Introduction

Contains direct form 1 3rd order DF13 compensator with its related structures and functions.

Data Structures
struct	DCL_DF13_SPS
	Defines the DCL_DF13 shadow parameter set used for updating compensator parameter. More...

struct	dcl_df13
	DCL_DF13 object for storing df13 specific parameters. More...

Macros
#define	DF13_SPS_DEFAULTS { 0.25f, 0.25f, 0.25f, 0.25f, 0.0f, 0.0f, 0.0f }

#define	DF13_DEFAULTS
	Defines default values to initialize DCL_DF13. More...

#define	DF13_INT_DEFAULTS
	Macro for internal default values to initialize DCL_DF13 Example: DCL_DF13 df13_ctrl = { .b0 = 0.25f, .b1 = 0.25f, ... .a3 = 0.0f, DF13_INT_DEFAULTS };. More...

#define	DCL_initDF13() &(DCL_DF13)DF13_DEFAULTS
	Initialize DCL_DF13 struct with default parameters Example: DCL_DF13* df13_ctrl = DCL_initDF13();. More...

#define	DCL_initDF13asParam(_b0, _b1, _b2, _b3, _a1, _a2, _a3)
	Initialize DCL_DF13 struct with input compensator parameters Example: DCL_DF13* DF13_ctrl = DCL_initDF13asParam(0.25f,0.25f,0.25f,0.25f,0.0f,0.0f,0.0f); Note: input parameter needs to be in the same order as listed in DF13_SPS struct. More...

#define	DCL_initDF13asSPS(df_ptr, sps_ptr)
	Initialize DCL_DF13 struct with sps parameters Example: DCL_DF13_SPS df_sps = { .b0 = , .b1 = , ...}; //initial parameter DCL_DF13 df_ctrl; DCL_initDF13asSPS(&df_ctrl,&df_sps);. More...

Typedefs
typedef _DCL_VOLATILE struct dcl_df13	DCL_DF13

typedef _DCL_VOLATILE struct dcl_df13 *	DF13_Handle

Functions
_DCL_CODE_ACCESS void	DCL_resetDF13 (DCL_DF13 *df)
	Resets DF13 internal storage data with interrupt protection Implemented as inline C function. More...

_DCL_CODE_ACCESS void	DCL_fupdateDF13 (DCL_DF13 *df)
	Loads DF13 tuning parameter from its SPS parameter. More...

_DCL_CODE_ACCESS _DCL_CODE_SECTION bool	DCL_updateDF13 (DCL_DF13 *df)
	Updates DF13 parameter from its SPS parameter with interrupt protection. More...

_DCL_CODE_ACCESS _DCL_CODE_SECTION bool	DCL_pendingUpdateDF13 (DCL_DF13 *df)
	A conditional update based on the pending-for-update flag. If the pending status is set, the function will update DF13 parameter from its SPS parameter and clear the status flag on completion.. Note: Use DCL_setPendingStatus(df) to set the pending status. More...

_DCL_CODE_ACCESS void	DCL_updateDF13SPS (DCL_DF13 *df)
	Update SPS parameter with active param, userful when needing to update only few active param from SPS and keep rest the same More...

_DCL_CODE_ACCESS bool	DCL_isStableDF13 (DCL_DF13 *df)
	Determines stability of the shadow compensator. More...

_DCL_CODE_ACCESS void	DCL_loadDF13asZPK (DCL_DF13 df, DCL_ZPK3 zpk)
	Loads the DF13 shadow coefficients from a ZPK3 description. Note: Sampling period df->css->t_sec are used in the calculation. New settings take effect after DCL_updateDF13(). More...

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runDF13 (DCL_DF13 *df, float32_t ek)
	Executes a 3rd order Direct Form 1 controller. More...

_DCL_CODE_ACCESS float32_t	DCL_runDF13PartialCompute (DCL_DF13 *df, float32_t ek)
	Immediate computation to obtain DF13 servo error without updating the controller. More...

_DCL_CODE_ACCESS void	DCL_runDF13PartialUpdate (DCL_DF13 *df, float32_t ek, float32_t uk)
	Update DF13 controller based on pre-computed control effort. More...

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runDF13Clamp (DCL_DF13 *df, float32_t ek, float32_t Umax, float32_t Umin)
	Executes a 3rd order Direct Form 1 controller with clamp. More...

Introduction

Data Structures

Macros

Typedefs

Functions