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<div id="projectname">miniFOC<span id="projectnumber"> 1.0.2</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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<div class="header">
<div class="summary">
<a href="#nested-classes">Data Structures</a> |
<a href="#define-members">Macros</a> |
<a href="#func-members">Functions</a> |
<a href="#var-members">Variables</a> </div>
<div class="headertitle"><div class="title">pid.h File Reference</div></div>
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<p>this is the header file of <a class="el" href="pid_8c.html" title="PID algorithm implementation source code.">pid.c</a>, which defines the structure of PID algorithm and closed-loop state macro.
<a href="#details">More...</a></p>
<p><a href="pid_8h_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="nested-classes" name="nested-classes"></a>
Data Structures</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="struct_p_i_d___structure__t.html">PID_Structure_t</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">structure of PID algorithm <a href="struct_p_i_d___structure__t.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="define-members" name="define-members"></a>
Macros</h2></td></tr>
<tr class="memitem:a8ffc8824a06f7892f9691a65b83982a7"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="pid_8h.html#a8ffc8824a06f7892f9691a65b83982a7">TORQUE_LOOP_CONTROL</a>   1</td></tr>
<tr class="memdesc:a8ffc8824a06f7892f9691a65b83982a7"><td class="mdescLeft"> </td><td class="mdescRight">torque loop control mode <a href="pid_8h.html#a8ffc8824a06f7892f9691a65b83982a7">More...</a><br /></td></tr>
<tr class="separator:a8ffc8824a06f7892f9691a65b83982a7"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aa5ef3ead33ee14a82e7ee277d31e02d1"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="pid_8h.html#aa5ef3ead33ee14a82e7ee277d31e02d1">SPEED_LOOP_CONTROL</a>   2</td></tr>
<tr class="memdesc:aa5ef3ead33ee14a82e7ee277d31e02d1"><td class="mdescLeft"> </td><td class="mdescRight">speed loop control mode <a href="pid_8h.html#aa5ef3ead33ee14a82e7ee277d31e02d1">More...</a><br /></td></tr>
<tr class="separator:aa5ef3ead33ee14a82e7ee277d31e02d1"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a7dad3a985101eaec7ac078f43747c928"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="pid_8h.html#a7dad3a985101eaec7ac078f43747c928">ANGLE_LOOP_CONTROL</a>   3</td></tr>
<tr class="memdesc:a7dad3a985101eaec7ac078f43747c928"><td class="mdescLeft"> </td><td class="mdescRight">angle loop control mode <a href="pid_8h.html#a7dad3a985101eaec7ac078f43747c928">More...</a><br /></td></tr>
<tr class="separator:a7dad3a985101eaec7ac078f43747c928"><td class="memSeparator" colspan="2"> </td></tr>
</table><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_8h.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_8h.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_8h.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_8h.html#abe6a9dce63d0eaad5a10d4c8c5ffcd07">More...</a><br /></td></tr>
<tr class="separator:abe6a9dce63d0eaad5a10d4c8c5ffcd07"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="var-members" name="var-members"></a>
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_8h.html#a48934d9569b54761658f7fe0484db10c">pid_parameter_available_flag</a></td></tr>
<tr class="memdesc:a48934d9569b54761658f7fe0484db10c"><td class="mdescLeft"> </td><td class="mdescRight">flag variable for PID parameter availability <a href="pid_8h.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_8h.html#a2c7bcbec66fa40a2347b1cd253a5ae82">pid_control_mode_flag</a></td></tr>
<tr class="memdesc:a2c7bcbec66fa40a2347b1cd253a5ae82"><td class="mdescLeft"> </td><td class="mdescRight">flag variable of PID closed loop mode <a href="pid_8h.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_8h.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_8h.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_8h.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_8h.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 >this is the header file of <a class="el" href="pid_8c.html" title="PID algorithm implementation source code.">pid.c</a>, which defines the structure of PID algorithm and closed-loop state macro. </p>
<dl class="section author"><dt>Author</dt><dd>Lao·Zhu </dd></dl>
<dl class="section version"><dt>Version</dt><dd>V1.0.1 </dd></dl>
<dl class="section date"><dt>Date</dt><dd>9. October 2021 </dd></dl>
<p class="definition">Definition in file <a class="el" href="pid_8h_source.html">pid.h</a>.</p>
</div><h2 class="groupheader">Macro Definition Documentation</h2>
<a id="a7dad3a985101eaec7ac078f43747c928" name="a7dad3a985101eaec7ac078f43747c928"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7dad3a985101eaec7ac078f43747c928">◆ </a></span>ANGLE_LOOP_CONTROL</h2>
