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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<title>miniFOC: algorithm/pid.c File Reference</title>
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<div id="projectname">miniFOC<span id="projectnumber"> 1.0.3</span>
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<div id="projectbrief">This open-source project aims to accomplish a FOC(Field Oriented Control) scheme that is operatable with minimum costs in China.</div>
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<a href="#func-members">Functions</a> |
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<p>PID algorithm implementation source code.
<a href="#details">More...</a></p>
<div class="textblock"><code>#include "<a class="el" href="pid_8h_source.html">pid.h</a>"</code><br />
<code>#include "<a class="el" href="fast__math_8h_source.html">fast_math.h</a>"</code><br />
<code>#include "<a class="el" href="system_8h_source.html">system.h</a>"</code><br />
</div>
<p><a href="pid_8c_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:a58a093011af03fae7427eb1980434a5e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="pid_8c.html#a58a093011af03fae7427eb1980434a5e">pid_config</a> (unsigned char mode)</td></tr>
<tr class="memdesc:a58a093011af03fae7427eb1980434a5e"><td class="mdescLeft"> </td><td class="mdescRight">configure pid loop parameters <a href="pid_8c.html#a58a093011af03fae7427eb1980434a5e">More...</a><br /></td></tr>
<tr class="separator:a58a093011af03fae7427eb1980434a5e"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:abe6a9dce63d0eaad5a10d4c8c5ffcd07"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="pid_8c.html#abe6a9dce63d0eaad5a10d4c8c5ffcd07">pid_calculate_result</a> (<a class="el" href="struct_p_i_d___structure__t.html">PID_Structure_t</a> *pid_handler, float collect)</td></tr>
<tr class="memdesc:abe6a9dce63d0eaad5a10d4c8c5ffcd07"><td class="mdescLeft"> </td><td class="mdescRight">calculate result using sampling value <a href="pid_8c.html#abe6a9dce63d0eaad5a10d4c8c5ffcd07">More...</a><br /></td></tr>
<tr class="separator:abe6a9dce63d0eaad5a10d4c8c5ffcd07"><td class="memSeparator" colspan="2"> </td></tr>
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Variables</h2></td></tr>
<tr class="memitem:a48934d9569b54761658f7fe0484db10c"><td class="memItemLeft" align="right" valign="top">unsigned char </td><td class="memItemRight" valign="bottom"><a class="el" href="pid_8c.html#a48934d9569b54761658f7fe0484db10c">pid_parameter_available_flag</a> = 1</td></tr>
<tr class="memdesc:a48934d9569b54761658f7fe0484db10c"><td class="mdescLeft"> </td><td class="mdescRight">flag variable for PID parameter availability <a href="pid_8c.html#a48934d9569b54761658f7fe0484db10c">More...</a><br /></td></tr>
<tr class="separator:a48934d9569b54761658f7fe0484db10c"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a2c7bcbec66fa40a2347b1cd253a5ae82"><td class="memItemLeft" align="right" valign="top">volatile unsigned char </td><td class="memItemRight" valign="bottom"><a class="el" href="pid_8c.html#a2c7bcbec66fa40a2347b1cd253a5ae82">pid_control_mode_flag</a> = 0</td></tr>
<tr class="memdesc:a2c7bcbec66fa40a2347b1cd253a5ae82"><td class="mdescLeft"> </td><td class="mdescRight">flag variable of PID closed loop mode <a href="pid_8c.html#a2c7bcbec66fa40a2347b1cd253a5ae82">More...</a><br /></td></tr>
<tr class="separator:a2c7bcbec66fa40a2347b1cd253a5ae82"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab051c8f4a730b934b146f330514efd95"><td class="memItemLeft" align="right" valign="top">volatile <a class="el" href="struct_p_i_d___structure__t.html">PID_Structure_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="pid_8c.html#ab051c8f4a730b934b146f330514efd95">speed_pid_handler</a></td></tr>
<tr class="memdesc:ab051c8f4a730b934b146f330514efd95"><td class="mdescLeft"> </td><td class="mdescRight">algorithm handler of PID speed loop <a href="pid_8c.html#ab051c8f4a730b934b146f330514efd95">More...</a><br /></td></tr>
<tr class="separator:ab051c8f4a730b934b146f330514efd95"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aaa8f5bad87ffc78a20f06863ab6bad5c"><td class="memItemLeft" align="right" valign="top">volatile <a class="el" href="struct_p_i_d___structure__t.html">PID_Structure_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="pid_8c.html#aaa8f5bad87ffc78a20f06863ab6bad5c">angle_pid_handler</a></td></tr>
