Lower saturation limit.
Definition: dcl_pidf64.h:81
dcl_pidf64::Kd
float64_t Kd
Derivative gain.
Definition: dcl_pidf64.h:76
DCL_runErrorHandler
#define DCL_runErrorHandler(ptr)
Prototype for basic error handler.
Definition: dcl_error.h:107
dcl_pidf64::Umax
float64_t Umax
Upper saturation limit.
Definition: dcl_pidf64.h:80
DCL_PIDF64
_DCL_VOLATILE struct dcl_pidf64 DCL_PIDF64
dcl_param_range_err
@ dcl_param_range_err
Parameter range exceeded.
Definition: dcl_error.h:58
DCL_PIDF64_SPS::Kd
float64_t Kd
Derivative gain.
Definition: dcl_pidf64.h:58
DCL_getUpdateStatus
#define DCL_getUpdateStatus(p)
Determine whether a parameter update-in-progress flag is set.
Definition: dcl_css.h:122
DCL_PIDF64_SPS::Kp
float64_t Kp
Proportional gain.
Definition: dcl_pidf64.h:56
DCL_clearUpdateStatus
#define DCL_clearUpdateStatus(p)
Definition: dcl_css.h:116
DCL_PIDF64_SPS::Umin
float64_t Umin
Lower saturation limit.
Definition: dcl_pidf64.h:63
_DCL_CODE_ACCESS
#define _DCL_CODE_ACCESS
Defines the scope of dcl functions (static inline/extern inline/none)
Definition: dcl_common.h:58
dcl_pidf64::c2
float64_t c2
D-term filter coefficient 2, default is 0.
Definition: dcl_pidf64.h:79
dcl_pidf64::Kr
float64_t Kr
Set point weight, default is 1.
Definition: dcl_pidf64.h:77
DCL_setActivePIDF64filterBW
_DCL_CODE_ACCESS void DCL_setActivePIDF64filterBW(DCL_PIDF64 *pid, float64_t fc, float64_t T)
Loads the PID64 derivative path filter active coefficients Note: new coefficients take effect immedia...
Definition: dcl_pidf64.h:293
dcl_pidf64::d2
float64_t d2
D path feedback value (Kd * c1)
Definition: dcl_pidf64.h:84
dcl_none
@ dcl_none
No error.
Definition: dcl_error.h:57
dcl_interrupt_t
uint32_t dcl_interrupt_t
Definition: dcl_common.h:99
DCL_PIDF64_SPS::Ki
float64_t Ki
Integral gain.
Definition: dcl_pidf64.h:57
DCL_PIDF64_SPS
Defines DCL_PIDF64 shadow PID64 controller structure used for updating controller parameter.
Definition: dcl_pidf64.h:55
dcl_pidf64::i10
float64_t i10
I path feedback value.
Definition: dcl_pidf64.h:86
dcl_pidf64::sps
DCL_PIDF64_SPS * sps
updates controller parameter
Definition: dcl_pidf64.h:90
CONST_PI_F64
#define CONST_PI_F64
Definition: dcl_aux.h:57
dcl_param_invalid_err
@ dcl_param_invalid_err
Parameter not valid.
Definition: dcl_error.h:59
DCL_CSSF64
Defines the 64bit CSS structure.
Definition: dcl_css.h:72
PIDF64_Handle
_DCL_VOLATILE struct dcl_pidf64 * PIDF64_Handle
DCL_runSat
#define DCL_runSat(data, Umax, Umin)
Macro to saturate a control variable but does not change the data itself unlike runClamp()
Definition: dcl_clamp.h:89
dcl_pidf64
DCL_PIDF64 object for storing 64bit PID specific parameters.
Definition: dcl_pidf64.h:72
dcl_pidf64::i14
float64_t i14
I path saturation storage.
Definition: dcl_pidf64.h:87
DCL_restoreInts
#define DCL_restoreInts(v)
Definition: dcl_common.h:98
_DCL_VOLATILE
#define _DCL_VOLATILE
Defines volatile for DCL strctures Flags can be defined in dcl.h or user files before including DCL l...
Definition: dcl_common.h:71
DCL_runPIDF64Series
_DCL_CODE_ACCESS float64_t DCL_runPIDF64Series(DCL_PIDF64 *pid, float64_t rk, float64_t yk, float64_t lk)
Executes an ideal form PID64 controller.
Definition: dcl_pidf64.h:334
float64_t
double float64_t
Definition: dcl_common.h:55
DCL_PIDF64_SPS::Kr
float64_t Kr
Set point weight, default is 1.
Definition: dcl_pidf64.h:59
dcl_pidf64::css
DCL_CSSF64 * css
configuration & debugging
Definition: dcl_pidf64.h:91
DCL_getErrorInfo
#define DCL_getErrorInfo(ptr)
Macro to store error info in CSS.
Definition: dcl_error.h:97
DCL_setError
#define DCL_setError(ptr, code)
Macro to set error code in CSS.
Definition: dcl_error.h:79
dcl_pidf64::Ki
float64_t Ki
Integral gain.
Definition: dcl_pidf64.h:75
DCL_PIDF64_SPS::c2
float64_t c2
D-term filter coefficient 2, default is 0.
Definition: dcl_pidf64.h:61
DCL_disableInts
#define DCL_disableInts()
Define enable and disable interrupt operations.
Definition: dcl_common.h:97