Introduction

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

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_fupdateDF23 (DCL_DF23 *df)
	Loads DF23 tuning parameter from its SPS parameter. More...

_DCL_CODE_ACCESS _DCL_CODE_SECTION bool	DCL_updateDF23 (DCL_DF23 *df)
	Updates DF23 parameter from its SPS parameter with interrupt protection. More...

_DCL_CODE_ACCESS _DCL_CODE_SECTION bool	DCL_pendingUpdateDF23 (DCL_DF23 *df)
	A conditional update based on the pending-for-update flag. If the pending status is set, the function will update DF23 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_updateDF23SPS (DCL_DF23 *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_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_sec 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...

Introduction

Data Structures

Macros

Typedefs

Functions