480 lines
17 KiB
C
480 lines
17 KiB
C
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/* DCLCLA.h - C2000 Digital Controller Library header file
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*
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*/
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//#############################################################################
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//!
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//! Copyright: Copyright (C) 2023 Texas Instruments Incorporated -
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//! All rights reserved not granted herein.
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//! Limited License.
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//!
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//! Texas Instruments Incorporated grants a world-wide, royalty-free,
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//! non-exclusive license under copyrights and patents it now or hereafter
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//! owns or controls to make, have made, use, import, offer to sell and sell
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//! ("Utilize") this software subject to the terms herein. With respect to the
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//! foregoing patent license, such license is granted solely to the extent that
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//! any such patent is necessary to Utilize the software alone. The patent
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//! license shall not apply to any combinations which include this software,
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//! other than combinations with devices manufactured by or for TI
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//! ("TI Devices").
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//! No hardware patent is licensed hereunder.
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//!
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//! Redistributions must preserve existing copyright notices and reproduce this
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//! license (including the above copyright notice and the disclaimer and
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//! (if applicable) source code license limitations below) in the documentation
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//! and/or other materials provided with the distribution.
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//!
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//! Redistribution and use in binary form, without modification, are permitted
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//! provided that the following conditions are met:
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//!
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//! * No reverse engineering, decompilation, or disassembly of this software is
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//! permitted with respect to any software provided in binary form.
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//! * Any redistribution and use are licensed by TI for use only
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//! with TI Devices.
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//! * Nothing shall obligate TI to provide you with source code for the
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//! software licensed and provided to you in object code.
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//!
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//! If software source code is provided to you, modification and redistribution
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//! of the source code are permitted provided that the following conditions
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//! are met:
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//!
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//! * any redistribution and use of the source code, including any resulting
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//! derivative works, are licensed by TI for use only with TI Devices.
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//! * any redistribution and use of any object code compiled from the source
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//! code and any resulting derivative works, are licensed by TI for use
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//! only with TI Devices.
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//!
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//! Neither the name of Texas Instruments Incorporated nor the names of its
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//! suppliers may be used to endorse or promote products derived from this
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//! software without specific prior written permission.
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//#############################################################################
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#ifndef _C_DCLCLA_H
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#define _C_DCLCLA_H
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//! \file DCLCLA.h
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//! \brief Contains the public interface to the
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//! Digital Controller Library CLA functions
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#include "DCL.h"
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//--- Linear PID controller ---------------------------------------------------
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//! \brief Defines the DCL_PID_CLA controller structure
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//!
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typedef struct {
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float32_t Kp; //!< Proportional gain
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float32_t Ki; //!< Integral gain
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float32_t Kd; //!< Derivative gain
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float32_t Kr; //!< Set point weight
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float32_t c1; //!< D-term filter coefficient 1
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float32_t c2; //!< D-term filter coefficient 2
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float32_t d2; //!< D-term filter intermediate storage 1
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float32_t d3; //!< D-term filter intermediate storage 2
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float32_t i10; //!< I-term intermediate storage
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float32_t i14; //!< Intermediate saturation storage
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float32_t Umax; //!< Upper saturation limit
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float32_t Umin; //!< Lower saturation limit
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} DCL_PID_CLA;
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//! \brief Defines default values to initialize the DCL_PID structure
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//!
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#define PID_CLA_DEFAULTS { 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, \
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0.0f, 0.0f, 1.0f, -1.0f }
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//! \brief Executes an ideal form PID controller on the CLA
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//! \param[in] p Pointer to the DCL_PID_CLA structure
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//! \param[in] rk The controller set-point reference
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//! \param[in] yk The measured feedback value
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//! \param[in] lk External output clamp flag
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//! \return The control effort
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//!
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extern float32_t DCL_runPID_L1(DCL_PID_CLA *p, float32_t rk, float32_t yk, float32_t lk);
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//! \brief Executes a parallel form PID controller on the CLA
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//! \param[in] p Pointer to the DCL_PID_CLA structure
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//! \param[in] rk The controller set-point reference
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//! \param[in] yk The measured feedback value
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//! \param[in] lk External output clamp flag
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//! \return The control effort
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//!
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extern float32_t DCL_runPID_L2(DCL_PID_CLA *p, float32_t rk, float32_t yk, float32_t lk);
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//--- Linear PI controller ----------------------------------------------------
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//! \brief Defines the DCL_PI_CLA controller structure
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//!
