APIs for Digital Control Library

Introduction

Here is the list of APIs used for Digital Control Library

Files
file	dcl.h
	Top level header that contains all Digital Controller Library functions.
file	dcl_common.h
	Top level header that contains all DCL common strctures and functions.
file	dcl_pi.h
	Contains PI controller with its related structures and functions.
file	dcl_pi2.h
	Contains PI2 (double integrator) controller with its related structures and functions.
file	dcl_pid.h
	Contains 32-bit PID controller with its related structures and functions.
file	dcl_pidf64.h
	Contains 64-bit PID controller with its related structures and functions.
file	dcl_df11.h
	Contains direct form 1 1st order DF11 compensator with its related structures and functions.
file	dcl_df13.h
	Contains direct form 1 3rd order DF13 compensator with its related structures and functions.
file	dcl_df22.h
	Contains direct form 2 2nd order DF22 compensator with its related structures and functions.
file	dcl_df23.h
	Contains direct form 2 3rd order DF23 compensator with its related structures and functions.
file	dcl_aux.h
	Defines all the auxiliary macros for DCL.
file	dcl_clamp.h
	Defines both single, double precision clamp function for saturation.
file	dcl_css.h
	Defines Controller Common Support Structure (CSS) and related macros.
file	dcl_stability.h
	Defines polynomial stability functions.
file	dcl_zpk3.h
	Defines ZPK3 strcture that represents a third order transfer function of poles and zeros.
file	dcl_error.h
	Defines all error handling strctures and macro.
file	dcl_fdlog.h
	Defines a 32-bit floating-point data logger strcture and related functions.

Data Structures
struct	DCL_PI_SPS
	Defines DCL_PI shadow parameter set used for updating controller parameter. More...
struct	dcl_pi
	DCL_PI object for storing PI specific parameters. More...
struct	DCL_PI2_SPS
	Defines DCL_PI2 shadow parameter set used for updating controller parameter. More...
struct	dcl_pi2
	DCL_PI2 object for storing PI2 specific parameters PI2 - PI controller with double integrators. More...
struct	DCL_PID_SPS
	Defines DCL_PID shadow parameter set used for updating controller parameter. More...
struct	dcl_pid
	DCL_PID object for storing PID specific parameters. More...
struct	DCL_PIDF64_SPS
	Defines DCL_PIDF64 shadow PID64 controller structure used for updating controller parameter. More...
struct	dcl_pidf64
	DCL_PIDF64 object for storing 64bit PID specific parameters. More...
struct	DCL_DF11_SPS
	Defines DCL_DF11 shadow parameter set used for updating compensator parameter. More...
struct	dcl_df11
	DCL_DF11 object for storing df11 specific parameters. More...
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...
struct	DCL_DF22_SPS
	Defines DCL_DF22 shadow parameter set used for updating compensator parameter. More...
struct	dcl_df22
	DCL_DF22 object for storing df22 specific parameters. More...
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...
struct	DCL_CSS
	Defines the controller common support structure. More...
struct	DCL_CSSF64
	Defines the 64bit CSS structure. More...
struct	DCL_ZPK3
	Defines the DCL_ZPK3 controller structure. More...
struct	dcl_fdlog
	Defines the data logger strcture for 32-bit float. More...

Functions
_DCL_CODE_ACCESS void	DCL_resetPI (DCL_PI *pi)
	Resets PI internal storage data with interrupt protection. More...
_DCL_CODE_ACCESS void	DCL_forceUpdatePI (DCL_PI *pi)
	Loads PI tuning parameter from its SPS parameter without interrupt protection More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION void	DCL_updatePINoCheck (DCL_PI *pi)
	Loads PI tuning parameter from its SPS parameter with interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION bool	DCL_updatePI (DCL_PI *pi)
	A conditional update based on the update flag. If the update status is set, the function will update PI parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_setUpdateStatus(pi) to set the update status. More...
_DCL_CODE_ACCESS void	DCL_loadSeriesPIasZPK (DCL_PI *pi, DCL_ZPK3 *zpk)
	Configures a series PI controller in "zero-pole-gain" form Note: Sampling period pi->css->T are used in the calculation. New settings take effect after DCL_updatePI(). Only z1 considered in DCL_ZPK3, other poles & zeros ignored. Zero frequency assumed to be in radians/sec. More...
_DCL_CODE_ACCESS void	DCL_loadParallelPIasZPK (DCL_PI *pi, DCL_ZPK3 *zpk)
	Configures a parallel PI controller in "zero-pole-gain" form Note: Sampling period pi->css->T are used in the calculation. New settings take effect after DCL_updatePI(). Zero frequency assumed to be in radians/sec. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runPISeries (DCL_PI *pi, float32_t rk, float32_t yk)
	Executes an inline series form PI controller. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runPIParallel (DCL_PI *pi, float32_t rk, float32_t yk)
	Executes a parallel form PI controller Implemented as inline C function. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runPIParallelEnhanced (DCL_PI *pi, float32_t rk, float32_t yk)
	Executes a parallel form PI controller with enhanced anti-windup logic incorporating an addintional integrator saturation clamp. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runPISeriesTustin (DCL_PI *pi, float32_t rk, float32_t yk)
	Executes a series form PI controller with Tustin integrator. More...
_DCL_CODE_ACCESS void	DCL_resetPI2 (DCL_PI2 *pi2)
	Resets PI2 internal storage data with interrupt protection. More...
_DCL_CODE_ACCESS void	DCL_forceUpdatePI2 (DCL_PI2 *pi2)
	Loads PI2 tuning parameter from its SPS parameter without interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION void	DCL_updatePI2NoCheck (DCL_PI2 *pi2)
	Loads PI2 tuning parameter from its SPS parameter with interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION bool	DCL_updatePI2 (DCL_PI2 *pi2)
	A conditional update based on the update flag. If the update status is set, the function will update PI2 parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_setUpdateStatus(pi2) to set the update status. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runPI2Series (DCL_PI2 *pi2, float32_t rk, float32_t yk)
	Executes an inline series form PI2 controller on the FPU32. More...
_DCL_CODE_ACCESS void	DCL_resetPID (DCL_PID *pid)
	Resets PID internal storage data with interrupt protection. More...
_DCL_CODE_ACCESS void	DCL_forceUpdatePID (DCL_PID *pid)
	Loads PID tuning parameter from its SPS parameter without interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION void	DCL_updatePIDNoCheck (DCL_PID *pid)
	Loads PID tuning parameter from its SPS parameter with interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION bool	DCL_updatePID (DCL_PID *pid)
	A conditional update based on the update flag. If the update status is set, the function will update PID parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_getUpdateStatus(pid) to set the update status. More...
_DCL_CODE_ACCESS void	DCL_setPIDfilterBW (DCL_PID *pid, float32_t fc)
	Loads the derivative path filter shadow coefficients. Note: Sampling period pid->css->T are used in the calculation. New coefficients take effect when DCL_updatePID() is called. More...
_DCL_CODE_ACCESS void	DCL_setActivePIDfilterBW (DCL_PID *pid, float32_t fc, float32_t T)
	Loads the PID derivative path filter active coefficients Note: Sampling period pid->css->T are used in the calculation. New coefficients take effect immediately. SPS & CSS contents are unaffected. More...
_DCL_CODE_ACCESS float32_t	DCL_getPIDfilterBW (DCL_PID *pid)
	Calculates the active derivative path filter bandwidth in Hz. Note: Sampling period pid->css->T are used in the calculation. More...
_DCL_CODE_ACCESS void	DCL_loadSeriesPIDasZPK (DCL_PID *pid, DCL_ZPK3 *zpk)
	Configures a series PID controller parameter in ZPK form. Note: Sampling period pid->css->T are used in the calculation. Parameters take effect after call to DCL_updatePID(). Only z1, z2 & p2 considered, p1 = 0 assumed. More...
_DCL_CODE_ACCESS void	DCL_loadParallelPIDasZPK (DCL_PID *pid, DCL_ZPK3 *zpk)
	Configures a parallel PID controller in ZPK form. Note: Sampling period pid->css->T are used in the calculation. Parameters take effect after call to DCL_updatePID(). Only z1, z2 & p2 considered, p1 = 0 assumed. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runPIDSeries (DCL_PID *pid, float32_t rk, float32_t yk, float32_t lk)
	Executes an ideal form PID controller. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runPIDParallel (DCL_PID *pid, float32_t rk, float32_t yk, float32_t lk)
	Executes a parallel form PID controller. More...
_DCL_CODE_ACCESS void	DCL_resetPIDF64 (DCL_PIDF64 *pid)
	Resets PID64 internal storage data with interrupt protection. More...
_DCL_CODE_ACCESS void	DCL_forceUpdatePIDF64 (DCL_PIDF64 *pid)
	Loads PIDF64 tuning parameter from its SPS parameter without interrupt protection. More...
_DCL_CODE_ACCESS void	DCL_updatePIDF64NoCheck (DCL_PIDF64 *pid)
	Updates PID parameter from its SPS parameter with interrupt protection. More...
_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 PIDF64 parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_setUpdateStatus(pid) to set the pending status. More...
_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 the calculation Note: new coefficients take effect when DCL_updatePID64() is called. More...
_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 immediately. SPS & CSS contents are unaffected. More...
_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 in the calculation. More...
_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. More...
_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. More...
_DCL_CODE_ACCESS void	DCL_resetDF11 (DCL_DF11 *df)
	Resets DF11 internal storage data with interrupt protection. More...
_DCL_CODE_ACCESS void	DCL_forceUpdateDF11 (DCL_DF11 *df)
	Loads DF11 tuning parameter from its SPS parameter without interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION void	DCL_updateDF11NoCheck (DCL_DF11 *df)
	Loads DF11 tuning parameter from its SPS parameter with interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION bool	DCL_updateDF11 (DCL_DF11 *df)
	A conditional update based on the update flag. If the update status is set, the function will update DF11 parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_setUpdateStatus(df) to set the update status. More...
_DCL_CODE_ACCESS bool	DCL_isStableDF11 (DCL_DF11 *df)
	Determines stability of the shadow DF11 compensator. More...
_DCL_CODE_ACCESS void	DCL_loadDF11asZPK (DCL_DF11 *df, DCL_ZPK3 *zpk)
	Loads the DF11 shadow coefficients from a ZPK3 description Note: Sampling period df->css->T are used in the calculation. New settings take effect after DCL_updateDF11(). Only real z1 & p1 considered, all other roots ignored. More...
_DCL_CODE_ACCESS void	DCL_loadDF11asPI (DCL_DF11 *df, float32_t Kp, float32_t Ki)
	Loads compensator coefficients to emulate series form PI Note: Sampling period df->css->T are used in the calculation. New settings take effect after DCL_updateDF11(). More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runDF11 (DCL_DF11 *df, float32_t ek)
	Executes a 1st order Direct Form 1 controller. More...
_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_forceUpdateDF13 (DCL_DF13 *df)
	Loads DF13 tuning parameter from its SPS parameter without interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION void	DCL_updateDF13NoCheck (DCL_DF13 *df)
	Loads DF13 tuning parameter from its SPS parameter with interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION bool	DCL_updateDF13 (DCL_DF13 *df)
	A conditional update based on the update flag. If the update status is set, the function will update DF13 parameter from its SPS parameter and clear the status flag on completion.. Note: Use DCL_setUpdateStatus(df) to set the update status. 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 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...
_DCL_CODE_ACCESS float32_t	DCL_runDF13_C5 (DCL_DF13 *p, float32_t ek, float32_t vk)
	Legacy C28 Function for maintaining backwards compatibility. It Executes an immediate 3rd order Direct Form 1 controller. More...
_DCL_CODE_ACCESS float32_t	DCL_runDF13_C6 (DCL_DF13 *p, float32_t ek, float32_t uk)
	Legacy C28 Function for maintaining backwards compatibility. It executes a partial pre-computed 3rd order Direct Form 1 controller. More...
_DCL_CODE_ACCESS void	DCL_resetDF22 (DCL_DF22 *df)
	Resets DF22 internal storage data with interrupt protection. More...
_DCL_CODE_ACCESS void	DCL_forceUpdateDF22 (DCL_DF22 *df)
	Loads DF22 tuning parameter from its SPS parameter without interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION void	DCL_updateDF22NoCheck (DCL_DF22 *df)
	Loads DF22 tuning parameter from its SPS parameter with interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION bool	DCL_updateDF22 (DCL_DF22 *df)
	A conditional update based on the update flag. If the update status is set, the function will update DF22 parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_setUpdateStatus(df) to set the update status. More...
_DCL_CODE_ACCESS bool	DCL_isStableDF22 (DCL_DF22 *df)
	Determines stability of the shadow compensator. More...
_DCL_CODE_ACCESS void	DCL_loadDF22asZPK (DCL_DF22 *df, DCL_ZPK3 *zpk)
	Loads the DF22 shadow coefficients from a ZPK3 description Note: Sampling period df->css->T are used in the calculation. New settings take effect after DCL_updateDF22(). Only z1, z2, p1 & p2 are considered, z3 & p3 are ignored. More...
_DCL_CODE_ACCESS void	DCL_loadDF22asZwn (DCL_DF22 *df, float32_t z, float32_t wn)
	Loads the DF22 shadow coefficients from damping ratio and un-damped natural frequency using sample rate in CSS. Note: Sampling period df->css->T are used in the calculation. New settings take effect after DCL_updateDF22(). More...
_DCL_CODE_ACCESS void	DCL_loadDF22asSeriesPID (DCL_DF22 *df, float32_t Kp, float32_t Ki, float32_t Kd, float32_t fc)
	Loads the shadow DF22 compensator coefficients to emulate a series form PID. Note: Sampling period df->css->T are used in the calculation. New settings take effect after DCL_updateDF22(). More...
_DCL_CODE_ACCESS void	DCL_loadDF22asParallelPID (DCL_DF22 *df, float32_t Kp, float32_t Ki, float32_t Kd, float32_t fc)
	Loads the shadow DF22 compensator coefficients to emulate a parallel form PID. Note: Sampling period df->css->T are used in the calculation. New settings take effect after DCL_updateDF22(). More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t	DCL_runDF22 (DCL_DF22 *df, float32_t ek)
	Executes a 2nd order Direct Form 2 controller. More...
_DCL_CODE_ACCESS float32_t	DCL_runDF22PartialCompute (DCL_DF22 *df, float32_t ek)
	Immediate computation to obtain DF22 servo error without updating the controller. More...
_DCL_CODE_ACCESS void	DCL_runDF22PartialUpdate (DCL_DF22 *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_runDF22Clamp (DCL_DF22 *df, float32_t ek, float32_t Umax, float32_t Umin)
	Executes a 2nd order Direct Form 2 controller with clamp. More...
_DCL_CODE_ACCESS void	DCL_resetDF23 (DCL_DF23 *df)
	Resets DF23 internal storage data with interrupt protection. More...
_DCL_CODE_ACCESS void	DCL_forceUpdateDF23 (DCL_DF23 *df)
	Loads DF23 tuning parameter from its SPS parameter without interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION void	DCL_updateDF23NoCheck (DCL_DF23 *df)
	Updates DF23 parameter from its SPS parameter with interrupt protection. More...
_DCL_CODE_ACCESS _DCL_CODE_SECTION bool	DCL_updateDF23 (DCL_DF23 *df)
	A conditional update based on the update flag. If the update status is set, the function will update DF23 parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_setUpdateStatus(df) to set the update status. 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 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...
_DCL_CODE_ACCESS bool	DCL_runClamp (float32_t *data, float32_t Umax, float32_t Umin)
	Saturates a control variable and returns true if either limit is exceeded. More...
_DCL_CODE_ACCESS bool	DCL_runClampF64 (float64_t *data, float64_t Umax, float64_t Umin)
	Saturates a control variable and returns true if either limit is exceeded. More...
_DCL_CODE_ACCESS bool	DCL_isStablePn1 (float32_t a1)
	Determines stability of a first order real polynomial P(z) = z + a1. More...
_DCL_CODE_ACCESS bool	DCL_isStablePn2 (float32_t a0, float32_t a1, float32_t a2)
	Determines stability of a second order polynomial with real coefficients P(z) = a0 z^2 + a1 z + a2. More...
_DCL_CODE_ACCESS bool	DCL_isStablePn3 (float32_t a0, float32_t a1, float32_t a2, float32_t a3)
	Determines stability of a third order polynomial with real coefficients P(z) = a0 z^3 + a1 z^2 + a2 z + a3. More...
_DCL_CODE_ACCESS bool	DCL_isStableZpk3 (DCL_ZPK3 *q)
_DCL_CODE_ACCESS void	DCL_setLogIndex (DCL_FDLOG *buf, uint32_t idx)
	Sets index of the current pointer (zero-indexed) More...
_DCL_CODE_ACCESS void	DCL_deleteLog (DCL_FDLOG *buf)
	Resets all structure pointers to null value. More...
_DCL_CODE_ACCESS void	DCL_resetLog (DCL_FDLOG *buf)
	Resets the data index pointer to start of buffer. More...
_DCL_CODE_ACCESS void	DCL_fillLog (DCL_FDLOG *buf, float32_t data)
	Fills the buffer with a given data value and resets the data index pointer to the start of the buffer. More...
_DCL_CODE_ACCESS void	DCL_initLog (DCL_FDLOG *buf, float32_t *addr, uint32_t size)
	Assigns the buffer pointers to a memory block or array and sets the data index pointer to the first address. More...
_DCL_CODE_ACCESS float32_t	DCL_writeLog (DCL_FDLOG *buf, float32_t data)
	Writes a data point into the buffer and advances the indexing pointer, wrapping if necessary. Returns the over-written data value for delay line or FIFO implementation. More...
_DCL_CODE_ACCESS float32_t	DCL_readLog (DCL_FDLOG *buf)
	Reads a data point from the buffer and then advances the indexing pointer, wrapping if necessary. More...
_DCL_CODE_ACCESS void	DCL_copyLog (DCL_FDLOG *src, DCL_FDLOG *dst)
	Copies the contents of one log (src) into another (dst). Both logs must have the same length. More...

