initial commit
This commit is contained in:
21
3rd-part/PID-Library/LICENSE
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21
3rd-part/PID-Library/LICENSE
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MIT License
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Copyright (c) 2021 Majid Derhambakhsh
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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164
3rd-part/PID-Library/README.md
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164
3rd-part/PID-Library/README.md
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# PID-Library (C Version)
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PID Controller library for ARM Cortex M (STM32)
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> #### Download Arduino Library : [Arduino-PID-Library](https://github.com/br3ttb/Arduino-PID-Library)
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## Release
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- #### Version : 1.0.0
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- #### Type : Embedded Software.
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- #### Support :
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- ARM STM32 series
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- #### Program Language : C/C++
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- #### Properties :
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- #### Changes :
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- #### Required Library/Driver :
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## Overview
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### Initialization and de-initialization functions:
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```c++
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void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
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void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection);
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```
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### Operation functions:
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```c++
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/* ::::::::::: Computing ::::::::::: */
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uint8_t PID_Compute(PID_TypeDef *uPID);
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/* ::::::::::: PID Mode :::::::::::: */
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void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
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PIDMode_TypeDef PID_GetMode(PID_TypeDef *uPID);
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/* :::::::::: PID Limits ::::::::::: */
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void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max);
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/* :::::::::: PID Tunings :::::::::: */
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void PID_SetTunings(PID_TypeDef *uPID, float Kp, float Ki, float Kd);
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void PID_SetTunings2(PID_TypeDef *uPID, float Kp, float Ki, float Kd, PIDPON_TypeDef POn);
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/* ::::::::: PID Direction ::::::::: */
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void PID_SetControllerDirection(PID_TypeDef *uPID, PIDCD_TypeDef Direction);
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PIDCD_TypeDef PID_GetDirection(PID_TypeDef *uPID);
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/* ::::::::: PID Sampling :::::::::: */
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void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
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/* ::::::: Get Tunings Param ::::::: */
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float PID_GetKp(PID_TypeDef *uPID);
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float PID_GetKi(PID_TypeDef *uPID);
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float PID_GetKd(PID_TypeDef *uPID);
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```
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### Macros:
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```diff
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non
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```
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## Guide
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#### This library can be used as follows:
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#### 1. Add pid.h header
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#### 2. Create PID struct and initialize it, for example:
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* Initializer:
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```c++
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PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
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```
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* Parameters:
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* uPID : Pointer to pid struct
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* Input : The variable we're trying to control (float)
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* Output : The variable that will be adjusted by the pid (float)
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* Setpoint : The value we want to Input to maintain (float)
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* Kp,Ki,Kd : Tuning Parameters. these affect how the pid will change the output (float>=0)
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* POn : Either P_ON_E (Default) or P_ON_M. Allows Proportional on Measurement to be specified.
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* ControllerDirection : Either DIRECT or REVERSE. determines which direction the output will move when faced with a given error. DIRECT is most common
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* Example:
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```c++
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PID_TypeDef TPID;
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float Temp, PIDOut, TempSetpoint;
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PID(&TPID, &Temp, &PIDOut, &TempSetpoint, 2, 5, 1, _PID_P_ON_E, _PID_CD_DIRECT);
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```