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typedef struct {
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float32_t Kp; //!< Proportional gain
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float32_t Ki; //!< Integral gain
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float32_t i10; //!< I storage
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float32_t Umax; //!< Upper control saturation limit
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float32_t Umin; //!< Lower control saturation limit
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float32_t i6; //!< Saturation storage
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float32_t i11; //!< I storage
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float32_t Imax; //!< Upper integrator saturation limit
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float32_t Imin; //!< Lower integrator saturation limit
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} DCL_PI_CLA;
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//! \brief Defines default values to initialize the PI_CLA structure
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//!
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#define PI_CLA_DEFAULTS { 1.0f, 0.0f, 0.0f, 1.0f, -1.0f, 1.0f, 1.0f, -1.0f }
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//! \brief Executes a series form PI controller on the CLA
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//! \param[in] p Pointer to the DCL_PI_CLA structure
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//! \param[in] rk The controller set-point reference
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//! \param[in] yk The measured feedback value
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//! \return The control effort
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//!
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extern float32_t DCL_runPI_L1(DCL_PI_CLA *p, float32_t rk, float32_t yk);
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//! \brief Executes a parallel form PI controller on the CLA
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//! \param[in] p Pointer to the DCL_PI_CLA structure
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//! \param[in] rk The controller set-point reference
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//! \param[in] yk The measured feedback value
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//! \return The control effort
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//!
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extern float32_t DCL_runPI_L2(DCL_PI_CLA *p, float32_t rk, float32_t yk);
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//! \brief Executes an inline series form PI controller on the CLA
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//! Implemented as inline C function
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//! \param[in] p Pointer to the DCL_PI structure
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//! \param[in] rk The controller set-point reference
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//! \param[in] yk The measured feedback value
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//! \return The control effort
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//!
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static inline float32_t DCL_runPI_L3(DCL_PI_CLA *p, float32_t rk, float32_t yk)
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{
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float32_t v2, v4, v5, v9;
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asm(" MSETFLG RNDF32=1");
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v2 = p->Kp * (rk - yk);
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v4 = p->i10 + (p->Ki * p->i6 * v2);
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v5 = v2 + v4;
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v9 = (v5 > p->Umax) ? p->Umax : v5;
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v9 = (v9 < p->Umin) ? p->Umin : v9;
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p->i10 = v4;
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p->i6 = (v5 == v9) ? 1.0f : 0.0f;
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return(v9);
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}
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//! \brief Executes an parallel form PI controller on the CLA
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//! Implemented as inline C function
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//! \param[in] p Pointer to the DCL_PI structure
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//! \param[in] rk The controller set-point reference
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//! \param[in] yk The measured feedback value
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//! \return The control effort
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//!
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static inline float32_t DCL_runPI_L4(DCL_PI_CLA *p, float32_t rk, float32_t yk)
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{
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float32_t v1, v2, v4, v5, v9;
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asm(" MSETFLG RNDF32=1");
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v1 = rk - yk;
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v2 = p->Kp * v1;
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v4 = (v1 * p->Ki * p->i6) + p->i10;
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p->i10 = v4;
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v5 = v2 + v4;
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v9 = (v5 > p->Umax) ? p->Umax : v5;
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v9 = (v9 < p->Umin) ? p->Umin : v9;
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p->i6 = (v5 == v9) ? 1.0f : 0.0f;
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return(v9);
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}
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//! \brief Executes a series form PI controller with Tustin integrator
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//! on the CLA.
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//! \param[in] p Pointer to the DCL_PI_CLA structure
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//! \param[in] rk The controller set-point reference
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//! \param[in] yk The measured feedback value
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//! \return The control effort
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//!
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static inline float32_t DCL_runPI_L5(DCL_PI_CLA *p, float32_t rk, float32_t yk)
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{
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float32_t v2, v4, v5, v8, v9;
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asm(" MSETFLG RNDF32=1");
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v2 = (rk - yk) * p->Kp;
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v8 = v2 * p->Ki * p->i6;
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v4 = v8 + p->i11 + p->i10;
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v5 = v2 + v4;
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p->i10 = v4;
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p->i11 = v8;
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v9 = (v5 > p->Umax) ? p->Umax : v5;
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v9 = (v9 < p->Umin) ? p->Umin : v9;
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p->i6 = (v5 == v9) ? 1.0f : 0.0f;
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return(v9);
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}
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//--- Direct Form 1 - 1st order -----------------------------------------------
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//! \brief Defines the DCL_DF11 controller structure
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//!