Typedefs
typedef float	float32_t
	Defines single,double precision data type. Note: Assumes ABI to be TI_EABI, does not support legacy TI_COFF. More...
typedef double	float64_t
typedef uint32_t	dcl_interrupt_t
typedef _DCL_VOLATILE struct dcl_pi	DCL_PI
typedef _DCL_VOLATILE struct dcl_pi *	PI_Handle
typedef _DCL_VOLATILE struct dcl_pi2	DCL_PI2
typedef _DCL_VOLATILE struct dcl_pi2 *	PI2_Handle
typedef _DCL_VOLATILE struct dcl_pid	DCL_PID
typedef _DCL_VOLATILE struct dcl_pid *	PID_Handle
typedef _DCL_VOLATILE struct dcl_pidf64	DCL_PIDF64
typedef _DCL_VOLATILE struct dcl_pidf64 *	PIDF64_Handle
typedef _DCL_VOLATILE struct dcl_df11	DCL_DF11
typedef _DCL_VOLATILE struct dcl_df11 *	DF11_Handle
typedef _DCL_VOLATILE struct dcl_df13	DCL_DF13
typedef _DCL_VOLATILE struct dcl_df13 *	DF13_Handle
typedef _DCL_VOLATILE struct dcl_df22	DCL_DF22
typedef _DCL_VOLATILE struct dcl_df22 *	DF22_Handle
typedef _DCL_VOLATILE struct dcl_df23	DCL_DF23
typedef _DCL_VOLATILE struct dcl_df23 *	DF23_Handle
typedef _DCL_VOLATILE struct dcl_fdlog	DCL_FDLOG

Enumerations
enum	dcl_status_bits { dcl_sts_none = 0U, dcl_sts_param_update = (1U << 0), dcl_sts_ctrl_running = (1U << 1) }
	Defines the library enumerated status bits. More...
enum	dcl_error_codes {   dcl_none = 0U, dcl_param_range_err = (1U << 0), dcl_param_invalid_err = (1U << 1), dcl_param_warn_err = (1U << 2),   dcl_input_range_err = (1U << 3), dcl_overflow_err = (1U << 4), dcl_underflow_err = (1U << 5), dcl_controller_err = (1U << 6),   dcl_timing_err = (1U << 7) }
	Defines the library enumerated error codes. These will be applied as bit masks in the error handler. More...