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<td class="memname">#define ANGLE_LOOP_CONTROL   3</td>
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<p>angle loop control mode </p>
<p class="definition">Definition at line <a class="el" href="pid_8h_source.html#l00018">18</a> of file <a class="el" href="pid_8h_source.html">pid.h</a>.</p>
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</div>
<a id="aa5ef3ead33ee14a82e7ee277d31e02d1" name="aa5ef3ead33ee14a82e7ee277d31e02d1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa5ef3ead33ee14a82e7ee277d31e02d1">◆ </a></span>SPEED_LOOP_CONTROL</h2>
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<td class="memname">#define SPEED_LOOP_CONTROL   2</td>
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<p>speed loop control mode </p>
<p class="definition">Definition at line <a class="el" href="pid_8h_source.html#l00016">16</a> of file <a class="el" href="pid_8h_source.html">pid.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a8ffc8824a06f7892f9691a65b83982a7">◆ </a></span>TORQUE_LOOP_CONTROL</h2>
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<td class="memname">#define TORQUE_LOOP_CONTROL   1</td>
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<p>torque loop control mode </p>
<p class="definition">Definition at line <a class="el" href="pid_8h_source.html#l00014">14</a> of file <a class="el" href="pid_8h_source.html">pid.h</a>.</p>
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<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>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>collect</em> </td>
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<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#l00057">57</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#l00136">TIMER13_IRQHandler()</a>.</p>
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<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>
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<p>configure pid loop parameters </p>
<dl class="retval"><dt>Return values</dt><dd>
<table class="retval">
<tr><td class="paramname">none</td><td></td></tr>
</table>
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="pid_8c_source.html#l00034">34</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#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>, and <a class="el" href="system_8c_source.html#l00054">user_memset()</a>.</p>
<p class="reference">Referenced by <a class="el" href="main_8c_source.html#l00133">main()</a>, and <a class="el" href="main_8c_source.html#l00029">mdtp_callback_handler()</a>.</p>
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<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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<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#l00037">flash_read_parameters()</a>, <a class="el" href="flash_8c_source.html#l00017">flash_write_parameters()</a>, <a class="el" href="main_8c_source.html#l00029">mdtp_callback_handler()</a>, <a class="el" href="pid_8c_source.html#l00034">pid_config()</a>, <a class="el" href="report_8c_source.html#l00016">report_local_variable()</a>, and <a class="el" href="gd32f1x0__it_8c_source.html#l00136">TIMER13_IRQHandler()</a>.</p>
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<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</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#l00133">main()</a>, <a class="el" href="main_8c_source.html#l00029">mdtp_callback_handler()</a>, <a class="el" href="pid_8c_source.html#l00034">pid_config()</a>, <a class="el" href="report_8c_source.html#l00016">report_local_variable()</a>, and <a class="el" href="gd32f1x0__it_8c_source.html#l00136">TIMER13_IRQHandler()</a>.</p>
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<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</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#l00037">flash_read_parameters()</a>, and <a class="el" href="main_8c_source.html#l00029">mdtp_callback_handler()</a>.</p>
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<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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<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#l00037">flash_read_parameters()</a>, <a class="el" href="flash_8c_source.html#l00017">flash_write_parameters()</a>, <a class="el" href="main_8c_source.html#l00029">mdtp_callback_handler()</a>, <a class="el" href="pid_8c_source.html#l00034">pid_config()</a>, <a class="el" href="report_8c_source.html#l00016">report_local_variable()</a>, and <a class="el" href="gd32f1x0__it_8c_source.html#l00136">TIMER13_IRQHandler()</a>.</p>
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