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typedef struct {
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float32_t b0; //!< b0
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float32_t b1; //!< b1
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float32_t a1; //!< a1
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float32_t d1; //!< e(k-1)
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float32_t d2; //!< u(k-1)
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} DCL_DF11_CLA;
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//! \brief Defines default values to initialize the DCL_DF11_CLA structure
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//!
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#define DF11_CLA_DEFAULTS { 0.5f, 0.5f, 1.0f, 0.0f, 0.0f }
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//! \brief Executes a 1st order Direct Form 1 controller on the CLA
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//! \param[in] p Pointer to the DCL_DF11_CLA controller structure
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//! \param[in] ek The servo error
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//! \return The control effort
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//!
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extern float32_t DCL_runDF11_L1(DCL_DF11_CLA *p, float32_t ek);
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//--- Direct Form 1 - 3rd order -----------------------------------------------
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//! \brief Defines the DCL_DF13_CLA controller structure
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//!
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typedef struct {
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// coefficients
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float32_t b0; //!< b0
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float32_t b1; //!< b1
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float32_t b2; //!< b2
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float32_t b3; //!< b3
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float32_t a0; //!< a0
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float32_t a1; //!< a1
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float32_t a2; //!< a2
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float32_t a3; //!< a3
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//data
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float32_t d0; //!< e(k)
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float32_t d1; //!< e(k-1)
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float32_t d2; //!< e(k-2)
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float32_t d3; //!< e(k-3)
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float32_t d4; //!< u(k)
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float32_t d5; //!< u(k-1)
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float32_t d6; //!< u(k-2)
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float32_t d7; //!< u(k-3)
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} DCL_DF13_CLA;
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//! \brief Defines default values to initialize the DCL_DF13_CLA structure
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//!
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#define DF13_CLA_DEFAULTS { 0.25f, 0.25f, 0.25f, 0.25f, 0.0f, 0.0f, 0.0f, 0.0f, \
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0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f }
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//! \brief Executes a full 3rd order Direct Form 1 controller on the CLA
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//! \param[in] p Pointer to the DCL_DF13_CLA controller structure
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//! \param[in] ek The servo error
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//! \return The control effort
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//!
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extern float32_t DCL_runDF13_L1(DCL_DF13_CLA *p, float32_t ek);
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//! \brief Executes an immediate 3rd order Direct Form 1 controller on the CLA
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//! \param[in] p Pointer to the DCL_DF13_CLA controller structure
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//! \param[in] ek The servo error
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//! \param[in] vk The partial pre-computed control effort
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//! \return The control effort
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//!
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extern float32_t DCL_runDF13_L2(DCL_DF13_CLA *p, float32_t ek, float32_t vk);
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//! \brief Executes a partial pre-computed 3rd order Direct Form 1 controller on the CLA
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//! \param[in] p Pointer to the DCL_DF13_CLA controller structure
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//! \param[in] ek The servo error
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//! \param[in] uk The controller output in the previous sample interval
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//! \return The control effort
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//!
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extern float32_t DCL_runDF13_L3(DCL_DF13_CLA *p, float32_t ek, float32_t uk);
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//! \brief Executes a full 3rd order Direct Form 1 controller on the CLA
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//! Implemented as inline C function
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//! Note: d0 not used
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//! \param[in] p Pointer to the DCL_DF13_CLA controller structure
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//! \param[in] ek The servo error
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//! \return The control effort
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//!
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static inline float32_t DCL_runDF13_L4(DCL_DF13_CLA *p, float32_t ek)
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{
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asm(" MSETFLG RNDF32=1");
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p->d4 = (ek * p->b0) + (p->d1 * p->b1) + (p->d2 * p->b2) + (p->d3 * p->b3) - (p->d5 * p->a1) - (p->d6 * p->a2) - (p->d7 * p->a3);
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p->d3 = p->d2;
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p->d2 = p->d1;
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p->d1 = ek;
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p->d7 = p->d6;
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p->d6 = p->d5;
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p->d5 = p->d4;
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return(p->d4);
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}
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//! \brief Executes an immediate 3rd order Direct Form 1 controller on the CLA
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//! Implemented as inline C function
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//! \param[in] p Pointer to the DCL_DF13_CLA controller structure
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//! \param[in] ek The servo error
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//! \param[in] vk The partial pre-computed control effort
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//! \return The control effort
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//!