<tr class="memdesc:aaa8f5bad87ffc78a20f06863ab6bad5c"><td class="mdescLeft"> </td><td class="mdescRight">algorithm handler of PID angle loop <a href="pid_8c.html#aaa8f5bad87ffc78a20f06863ab6bad5c">More...</a><br /></td></tr>
<tr class="separator:aaa8f5bad87ffc78a20f06863ab6bad5c"><td class="memSeparator" colspan="2"> </td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p >PID algorithm implementation source code. </p>
<dl class="section author"><dt>Author</dt><dd>Lao·Zhu </dd></dl>
<dl class="section version"><dt>Version</dt><dd>V1.0.2 </dd></dl>
<dl class="section date"><dt>Date</dt><dd>29. October 2021 </dd></dl>
<p class="definition">Definition in file <a class="el" href="pid_8c_source.html">pid.c</a>.</p>
</div><h2 class="groupheader">Function Documentation</h2>
<a id="abe6a9dce63d0eaad5a10d4c8c5ffcd07" name="abe6a9dce63d0eaad5a10d4c8c5ffcd07"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abe6a9dce63d0eaad5a10d4c8c5ffcd07">◆ </a></span>pid_calculate_result()</h2>
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<td class="memname">float pid_calculate_result </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_p_i_d___structure__t.html">PID_Structure_t</a> * </td>
<td class="paramname"><em>pid_handler</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>collect</em> </td>
</tr>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>calculate result using sampling value </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">pid_handler</td><td>PID data handler </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">collect</td><td>sampled data </td></tr>
</table>
</dd>
</dl>
<dl class="retval"><dt>Return values</dt><dd>
<table class="retval">
<tr><td class="paramname">calculated</td><td>output value of PID controller </td></tr>
</table>
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="pid_8c_source.html#l00061">61</a> of file <a class="el" href="pid_8c_source.html">pid.c</a>.</p>
<p class="reference">References <a class="el" href="pid_8h_source.html#l00029">PID_Structure_t::expect</a>, <a class="el" href="fast__math_8h_source.html#l00020">fast_constrain</a>, <a class="el" href="pid_8h_source.html#l00027">PID_Structure_t::kd</a>, <a class="el" href="pid_8h_source.html#l00026">PID_Structure_t::ki</a>, <a class="el" href="pid_8h_source.html#l00025">PID_Structure_t::kp</a>, <a class="el" href="pid_8h_source.html#l00033">PID_Structure_t::last_error</a>, <a class="el" href="pid_8h_source.html#l00030">PID_Structure_t::maximum</a>, <a class="el" href="pid_8h_source.html#l00031">PID_Structure_t::minimum</a>, <a class="el" href="pid_8h_source.html#l00032">PID_Structure_t::sum_maximum</a>, and <a class="el" href="pid_8h_source.html#l00028">PID_Structure_t::summary</a>.</p>
<p class="reference">Referenced by <a class="el" href="gd32f1x0__it_8c_source.html#l00124">TIMER13_IRQHandler()</a>.</p>
</div>
</div>
<a id="a58a093011af03fae7427eb1980434a5e" name="a58a093011af03fae7427eb1980434a5e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a58a093011af03fae7427eb1980434a5e">◆ </a></span>pid_config()</h2>
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<td class="memname">void pid_config </td>
<td>(</td>
<td class="paramtype">unsigned char </td>
<td class="paramname"><em>mode</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>configure pid loop parameters </p>
<p class="definition">Definition at line <a class="el" href="pid_8c_source.html#l00033">33</a> of file <a class="el" href="pid_8c_source.html">pid.c</a>.</p>
<p class="reference">References <a class="el" href="pid_8c_source.html#l00028">angle_pid_handler</a>, <a class="el" href="pid_8h_source.html#l00027">PID_Structure_t::kd</a>, <a class="el" href="pid_8h_source.html#l00026">PID_Structure_t::ki</a>, <a class="el" href="pid_8h_source.html#l00025">PID_Structure_t::kp</a>, <a class="el" href="pid_8h_source.html#l00030">PID_Structure_t::maximum</a>, <a class="el" href="pid_8h_source.html#l00031">PID_Structure_t::minimum</a>, <a class="el" href="pid_8c_source.html#l00020">pid_control_mode_flag</a>, <a class="el" href="pid_8c_source.html#l00024">speed_pid_handler</a>, <a class="el" href="pid_8h_source.html#l00032">PID_Structure_t::sum_maximum</a>, and <a class="el" href="system_8c_source.html#l00049">user_memset()</a>.</p>
<p class="reference">Referenced by <a class="el" href="main_8c_source.html#l00139">main()</a>, and <a class="el" href="main_8c_source.html#l00028">mdtp_callback_handler()</a>.</p>
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</div>
<h2 class="groupheader">Variable Documentation</h2>
