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AM263x Motor Control SDK
09.02.00
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64 typedef struct _PI_Obj_
91 return(handle->fbackValue);
106 return(handle->ffwdValue);
123 *pKp = handle->cntlr.Kp;
124 *pKi = handle->cntlr.Ki;
139 return(handle->cntlr.Ki);
154 return(handle->cntlr.Kp);
172 *pOutMin = handle->cntlr.Umin;
173 *pOutMax = handle->cntlr.Umax;
188 return(handle->cntlr.Umax);
203 return(handle->cntlr.Umin);
218 return(handle->refValue);
233 return(handle->cntlr.i10);
249 PI_init(
void *pMemory,
const size_t numBytes);
263 handle->fbackValue = fbackValue;
280 handle->ffwdValue = ffwdValue;
299 handle->cntlr.Kp = Kp;
300 handle->cntlr.Ki = Ki;
315 handle->cntlr.Ki = Ki;
330 handle->cntlr.Kp = Kp;
348 handle->cntlr.Umin = outMin;
349 handle->cntlr.Umax = outMax;
364 handle->cntlr.Umax = outMax;
379 handle->cntlr.Umin = outMin;
394 handle->refValue = refValue;
411 handle->cntlr.i10 = Ui;
434 handle->cntlr.i10 += ffwdValue;
462 handle->cntlr.i10 += ffwdValue;
497 #endif // end of PI_H defines
float32_t refValue
the reference input value
Definition: pi.h:67
static float32_t PI_getKi(PI_Handle handle)
Gets the integral gain in the PI controller.
Definition: pi.h:137
static void PI_setFfwdValue(PI_Handle handle, const float32_t ffwdValue)
Sets the feedforward value in the PI controller.
Definition: pi.h:278
static void PI_setRefValue(PI_Handle handle, const float32_t refValue)
Sets the reference value in the PI controller.
Definition: pi.h:392
static float32_t PI_getRefValue(PI_Handle handle)
Gets the reference value in the PI controller.
Definition: pi.h:216
struct _PI_Obj_ * PI_Handle
Defines the PI handle.
Definition: pi.h:77
static void PI_setMinMax(PI_Handle handle, const float32_t outMin, const float32_t outMax)
Sets the minimum and maximum output value allowed in the PI controller.
Definition: pi.h:346
float32_t fbackValue
the feedback input value
Definition: pi.h:68
static void PI_setOutMax(PI_Handle handle, const float32_t outMax)
Sets the maximum output value allowed in the PI controller.
Definition: pi.h:362
static float32_t PI_getOutMin(PI_Handle handle)
Gets the minimum output value allowed in the PI controller.
Definition: pi.h:201
static void PI_getGains(PI_Handle handle, float32_t *pKp, float32_t *pKi)
Gets the gains in the PI controller.
Definition: pi.h:121
static void PI_setOutMin(PI_Handle handle, const float32_t outMin)
Sets the minimum output value allowed in the PI controller.
Definition: pi.h:377
static float32_t PI_getUi(PI_Handle handle)
Gets the integrator start value in the PI controller.
Definition: pi.h:231
static void PI_run_series(PI_Handle handle, const float32_t refValue, const float32_t fbackValue, const float32_t ffwdValue, float32_t *pOutValue)
Runs the series form of the PI controller.
Definition: pi.h:458
static void PI_run_parallel(PI_Handle handle, const float32_t refValue, const float32_t fbackValue, const float32_t ffwdValue, float32_t *pOutValue)
Runs the parallel form of the PI controller.
Definition: pi.h:430
_DCL_CRIT_ACCESS float32_t DCL_runPIParallel(DCL_PI *pi, float32_t rk, float32_t yk)
Executes a parallel form PI controller Implemented as inline C function.
Definition: dcl_pi.h:340
static void PI_setGains(PI_Handle handle, const float32_t Kp, const float32_t Ki)
Sets the gains in the PI controller.
Definition: pi.h:297
static void PI_setFbackValue(PI_Handle handle, const float32_t fbackValue)
Sets the feedback value in the PI controller.
Definition: pi.h:261
static float32_t PI_getKp(PI_Handle handle)
Gets the proportional gain in the PI controller.
Definition: pi.h:152
float32_t ffwdValue
the feedforward input value
Definition: pi.h:69
Top level header that contains all collections of Digital Controller Library functions.
DCL_PI cntlr
The PI controller object.
Definition: pi.h:66
static void PI_getMinMax(PI_Handle handle, float32_t *pOutMin, float32_t *pOutMax)
Gets the minimum and maximum output value allowed in the PI controller.
Definition: pi.h:170
PI_Obj * PI_init(void *pMemory, const size_t numBytes)
Initializes the PI controller.
static float32_t PI_getFfwdValue(PI_Handle handle)
Gets the feedforward value in the PI controller.
Definition: pi.h:104
_DCL_CRIT_ACCESS float32_t DCL_runPISeries(DCL_PI *pi, float32_t rk, float32_t yk)
Executes an inline series form PI controller.
Definition: dcl_pi.h:313
Defines the PI controller object.
Definition: pi.h:65
static void PI_run(PI_Handle handle, const float32_t refValue, const float32_t fbackValue, float32_t *pOutValue)
Runs the series form of the PI controller without updating the data strcture.
Definition: pi.h:485
_DCL_VOLATILE struct dcl_pi DCL_PI
static float32_t PI_getFbackValue(PI_Handle handle)
Gets the feedback value in the PI controller.
Definition: pi.h:89
static void PI_setUi(PI_Handle handle, const float32_t Ui)
Sets the integrator start value in the PI controller.
Definition: pi.h:409
static void PI_setKp(PI_Handle handle, const float32_t Kp)
Sets the proportional gain in the PI controller.
Definition: pi.h:328
static float32_t PI_getOutMax(PI_Handle handle)
Gets the maximum output value allowed in the PI controller.
Definition: pi.h:186
float float32_t
Definition: dcl_common.h:58
static void PI_setKi(PI_Handle handle, const float32_t Ki)
Sets the integral gain in the PI controller.
Definition: pi.h:313