Macros
#define	DCL_VERSION   4000100
	Library version number formatted for numerical comparison v4.00.01.00. More...
#define	_DCL_CODE_ACCESS   static inline
	Defines the scope of dcl functions (static inline/extern inline/none) More...
#define	_DCL_CODE_SECTION   __attribute__((section("dclfuncs")))
	Defines dcl function section that users can specify in the linker file(.cmd) and to accelerate performance by mapping to faster memory Note: only DCL_run and DCL_update are included by default. More...
#define	_DCL_VOLATILE
	Defines volatile for DCL strctures Flags can be defined in dcl.h or user files before including DCL lib. More...
#define	DCL_setBreakPoint()
	Set a software breakpoint assembly instruction. More...
#define	DCL_disableInts()   0
	Define enable and disable interrupt operations. More...
#define	DCL_restoreInts(v)
#define	PI_SPS_DEFAULTS   { 1.0f, 0.0f, 1.0f, -1.0f, 1.0f, -1.0f }
	Defines default values to initialize DCL_PI_SPS. More...
#define	PI_DEFAULTS
	Defines default values to initialize DCL_PI. More...
#define	PI_INT_DEFAULTS
	Macro for internal default values to initialize DCL_PI Example: DCL_PI pi_ctrl = { .Kp = 1.0f, .Ki = 0.0f, .Umax = 1.0f, .Umin = -1.0f, .Imax = 0.0f, .Imin = 0.0f, PI_INT_DEFAULTS };. More...
#define	DCL_initPI()   &(DCL_PI)PI_DEFAULTS
	Initialize DCL_PI struct with default parameters Example: DCL_PI* pi_ctrl = DCL_initPI();. More...
#define	DCL_initPIasParam(kp, ki, umax, umin)
	Initialize DCL_PI struct with input controller parameters Example: DCL_PI* pi_ctrl = DCL_initPIasParam(1.0f,0.0f,1.0f,-1.0f); Note: input parameter needs to be in the same order as listed in PI_SPS struct. More...
#define	DCL_initPIasSPS(pi_ptr, sps_ptr)
	Initialize DCL_PI struct with sps parameters Example: DCL_PI_SPS pi_sps = { .Kp = , .Ki = , ...}; DCL_PI pi_ctrl; DCL_initPIasSPS(&pi_ctrl,&pi_sps);. More...
#define	PI2_SPS_DEFAULTS   { 1.0f, 0.0f, 1.0f, -1.0f }
	Defines default values to initialize DCL_PI2_SPS. More...
#define	PI2_DEFAULTS
	Defines default values to initialize DCL_PI2. More...
#define	PI2_INT_DEFAULTS
	Macro for internal default values to initialize DCL_PI2 Example: DCL_PI2 pi2_ctrl = { .Kp = 1.0f, .Ki = 0.0f, .Umax = 1.0f, .Umin = -1.0f, PI2_INT_DEFAULTS };. More...
#define	DCL_initPI2()   &(DCL_PI2)PI2_DEFAULTS
	Initialize DCL_PI2 struct with default parameters Example: DCL_PI2 pi2_ctrl = DCL_initPI2();. More...
#define	DCL_initPI2asParam(kp, ki, umax, umin)
	Initialize DCL_PI2 struct with input controller parameters Example: DCL_PI2* pi2_ctrl = DCL_initPI2asParam(1.0f,0.0f,1.0f,-1.0f); Note: input parameter needs to be in the same order as listed in PI2_SPS struct. More...
#define	DCL_initPI2asSPS(pi2_ptr, sps_ptr)
	Initialize DCL_PI2 struct with sps parameters Example: DCL_PI2_SPS pi2_sps = { .Kp = , .Ki = , ...}; DCL_PI2 pi2_ctrl; DCL_initPI2asSPS(&pi2_ctrl,&pi2_sps);. More...
#define	PID_SPS_DEFAULTS   { 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, -1.0f }
	Defines default values to initialize DCL_PID_SPS. More...
#define	PID_DEFAULTS
	Defines default values to initialize the DCL_PID structure. More...
#define	PID_INT_DEFAULTS
	Macro for internal default values to initialize DCL_PID Example: DCL_PID pid_ctrl = { .Kp = 1.0f, .Ki = 0.0f, ... .Umin = -1.0f, PID_INT_DEFAULTS };. More...
#define	DCL_initPID()   &(DCL_PID)PID_DEFAULTS
	Initialize DCL_PID struct with default parameters Example: DCL_PID* pid_ctrl = DCL_initPID();. More...
#define	DCL_initPIDasParam(kp, ki, kd, kr, _c1, _c2, umax, umin)
	Initialize DCL_PID struct with input controller parameters Example: DCL_PID* pid_ctrl = DCL_initPIDasParam(1.0f,0.0f,0.0f,1.0f,1.0f,0.0f,1.0f,-1.0f); Note: input parameter needs to be in the same order as listed in PID_SPS struct. More...
#define	DCL_initPIDasSPS(pid_ptr, sps_ptr)
	Initialize DCL_PID struct with SPS parameters Example: DCL_PID_SPS pid_sps = { .Kp = , .Ki = , ...}; //initial parameter DCL_PID pid_ctrl; DCL_initPIasSPS(&pid_ctrl,&pid_sps); Note: The newly declared DCL_PID structure will use the SPS input parameter as its attribute for sps. More...
#define	PIDF64_SPS_DEFAULTS   { 1.0L, 0.0L, 0.0L, 1.0L, 1.0L, 0.0L, 1.0L, -1.0L }
	Defines default values to initialize the DCL_PIDF64 shadow structure. More...
#define	PIDF64_DEFAULTS
	Defines default values to initialize the DCL_PID64 active structure. More...
#define	PIDF64_INT_DEFAULTS
	Macro for internal default values to initialize DCL_PIDF64 Example: DCL_PIDF64 pid_ctrl = { .Kp = 1.0L, .Ki = 0.0L, ... .Umin = -1.0L, PIDF64_INT_DEFAULTS };. More...
#define	DCL_initPIDF64()   &(DCL_PIDF64)PIDF64_DEFAULTS
	Initialize DCL_PIDF64 struct with default parameters Example: DCL_PIDF64* pid_ctrl = DCL_initPID();. More...
#define	DCL_initPIDF64asParam(kp, ki, kd, kr, _c1, _c2, umax, umin)
	Initialize DCL_PIDF64 struct with input controller parameters Example: DCL_PIDF64* pid_ctrl = DCL_initPIDF64asParam(1.0L,0.0L,0.0L,1.0L,1.0L,0.0L,1.0L,-1.0L); Note: input parameter needs to be in the same order as listed in PIDF64_SPS struct. More...
#define	DCL_initPIDF64asSPS(pid_ptr, sps_ptr)
	Initialize DCL_PIDF64 struct with sps parameters Example: DCL_PIDF64_SPS pid_sps = { .Kp = , .Ki = , ...}; //initial parameter DCL_PIDF64 pid_ctrl; DCL_initPIasSPS(&pid_ctrl,&pid_sps);. More...
#define	DF11_SPS_DEFAULTS   { 0.5f, 0.5f, 1.0f }
#define	DF11_DEFAULTS
	Defines default values to initialize DCL_DF11. More...
#define	DF11_INT_DEFAULTS   .d1=0.0f, .d2=0.0f, .sps=&(DCL_DF11_SPS)DF11_SPS_DEFAULTS, .css=&(DCL_CSS)DCL_CSS_DEFAULTS
	Macro for internal default values to initialize DCL_DF11 Example: DCL_DF11 df11_ctrl = { .b0 = 0.5f, .b1 = 0.5f, .a1 = 1.0f, DF11_INT_DEFAULTS };. More...
#define	DCL_initDF11()   &(DCL_DF11)DF11_DEFAULTS
	Initialize DCL_DF11 struct with default parameters Example: DCL_DF11* df11_ctrl = DCL_initDF11();. More...
#define	DCL_initDF11asParam(_b0, _b1, _a1)
	Initialize DCL_DF11 struct with input compensator parameters Example: DCL_DF11* DF11_ctrl = DCL_initDF11asParam(0.5f,0.5f,1.0f); Note: input parameter needs to be in the same order as listed in DF11_SPS struct. More...
#define	DCL_initDF11asSPS(df_ptr, sps_ptr)
	Initialize DCL_DF11 struct with sps parameters Example: DCL_DF11_SPS df_sps = { .b0 = , .b1 = , ...}; //initial parameter DCL_DF11 df_ctrl; DCL_initDF11asSPS(&df_ctrl,&df_sps);. More...
#define	DF13_SPS_DEFAULTS   { 0.25f, 0.25f, 0.25f, 0.25f, 0.0f, 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...
#define	DF22_SPS_DEFAULTS   { 1.0f, 0.0f, 0.0f, 0.0f, 0.0f }
#define	DF22_DEFAULTS
	Defines default values to initialize DCL_DF22. More...
#define	DF22_INT_DEFAULTS
	Macro for internal default values to initialize DCL_DF22 Example: DCL_DF22 df22_ctrl = { .b0 = 1.00f, .b1 = 0.0f, ... .a2 = 0.0f, DF22_INT_DEFAULTS };. More...
#define	DCL_initDF22()   &(DCL_DF22)DF22_DEFAULTS
	Initialize DCL_DF22 struct with default parameters Example: DCL_DF22* df22_ctrl = DCL_initDF22();. More...
#define	DCL_initDF22asParam(_b0, _b1, _b2, _a1, _a2)
	Initialize DCL_DF22 struct with input compensator parameters Example: DCL_DF22 DF22_ctrl = DCL_initD22asParam(1.0f,0.0f,0.0f,0.0f,0.0f); Note: input parameter needs to be in the same order as listed in DF22_SPS struct. More...
#define	DCL_initDF22asSPS(df_ptr, sps_ptr)
	Initialize DCL_DF22 struct using sps parameters Example: DCL_DF22_SPS df_sps = { .b0 = , .b1 = , ...}; //initial parameter DCL_DF22 df_ctrl; DCL_initDF22asSPS(&df_ctrl,&df_sps);. More...
#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...
#define	NULL   0
#define	CONST_PI   3.14159265358979323846f
	Local definitions of the mathematical constant pi. More...
#define	CONST_2PI   2.0f * CONST_PI
#define	CONST_PI_F64   3.1415926535897932384626433832795028841971693993751058209749445923078164062L
#define	CONST_2PI_F64   2.0L * CONST_PI_F64
#define	DCL_FPU32_TOL   1.0e-06f
	Define the acceptable FPU numerical tolerances. More...
#define	DCL_FPU64_TOL   1.0e-10L
#define	DCL_DEFAULT_PERIOD_S   100.0e-06f
	Define the default control period in seconds. More...
#define	DCL_DEFAULT_PERIODF64_S   100.0e-06L
#define	DCL_isValue(x, y)   (((x < (y + DCL_FPU32_TOL)) && (x > (y - DCL_FPU32_TOL))) ? 1U : 0U)
	Determines numerical proximity to specified value. More...
#define	DCL_isValueF64(x, y)   (((x < (y + DCL_FPU64_TOL)) && (x > (y - DCL_FPU64_TOL))) ? 1U : 0U)
#define	DCL_isZero(x)   DCL_isValue(x,0.0f)
	Determines floating point numerical proximity to zero. More...
#define	DCL_isZeroF64(x)   DCL_isValueF64(x,0.0L)
#define	DCL_rand(a)   (a * ((float32_t) rand() / (float32_t) (RAND_MAX >> 1) - 1.0f))
	Returns a random floating point result between -1.0 and +1.0 where 'a' is the multiplier in single or double precision. Useful for initialization of arrays and matrices during test. More...
#define	DCL_randF64(a)   (a * ((float64_t) rand() / (float64_t) (RAND_MAX >> 1) - 1.0L))
#define	DCL_c2Limit   ((2.0f - CONST_PI) / (2.0f + CONST_PI))
	Defines the lower limit on derivative filter coefficient c2 in order for fc to lie below the Nyquist frequency. More...
#define	DCL_c2LimitF64   ((2.0L - CONST_PI_F64) / (2.0L + CONST_PI_F64))
#define	DCL_runSat(data, Umax, Umin)   (data > Umax) ? Umax : (data < Umin) ? Umin : data
	Macro to saturate a control variable but does not change the data itself unlike runClamp() More...
#define	DCL_CSS_DEFAULTS   { 0.0f, DCL_DEFAULT_PERIOD_S, 0U, 0U, 0U, NULL }
	Default values to initialize the CSS structure. More...
#define	DCL_CSSF64_DEFAULTS   { 0.0L, DCL_DEFAULT_PERIODF64_S, 0U, 0U, 0U, NULL }
	Default values to initialize the CSS 64bit structure. More...
#define	DCL_setControllerPeriod(p, t_sec)   ((p)->css->T = t_sec)
	Loads the controller period in the CSS CSS pointer must be configured first. More...
#define	DCL_setUpdateStatus(p)   ((p)->css->sts |= dcl_sts_param_update)
	Macros to set and clear the update-in-progress flag. More...
#define	DCL_clearUpdateStatus(p)   ((p)->css->sts &= ~dcl_sts_param_update)
#define	DCL_getUpdateStatus(p)   (0U != ((p)->css->sts & dcl_sts_param_update))
	Determine whether a parameter update-in-progress flag is set. More...
#define	DCL_getPendingStatus(p)   (0U != ((p)->css->sts & dcl_sts_param_pending))
	Determine whether a parameter pending-for-update flag is set. More...
#define	DCL_setControllerStatus(p)   ((p)->css->sts |= dcl_sts_ctrl_running)
	Macros placed at the beginning and end of the controller so that other functions know a control operation is in progress. Typically only used with complex controllers which may not be atomic. More...
#define	DCL_clearControllerStatus(p)   ((p)->css->sts &= ~dcl_sts_ctrl_running)
#define	DCL_getControllerStatus(p)   (0U != ((p)->css->sts & dcl_sts_ctrl_running))
	Determine whether a controller operation-in-progress flag is set. More...
#define	ZPK3_DEFAULTS
	Defines default values to initialize the DCL_ZPK3 structure. More...
#define	DCL_clearError(ptr)   ((ptr)->css->err = dcl_none)
	Macro to clear stored error code in CSS. More...
#define	DCL_setError(ptr, code)   ((ptr)->css->err |= code)
	Macro to set error code in CSS. More...
#define	DCL_getErrorLine(ptr)   ((ptr)->css->err_line = ((ptr)->css->err) ? __LINE__ : 0)
	Macro to store line location of error in CSS. More...
#define	DCL_getErrorFunc(ptr)   ((ptr)->css->err_func = ((ptr)->css->err) ? __FUNCTION__ : NULL)
	Macro to store function location of error in CSS. More...
#define	DCL_getErrorInfo(ptr)
	Macro to store error info in CSS. More...
#define	DCL_runErrorHandler(ptr)
	Prototype for basic error handler. More...
#define	DCL_getLogSize(buf)   ((buf)->size)
	Obtain the total size of buffer. More...
#define	DCL_getLogIndex(buf)   ((uint32_t)((buf)->dptr - (buf)->fptr))
	Index of the current pointer (zero-indexed) More...
#define	DCL_getLogRemain(buf)   ((buf)->size - DCL_getLogIndex(buf))
	Remaining space left from indexed pointer to end of buffer. More...
#define	DCL_clearLog(buf)   DCL_fillLog(buf,0)
	Clears the buffer contents by writing 0 to all elements and resets the data index pointer to the start of the buffer. More...

Macro Definition Documentation

DCL_VERSION

#define DCL_VERSION   4000100

Library version number formatted for numerical comparison v4.00.01.00.

_DCL_CODE_ACCESS

#define _DCL_CODE_ACCESS   static inline

Defines the scope of dcl functions (static inline/extern inline/none)

_DCL_CODE_SECTION

#define _DCL_CODE_SECTION   __attribute__((section("dclfuncs")))

Defines dcl function section that users can specify in the linker file(.cmd) and to accelerate performance by mapping to faster memory Note: only DCL_run and DCL_update are included by default.

_DCL_VOLATILE

#define _DCL_VOLATILE

Defines volatile for DCL strctures Flags can be defined in dcl.h or user files before including DCL lib.

DCL_setBreakPoint

#define DCL_setBreakPoint

(

)

Set a software breakpoint assembly instruction.

DCL_disableInts

#define DCL_disableInts

(

)

0

Define enable and disable interrupt operations.

DCL_restoreInts

#define DCL_restoreInts

(

v

)

PI_SPS_DEFAULTS

#define PI_SPS_DEFAULTS   { 1.0f, 0.0f, 1.0f, -1.0f, 1.0f, -1.0f }

Defines default values to initialize DCL_PI_SPS.

PI_DEFAULTS

#define PI_DEFAULTS

Value:

                    { 1.0f, 0.0f, 1.0f, -1.0f, 1.0f, -1.0f, 1.0f, 0.0f, 0.0f, \
                    &(DCL_PI_SPS)PI_SPS_DEFAULTS, &(DCL_CSS)DCL_CSS_DEFAULTS }

Defines default values to initialize DCL_PI.

PI_INT_DEFAULTS

#define PI_INT_DEFAULTS

Value:

.i6=1.0f, .i10=0.0f, .i11=0.0f, \
.sps=&(DCL_PI_SPS)PI_SPS_DEFAULTS, .css=&(DCL_CSS)DCL_CSS_DEFAULTS

Macro for internal default values to initialize DCL_PI Example: DCL_PI pi_ctrl = { .Kp = 1.0f, .Ki = 0.0f, .Umax = 1.0f, .Umin = -1.0f, .Imax = 0.0f, .Imin = 0.0f, PI_INT_DEFAULTS };.

DCL_initPI

#define DCL_initPI

(

)

&(DCL_PI)PI_DEFAULTS

Initialize DCL_PI struct with default parameters Example: DCL_PI* pi_ctrl = DCL_initPI();.

Returns

A DCL_PI* pointer

DCL_initPIasParam

#define DCL_initPIasParam	(		kp,
			ki,
			umax,
			umin
	)

Value:

                                &(DCL_PI){ .Kp=kp, .Ki=ki, \
                                .Umax=umax, .Umin=umin, PI_INT_DEFAULTS }

Initialize DCL_PI struct with input controller parameters Example: DCL_PI* pi_ctrl = DCL_initPIasParam(1.0f,0.0f,1.0f,-1.0f); Note: input parameter needs to be in the same order as listed in PI_SPS struct.

Returns

A DCL_PI* pointer

DCL_initPIasSPS

#define DCL_initPIasSPS	(		pi_ptr,
			sps_ptr
	)

Value:

({                                                                                         \
    DCL_PI* new_pi = (pi_ptr) ? pi_ptr : DCL_initPI();                                     \
    DCL_PI_SPS* new_sps = (sps_ptr) ? sps_ptr : &(DCL_PI_SPS)PI_SPS_DEFAULTS;              \
    if(sps_ptr)                                                                            \
    {                                                                                      \
        *new_pi = (DCL_PI){ (new_sps)->Kp, (new_sps)->Ki, (new_sps)->Umax, (new_sps)->Umin,\
        (new_sps)->Imax, (new_sps)->Imin, 1.0f, 0.0f, 0.0f,                                \
        (DCL_PI_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS };                                \
    }                                                                                      \
    new_pi;                                                                                \
})

Initialize DCL_PI struct with sps parameters Example: DCL_PI_SPS pi_sps = { .Kp = , .Ki = , ...}; DCL_PI pi_ctrl; DCL_initPIasSPS(&pi_ctrl,&pi_sps);.

Parameters

[in]	pi_ptr	DCL_PI* pointer that needs to be initialized
[in]	sps_ptr	DCL_PI_SPS* pointer with assigned parameters

Returns

Returns DCL_PI* with set sps parameters, default parameter will be used if sps_ptr is not specified

PI2_SPS_DEFAULTS

#define PI2_SPS_DEFAULTS   { 1.0f, 0.0f, 1.0f, -1.0f }

Defines default values to initialize DCL_PI2_SPS.

