Introduction

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

Data Structures
struct	DCL_NLPID_SPS
	Defines the shadow DCL_NLPID controller structure. More...

struct	dcl_nlpid
	Defines the active DCL_NLPID controller structure. More...

Macros
#define	DCL_DELTA_MIN 1.0e-04f
	Sets the lower bound on the linear region semi-width. More...

#define	DCL_GAMMA_MAX 100
	Sets an upper bound on allowable controller gain, and therefore fixes the minimum linear region semi-width. More...

#define	NLPID_SPS_DEFAULTS
	Defines default values to initialize the DCL_NLPID structure. More...

#define	NLPID_DEFAULTS
	Defines default values to initialize the DCL_NLPID structure. More...

Typedefs
typedef _DCL_VOLATILE struct dcl_nlpid	DCL_NLPID

Functions
_DCL_CODE_ACCESS void	DCL_resetNLPID (DCL_NLPID *pid)
	Resets NLPID internal storage data with interrupt protection. More...

_DCL_CODE_ACCESS void	DCL_forceUpdateNLPID (DCL_NLPID *pid)
	Loads NLPID tuning parameter from its SPS parameter without interrupt protection. More...

_DCL_CODE_ACCESS void	DCL_updateNLPIDNoCheck (DCL_NLPID *pid)
	Loads PID tuning parameter from its SPS parameter with interrupt protection. More...

_DCL_CODE_ACCESS bool	DCL_updateNLPID (DCL_NLPID *pid)
	A conditional update based on the update flag. If the update status is set, the function will update NLPID parameter from its SPS parameter and clear the status flag on completion. More...

_DCL_CODE_ACCESS void	DCL_setNLPIDfilterBW (DCL_NLPID *pid, float32_t fc)
	Loads the shadow derivative LP filter coefficients. More...

_DCL_CODE_ACCESS void	DCL_setActiveNLPIDfilterBW (DCL_NLPID *pid, float32_t fc, float32_t T)
	Loads the NLPID derivative path filter active coefficients. More...

_DCL_CODE_ACCESS float32_t	DCL_getNLPIDfilterBW (DCL_NLPID *pid)
	Returns the derivative LP filter bandwidth in Hz. More...

_DCL_CODE_ACCESS float32_t	DCL_getNLPIDgamma (float32_t alpha, float32_t delta)
	Returns the linearized region gain for specified (alpha,delta) More...

_DCL_CODE_ACCESS float32_t	DCL_getNLPIDdelta (float32_t alpha, float32_t gamma)
	Returns the semi-width of the linear gain region for specified (alpha,gamma) More...

_DCL_CODE_ACCESS void	DCL_setNLPIDgamma (DCL_NLPID *pid)
	Computes the linearized gains for each path Note: active coefficients not update DCL_updateNLPID() called. More...

_DCL_CODE_ACCESS void	DCL_setActiveNLPIDgamma (DCL_NLPID *pid)
	Computes the linearized gains for each path and loads the parameters in the active NLPID structure. More...

_DCL_CRIT_ACCESS float32_t	DCL_runNLPIDParallel (DCL_NLPID *pid, float32_t rk, float32_t yk, float32_t lk)
	Executes a parallel form non-linear PID controller. More...

_DCL_CRIT_ACCESS float32_t	DCL_runNLPIDSeries (DCL_NLPID *pid, float32_t rk, float32_t yk, float32_t lk)
	Executes a series form non-linear PID controller. More...

_DCL_CRIT_ACCESS float32_t	DCL_runNLF (float32_t x, float32_t alpha, float32_t delta)
	Executes a basic non-linear control function. More...

Introduction

Data Structures

Macros

Typedefs

Functions