<a id="aaa8f5bad87ffc78a20f06863ab6bad5c" name="aaa8f5bad87ffc78a20f06863ab6bad5c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aaa8f5bad87ffc78a20f06863ab6bad5c">◆ </a></span>angle_pid_handler</h2>
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<td class="memname">volatile <a class="el" href="struct_p_i_d___structure__t.html">PID_Structure_t</a> angle_pid_handler</td>
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</div><div class="memdoc">
<p>algorithm handler of PID angle loop </p>
<p class="definition">Definition at line <a class="el" href="pid_8c_source.html#l00028">28</a> of file <a class="el" href="pid_8c_source.html">pid.c</a>.</p>
<p class="reference">Referenced by <a class="el" href="flash_8c_source.html#l00046">flash_read_parameters()</a>, <a class="el" href="flash_8c_source.html#l00026">flash_write_parameters()</a>, <a class="el" href="main_8c_source.html#l00028">mdtp_callback_handler()</a>, <a class="el" href="pid_8c_source.html#l00033">pid_config()</a>, <a class="el" href="report_8c_source.html#l00015">report_local_variable()</a>, and <a class="el" href="gd32f1x0__it_8c_source.html#l00124">TIMER13_IRQHandler()</a>.</p>
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<a id="a2c7bcbec66fa40a2347b1cd253a5ae82" name="a2c7bcbec66fa40a2347b1cd253a5ae82"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2c7bcbec66fa40a2347b1cd253a5ae82">◆ </a></span>pid_control_mode_flag</h2>
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<td class="memname">volatile unsigned char pid_control_mode_flag = 0</td>
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<p>flag variable of PID closed loop mode </p>
<p class="definition">Definition at line <a class="el" href="pid_8c_source.html#l00020">20</a> of file <a class="el" href="pid_8c_source.html">pid.c</a>.</p>
<p class="reference">Referenced by <a class="el" href="main_8c_source.html#l00139">main()</a>, <a class="el" href="main_8c_source.html#l00028">mdtp_callback_handler()</a>, <a class="el" href="pid_8c_source.html#l00033">pid_config()</a>, <a class="el" href="report_8c_source.html#l00015">report_local_variable()</a>, and <a class="el" href="gd32f1x0__it_8c_source.html#l00124">TIMER13_IRQHandler()</a>.</p>
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<a id="a48934d9569b54761658f7fe0484db10c" name="a48934d9569b54761658f7fe0484db10c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a48934d9569b54761658f7fe0484db10c">◆ </a></span>pid_parameter_available_flag</h2>
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<td class="memname">unsigned char pid_parameter_available_flag = 1</td>
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<p>flag variable for PID parameter availability </p>
<p class="definition">Definition at line <a class="el" href="pid_8c_source.html#l00016">16</a> of file <a class="el" href="pid_8c_source.html">pid.c</a>.</p>
<p class="reference">Referenced by <a class="el" href="flash_8c_source.html#l00046">flash_read_parameters()</a>, <a class="el" href="flash_8c_source.html#l00026">flash_write_parameters()</a>, <a class="el" href="main_8c_source.html#l00028">mdtp_callback_handler()</a>, and <a class="el" href="report_8c_source.html#l00015">report_local_variable()</a>.</p>
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<a id="ab051c8f4a730b934b146f330514efd95" name="ab051c8f4a730b934b146f330514efd95"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab051c8f4a730b934b146f330514efd95">◆ </a></span>speed_pid_handler</h2>
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<td class="memname">volatile <a class="el" href="struct_p_i_d___structure__t.html">PID_Structure_t</a> speed_pid_handler</td>
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</div><div class="memdoc">
<p>algorithm handler of PID speed loop </p>
<p class="definition">Definition at line <a class="el" href="pid_8c_source.html#l00024">24</a> of file <a class="el" href="pid_8c_source.html">pid.c</a>.</p>
<p class="reference">Referenced by <a class="el" href="flash_8c_source.html#l00046">flash_read_parameters()</a>, <a class="el" href="flash_8c_source.html#l00026">flash_write_parameters()</a>, <a class="el" href="main_8c_source.html#l00028">mdtp_callback_handler()</a>, <a class="el" href="pid_8c_source.html#l00033">pid_config()</a>, <a class="el" href="report_8c_source.html#l00015">report_local_variable()</a>, and <a class="el" href="gd32f1x0__it_8c_source.html#l00124">TIMER13_IRQHandler()</a>.</p>
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