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29 * Copyright 2008 Develer S.r.l. (http://www.develer.com/)
33 * \brief Proportional, integral, derivative controller (PID controller).
36 * \author Daniele Basile <asterix@develer.com>
38 * $WIZ$ module_name = "pid_control"
39 * $WIZ$ module_depends = "timer"
42 #ifndef ALGO_PID_CONTROL_H
43 #define ALGO_PID_CONTROL_H
45 #include <drv/timer.h>
48 * Data type for pid coefficient.
51 typedef float piddata_t;
54 * PID context structure.
58 pidk_t kp; ///< Proportional term of PID control method (Gain).
59 pidk_t ki; ///< Integral term of PID control method (Integral Gain).
60 pidk_t kd; ///< Derivative of PID control method (Derivative Gain).
62 piddata_t i_max; ///< Max value of integral term.
63 piddata_t i_min; ///< Min value of integral term.
65 piddata_t out_max; ///< Man value of output.
66 piddata_t out_min; ///< Min value of output.
68 mtime_t sample_period; ///< Sample period in milliseconds.
74 * PID context structure.
76 typedef struct PidContext
80 piddata_t prev_err; ///< Previous error.
81 piddata_t i_state; ///< Integrator state (sum of all the preceding errors).
86 * Set Kp, Ki, Kd constants of PID control.
88 INLINE void pid_control_setPid(PidCfg *pid_cfg, pidk_t kp, pidk_t ki, pidk_t kd)
96 * Set sample period for PID control.
98 INLINE void pid_control_setPeriod(PidCfg *pid_cfg, mtime_t sample_period)
100 pid_cfg->sample_period = sample_period;
104 * Clear a pid control structure
106 INLINE void pid_control_reset(PidContext *pid_ctx)
108 pid_ctx->i_state = 0;
109 pid_ctx->prev_err = 0;
112 piddata_t pid_control_update(PidContext *pid_ctx, piddata_t target, piddata_t curr_pos);
113 void pid_control_init(PidContext *pid_ctx, const PidCfg *pid_cfg);
115 #endif /* ALGO_PID_CONTROL_H */