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static inline float32_t DCL_runDF13_L5(DCL_DF13_CLA *p, float32_t ek, float32_t vk)
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{
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asm(" MSETFLG RNDF32=1");
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p->d4 = (ek * p->b0) + vk;
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return(p->d4);
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}
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//! \brief Executes a partial pre-computed 3rd order Direct Form 1 controller on the CLA
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//! Implemented as inline C function
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//! Note: d0 not used
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//! \param[in] p Pointer to the DCL_DF13_CLA controller structure
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|
//! \param[in] ek The servo error
|
||
|
|
//! \param[in] uk The controller output in the previous sample interval
|
||
|
|
//! \return The control effort
|
||
|
|
//!
|
||
|
|
static inline float32_t DCL_runDF13_L6(DCL_DF13_CLA *p, float32_t ek, float32_t uk)
|
||
|
|
{
|
||
|
|
float32_t v9;
|
||
|
|
|
||
|
|
asm(" MSETFLG RNDF32=1");
|
||
|
|
v9 = (ek * p->b1) + (p->d1 * p->b2) + (p->d2 * p->b3) - (uk * p->a1) - (p->d5 * p->a2) - (p->d6 * p->a3);
|
||
|
|
p->d2 = p->d1;
|
||
|
|
p->d1 = ek;
|
||
|
|
p->d6 = p->d5;
|
||
|
|
p->d5 = uk;
|
||
|
|
|
||
|
|
return(v9);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
//--- Direct Form 2 - 2nd order -----------------------------------------------
|
||
|
|
|
||
|
|
//! \brief Defines the DCL_DF22_CLA controller structure
|
||
|
|
//!
|
||
|
|
typedef struct {
|
||
|
|
float32_t b0; //!< b0
|
||
|
|
float32_t b1; //!< b1
|
||
|
|
float32_t b2; //!< b2
|
||
|
|
float32_t a1; //!< a1
|
||
|
|
float32_t a2; //!< a2
|
||
|
|
float32_t x1; //!< x1
|
||
|
|
float32_t x2; //!< x2
|
||
|
|
} DCL_DF22_CLA;
|
||
|
|
|
||
|
|
//! \brief Defines default values to initialize the DCL_DF22_CLA structure
|
||
|
|
//!
|
||
|
|
#define DF22_CLA_DEFAULTS { 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f }
|
||
|
|
|
||
|
|
//! \brief Executes a full 2nd order Direct Form 2 controller on the CLA
|
||
|
|
//! \param[in] p Pointer to the DCL_DF22_CLA controller structure
|
||
|
|
//! \param[in] ek The servo error
|
||
|
|
//! \return The control effort
|
||
|
|
//!
|
||
|
|
extern float32_t DCL_runDF22_L1(DCL_DF22_CLA *p, float32_t ek);
|
||
|
|
|
||
|
|
//! \brief Executes an immediate 2nd order Direct Form 2 controller on the CLA
|
||
|
|
//! \param[in] p Pointer to the DCL_DF22_CLA controller structure
|
||
|
|
//! \param[in] ek The servo error
|
||
|
|
//! \return The control effort
|
||
|
|
//!
|
||
|
|
extern float32_t DCL_runDF22_L2(DCL_DF22_CLA *p, float32_t ek);
|
||
|
|
|
||
|
|
//! \brief Executes a partial pre-computed 2nd order Direct Form 2 controller on the CLA
|
||
|
|
//! \param[in] p Pointer to the DCL_DF22_CLA controller structure
|
||
|
|
//! \param[in] ek The servo error
|
||
|
|
//! \param[in] uk The controller output in the previous sample interval
|
||
|
|
//!
|
||
|
|
extern void DCL_runDF22_L3(DCL_DF22_CLA *p, float32_t ek, float32_t uk);
|
||
|
|
|
||
|
|
//! \brief Executes a full 2nd order Direct Form 2 controller on the CLA
|
||
|
|
//! Implemented as inline C function
|
||
|
|
//! \param[in] p Pointer to the DCL_DF22 controller structure
|
||
|
|
//! \param[in] ek The servo error
|
||
|
|
//! \return The control effort
|
||
|
|
//!
|
||
|
|
static inline float32_t DCL_runDF22_L4(DCL_DF22_CLA *p, float32_t ek)
|
||
|
|
{
|
||
|
|
float32_t v7;
|
||
|
|
|
||
|
|
asm(" MSETFLG RNDF32=1");
|
||
|
|
v7 = (ek * p->b0) + p->x1;
|
||
|
|
p->x1 = (ek * p->b1) + p->x2 - (v7 * p->a1);
|
||
|
|
p->x2 = (ek * p->b2) - (v7 * p->a2);
|
||
|
|
|
||
|
|
return(v7);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
//--- Direct Form 2 - 3rd order -----------------------------------------------
|
||
|
|
|
||
|
|
//! \brief Defines the DCL_DF23_CLA controller structure
|
||
|
|
//!