PI2_DEFAULTS

#define PI2_DEFAULTS

Value:

                { 1.0f, 0.0f, 1.0f, -1.0f, 0.0f, 0.0f, 1.0f, 1.0f, \
                &(DCL_PI2_SPS)PI2_SPS_DEFAULTS, &(DCL_CSS)DCL_CSS_DEFAULTS }

Defines default values to initialize DCL_PI2.

PI2_INT_DEFAULTS

#define PI2_INT_DEFAULTS

Value:

.i6=0.0f, .i9=0.0f, .i12=1.0f, .i13=1.0f, \
.sps=&(DCL_PI2_SPS)PI2_SPS_DEFAULTS, .css=&(DCL_CSS)DCL_CSS_DEFAULTS

Macro for internal default values to initialize DCL_PI2 Example: DCL_PI2 pi2_ctrl = { .Kp = 1.0f, .Ki = 0.0f, .Umax = 1.0f, .Umin = -1.0f, PI2_INT_DEFAULTS };.

DCL_initPI2

#define DCL_initPI2

(

)

&(DCL_PI2)PI2_DEFAULTS

Initialize DCL_PI2 struct with default parameters Example: DCL_PI2 pi2_ctrl = DCL_initPI2();.

Returns

A DCL_PI2* pointer

DCL_initPI2asParam

#define DCL_initPI2asParam	(		kp,
			ki,
			umax,
			umin
	)

Value:

                                &(DCL_PI2){ .Kp=kp, .Ki=ki, \
                                .Umax=umax, .Umin=umin, PI2_INT_DEFAULTS }

Initialize DCL_PI2 struct with input controller parameters Example: DCL_PI2* pi2_ctrl = DCL_initPI2asParam(1.0f,0.0f,1.0f,-1.0f); Note: input parameter needs to be in the same order as listed in PI2_SPS struct.

Returns

A DCL_PI2* pointer

DCL_initPI2asSPS

#define DCL_initPI2asSPS	(		pi2_ptr,
			sps_ptr
	)

Value:

({                                                                                         \
    DCL_PI2* new_pi = (pi2_ptr) ? pi2_ptr : DCL_initPI2();                                 \
    DCL_PI2_SPS* new_sps = (sps_ptr) ? sps_ptr : &(DCL_PI2_SPS)PI2_SPS_DEFAULTS;           \
    if(sps_ptr)                                                                            \
    {                                                                                      \
        *new_pi = (DCL_PI){ (new_sps)->Kp, (new_sps)->Ki, (new_sps)->Umax, (new_sps)->Umin,\
        0.0f, 0.0f, 1.0f, 1.0f, (DCL_PI_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS };        \
    }                                                                                      \
    new_pi;                                                                                \
})

Initialize DCL_PI2 struct with sps parameters Example: DCL_PI2_SPS pi2_sps = { .Kp = , .Ki = , ...}; DCL_PI2 pi2_ctrl; DCL_initPI2asSPS(&pi2_ctrl,&pi2_sps);.

Parameters

[in]	pi2_ptr	DCL_PI2* pointer that needs to be initialized
[in]	sps_ptr	DCL_PI2_SPS* pointer with assigned parameters

Returns

Returns DCL_PI2* with set sps parameters, default parameter will be used if sps_ptr is not specified

PID_SPS_DEFAULTS

#define PID_SPS_DEFAULTS   { 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, -1.0f }

Defines default values to initialize DCL_PID_SPS.

PID_DEFAULTS

#define PID_DEFAULTS

Value:

                        {  1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, \
                        1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 1.0f, \
        &(DCL_PID_SPS)PID_SPS_DEFAULTS, &(DCL_CSS)DCL_CSS_DEFAULTS }

Defines default values to initialize the DCL_PID structure.

PID_INT_DEFAULTS

#define PID_INT_DEFAULTS

Value:

    .d2=0.0f, .d3=0.0f, .i10=0.0f, .i14=1.0f, \
    .sps=&(DCL_PID_SPS)PID_SPS_DEFAULTS, .css=&(DCL_CSS)DCL_CSS_DEFAULTS

Macro for internal default values to initialize DCL_PID Example: DCL_PID pid_ctrl = { .Kp = 1.0f, .Ki = 0.0f, ... .Umin = -1.0f, PID_INT_DEFAULTS };.

DCL_initPID

#define DCL_initPID

(

)

&(DCL_PID)PID_DEFAULTS

Initialize DCL_PID struct with default parameters Example: DCL_PID* pid_ctrl = DCL_initPID();.

Returns

A DCL_PID* pointer

DCL_initPIDasParam

#define DCL_initPIDasParam	(		kp,
			ki,
			kd,
			kr,
			_c1,
			_c2,
			umax,
			umin
	)

Value:

                                        &(DCL_PID){ .Kp=kp, .Ki=ki, .Kd=kd, .Kr=kr, \
                                        .c1=_c1, .c2=_c2, .Umax=umax, .Umin=umin, PID_INT_DEFAULTS }

Initialize DCL_PID struct with input controller parameters Example: DCL_PID* pid_ctrl = DCL_initPIDasParam(1.0f,0.0f,0.0f,1.0f,1.0f,0.0f,1.0f,-1.0f); Note: input parameter needs to be in the same order as listed in PID_SPS struct.

Returns

A DCL_PID* pointer

DCL_initPIDasSPS

#define DCL_initPIDasSPS	(		pid_ptr,
			sps_ptr
	)

Value:

({                                                                                     \
    DCL_PID* new_pid = (pid_ptr) ? pid_ptr : DCL_initPID();                            \
    DCL_PID_SPS* new_sps = (sps_ptr) ? sps_ptr : &(DCL_PID_SPS)PID_SPS_DEFAULTS;       \
    if(sps_ptr)                                                                        \
    {                                                                                  \
        *new_pid = (DCL_PID){ (new_sps)->Kp, (new_sps)->Ki, (new_sps)->Kd,(new_sps)->Kr,\
        (new_sps)->c1, (new_sps)->c2, (new_sps)->Umax, (new_sps)->Umin, 0.0f, 0.0f,    \
        0.0f, 1.0f, (DCL_PID_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS };               \
    }                                                                                  \
    new_pid;                                                                           \
})

Initialize DCL_PID struct with SPS parameters Example: DCL_PID_SPS pid_sps = { .Kp = , .Ki = , ...}; //initial parameter DCL_PID pid_ctrl; DCL_initPIasSPS(&pid_ctrl,&pid_sps); Note: The newly declared DCL_PID structure will use the SPS input parameter as its attribute for sps.

Parameters

[in]	pid_ptr	DCL_PID* pointer that needs to be initialized
[in]	sps_ptr	DCL_PID_SPS* pointer with assigned parameters

Returns

Returns DCL_PID* with set sps parameters, default parameter will be used if sps_ptr is not specified

PIDF64_SPS_DEFAULTS

#define PIDF64_SPS_DEFAULTS   { 1.0L, 0.0L, 0.0L, 1.0L, 1.0L, 0.0L, 1.0L, -1.0L }

Defines default values to initialize the DCL_PIDF64 shadow structure.

PIDF64_DEFAULTS

#define PIDF64_DEFAULTS

Value:

                           {  1.0L, 0.0L, 0.0L, 1.0L, 1.0L, 0.0L, \
                           1.0L, -1.0L, 0.0L, 0.0L, 0.0L, 1.0L, \
&(DCL_PIDF64_SPS)PIDF64_SPS_DEFAULTS, &(DCL_CSSF64)DCL_CSSF64_DEFAULTS }

Defines default values to initialize the DCL_PID64 active structure.

PIDF64_INT_DEFAULTS

#define PIDF64_INT_DEFAULTS

Value:

    .d2=0.0L, .d3=0.0L, .i10=0.0L, .i14=1.0L, \
    .sps=&(DCL_PIDF64_SPS)PI_SPS_DEFAULTS, .css=&(DCL_CSSF64)DCL_CSS_DEFAULTS

Macro for internal default values to initialize DCL_PIDF64 Example: DCL_PIDF64 pid_ctrl = { .Kp = 1.0L, .Ki = 0.0L, ... .Umin = -1.0L, PIDF64_INT_DEFAULTS };.

DCL_initPIDF64

#define DCL_initPIDF64

(

)

&(DCL_PIDF64)PIDF64_DEFAULTS

Initialize DCL_PIDF64 struct with default parameters Example: DCL_PIDF64* pid_ctrl = DCL_initPID();.

Returns

A DCL_PIDF64* pointer

DCL_initPIDF64asParam

#define DCL_initPIDF64asParam	(		kp,
			ki,
			kd,
			kr,
			_c1,
			_c2,
			umax,
			umin
	)

Value:

                                            &(DCL_PIDF64){ .Kp=kp, .Ki=ki, .Kd=kd, .Kr=kr, \
                                            .c1=_c1, .c2=_c2, .Umax=umax, .Umin=umin, PIDF64_INT_DEFAULTS }

Initialize DCL_PIDF64 struct with input controller parameters Example: DCL_PIDF64* pid_ctrl = DCL_initPIDF64asParam(1.0L,0.0L,0.0L,1.0L,1.0L,0.0L,1.0L,-1.0L); Note: input parameter needs to be in the same order as listed in PIDF64_SPS struct.

Returns

A DCL_PID* pointer

DCL_initPIDF64asSPS

#define DCL_initPIDF64asSPS	(		pid_ptr,
			sps_ptr
	)

Value:

({                                                                                     \
    DCL_PIDF64* new_pid = (pid_ptr) ? pid_ptr : DCL_initPID();                         \
    DCL_PIDF64_SPS* new_sps = (sps_ptr) ? sps_ptr : &(DCL_PIDF64_SPS)PID_SPS_DEFAULTS; \
    if(sps_ptr)                                                                        \
    {                                                                                  \
        *new_pi = (DCL_PID){ (new_sps)->Kp, (new_sps)->Ki, (new_sps)->Kd,(new_sps)->Kr,\
        (new_sps)->c1, (new_sps)->c2, (new_sps)->Umax, (new_sps)->Umin, 0.0L, 0.0L,    \
        0.0L, 1.0L,(DCL_PIDF64_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS };             \
    }                                                                                  \
    new_pid;                                                                           \
})

Initialize DCL_PIDF64 struct with sps parameters Example: DCL_PIDF64_SPS pid_sps = { .Kp = , .Ki = , ...}; //initial parameter DCL_PIDF64 pid_ctrl; DCL_initPIasSPS(&pid_ctrl,&pid_sps);.

Parameters

[in]	pid_ptr	DCL_PIDF64* pointer that needs to be initialized
[in]	sps_ptr	DCL_PIDF64_SPS* pointer with assigned parameters

Returns

Returns DCL_PID* with set sps parameters, default parameter will be used if sps_ptr is not specified

DF11_SPS_DEFAULTS

#define DF11_SPS_DEFAULTS   { 0.5f, 0.5f, 1.0f }

DF11_DEFAULTS

#define DF11_DEFAULTS

Value:

        { 0.5f, 0.5f, 1.0f, 0.0f, 0.0f, \
        &(DCL_DF11_SPS)DF11_SPS_DEFAULTS, &(DCL_CSS)DCL_CSS_DEFAULTS }

Defines default values to initialize DCL_DF11.

DF11_INT_DEFAULTS

#define DF11_INT_DEFAULTS   .d1=0.0f, .d2=0.0f, .sps=&(DCL_DF11_SPS)DF11_SPS_DEFAULTS, .css=&(DCL_CSS)DCL_CSS_DEFAULTS

Macro for internal default values to initialize DCL_DF11 Example: DCL_DF11 df11_ctrl = { .b0 = 0.5f, .b1 = 0.5f, .a1 = 1.0f, DF11_INT_DEFAULTS };.

DCL_initDF11

#define DCL_initDF11

(

)

&(DCL_DF11)DF11_DEFAULTS

Initialize DCL_DF11 struct with default parameters Example: DCL_DF11* df11_ctrl = DCL_initDF11();.

Returns

A DCL_DF11* pointer

DCL_initDF11asParam

#define DCL_initDF11asParam	(		_b0,
			_b1,
			_a1
	)

Value:

                                &(DCL_DF11){ .b0=_b0, .b1=_b1, .a1=_a1, \
                                DF11_INT_DEFAULTS }

Initialize DCL_DF11 struct with input compensator parameters Example: DCL_DF11* DF11_ctrl = DCL_initDF11asParam(0.5f,0.5f,1.0f); Note: input parameter needs to be in the same order as listed in DF11_SPS struct.

Returns

A DCL_DF11* pointer

DCL_initDF11asSPS

#define DCL_initDF11asSPS	(		df_ptr,
			sps_ptr
	)

Value:

({                                                                                 \
    DCL_DF11* new_df = (df_ptr) ? df_ptr : DCL_initDF11();                         \
    DCL_DF11_SPS* new_sps = (sps_ptr) ? sps_ptr : &(DCL_DF11_SPS)DF11_SPS_DEFAULTS;\
    if(sps_ptr)                                                                    \
    {                                                                              \
        *new_df = (DCL_DF11){ (new_sps)->b0, (new_sps)->b1, (new_sps)->a1,         \
        0.0f, 0.0f, (DCL_DF11_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS };          \
    }                                                                              \
    new_df;                                                                        \
})

Initialize DCL_DF11 struct with sps parameters Example: DCL_DF11_SPS df_sps = { .b0 = , .b1 = , ...}; //initial parameter DCL_DF11 df_ctrl; DCL_initDF11asSPS(&df_ctrl,&df_sps);.