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#### 3. Set 'mode', 'sample time' and 'output limit', for example:
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* Functions:
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```c++
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void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
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void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max);
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void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
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```
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* Parameters:
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* uPID : Pointer to pid struct
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* Mode : _PID_MODE_AUTOMATIC or _PID_MODE_MANUAL
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* Min : Low end of the range. must be < max (float)
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* Max : High end of the range. must be > min (float)
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* NewSampleTime : How often, in milliseconds, the PID will be evaluated. (int>0)
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* Example:
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```c++
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PID_SetMode(&TPID, _PID_MODE_AUTOMATIC);
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PID_SetSampleTime(&TPID, 500);
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PID_SetOutputLimits(&TPID, 1, 100);
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```
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#### 4. Using Compute function, for example:
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```c++
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PID_Compute(&TPID);
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```
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## Examples
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#### Example 1: PID Compute for temperature
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```c++
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#include "main.h"
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#include "pid.h"
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PID_TypeDef TPID;
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char OutBuf[50];
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float Temp, PIDOut, TempSetpoint;
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int main(void)
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{
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HW_Init();
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PID(&TPID, &Temp, &PIDOut, &TempSetpoint, 2, 5, 1, _PID_P_ON_E, _PID_CD_DIRECT);
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PID_SetMode(&TPID, _PID_MODE_AUTOMATIC);
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PID_SetSampleTime(&TPID, 500);
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PID_SetOutputLimits(&TPID, 1, 100);
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while (1)
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{
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Temp = GetTemp();
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PID_Compute(&TPID);
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sprintf(OutBuf, "Temp%3.2f : %u\n", Temp, (uint16_t)PIDOut);
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UART_Transmit((uint8_t *)OutBuf, strlen(OutBuf));
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Delay_ms(500);
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}
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}
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```
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## Tests performed:
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- [x] Run on STM32 Fx cores
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## Developers:
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- ### Majid Derhambakhsh
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292
3rd-part/PID-Library/pid.c
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292
3rd-part/PID-Library/pid.c
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/*
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------------------------------------------------------------------------------
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~ File : pid.c
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~ Author : Majid Derhambakhsh
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~ Version: V1.0.0
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~ Created: 02/11/2021 03:43:00 AM
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~ Brief :
|
||||
~ Support:
|
||||
E-Mail : Majid.do16@gmail.com (subject : Embedded Library Support)
|
||||
|
||||
Github : https://github.com/Majid-Derhambakhsh
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||||
------------------------------------------------------------------------------
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||||
~ Description:
|
||||
|
||||
~ Attention :
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||||
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||||
~ Changes :
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||||
------------------------------------------------------------------------------
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||||
*/
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#include "pid.h"
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/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Functions ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
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/* ~~~~~~~~~~~~~~~~~ Initialize ~~~~~~~~~~~~~~~~ */
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void PID_Init(PID_TypeDef *uPID)
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{
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/* ~~~~~~~~~~ Set parameter ~~~~~~~~~~ */
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uPID->OutputSum = *uPID->MyOutput;
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uPID->LastInput = *uPID->MyInput;
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if (uPID->OutputSum > uPID->OutMax)
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{
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uPID->OutputSum = uPID->OutMax;