|
||
|
|
typedef struct {
|
||
|
|
float32_t b0; //!< b0
|
||
|
|
float32_t b1; //!< b1
|
||
|
|
float32_t b2; //!< b2
|
||
|
|
float32_t b3; //!< b3
|
||
|
|
float32_t a1; //!< a1
|
||
|
|
float32_t a2; //!< a2
|
||
|
|
float32_t a3; //!< a3
|
||
|
|
float32_t x1; //!< x1
|
||
|
|
float32_t x2; //!< x2
|
||
|
|
float32_t x3; //!< x3
|
||
|
|
} DCL_DF23_CLA;
|
||
|
|
|
||
|
|
//! \brief Defines default values to initialize the DCL_DF23_CLA structure
|
||
|
|
//!
|
||
|
|
#define DF23_CLA_DEFAULTS { 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f }
|
||
|
|
|
||
|
|
//! \brief Executes a full 3rd order Direct Form 2 controller on the CLA
|
||
|
|
//! \param[in] p Pointer to the DCL_DF23_CLA controller structure
|
||
|
|
//! \param[in] ek The servo error
|
||
|
|
//! \return The control effort
|
||
|
|
//!
|
||
|
|
extern float32_t DCL_runDF23_L1(DCL_DF23_CLA *p, float32_t ek);
|
||
|
|
|
||
|
|
//! \brief Executes an immediate 3rd order Direct Form 2 controller on the CLA
|
||
|
|
//! \param[in] p Pointer to the DCL_DF23_CLA controller structure
|
||
|
|
//! \param[in] ek The servo error
|
||
|
|
//! \return The control effort
|
||
|
|
//!
|
||
|
|
extern float32_t DCL_runDF23_L2(DCL_DF23_CLA *p, float32_t ek);
|
||
|
|
|
||
|
|
//! \brief Executes a partial pre-computed 2nd order Direct Form 2 controller on the CLA
|
||
|
|
//! \param[in] p Pointer to the DCL_DF23_CLA controller structure
|
||
|
|
//! \param[in] ek The servo error
|
||
|
|
//! \param[in] uk The controller output in the previous sample interval
|
||
|
|
//!
|
||
|
|
extern void DCL_runDF23_L3(DCL_DF23_CLA *p, float32_t ek, float32_t uk);
|
||
|
|
|
||
|
|
|
||
|
|
//--- Direct Form 2 - clamp ---------------------------------------------------
|
||
|
|
|
||
|
|
//! \brief Saturates a control variable and returns 1.0f if either limit is exceeded
|
||
|
|
//!
|
||
|
|
//! \details Can be used to saturate a pre-computed Direct Form 2 controller.
|
||
|
|
//! If the immediate result is in range it can be used, otherwise
|
||
|
|
//! it can be clamped and the next partial pre-computation skipped.
|
||
|
|
//! An example of use with a pre-computed DF22 controller follows:
|
||
|
|
//!
|
||
|
|
//! \code
|
||
|
|
//! uk = DCL_runDF22_L2(&arma2, rk); // immediate result from pre-computed controller
|
||
|
|
//! f = DCL_runClamp_L1(&uk, 1.0f, -1.0f); // clamp immediate result to +/-1.0
|
||
|
|
//! // ...use uk here...
|
||
|
|
//! if (0.5f > f) // if immediate result is in range...
|
||
|
|
//! {
|
||
|
|
//! DCL_runDF22_L3(&arma2, rk, uk); // ...pre-compute the next partial result
|
||
|
|
//! }
|
||
|
|
//! \endcode
|
||
|
|
//!
|
||
|
|
//! \param[in] data The address of the data variable
|
||
|
|
//! \param[in] Umax The upper limit
|
||
|
|
//! \param[in] Umin The lower limit
|
||
|
|
//! \return Returns 0.0f if (Umin < data < Umax), else 1.0f
|
||
|
|
//!
|
||
|
|
extern float32_t DCL_runClamp_L1(float32_t *data, float32_t Umax, float32_t Umin);
|
||
|
|
|
||
|
|
#endif // _C_DCLCLA_H
|
||
|
|
|
||
|
|
/* end of file */
|