Parameters

[in]	df_ptr	DCL_DF11* pointer that needs to be initialized
[in]	sps_ptr	DCL_DF11_SPS* pointer with assigned parameters

Returns

DCL_DF11* Returns DCL_DF11* with set sps parameters, default parameter will be used if sps_ptr is not specified

DF13_SPS_DEFAULTS

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

DF13_DEFAULTS

#define DF13_DEFAULTS

Value:

                        { 0.25f, 0.25f, 0.25f, 0.25f, 0.0f, 0.0f, 0.0f, \
                        0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, \
            &(DCL_DF13_SPS)DF13_SPS_DEFAULTS, &(DCL_CSS)DCL_CSS_DEFAULTS }

Defines default values to initialize DCL_DF13.

DF13_INT_DEFAULTS

#define DF13_INT_DEFAULTS

Value:

                          .d1=0.0f, .d2=0.0f, .d3=0.0f, .d4=0.0f, .d5=0.0f, \
                          .d6=0.0f, .a0=0.0f, .d0=0.0f, .d7=0.0f, \
                          .sps=&(DCL_DF13_SPS)DF13_SPS_DEFAULTS, .css=&(DCL_CSS)DCL_CSS_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 };.

DCL_initDF13

#define DCL_initDF13

(

)

&(DCL_DF13)DF13_DEFAULTS

Initialize DCL_DF13 struct with default parameters Example: DCL_DF13* df13_ctrl = DCL_initDF13();.

Returns

A DCL_DF13* pointer

DCL_initDF13asParam

#define DCL_initDF13asParam	(		_b0,
			_b1,
			_b2,
			_b3,
			_a1,
			_a2,
			_a3
	)

Value:

                        &(DCL_DF13){ .b0=_b0, .b1=_b1, \
                        .b2=_b2, .b3=_b3, .a1=_a1, .a2=_a2, .a3=_a3, DF13_INT_DEFAULTS }

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.

Returns

A DCL_DF13* pointer

DCL_initDF13asSPS

#define DCL_initDF13asSPS	(		df_ptr,
			sps_ptr
	)

Value:

({                                                                                         \
    DCL_DF13* new_df = (df_ptr) ? df_ptr : DCL_initDF13();                                 \
    DCL_DF13_SPS* new_sps = (sps_ptr) ? sps_ptr : &(DCL_DF13_SPS)DF13_SPS_DEFAULTS;        \
    if(sps_ptr)                                                                            \
    {                                                                                      \
        *new_df =(DCL_DF13){ (new_sps)->b0, (new_sps)->b1, (new_sps)->b2, (new_sps)->b3,   \
        (new_sps)->a1, (new_sps)->a2, (new_sps)->a3, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,   \
        0.0f, 0.0f, 0.0f, (DCL_DF13_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS };            \
    }                                                                                      \
    new_df;                                                                                \
})

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);.

Parameters

[in]	df_ptr	DCL_DF13* pointer that needs to be initialized
[in]	sps_ptr	DCL_DF13_SPS* pointer with assigned parameters

Returns

DCL_DF13* Returns DCL_DF13* with set sps parameters, default parameter will be used if sps_ptr is not specified

DF22_SPS_DEFAULTS

#define DF22_SPS_DEFAULTS   { 1.0f, 0.0f, 0.0f, 0.0f, 0.0f }

DF22_DEFAULTS

#define DF22_DEFAULTS

Value:

        { 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, \
        &(DCL_DF22_SPS)DF22_SPS_DEFAULTS, &(DCL_CSS)DCL_CSS_DEFAULTS }

Defines default values to initialize DCL_DF22.

DF22_INT_DEFAULTS

#define DF22_INT_DEFAULTS

Value:

                          .x1=0.0f, .x2=0.0f, .sps=&(DCL_DF22_SPS)DF22_SPS_DEFAULTS, \
                          .css=&(DCL_CSS)DCL_CSS_DEFAULTS

Macro for internal default values to initialize DCL_DF22 Example: DCL_DF22 df22_ctrl = { .b0 = 1.00f, .b1 = 0.0f, ... .a2 = 0.0f, DF22_INT_DEFAULTS };.

DCL_initDF22

#define DCL_initDF22

(

)

&(DCL_DF22)DF22_DEFAULTS

Initialize DCL_DF22 struct with default parameters Example: DCL_DF22* df22_ctrl = DCL_initDF22();.

Returns

A DCL_DF22* pointer

DCL_initDF22asParam

#define DCL_initDF22asParam	(		_b0,
			_b1,
			_b2,
			_a1,
			_a2
	)

Value:

                        &(DCL_DF22){ .b0=_b0, .b1=_b1, \
                        .b2=_b2, .a1=_a1, .a2=_a2, .a3=_a3, DF22_INT_DEFAULTS }

Initialize DCL_DF22 struct with input compensator parameters Example: DCL_DF22 DF22_ctrl = DCL_initD22asParam(1.0f,0.0f,0.0f,0.0f,0.0f); Note: input parameter needs to be in the same order as listed in DF22_SPS struct.

Returns

A DCL_DF22* pointer

DCL_initDF22asSPS

#define DCL_initDF22asSPS	(		df_ptr,
			sps_ptr
	)

Value:

({                                                                                       \
    DCL_DF22* new_df = (df_ptr) ? df_ptr : DCL_initDF22();                               \
    DCL_DF22_SPS* new_sps = (sps_ptr) ? sps_ptr : &(DCL_DF22_SPS)DF22_SPS_DEFAULTS;      \
    if(sps_ptr)                                                                          \
    {                                                                                    \
        *new_df = (DCL_DF22){ (new_sps)->b0, (new_sps)->b1, (new_sps)->b2, (new_sps)->a1,\
        (new_sps)->a2, 0.0f, 0.0f, (DCL_DF22_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS }; \
    }                                                                                    \
    new_df;                                                                              \
})

Initialize DCL_DF22 struct using sps parameters Example: DCL_DF22_SPS df_sps = { .b0 = , .b1 = , ...}; //initial parameter DCL_DF22 df_ctrl; DCL_initDF22asSPS(&df_ctrl,&df_sps);.

Parameters

[in]	df_ptr	DCL_DF22* pointer that needs to be initialized
[in]	sps_ptr	DCL_DF22_SPS* pointer with assigned parameters

Returns

Returns DCL_DF22* with set sps parameters, default parameter will be used if sps_ptr is not specified

DF23_SPS_DEFAULTS

#define DF23_SPS_DEFAULTS   { 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f }

DF23_DEFAULTS

#define DF23_DEFAULTS

Value:

                        { 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, \
                        0.0f, 0.0f, 0.0f, 0.0f, 0.0f, \
        &(DCL_DF23_SPS)DF23_SPS_DEFAULTS, &(DCL_CSS)DCL_CSS_DEFAULTS }

Defines default values to initialize DCL_DF23.

DF23_INT_DEFAULTS

#define DF23_INT_DEFAULTS

Value:

.x1=0.0f, .x2=0.0f, .x3=0.0f, \
.sps=&(DCL_DF23_SPS)DF23_SPS_DEFAULTS, .css=&(DCL_CSS)DCL_CSS_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 };.

DCL_initDF23

#define DCL_initDF23

(

)

&(DCL_DF23)DF23_DEFAULTS

Initialize DCL_DF23 struct with default parameters Example: DCL_DF23* df23_ctrl = DCL_initDF23();.

Returns

A DCL_DF23* pointer

DCL_initDF23asParam

#define DCL_initDF23asParam	(		_b0,
			_b1,
			_b2,
			_b3,
			_a1,
			_a2,
			_a3
	)

Value:

                        &(DCL_DF23){ .b0=_b0, .b1=_b1, \
                        .b2=_b2, .b3=_b3, .a1=_a1, .a2=_a2, .a3=_a3, DF23_INT_DEFAULTS }

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.

Returns

A DCL_DF23* pointer

DCL_initDF23asSPS

#define DCL_initDF23asSPS	(		df_ptr,
			sps_ptr
	)

Value:

({                                                                                 \
    DCL_DF23* new_df = (df_ptr) ? df_ptr : DCL_initDF23();                         \
    DCL_DF23_SPS* new_sps = (sps_ptr) ? sps_ptr : &(DCL_DF23_SPS)DF23_SPS_DEFAULTS;\
    if(sps_ptr)                                                                    \
    {                                                                              \
        *new_df = (DCL_DF23){ (new_sps)->b0, (new_sps)->b1, (new_sps)->b2,         \
        (new_sps)->b3,(new_sps)->a1, (new_sps)->a2, (new_sps)->a3, 0.0f,           \
        0.0f, 0.0f, (DCL_DF23_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS };          \
    }                                                                              \
    new_df;                                                                        \
})

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);.

Parameters

[in]	df_ptr	DCL_DF23* pointer that needs to be initialized
[in]	sps_ptr	DCL_DF23_SPS* pointer with assigned parameters

Returns

Returns DCL_DF23* with set sps parameters, default parameter will be used if sps_ptr is not specified

NULL

#define NULL   0

CONST_PI

#define CONST_PI   3.14159265358979323846f

Local definitions of the mathematical constant pi.

CONST_2PI

#define CONST_2PI   2.0f * CONST_PI

CONST_PI_F64

#define CONST_PI_F64   3.1415926535897932384626433832795028841971693993751058209749445923078164062L

CONST_2PI_F64

#define CONST_2PI_F64   2.0L * CONST_PI_F64

DCL_FPU32_TOL

#define DCL_FPU32_TOL   1.0e-06f

Define the acceptable FPU numerical tolerances.

DCL_FPU64_TOL

#define DCL_FPU64_TOL   1.0e-10L

DCL_DEFAULT_PERIOD_S

#define DCL_DEFAULT_PERIOD_S   100.0e-06f

Define the default control period in seconds.

DCL_DEFAULT_PERIODF64_S

#define DCL_DEFAULT_PERIODF64_S   100.0e-06L

DCL_isValue

#define DCL_isValue	(		x,
			y
	)		(((x < (y + DCL_FPU32_TOL)) && (x > (y - DCL_FPU32_TOL))) ? 1U : 0U)

Determines numerical proximity to specified value.

DCL_isValueF64

#define DCL_isValueF64	(		x,
			y
	)		(((x < (y + DCL_FPU64_TOL)) && (x > (y - DCL_FPU64_TOL))) ? 1U : 0U)

DCL_isZero

#define DCL_isZero

(

x

)

DCL_isValue(x,0.0f)

Determines floating point numerical proximity to zero.

DCL_isZeroF64

#define DCL_isZeroF64

(

x

)

DCL_isValueF64(x,0.0L)

DCL_rand

#define DCL_rand

(

a

)

(a * ((float32_t) rand() / (float32_t) (RAND_MAX >> 1) - 1.0f))

Returns a random floating point result between -1.0 and +1.0 where 'a' is the multiplier in single or double precision. Useful for initialization of arrays and matrices during test.

float32_t s = DCL_rand(1.0f);

DCL_randF64

#define DCL_randF64

(

a

)

(a * ((float64_t) rand() / (float64_t) (RAND_MAX >> 1) - 1.0L))

DCL_c2Limit

#define DCL_c2Limit   ((2.0f - CONST_PI) / (2.0f + CONST_PI))

Defines the lower limit on derivative filter coefficient c2 in order for fc to lie below the Nyquist frequency.

DCL_c2LimitF64

#define DCL_c2LimitF64   ((2.0L - CONST_PI_F64) / (2.0L + CONST_PI_F64))

DCL_runSat

#define DCL_runSat	(		data,
			Umax,
			Umin
	)		(data > Umax) ? Umax : (data < Umin) ? Umin : data

Macro to saturate a control variable but does not change the data itself unlike runClamp()

Parameters

[in]	data	The data value
[in]	Umax	The upper limit
[in]	Umin	The lower limit

Returns

Returns unchanged data value is not saturated, else either Umax or Umin

DCL_CSS_DEFAULTS

#define DCL_CSS_DEFAULTS   { 0.0f, DCL_DEFAULT_PERIOD_S, 0U, 0U, 0U, NULL }

Default values to initialize the CSS structure.

DCL_CSSF64_DEFAULTS

#define DCL_CSSF64_DEFAULTS   { 0.0L, DCL_DEFAULT_PERIODF64_S, 0U, 0U, 0U, NULL }

Default values to initialize the CSS 64bit structure.

DCL_setControllerPeriod

#define DCL_setControllerPeriod	(		p,
			t_sec
	)		((p)->css->T = t_sec)

Loads the controller period in the CSS CSS pointer must be configured first.

Parameters

[in]	p	Pointer to the controller structure
[in]	t_sec	Controller period in seconds

Returns

None

DCL_setUpdateStatus

#define DCL_setUpdateStatus

(

p

)

((p)->css->sts |= dcl_sts_param_update)

Macros to set and clear the update-in-progress flag.

DCL_clearUpdateStatus

#define DCL_clearUpdateStatus

(

p

)

((p)->css->sts &= ~dcl_sts_param_update)

DCL_getUpdateStatus

#define DCL_getUpdateStatus

(

p

)

(0U != ((p)->css->sts & dcl_sts_param_update))

Determine whether a parameter update-in-progress flag is set.

