118 lines
3.4 KiB
C
118 lines
3.4 KiB
C
/* =================================================================================
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File name: PID_REG3.H (IQ version)
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Originator: Digital Control Systems Group
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Texas Instruments
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Description:
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Header file containing constants, data type definitions, and
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function prototypes for the PIDREG3.
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=====================================================================================
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History:
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-------------------------------------------------------------------------------------
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04-15-2005 Version 3.20
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------------------------------------------------------------------------------*/
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#ifndef __PIDREG3_H__
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#define __PIDREG3_H__
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#include "IQmathlib.h"
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//#include "dmctype.h"
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typedef struct { _iq Ref; // Input: Reference input
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_iq Fdb; // Input: Feedback input
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_iq Err; // Variable: Error
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_iq Kp; // Parameter: Proportional gain
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_iq Up; // Variable: Proportional output
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_iq Ui; // Variable: Integral output
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_iq Ud; // Variable: Derivative output
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_iq OutPreSat; // Variable: Pre-saturated output
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_iq OutMax; // Parameter: Maximum output
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_iq OutMin; // Parameter: Minimum output
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_iq Out; // Output: PID output
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_iq SatErr; // Variable: Saturated difference
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_iq Ki; // Parameter: Integral gain
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_iq Kc; // Parameter: Integral correction gain
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_iq Kd; // Parameter: Derivative gain
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_iq Up1; // History: Previous proportional output
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void (*calc)(); // Pointer to calculation function
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} PIDREG3;
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typedef PIDREG3 *PIDREG3_handle;
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/*-----------------------------------------------------------------------------
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Default initalizer for the PIDREG3 object.
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-----------------------------------------------------------------------------*/
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#define PIDREG3_DEFAULTS { 0, \
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(void (*)(PIDREG3_handle))pid_reg3_calc }
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#define PIDREG3_UNDEPENDENT_DEFAULTS { 0, \
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(void (*)(PIDREG3_handle))pid_reg3_undependent_calc }
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/*------------------------------------------------------------------------------
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Prototypes for the functions in PIDREG3.C
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------------------------------------------------------------------------------*/
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void pid_reg3_calc(PIDREG3_handle);
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void pid_reg3_undependent_calc(PIDREG3 *v);
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#endif // __PIDREG3_H__
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