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}
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else if (uPID->OutputSum < uPID->OutMin)
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{
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uPID->OutputSum = uPID->OutMin;
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}
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}
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void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection)
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{
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/* ~~~~~~~~~~ Set parameter ~~~~~~~~~~ */
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uPID->MyOutput = Output;
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uPID->MyInput = Input;
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uPID->MySetpoint = Setpoint;
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uPID->InAuto = (PIDMode_TypeDef)_FALSE;
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PID_SetOutputLimits(uPID, 0, _PID_8BIT_PWM_MAX);
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uPID->SampleTime = _PID_SAMPLE_TIME_MS_DEF; /* default Controller Sample Time is 0.1 seconds */
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PID_SetControllerDirection(uPID, ControllerDirection);
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PID_SetTunings2(uPID, Kp, Ki, Kd, POn);
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}
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void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection)
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{
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PID(uPID, Input, Output, Setpoint, Kp, Ki, Kd, _PID_P_ON_E, ControllerDirection);
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}
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/* ~~~~~~~~~~~~~~~~~ Computing ~~~~~~~~~~~~~~~~~ */
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uint8_t PID_Compute(PID_TypeDef *uPID)
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{
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float input=0;
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float error=0;
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float dInput=0;
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float output=0;
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/* ~~~~~~~~~~ Check PID mode ~~~~~~~~~~ */
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if (!uPID->InAuto)
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{
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return _FALSE;
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}
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/* ..... Compute all the working error variables ..... */
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input = *uPID->MyInput;
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error = *uPID->MySetpoint - input;
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dInput = (input - uPID->LastInput);
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uPID->OutputSum += (uPID->Ki * error);
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/* ..... Add Proportional on Measurement, if P_ON_M is specified ..... */
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if (!uPID->POnE)
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{
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uPID->OutputSum -= uPID->Kp * dInput;
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}
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if (uPID->OutputSum > uPID->OutMax)
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{
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uPID->OutputSum = uPID->OutMax;
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}
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else if (uPID->OutputSum < uPID->OutMin)
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{
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uPID->OutputSum = uPID->OutMin;
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}
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else { }
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/* ..... Add Proportional on Error, if P_ON_E is specified ..... */
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if (uPID->POnE)
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{
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output = uPID->Kp * error;
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}
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else
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{
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output = 0;
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}
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/* ..... Compute Rest of PID Output ..... */
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output += uPID->OutputSum - uPID->Kd * dInput;
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if (output > uPID->OutMax)
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{
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output = uPID->OutMax;
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}
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else if (output < uPID->OutMin)
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{
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output = uPID->OutMin;
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}
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else { }
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*uPID->MyOutput = output;
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/* ..... Remember some variables for next time ..... */
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uPID->LastInput = input;
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return _TRUE;
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}
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/* ~~~~~~~~~~~~~~~~~ PID Mode ~~~~~~~~~~~~~~~~~~ */
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void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode)
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{
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uint8_t newAuto = (Mode == _PID_MODE_AUTOMATIC);
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/* ~~~~~~~~~~ Initialize the PID ~~~~~~~~~~ */
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if (newAuto && !uPID->InAuto)