Returns

'true' if update status is set, otherwise false

DCL_getPendingStatus

#define DCL_getPendingStatus

(

p

)

(0U != ((p)->css->sts & dcl_sts_param_pending))

Determine whether a parameter pending-for-update flag is set.

Returns

'true' if pending status is set, otherwise false

DCL_setControllerStatus

#define DCL_setControllerStatus

(

p

)

((p)->css->sts |= dcl_sts_ctrl_running)

Macros placed at the beginning and end of the controller so that other functions know a control operation is in progress. Typically only used with complex controllers which may not be atomic.

DCL_clearControllerStatus

#define DCL_clearControllerStatus

(

p

)

((p)->css->sts &= ~dcl_sts_ctrl_running)

DCL_getControllerStatus

#define DCL_getControllerStatus

(

p

)

(0U != ((p)->css->sts & dcl_sts_ctrl_running))

Determine whether a controller operation-in-progress flag is set.

Returns

'true' if controller running flag is set, otherwise false

ZPK3_DEFAULTS

#define ZPK3_DEFAULTS

Value:

                        { 0.0f + 0.0f*I, 0.0f + 0.0f*I, 0.0f + 0.0f*I, \
                        0.0f + 0.0f*I, 0.0f + 0.0f*I, 0.0f + 0.0f*I, \
                        1.0f }

Defines default values to initialize the DCL_ZPK3 structure.

DCL_clearError

#define DCL_clearError

(

ptr

)

((ptr)->css->err = dcl_none)

Macro to clear stored error code in CSS.

Parameters

[in]

ptr

DCL controller object that contains css

DCL_setError

#define DCL_setError	(		ptr,
			code
	)		((ptr)->css->err |= code)

Macro to set error code in CSS.

Parameters

[in]	ptr	DCL controller object that contains css
[in]	code	enum dcl_error_codes

DCL_getErrorLine

#define DCL_getErrorLine

(

ptr

)

((ptr)->css->err_line = ((ptr)->css->err) ? __LINE__ : 0)

Macro to store line location of error in CSS.

Parameters

[in]

ptr

DCL controller object that contains css

DCL_getErrorFunc

#define DCL_getErrorFunc

(

ptr

)

((ptr)->css->err_func = ((ptr)->css->err) ? __FUNCTION__ : NULL)

Macro to store function location of error in CSS.

Parameters

[in]

ptr

DCL controller object that contains css

DCL_getErrorInfo

#define DCL_getErrorInfo

(

ptr

)

Value:

{                             \
    DCL_getErrorLine(ptr);    \
    DCL_getErrorFunc(ptr);    \
}

Macro to store error info in CSS.

Parameters

[in]

ptr

DCL controller object that contains css

DCL_runErrorHandler

#define DCL_runErrorHandler

(

ptr

)

Value:

{                                \
    if(dcl_none != ptr->css->err)\
    {                            \
        DCL_setBreakPoint();     \
        DCL_clearError(ptr);     \
    }                            \
}

Prototype for basic error handler.

Parameters

[in]

ptr

DCL controller object that contains css

DCL_getLogSize

#define DCL_getLogSize

(

buf

)

((buf)->size)

Obtain the total size of buffer.

Parameters

[in]

buf

Pointer to DCL_FDLOG

Returns

uint32_t size

DCL_getLogIndex

#define DCL_getLogIndex

(

buf

)

((uint32_t)((buf)->dptr - (buf)->fptr))

Index of the current pointer (zero-indexed)

Parameters

[in]

buf

Pointer to DCL_FDLOG

Returns

uint32_t index

DCL_getLogRemain

#define DCL_getLogRemain

(

buf

)

((buf)->size - DCL_getLogIndex(buf))

Remaining space left from indexed pointer to end of buffer.

Parameters

[in]

buf

Pointer to DCL_FDLOG

Returns

uint32_t remain

DCL_clearLog

#define DCL_clearLog

(

buf

)

DCL_fillLog(buf,0)

Clears the buffer contents by writing 0 to all elements and resets the data index pointer to the start of the buffer.

Typedef Documentation

float32_t

typedef float float32_t

Defines single,double precision data type. Note: Assumes ABI to be TI_EABI, does not support legacy TI_COFF.

float64_t

typedef double float64_t

dcl_interrupt_t

typedef uint32_t dcl_interrupt_t

DCL_PI

typedef _DCL_VOLATILE struct dcl_pi DCL_PI

PI_Handle

typedef _DCL_VOLATILE struct dcl_pi * PI_Handle

DCL_PI2

typedef _DCL_VOLATILE struct dcl_pi2 DCL_PI2

PI2_Handle

typedef _DCL_VOLATILE struct dcl_pi2 * PI2_Handle

DCL_PID

typedef _DCL_VOLATILE struct dcl_pid DCL_PID

PID_Handle

typedef _DCL_VOLATILE struct dcl_pid * PID_Handle

DCL_PIDF64

typedef _DCL_VOLATILE struct dcl_pidf64 DCL_PIDF64

PIDF64_Handle

typedef _DCL_VOLATILE struct dcl_pidf64 * PIDF64_Handle

DCL_DF11

typedef _DCL_VOLATILE struct dcl_df11 DCL_DF11

DF11_Handle

typedef _DCL_VOLATILE struct dcl_df11 * DF11_Handle

DCL_DF13

typedef _DCL_VOLATILE struct dcl_df13 DCL_DF13

DF13_Handle

typedef _DCL_VOLATILE struct dcl_df13 * DF13_Handle

DCL_DF22

typedef _DCL_VOLATILE struct dcl_df22 DCL_DF22

DF22_Handle

typedef _DCL_VOLATILE struct dcl_df22 * DF22_Handle

DCL_DF23

typedef _DCL_VOLATILE struct dcl_df23 DCL_DF23

DF23_Handle

typedef _DCL_VOLATILE struct dcl_df23 * DF23_Handle

DCL_FDLOG

typedef _DCL_VOLATILE struct dcl_fdlog DCL_FDLOG

Enumeration Type Documentation

dcl_status_bits

enum dcl_status_bits

Defines the library enumerated status bits.

To perform a safe parameter update, the user first loads new parameter into the controller's SPS. Then either invoke DCL_update() for an one-time update, or in the case of an ISR routine update, the user could use DCL_setPendingStatus() to indicate an pending update. In which the next call to DCL_pendingUpdate() would update the controller parameter and clear the flag.

Both DCL_update() and DCL_pendingUpdate() disables global interrupts to ensure a safe update.

Enumerator
dcl_sts_none	Status empty.
dcl_sts_param_update	Parameter update-in-progress flag, high if ongoing parameter update.
dcl_sts_ctrl_running	Controller operation-in-progress flag, high if operation is in progress.

dcl_error_codes

enum dcl_error_codes

Defines the library enumerated error codes. These will be applied as bit masks in the error handler.

Enumerator
dcl_none	No error.
dcl_param_range_err	Parameter range exceeded.
dcl_param_invalid_err	Parameter not valid.
dcl_param_warn_err	Parameter warning.
dcl_input_range_err	Input range exceeded.
dcl_overflow_err	Numerical overflow.
dcl_underflow_err	Numerical underflow
dcl_controller_err	Controller operation not completed.
dcl_timing_err	Timing error.

Function Documentation

DCL_resetPI()

_DCL_CODE_ACCESS void DCL_resetPI

(

DCL_PI *

pi

)

Resets PI internal storage data with interrupt protection.

Parameters

[in]

pi

Pointer to the DCL_PI structure

DCL_forceUpdatePI()

_DCL_CODE_ACCESS void DCL_forceUpdatePI

(

DCL_PI *

pi

)

Loads PI tuning parameter from its SPS parameter without interrupt protection

Parameters

[in]

pi

Pointer to the DCL_PI controller structure

DCL_updatePINoCheck()

_DCL_CODE_ACCESS _DCL_CODE_SECTION void DCL_updatePINoCheck

(

DCL_PI *

pi

)

Loads PI tuning parameter from its SPS parameter with interrupt protection.

Parameters

[in]

pi

Pointer to the DCL_PI controller structure

DCL_updatePI()

_DCL_CODE_ACCESS _DCL_CODE_SECTION bool DCL_updatePI

(

DCL_PI *

pi

)

A conditional update based on the update flag. If the update status is set, the function will update PI parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_setUpdateStatus(pi) to set the update status.

Parameters

[in]

pi

Pointer to the DCL_PI controller structure

Returns

'true' if an update is applied, otherwise 'false'

DCL_loadSeriesPIasZPK()

_DCL_CODE_ACCESS void DCL_loadSeriesPIasZPK	(	DCL_PI *	pi,
		DCL_ZPK3 *	zpk
	)

Configures a series PI controller in "zero-pole-gain" form Note: Sampling period pi->css->T are used in the calculation. New settings take effect after DCL_updatePI(). Only z1 considered in DCL_ZPK3, other poles & zeros ignored. Zero frequency assumed to be in radians/sec.

Parameters

[in]	pi	Pointer to the DCL_PI controller structure
[in]	zpk	Pointer to the ZPK3 structure

DCL_loadParallelPIasZPK()

_DCL_CODE_ACCESS void DCL_loadParallelPIasZPK	(	DCL_PI *	pi,
		DCL_ZPK3 *	zpk
	)

Configures a parallel PI controller in "zero-pole-gain" form Note: Sampling period pi->css->T are used in the calculation. New settings take effect after DCL_updatePI(). Zero frequency assumed to be in radians/sec.

Parameters

[in]	pi	Pointer to the active DCL_PI controller structure
[in]	zpk	Pointer to the ZPK3 structure

DCL_runPISeries()

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t DCL_runPISeries	(	DCL_PI *	pi,
		float32_t	rk,
		float32_t	yk
	)

Executes an inline series form PI controller.

Parameters

[in]	pi	Pointer to the DCL_PI structure
[in]	rk	The controller set-point reference
[in]	yk	The measured feedback value

Returns

The control effort

DCL_runPIParallel()

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t DCL_runPIParallel	(	DCL_PI *	pi,
		float32_t	rk,
		float32_t	yk
	)

Executes a parallel form PI controller Implemented as inline C function.

Parameters

[in]	pi	Pointer to the DCL_PI structure
[in]	rk	The controller set-point reference
[in]	yk	The measured feedback value

Returns

The control effort

DCL_runPIParallelEnhanced()

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t DCL_runPIParallelEnhanced	(	DCL_PI *	pi,
		float32_t	rk,
		float32_t	yk
	)

Executes a parallel form PI controller with enhanced anti-windup logic incorporating an addintional integrator saturation clamp.

Parameters

[in]	pi	Pointer to the DCL_PI structure
[in]	rk	The controller set-point reference
[in]	yk	The measured feedback value

Returns

The control effort

DCL_runPISeriesTustin()

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t DCL_runPISeriesTustin	(	DCL_PI *	pi,
		float32_t	rk,
		float32_t	yk
	)

Executes a series form PI controller with Tustin integrator.

Parameters

[in]	pi	Pointer to the DCL_PI structure
[in]	rk	The controller set-point reference
[in]	yk	The measured feedback value

Returns

The control effort

DCL_resetPI2()

_DCL_CODE_ACCESS void DCL_resetPI2

(

DCL_PI2 *

pi2

)

Resets PI2 internal storage data with interrupt protection.

Parameters

[in]

pi2

Pointer to the DCL_PI2 structure

DCL_forceUpdatePI2()

_DCL_CODE_ACCESS void DCL_forceUpdatePI2

(

DCL_PI2 *

pi2

)

Loads PI2 tuning parameter from its SPS parameter without interrupt protection.

Parameters

[in]

pi2

Pointer to the DCL_PI2 controller structure

DCL_updatePI2NoCheck()

_DCL_CODE_ACCESS _DCL_CODE_SECTION void DCL_updatePI2NoCheck

(

DCL_PI2 *

pi2

)

Loads PI2 tuning parameter from its SPS parameter with interrupt protection.

Parameters

[in]

pi2

Pointer to the DCL_PI2 controller structure

DCL_updatePI2()

_DCL_CODE_ACCESS _DCL_CODE_SECTION bool DCL_updatePI2

(

DCL_PI2 *

pi2

)

A conditional update based on the update flag. If the update status is set, the function will update PI2 parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_setUpdateStatus(pi2) to set the update status.

Parameters

[in]

pi2

Pointer to the DCL_PI2 controller structure

Returns

'true' if an update is applied, otherwise 'false'

DCL_runPI2Series()

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t DCL_runPI2Series	(	DCL_PI2 *	pi2,
		float32_t	rk,
		float32_t	yk
	)

Executes an inline series form PI2 controller on the FPU32.

Parameters

[in]	pi2	Pointer to the DCL_PI2 structure
[in]	rk	The controller set-point reference
[in]	yk	The measured feedback

Returns

The control effort

DCL_resetPID()

_DCL_CODE_ACCESS void DCL_resetPID

(

DCL_PID *

pid

)

Resets PID internal storage data with interrupt protection.

Parameters

[in]

pid

Pointer to the DCL_PID structure

DCL_forceUpdatePID()

_DCL_CODE_ACCESS void DCL_forceUpdatePID

(

DCL_PID *

pid

)

Loads PID tuning parameter from its SPS parameter without interrupt protection.

Parameters

[in]

pid

Pointer to the active DCL_PID controller structure

DCL_updatePIDNoCheck()

_DCL_CODE_ACCESS _DCL_CODE_SECTION void DCL_updatePIDNoCheck

(

DCL_PID *

pid

)

Loads PID tuning parameter from its SPS parameter with interrupt protection.

