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/*
* r3PCR Teensy Controller Code
*
*
* Copyright (C) 2013 Bernhard Tittelbach <xro@realraum.at>
*
* This code is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* any later version.
*
* This code is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with spreadspace avr utils. If not, see <http://www.gnu.org/licenses/>.
*/
#include "pid_control.h"
#include <avr/eeprom.h>
EEMEM int32_t pid_p_eeprom_;
EEMEM int32_t pid_i_eeprom_;
EEMEM int32_t pid_d_eeprom_;
EEMEM int32_t crc_eeprom_;
#define PID_SCALE 1024L
int32_t pid_outlimit_min_ = -255 * PID_SCALE;
int32_t pid_outlimit_max_ = 255 * PID_SCALE;
int32_t pid_p_ = 8192;
int32_t pid_i_ = 512;
int32_t pid_d_ = 24576;
int32_t pid_i_integralsum_ = 0;
int32_t pid_last_input_ = 0;
int16_t pid_target_value_ = PID_DISABLED;
void pid_setP(int16_t p)
{
pid_p_ = (int32_t) p;
pid_saveToEEPROM();
}
void pid_setI(int16_t i)
{
pid_i_ = (int32_t) i;
pid_saveToEEPROM();
}
void pid_setD(int16_t d)
{
pid_d_ = (int32_t) d;
pid_saveToEEPROM();
}
void pid_printVars(void)
{
printf("PID P: %d /%d\r\nPID I: %d /%d\r\nPID D: %d /%d\r\n", (int16_t) (pid_p_), (int16_t) PID_SCALE, (int16_t) (pid_i_), (int16_t) PID_SCALE, (int16_t) (pid_d_), (int16_t) PID_SCALE);
}
void pid_setTargetValue(int16_t v)
{
pid_target_value_ = v;
}
int16_t pid_getTargetValue(void)
{
return pid_target_value_;
}
int pid_isEnabled(void)
{
return pid_target_value_ != PID_DISABLED;
}
// PRE-CONDITION: call pid_calc at exactly regular intervals !!
int16_t pid_calc(int16_t current_value)
{
if (pid_target_value_ == PID_DISABLED)
return PID_DISABLED;
int32_t error = pid_target_value_ - current_value;
// derivative
// instead of derivative of error we take derivative on measurement
// since dError/dt = - dInput/dt (note the - )
int32_t d_measure = current_value - pid_last_input_;
pid_last_input_ = current_value;
// integral (bring pid_i_ into integral, so we get smooth transfer if pid_i_ suddenly changes)
pid_i_integralsum_ += pid_i_ * error;
// prevent integrator wind-up
if (pid_i_integralsum_ > pid_outlimit_max_)
pid_i_integralsum_ = pid_outlimit_max_;
else if (pid_i_integralsum_ < pid_outlimit_min_)
pid_i_integralsum_ = pid_outlimit_min_;
// combine factors (insofar as we did not already do it above)
int32_t pid_output_preclamp = (
(error * pid_p_) + (pid_i_integralsum_) - (d_measure * pid_d_)
);
// limit output
if (pid_output_preclamp > pid_outlimit_max_)
return (int16_t) (pid_outlimit_max_ / PID_SCALE);
else if (pid_output_preclamp < pid_outlimit_min_)
return (int16_t) (pid_outlimit_min_ / PID_SCALE);
else
return (int16_t) (pid_output_preclamp / PID_SCALE);
}
void pid_loadFromEEPROM(void)
{
int32_t p = eeprom_read_dword((uint32_t *) &pid_p_eeprom_);
int32_t i = eeprom_read_dword((uint32_t *) &pid_i_eeprom_);
int32_t d = eeprom_read_dword((uint32_t *) &pid_d_eeprom_);
int32_t crc = eeprom_read_dword((uint32_t *) &crc_eeprom_);
if (crc == (p ^ i ^ d)) {
pid_p_ = p;
pid_i_ = i;
pid_d_ = d;
}
}
void pid_saveToEEPROM(void)
{
eeprom_write_dword((uint32_t *) &pid_p_eeprom_, pid_p_);
eeprom_write_dword((uint32_t *) &pid_i_eeprom_, pid_i_);
eeprom_write_dword((uint32_t *) &pid_d_eeprom_, pid_d_);
eeprom_write_word((uint16_t *) &crc_eeprom_, pid_p_ ^ pid_i_ ^ pid_d_);
}
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