165 lines
4.5 KiB
Markdown
165 lines
4.5 KiB
Markdown
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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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