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{
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PID_Init(uPID);
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}
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uPID->InAuto = (PIDMode_TypeDef)newAuto;
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}
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PIDMode_TypeDef PID_GetMode(PID_TypeDef *uPID)
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{
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return uPID->InAuto ? _PID_MODE_AUTOMATIC : _PID_MODE_MANUAL;
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}
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/* ~~~~~~~~~~~~~~~~ PID Limits ~~~~~~~~~~~~~~~~~ */
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void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max)
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{
|
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/* ~~~~~~~~~~ Check value ~~~~~~~~~~ */
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if (Min >= Max)
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{
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return;
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}
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uPID->OutMin = Min;
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uPID->OutMax = Max;
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/* ~~~~~~~~~~ Check PID Mode ~~~~~~~~~~ */
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if (uPID->InAuto)
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{
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|
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/* ..... Check out value ..... */
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if (*uPID->MyOutput > uPID->OutMax)
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{
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*uPID->MyOutput = uPID->OutMax;
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}
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else if (*uPID->MyOutput < uPID->OutMin)
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{
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*uPID->MyOutput = uPID->OutMin;
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}
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else { }
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/* ..... Check out value ..... */
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if (uPID->OutputSum > uPID->OutMax)
|
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{
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uPID->OutputSum = uPID->OutMax;
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}
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else if (uPID->OutputSum < uPID->OutMin)
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{
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uPID->OutputSum = uPID->OutMin;
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}
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else { }
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||||
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}
|
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}
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/* ~~~~~~~~~~~~~~~~ PID Tunings ~~~~~~~~~~~~~~~~ */
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void PID_SetTunings(PID_TypeDef *uPID, float Kp, float Ki, float Kd)
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{
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PID_SetTunings2(uPID, Kp, Ki, Kd, uPID->POn);
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}
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void PID_SetTunings2(PID_TypeDef *uPID, float Kp, float Ki, float Kd, PIDPON_TypeDef POn)
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{
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float SampleTimeInSec;
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/* ~~~~~~~~~~ Check value ~~~~~~~~~~ */
|
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if (Kp < 0 || Ki < 0 || Kd < 0)
|
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{
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return;
|
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}
|
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/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
|
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uPID->POn = POn;
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uPID->POnE = (PIDPON_TypeDef)(POn == _PID_P_ON_E);
|
||||
|
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uPID->DispKp = Kp;
|
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uPID->DispKi = Ki;
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uPID->DispKd = Kd;
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|
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/* ~~~~~~~~~ Calculate time ~~~~~~~~ */
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SampleTimeInSec = ((float)uPID->SampleTime) / 1000;
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||||
|
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uPID->Kp = Kp;
|
||||
uPID->Ki = Ki * SampleTimeInSec;
|
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uPID->Kd = Kd / SampleTimeInSec;
|
||||
|
||||
/* ~~~~~~~~ Check direction ~~~~~~~~ */
|
||||
if (uPID->ControllerDirection == _PID_CD_REVERSE)
|
||||
{
|
||||
|
||||
uPID->Kp = (0 - uPID->Kp);
|
||||
uPID->Ki = (0 - uPID->Ki);
|
||||
uPID->Kd = (0 - uPID->Kd);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* ~~~~~~~~~~~~~~~ PID Direction ~~~~~~~~~~~~~~~ */
|
||||
void PID_SetControllerDirection(PID_TypeDef *uPID, PIDCD_TypeDef Direction)
|
||||
{
|
||||
/* ~~~~~~~~~~ Check parameters ~~~~~~~~~~ */
|
||||
if ((uPID->InAuto) && (Direction !=uPID->ControllerDirection))
|
||||
{
|
||||
|
||||
uPID->Kp = (0 - uPID->Kp);
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||||
uPID->Ki = (0 - uPID->Ki);
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||||
uPID->Kd = (0 - uPID->Kd);
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||||
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||||
}
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||||
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||||
uPID->ControllerDirection = Direction;
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||||
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||||
}
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||||
