Contains direct form 1 3rd order DF13 compensator with its related structures and functions.
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#define | DF13_SPS_DEFAULTS { 0.25f, 0.25f, 0.25f, 0.25f, 0.0f, 0.0f, 0.0f } |
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#define | DF13_DEFAULTS |
| Defines default values to initialize DCL_DF13. More...
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#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...
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#define | DCL_initDF13() &(DCL_DF13)DF13_DEFAULTS |
| Initialize DCL_DF13 struct with default parameters Example: DCL_DF13* df13_ctrl = DCL_initDF13();. More...
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#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...
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#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...
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_DCL_CODE_ACCESS void | DCL_resetDF13 (DCL_DF13 *df) |
| Resets DF13 internal storage data with interrupt protection Implemented as inline C function. More...
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_DCL_CODE_ACCESS void | DCL_fupdateDF13 (DCL_DF13 *df) |
| Loads DF13 tuning parameter from its SPS parameter. More...
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_DCL_CODE_ACCESS _DCL_CODE_SECTION bool | DCL_updateDF13 (DCL_DF13 *df) |
| Updates DF13 parameter from its SPS parameter with interrupt protection. More...
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_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...
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_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
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_DCL_CODE_ACCESS bool | DCL_isStableDF13 (DCL_DF13 *df) |
| Determines stability of the shadow compensator. More...
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_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...
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_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...
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_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...
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_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...
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_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...
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