Parameters

[in]

pid

Pointer to the active DCL_PID controller structure

DCL_updatePID()

_DCL_CODE_ACCESS _DCL_CODE_SECTION bool DCL_updatePID

(

DCL_PID *

pid

)

A conditional update based on the update flag. If the update status is set, the function will update PID parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_getUpdateStatus(pid) to set the update status.

Parameters

[in]

pid

Pointer to the DCL_PID controller structure

Returns

'true' if an update is applied, otherwise 'false'

DCL_setPIDfilterBW()

_DCL_CODE_ACCESS void DCL_setPIDfilterBW	(	DCL_PID *	pid,
		float32_t	fc
	)

Loads the derivative path filter shadow coefficients. Note: Sampling period pid->css->T are used in the calculation. New coefficients take effect when DCL_updatePID() is called.

Parameters

[in]	pid	Pointer to the DCL_PID structure
[in]	fc	The desired filter bandwidth in Hz

DCL_setActivePIDfilterBW()

_DCL_CODE_ACCESS void DCL_setActivePIDfilterBW	(	DCL_PID *	pid,
		float32_t	fc,
		float32_t	T
	)

Loads the PID derivative path filter active coefficients Note: Sampling period pid->css->T are used in the calculation. New coefficients take effect immediately. SPS & CSS contents are unaffected.

Parameters

[in]	pid	Pointer to the DCL_PID structure
[in]	fc	The desired filter bandwidth in Hz
[in]	T	The controller update rate in seconds

DCL_getPIDfilterBW()

_DCL_CODE_ACCESS float32_t DCL_getPIDfilterBW

(

DCL_PID *

pid

)

Calculates the active derivative path filter bandwidth in Hz. Note: Sampling period pid->css->T are used in the calculation.

Parameters

[in]

pid

Pointer to the DCL_PID structure

Returns

The filter bandwidth in Hz

DCL_loadSeriesPIDasZPK()

_DCL_CODE_ACCESS void DCL_loadSeriesPIDasZPK	(	DCL_PID *	pid,
		DCL_ZPK3 *	zpk
	)

Configures a series PID controller parameter in ZPK form. Note: Sampling period pid->css->T are used in the calculation. Parameters take effect after call to DCL_updatePID(). Only z1, z2 & p2 considered, p1 = 0 assumed.

Parameters

[in]	pid	Pointer to the active DCL_PID controller structure
[in]	zpk	Pointer to the DCL_ZPK3 structure

DCL_loadParallelPIDasZPK()

_DCL_CODE_ACCESS void DCL_loadParallelPIDasZPK	(	DCL_PID *	pid,
		DCL_ZPK3 *	zpk
	)

Configures a parallel PID controller in ZPK form. Note: Sampling period pid->css->T are used in the calculation. Parameters take effect after call to DCL_updatePID(). Only z1, z2 & p2 considered, p1 = 0 assumed.

Parameters

[in]	pid	Pointer to the active DCL_PID controller structure
[in]	zpk	Pointer to the DCL_ZPK3 structure

DCL_runPIDSeries()

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t DCL_runPIDSeries	(	DCL_PID *	pid,
		float32_t	rk,
		float32_t	yk,
		float32_t	lk
	)

Executes an ideal form PID controller.

Parameters

[in]	pid	Pointer to the DCL_PID structure
[in]	rk	The controller set-point reference
[in]	yk	The measured feedback value
[in]	lk	External output clamp flag

Returns

The control effort

DCL_runPIDParallel()

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t DCL_runPIDParallel	(	DCL_PID *	pid,
		float32_t	rk,
		float32_t	yk,
		float32_t	lk
	)

Executes a parallel form PID controller.

Parameters

[in]	pid	Pointer to the DCL_PID structure
[in]	rk	The controller set-point reference
[in]	yk	The measured feedback value
[in]	lk	External output clamp flag

Returns

The control effort

DCL_resetPIDF64()

_DCL_CODE_ACCESS void DCL_resetPIDF64

(

DCL_PIDF64 *

pid

)

Resets PID64 internal storage data with interrupt protection.

Parameters

[in]

pid

Pointer to the DCL_PID64 structure

DCL_forceUpdatePIDF64()

_DCL_CODE_ACCESS void DCL_forceUpdatePIDF64

(

DCL_PIDF64 *

pid

)

Loads PIDF64 tuning parameter from its SPS parameter without interrupt protection.

Parameters

[in]

pid

Pointer to the active DCL_PID64 controller structure

DCL_updatePIDF64NoCheck()

_DCL_CODE_ACCESS void DCL_updatePIDF64NoCheck

(

DCL_PIDF64 *

pid

)

Updates PID parameter from its SPS parameter with interrupt protection.

Parameters

[in]

pid

Pointer to the DCL_PID64 controller structure

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 PIDF64 parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_setUpdateStatus(pid) to set the pending status.

Parameters

[in]

pid

Pointer to the DCL_PIDF64 controller structure

Returns

'true' if an update is applied, otherwise 'false'

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 the calculation Note: new coefficients take effect when DCL_updatePID64() is called.

Parameters

[in]	pid	Pointer to the DCL_PID64 structure
[in]	fc	The desired filter bandwidth in Hz

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 immediately. SPS & CSS contents are unaffected.

Parameters

[in]	pid	Pointer to the DCL_PID64 structure
[in]	fc	The desired filter bandwidth in Hz
[in]	T	The controller period in seconds

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 in the calculation.

Parameters

[in]

pid

Pointer to the DCL_PID64 structure

Returns

The filter bandwidth in Hz

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.

Parameters

[in]	pid	Pointer to the DCL_PID64 structure
[in]	rk	The controller set-point reference
[in]	yk	The measured feedback value
[in]	lk	External output clamp flag

Returns

The control effort

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.

Parameters

[in]	pid	Pointer to the DCL_PID64 structure
[in]	rk	The controller set-point reference
[in]	yk	The measured feedback value
[in]	lk	External output clamp flag

Returns

The control effort

DCL_resetDF11()

_DCL_CODE_ACCESS void DCL_resetDF11

(

DCL_DF11 *

df

)

Resets DF11 internal storage data with interrupt protection.

Parameters

[in]

df

Pointer to the DCL_DF11 structure

DCL_forceUpdateDF11()

_DCL_CODE_ACCESS void DCL_forceUpdateDF11

(

DCL_DF11 *

df

)

Loads DF11 tuning parameter from its SPS parameter without interrupt protection.

Parameters

[in]

df

Pointer to the active DCL_DF11 controller structure

DCL_updateDF11NoCheck()

_DCL_CODE_ACCESS _DCL_CODE_SECTION void DCL_updateDF11NoCheck

(

DCL_DF11 *

df

)

Loads DF11 tuning parameter from its SPS parameter with interrupt protection.

Parameters

[in]

df

Pointer to the DCL_DF11 controller structure

DCL_updateDF11()

_DCL_CODE_ACCESS _DCL_CODE_SECTION bool DCL_updateDF11

(

DCL_DF11 *

df

)

A conditional update based on the update flag. If the update status is set, the function will update DF11 parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_setUpdateStatus(df) to set the update status.

Parameters

[in]

df

Pointer to the DCL_DF11 controller structure

Returns

'true' if an update is applied, otherwise 'false'

DCL_isStableDF11()

_DCL_CODE_ACCESS bool DCL_isStableDF11

(

DCL_DF11 *

df

)

Determines stability of the shadow DF11 compensator.

Parameters

[in]

df

Pointer to the DCL_DF11 controller structure

Returns

'true' if the pole has magnitude less than 1, 'false' otherwise

DCL_loadDF11asZPK()

_DCL_CODE_ACCESS void DCL_loadDF11asZPK	(	DCL_DF11 *	df,
		DCL_ZPK3 *	zpk
	)

Loads the DF11 shadow coefficients from a ZPK3 description Note: Sampling period df->css->T are used in the calculation. New settings take effect after DCL_updateDF11(). Only real z1 & p1 considered, all other roots ignored.

Parameters

[in]	df	Pointer to the DCL_DF11 controller structure
[in]	zpk	Pointer to the ZPK3 structure

DCL_loadDF11asPI()

_DCL_CODE_ACCESS void DCL_loadDF11asPI	(	DCL_DF11 *	df,
		float32_t	Kp,
		float32_t	Ki
	)

Loads compensator coefficients to emulate series form PI Note: Sampling period df->css->T are used in the calculation. New settings take effect after DCL_updateDF11().

Parameters

[in]	df	Pointer to the DCL_DF11 controller structure
[in]	Kp	Proportional gain
[in]	Ki	Integral gain

DCL_runDF11()

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t DCL_runDF11	(	DCL_DF11 *	df,
		float32_t	ek
	)

Executes a 1st order Direct Form 1 controller.

Parameters

[in]	df	Pointer to the DCL_DF11 controller structure
[in]	ek	The servo error

Returns

uk The control effort

DCL_resetDF13()

_DCL_CODE_ACCESS void DCL_resetDF13

(

DCL_DF13 *

df

)

Resets DF13 internal storage data with interrupt protection Implemented as inline C function.

Parameters

[in]

df

Pointer to the DCL_DF13 controller structure

DCL_forceUpdateDF13()

_DCL_CODE_ACCESS void DCL_forceUpdateDF13

(

DCL_DF13 *

df

)

Loads DF13 tuning parameter from its SPS parameter without interrupt protection.

Parameters

[in]

df

Pointer to the active DCL_DF13 controller structure

DCL_updateDF13NoCheck()

_DCL_CODE_ACCESS _DCL_CODE_SECTION void DCL_updateDF13NoCheck

(

DCL_DF13 *

df

)

Loads DF13 tuning parameter from its SPS parameter with interrupt protection.

Parameters

[in]

df

Pointer to the DCL_DF13 controller structure

DCL_updateDF13()

_DCL_CODE_ACCESS _DCL_CODE_SECTION bool DCL_updateDF13

(

DCL_DF13 *

df

)

A conditional update based on the update flag. If the update status is set, the function will update DF13 parameter from its SPS parameter and clear the status flag on completion.. Note: Use DCL_setUpdateStatus(df) to set the update status.

Parameters

[in]

df

Pointer to the DCL_DF13 controller structure

Returns

'true' if an update is applied, otherwise 'false'

DCL_isStableDF13()

_DCL_CODE_ACCESS bool DCL_isStableDF13

(

DCL_DF13 *

df

)

Determines stability of the shadow compensator.

Parameters

[in]

df

Pointer to the DCL_DF13 controller structure

Returns

'true' if all poles have magnitude less than 1, 'false' otherwise

DCL_loadDF13asZPK()

_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 are used in the calculation. New settings take effect after DCL_updateDF13().

Parameters

[in]	df	Pointer to the DCL_DF13 controller structure
[in]	zpk	Pointer to the DCL_ZPK3 structure

DCL_runDF13()

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t DCL_runDF13	(	DCL_DF13 *	df,
		float32_t	ek
	)

Executes a 3rd order Direct Form 1 controller.

Parameters

[in]	df	Pointer to the DCL_DF13 controller structure
[in]	ek	The servo error

Returns

The control effort

DCL_runDF13PartialCompute()

_DCL_CODE_ACCESS float32_t DCL_runDF13PartialCompute	(	DCL_DF13 *	df,
		float32_t	ek
	)

Immediate computation to obtain DF13 servo error without updating the controller.

Parameters

[in]	df	Pointer to the DCL_DF13 controller structure
[in]	ek	The servo error

Returns

The control effort

DCL_runDF13PartialUpdate()

_DCL_CODE_ACCESS void DCL_runDF13PartialUpdate	(	DCL_DF13 *	df,
		float32_t	ek,
		float32_t	uk
	)

Update DF13 controller based on pre-computed control effort.

Parameters

[in]	df	Pointer to the DCL_DF13 controller structure
[in]	ek	The servo error
[in]	uk	The controller output in the previous sample interval

DCL_runDF13Clamp()

_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.

Parameters

[in]	df	Pointer to the DCL_DF13 controller structure
[in]	ek	The servo error
[in]	Umax	Upper saturation limit
[in]	Umin	Lower saturation limit

Returns

uk The control effort

DCL_runDF13_C5()

_DCL_CODE_ACCESS float32_t DCL_runDF13_C5	(	DCL_DF13 *	p,
		float32_t	ek,
		float32_t	vk
	)

Legacy C28 Function for maintaining backwards compatibility. It Executes an immediate 3rd order Direct Form 1 controller.

Parameters

[in]	p	Pointer to the DCL_DF13 controller structure
[in]	ek	The servo error
[in]	vk	The partial pre-computed control effort

Returns

uk The control effort

DCL_runDF13_C6()

_DCL_CODE_ACCESS float32_t DCL_runDF13_C6	(	DCL_DF13 *	p,
		float32_t	ek,
		float32_t	uk
	)

Legacy C28 Function for maintaining backwards compatibility. It executes a partial pre-computed 3rd order Direct Form 1 controller.

Parameters

[in]	p	Pointer to the DCL_DF13 controller structure
[in]	ek	The servo error
[in]	uk	The controller output in the previous sample interval

Returns

vk The control effort

DCL_resetDF22()

_DCL_CODE_ACCESS void DCL_resetDF22

(

DCL_DF22 *

df

)

Resets DF22 internal storage data with interrupt protection.

Parameters

[in]

df

Pointer to the DCL_DF22 controller structure

DCL_forceUpdateDF22()

_DCL_CODE_ACCESS void DCL_forceUpdateDF22

(

DCL_DF22 *

df

)

Loads DF22 tuning parameter from its SPS parameter without interrupt protection.