PIDCD_TypeDef PID_GetDirection(PID_TypeDef *uPID)
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||||
{
|
||||
return uPID->ControllerDirection;
|
||||
}
|
||||
|
||||
/* ~~~~~~~~~~~~~~~ PID Sampling ~~~~~~~~~~~~~~~~ */
|
||||
void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime)
|
||||
{
|
||||
|
||||
float ratio;
|
||||
|
||||
/* ~~~~~~~~~~ Check value ~~~~~~~~~~ */
|
||||
if (NewSampleTime > 0)
|
||||
{
|
||||
|
||||
ratio = (float)NewSampleTime / (float)uPID->SampleTime;
|
||||
|
||||
uPID->Ki *= ratio;
|
||||
uPID->Kd /= ratio;
|
||||
uPID->SampleTime = (uint32_t)NewSampleTime;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* ~~~~~~~~~~~~~ Get Tunings Param ~~~~~~~~~~~~~ */
|
||||
float PID_GetKp(PID_TypeDef *uPID)
|
||||
{
|
||||
return uPID->DispKp;
|
||||
}
|
||||
float PID_GetKi(PID_TypeDef *uPID)
|
||||
{
|
||||
return uPID->DispKi;
|
||||
}
|
||||
float PID_GetKd(PID_TypeDef *uPID)
|
||||
{
|
||||
return uPID->DispKd;
|
||||
}
|
||||
175
3rd-part/PID-Library/pid.h
Normal file
175
3rd-part/PID-Library/pid.h
Normal file
@@ -0,0 +1,175 @@
|
||||
/*
|
||||
------------------------------------------------------------------------------
|
||||
~ File : pid.h
|
||||
~ Author : Majid Derhambakhsh
|
||||
~ Version: V1.0.0
|
||||
~ Created: 02/11/2021 03:43:00 AM
|
||||
~ Brief :
|
||||
~ Support:
|
||||
E-Mail : Majid.do16@gmail.com (subject : Embedded Library Support)
|
||||
|
||||
Github : https://github.com/Majid-Derhambakhsh
|
||||
------------------------------------------------------------------------------
|
||||
~ Description:
|
||||
|
||||
~ Attention :
|
||||
|
||||
~ Changes :
|
||||
------------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef __PID_H_
|
||||
#define __PID_H_
|
||||
|
||||
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Include ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
|
||||
// #include "zf_common_headfile.h"
|
||||
|
||||
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
|
||||
/* ------------------------ Library ------------------------ */
|
||||
#define _PID_LIBRARY_VERSION 1.0.0
|
||||
|
||||
/* ------------------------ Public ------------------------- */
|
||||
#define _PID_8BIT_PWM_MAX UINT8_MAX
|
||||
#define _PID_SAMPLE_TIME_MS_DEF 100
|
||||
|
||||
#ifndef _FALSE
|
||||
|
||||
#define _FALSE 0
|
||||
|
||||
#endif
|
||||
|
||||
#ifndef _TRUE
|
||||
|
||||
#define _TRUE 1
|
||||
|
||||
#endif
|
||||
|
||||
/* ---------------------- By compiler ---------------------- */
|
||||
#ifndef GetTime
|
||||
|
||||
/* ---------------------- By compiler ---------------------- */
|
||||
|
||||
#ifdef __CODEVISIONAVR__ /* Check compiler */
|
||||
|
||||
#define GetTime() 0
|
||||
|
||||
/* ------------------------------------------------------------------ */
|
||||
|
||||
#elif defined(__GNUC__) /* Check compiler */
|
||||
|
||||
#define GetTime() 0
|
||||
|
||||
/* ------------------------------------------------------------------ */
|
||||
|
||||
|
||||
#else
|
||||
#endif /* __CODEVISIONAVR__ */
|
||||
/* ------------------------------------------------------------------ */
|
||||
|
||||
#endif
|
||||
|
||||
/* --------------------------------------------------------- */
|
||||
|
||||
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Types ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
|
||||
/* PID Mode */
|
||||
typedef enum
|
||||
{
|
||||
|
||||
_PID_MODE_MANUAL = 0,
|
||||
_PID_MODE_AUTOMATIC = 1
|
||||
|
||||
}PIDMode_TypeDef;
|
||||
|
||||
/* PID P On x */
|
||||
typedef enum
|
||||
{
|
||||
|
||||
_PID_P_ON_M = 0, /* Proportional on Measurement */
|
||||
_PID_P_ON_E = 1
|
||||
|
||||
}PIDPON_TypeDef;
|
||||
|
||||
/* PID Control direction */
|
||||
typedef enum
|
||||
{
|
||||
|
||||
_PID_CD_DIRECT = 0,
|
||||
_PID_CD_REVERSE = 1
|
||||
|
||||
}PIDCD_TypeDef;
|
||||
|
||||
/* PID Structure */
|
||||
typedef struct
|
||||
{
|
||||
|
||||
PIDPON_TypeDef POnE;
|
||||
PIDMode_TypeDef InAuto;
|
||||
|
||||
PIDPON_TypeDef POn;
|
||||
PIDCD_TypeDef ControllerDirection;
|
||||
|
||||
uint32_t LastTime;
|
||||
uint32_t SampleTime;
|
||||
|
||||
float DispKp;
|
||||
float DispKi;
|
||||
float DispKd;
|
||||
|
||||
float Kp;
|
||||
float Ki;
|
||||
float Kd;
|
||||
|
||||
float *MyInput;
|
||||
float *MyOutput;
|
||||
float *MySetpoint;
|
||||
|
||||
float OutputSum;
|
||||
float LastInput;
|
||||
|
||||
float OutMin;
|
||||
float OutMax;
|
||||
|
||||
}PID_TypeDef;
|
||||
|
||||
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Variables ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
|
||||
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
|
||||
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Struct ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
|
||||
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Class ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
|
||||
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Prototype ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
|
||||
/* :::::::::::::: Init ::::::::::::: */
|
||||
void PID_Init(PID_TypeDef *uPID);
|
||||
void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
|
||||
void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection);
|
||||
|
||||
/* ::::::::::: Computing ::::::::::: */
|
||||
uint8_t PID_Compute(PID_TypeDef *uPID);
|
||||
|
||||
/* ::::::::::: PID Mode :::::::::::: */
|
||||
void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
|
||||
PIDMode_TypeDef PID_GetMode(PID_TypeDef *uPID);
|
||||
|
||||
/* :::::::::: PID Limits ::::::::::: */
|
||||
void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max);
|
||||
|
||||
/* :::::::::: PID Tunings :::::::::: */
|
||||
void PID_SetTunings(PID_TypeDef *uPID, float Kp, float Ki, float Kd);
|
||||
void PID_SetTunings2(PID_TypeDef *uPID, float Kp, float Ki, float Kd, PIDPON_TypeDef POn);
|
||||
|
||||
/* ::::::::: PID Direction ::::::::: */
|
||||
void PID_SetControllerDirection(PID_TypeDef *uPID, PIDCD_TypeDef Direction);
|
||||
PIDCD_TypeDef PID_GetDirection(PID_TypeDef *uPID);
|
||||
|
||||
/* ::::::::: PID Sampling :::::::::: */
|
||||
void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
|
||||
|
||||
/* ::::::: Get Tunings Param ::::::: */
|
||||
float PID_GetKp(PID_TypeDef *uPID);
|
||||
float PID_GetKi(PID_TypeDef *uPID);
|
||||
float PID_GetKd(PID_TypeDef *uPID);
|
||||
|
||||
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ End of the program ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
|
||||
|
||||
#endif /* __PID_H_ */
|
||||
Reference in New Issue
Block a user