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STM32: RTC: add missing include
[bertos.git]
/
bertos
/
algo
/
pid_control.c
diff --git
a/bertos/algo/pid_control.c
b/bertos/algo/pid_control.c
index 90a368f2da95d269610a0a6393c877b3389da564..73e7ffdf7badb0503507020eb7385800f8f618ba 100644
(file)
--- a/
bertos/algo/pid_control.c
+++ b/
bertos/algo/pid_control.c
@@
-32,13
+32,19
@@
*
* \brief Proportional, integral, derivative controller (PID controller) (implementation)
*
*
* \brief Proportional, integral, derivative controller (PID controller) (implementation)
*
- * \version $Id$
*
* \author Daniele Basile <asterix@develer.com>
*/
#include "pid_control.h"
*
* \author Daniele Basile <asterix@develer.com>
*/
#include "pid_control.h"
+#include "cfg/cfg_pid.h"
+
+// Define logging setting (for cfg/log.h module).
+#define LOG_LEVEL PID_LOG_LEVEL
+#define LOG_VERBOSITY PID_LOG_FORMAT
+
+#include <cfg/log.h>
#include <cfg/debug.h>
/**
#include <cfg/debug.h>
/**
@@
-80,14
+86,14
@@
piddata_t pid_control_update(PidContext *pid_ctx, piddata_t target, piddata_t cu
D = (err - pid_ctx->prev_err) * pid_ctx->cfg->kd / ((piddata_t)pid_ctx->cfg->sample_period / 1000);
D = (err - pid_ctx->prev_err) * pid_ctx->cfg->kd / ((piddata_t)pid_ctx->cfg->sample_period / 1000);
-
// TRACEMSG
("curr_pos[%lf],tgt[%lf],err[%f],P[%f],I[%f],D[%f]", curr_pos, target, err, P, I, D);
+
LOG_INFO
("curr_pos[%lf],tgt[%lf],err[%f],P[%f],I[%f],D[%f]", curr_pos, target, err, P, I, D);
//Store the last error value
pid_ctx->prev_err = err;
piddata_t pid = MINMAX(pid_ctx->cfg->out_min, (P + I + D), pid_ctx->cfg->out_max);
//Store the last error value
pid_ctx->prev_err = err;
piddata_t pid = MINMAX(pid_ctx->cfg->out_min, (P + I + D), pid_ctx->cfg->out_max);
-
// TRACEMSG
("pid[%lf]",pid);
+
LOG_INFO
("pid[%lf]",pid);
//Clamp out between out_min and out_max
return pid;
//Clamp out between out_min and out_max
return pid;