Parameters

[in]

df

Pointer to the active DCL_DF22 controller structure

DCL_updateDF22NoCheck()

_DCL_CODE_ACCESS _DCL_CODE_SECTION void DCL_updateDF22NoCheck

(

DCL_DF22 *

df

)

Loads DF22 tuning parameter from its SPS parameter with interrupt protection.

Parameters

[in]

df

Pointer to the DCL_DF22 controller structure

DCL_updateDF22()

_DCL_CODE_ACCESS _DCL_CODE_SECTION bool DCL_updateDF22

(

DCL_DF22 *

df

)

A conditional update based on the update flag. If the update status is set, the function will update DF22 parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_setUpdateStatus(df) to set the update status.

Parameters

[in]

df

Pointer to the DCL_DF22 controller structure

Returns

'true' if an update is applied, otherwise 'false'

DCL_isStableDF22()

_DCL_CODE_ACCESS bool DCL_isStableDF22

(

DCL_DF22 *

df

)

Determines stability of the shadow compensator.

Parameters

[in]

df

Pointer to the DCL_DF22 controller structure

Returns

'true' if both poles have magnitude less than 1, 'false' otherwise

DCL_loadDF22asZPK()

_DCL_CODE_ACCESS void DCL_loadDF22asZPK	(	DCL_DF22 *	df,
		DCL_ZPK3 *	zpk
	)

Loads the DF22 shadow coefficients from a ZPK3 description Note: Sampling period df->css->T are used in the calculation. New settings take effect after DCL_updateDF22(). Only z1, z2, p1 & p2 are considered, z3 & p3 are ignored.

Parameters

[in]	df	Pointer to the DCL_DF22 controller structure
[in]	zpk	Pointer to the DCL_ZPK3 structure

DCL_loadDF22asZwn()

_DCL_CODE_ACCESS void DCL_loadDF22asZwn	(	DCL_DF22 *	df,
		float32_t	z,
		float32_t	wn
	)

Loads the DF22 shadow coefficients from damping ratio and un-damped natural frequency using sample rate in CSS. Note: Sampling period df->css->T are used in the calculation. New settings take effect after DCL_updateDF22().

Parameters

[in]	df	Pointer to the DCL_DF22 controller structure
[in]	z	The damping ratio
[in]	wn	The un-damped natural frequency in rad/s

DCL_loadDF22asSeriesPID()

_DCL_CODE_ACCESS void DCL_loadDF22asSeriesPID	(	DCL_DF22 *	df,
		float32_t	Kp,
		float32_t	Ki,
		float32_t	Kd,
		float32_t	fc
	)

Loads the shadow DF22 compensator coefficients to emulate a series form PID. Note: Sampling period df->css->T are used in the calculation. New settings take effect after DCL_updateDF22().

Parameters

[in]	df	Pointer to the DCL_DF22 controller structure
[in]	Kp	Proportional gain
[in]	Ki	Integral gain
[in]	Kd	Derivative gain
[in]	fc	Derivative path filter bandwidth in Hz

DCL_loadDF22asParallelPID()

_DCL_CODE_ACCESS void DCL_loadDF22asParallelPID	(	DCL_DF22 *	df,
		float32_t	Kp,
		float32_t	Ki,
		float32_t	Kd,
		float32_t	fc
	)

Loads the shadow DF22 compensator coefficients to emulate a parallel form PID. Note: Sampling period df->css->T are used in the calculation. New settings take effect after DCL_updateDF22().

Parameters

[in]	df	Pointer to the DCL_DF22 controller structure
[in]	Kp	Proportional gain
[in]	Ki	Integral gain
[in]	Kd	Derivative gain
[in]	fc	Derivative path filter bandwidth in Hz

DCL_runDF22()

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t DCL_runDF22	(	DCL_DF22 *	df,
		float32_t	ek
	)

Executes a 2nd order Direct Form 2 controller.

Parameters

[in]	df	Pointer to the DCL_DF22 controller structure
[in]	ek	The servo error

Returns

The control effort

DCL_runDF22PartialCompute()

_DCL_CODE_ACCESS float32_t DCL_runDF22PartialCompute	(	DCL_DF22 *	df,
		float32_t	ek
	)

Immediate computation to obtain DF22 servo error without updating the controller.

Parameters

[in]	df	Pointer to the DCL_DF22 controller structure
[in]	ek	The servo error

Returns

The control effort

DCL_runDF22PartialUpdate()

_DCL_CODE_ACCESS void DCL_runDF22PartialUpdate	(	DCL_DF22 *	df,
		float32_t	ek,
		float32_t	uk
	)

Update DF22 controller based on pre-computed control effort.

Parameters

[in]	df	Pointer to the DCL_DF22 controller structure
[in]	ek	The servo error
[in]	uk	The controller output in the previous sample interval

DCL_runDF22Clamp()

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t DCL_runDF22Clamp	(	DCL_DF22 *	df,
		float32_t	ek,
		float32_t	Umax,
		float32_t	Umin
	)

Executes a 2nd order Direct Form 2 controller with clamp.

Parameters

[in]	df	Pointer to the DCL_DF22 controller structure
[in]	ek	The servo error
[in]	Umax	Upper saturation limit
[in]	Umin	Lower saturation limit

Returns

The control effort

DCL_resetDF23()

_DCL_CODE_ACCESS void DCL_resetDF23

(

DCL_DF23 *

df

)

Resets DF23 internal storage data with interrupt protection.

Parameters

[in]

df

Pointer to the DCL_DF23 controller structure

DCL_forceUpdateDF23()

_DCL_CODE_ACCESS void DCL_forceUpdateDF23

(

DCL_DF23 *

df

)

Loads DF23 tuning parameter from its SPS parameter without interrupt protection.

Parameters

[in]

df

Pointer to the active DCL_DF23 controller structure

DCL_updateDF23NoCheck()

_DCL_CODE_ACCESS _DCL_CODE_SECTION void DCL_updateDF23NoCheck

(

DCL_DF23 *

df

)

Updates DF23 parameter from its SPS parameter with interrupt protection.

Parameters

[in]

df

Pointer to the DCL_DF23 controller structure

DCL_updateDF23()

_DCL_CODE_ACCESS _DCL_CODE_SECTION bool DCL_updateDF23

(

DCL_DF23 *

df

)

A conditional update based on the update flag. If the update status is set, the function will update DF23 parameter from its SPS parameter and clear the status flag on completion. Note: Use DCL_setUpdateStatus(df) to set the update status.

Parameters

[in]

df

Pointer to the DCL_DF23 controller structure

Returns

'true' if an update is applied, otherwise 'false'

DCL_isStableDF23()

_DCL_CODE_ACCESS bool DCL_isStableDF23

(

DCL_DF23 *

df

)

Determines stability of the shadow compensator.

Parameters

[in]

df

Pointer to the DCL_DF23 controller structure

Returns

'true' if all poles have magnitude less than 1, 'false' otherwise

DCL_loadDF23asZPK()

_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 are used in the calculation. New settings take effect after DCL_updateDF23().

Parameters

[in]	df	Pointer to the DCL_DF23 controller structure
[in]	zpk	Pointer to the DCL_ZPK3 structure

DCL_runDF23()

_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t DCL_runDF23	(	DCL_DF23 *	df,
		float32_t	ek
	)

Executes a 3rd order Direct Form 2 controller.

Parameters

[in]	df	Pointer to the DCL_DF23 controller structure
[in]	ek	The servo error

Returns

The control effort

DCL_runDF23PartialCompute()

_DCL_CODE_ACCESS float32_t DCL_runDF23PartialCompute	(	DCL_DF23 *	df,
		float32_t	ek
	)

Immediate computation to obtain DF23 servo error without updating the controller.

Parameters

[in]	df	Pointer to the DCL_DF23 controller structure
[in]	ek	The servo error

Returns

The control effort

DCL_runDF23PartialUpdate()

_DCL_CODE_ACCESS void DCL_runDF23PartialUpdate	(	DCL_DF23 *	df,
		float32_t	ek,
		float32_t	uk
	)

Update DF22 controller based on pre-computed control effort.

Parameters

[in]	df	Pointer to the DCL_DF23 controller structure
[in]	ek	The servo error
[in]	uk	The controller output in the previous sample interval

DCL_runDF23Clamp()

_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.

Parameters

[in]	df	Pointer to the DCL_DF23 controller structure
[in]	ek	The servo error
[in]	Umax	Upper saturation limit
[in]	Umin	Lower saturation limit

Returns

uk The control effort

DCL_runClamp()

_DCL_CODE_ACCESS bool DCL_runClamp	(	float32_t *	data,
		float32_t	Umax,
		float32_t	Umin
	)

Saturates a control variable and returns true if either limit is exceeded.

Parameters

[in]	data	The address of the data variable
[in]	Umax	The upper limit
[in]	Umin	The lower limit

Returns

Returns 'false' if (Umin < data < Umax), else 'true'

DCL_runClampF64()

_DCL_CODE_ACCESS bool DCL_runClampF64	(	float64_t *	data,
		float64_t	Umax,
		float64_t	Umin
	)

Saturates a control variable and returns true if either limit is exceeded.

Parameters

[in]	data	The address of the data variable
[in]	Umax	The upper limit
[in]	Umin	The lower limit

Returns

Returns 'false' if (Umin < data < Umax), else 'true'

DCL_isStablePn1()

_DCL_CODE_ACCESS bool DCL_isStablePn1

(

float32_t

a1

)

Determines stability of a first order real polynomial P(z) = z + a1.

Parameters

[in]

a1

Coefficient a1

Returns

'true' if the root has magnitude less than 1, 'false' otherwise

DCL_isStablePn2()

_DCL_CODE_ACCESS bool DCL_isStablePn2	(	float32_t	a0,
		float32_t	a1,
		float32_t	a2
	)

Determines stability of a second order polynomial with real coefficients P(z) = a0 z^2 + a1 z + a2.

Parameters

[in]	a0	Second order coefficient a1
[in]	a1	First order coefficient a1
[in]	a2	Coefficient a2

Returns

'true' if both roots have magnitude less than 1, 'false' otherwise

DCL_isStablePn3()

_DCL_CODE_ACCESS bool DCL_isStablePn3	(	float32_t	a0,
		float32_t	a1,
		float32_t	a2,
		float32_t	a3
	)

Determines stability of a third order polynomial with real coefficients P(z) = a0 z^3 + a1 z^2 + a2 z + a3.

Parameters

[in]	a0	Third order coefficient a1
[in]	a1	Second order coefficient a1
[in]	a2	First order coefficient a2
[in]	a3	Coefficient a3

Returns

'true' if all roots have magnitude less than 1, 'false' otherwise

DCL_isStableZpk3()

_DCL_CODE_ACCESS bool DCL_isStableZpk3

(

DCL_ZPK3 *

q

)

DCL_setLogIndex()

_DCL_CODE_ACCESS void DCL_setLogIndex	(	DCL_FDLOG *	buf,
		uint32_t	idx
	)

Sets index of the current pointer (zero-indexed)

Parameters

[in]	buf	Pointer to DCL_FDLOG
[in]	idx	Index number

DCL_deleteLog()

_DCL_CODE_ACCESS void DCL_deleteLog

(

DCL_FDLOG *

buf

)

Resets all structure pointers to null value.

Parameters

[in]

buf

The DCL_FDLOG structure

DCL_resetLog()

_DCL_CODE_ACCESS void DCL_resetLog

(

DCL_FDLOG *

buf

)

Resets the data index pointer to start of buffer.

Parameters

[in]

buf

The DCL_FDLOG structure

DCL_fillLog()

_DCL_CODE_ACCESS void DCL_fillLog	(	DCL_FDLOG *	buf,
		float32_t	data
	)

Fills the buffer with a given data value and resets the data index pointer to the start of the buffer.

Parameters

[in]	buf	The DCL_FDLOG structure
[in]	data	The fill data value

DCL_initLog()

_DCL_CODE_ACCESS void DCL_initLog	(	DCL_FDLOG *	buf,
		float32_t *	addr,
		uint32_t	size
	)

Assigns the buffer pointers to a memory block or array and sets the data index pointer to the first address.

Parameters

[in]	buf	The DCL_FDLOG structure
[in]	addr	The start address of the memory block
[in]	size	The length of the memory block in 32-bit words

DCL_writeLog()

_DCL_CODE_ACCESS float32_t DCL_writeLog	(	DCL_FDLOG *	buf,
		float32_t	data
	)

Writes a data point into the buffer and advances the indexing pointer, wrapping if necessary. Returns the over-written data value for delay line or FIFO implementation.

Parameters

[in]	buf	The DCL_FDLOG structure
[in]	data	The input data value

Returns

The over-written data value

DCL_readLog()

_DCL_CODE_ACCESS float32_t DCL_readLog

(

DCL_FDLOG *

buf

)

Reads a data point from the buffer and then advances the indexing pointer, wrapping if necessary.

Parameters

[in]

buf

The DCL_FDLOG structure

Returns

The indexed data value

DCL_copyLog()

_DCL_CODE_ACCESS void DCL_copyLog	(	DCL_FDLOG *	src,
		DCL_FDLOG *	dst
	)

Copies the contents of one log (src) into another (dst).
Both logs must have the same length.

Parameters

[in]	src	The destination DCL_FDLOG structure
[in]	dst	The source DCL_FDLOG structure