256 lines
8.9 KiB
C
256 lines
8.9 KiB
C
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/* DCLC28.h - C2000 Digital Control Library header file (32-bit fixed point)
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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_DCLC28_H
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#define _C_DCLC28_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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//! \file DCLC28.h
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//! \brief Contains the public interface to the
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//! fixed-point Digital Controller Library functions
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#include "DCL.h"
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#include <stdint.h>
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#define Q24_PLUS_1 0x01000000
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#define Q24_MINUS_1 0xFF000000
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//--- Linear PID controller ---------------------------------------------------
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//! \brief Defines the DCL_PID32 shadow parameter set
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//!
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typedef struct dcl_pid32_sps {
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int32_t Kp; //!< Proportional gain
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int32_t Ki; //!< Integral gain
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int32_t Kd; //!< Derivative gain
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int32_t c1; //!< D-term filter coefficient 1
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int32_t c2; //!< D-term filter coefficient 2
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int32_t Umax; //!< Upper saturation limit
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int32_t Umin; //!< Lower saturation limit
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} DCL_PID32_SPS;
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//! \brief Defines default values to initialize the DCL_PID shadow structure
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//!
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#define PID32_SPS_DEFAULTS { Q24_PLUS_1, 0L, 0L, Q24_PLUS_1, 0L, \
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Q24_PLUS_1, Q24_MINUS_1 }
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//! \brief Defines the fixed-point linear PID32 controller structure
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//!
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typedef struct dcl_pid32 {
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int32_t Kp; //!< Proportional gain
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int32_t Ki; //!< Integral gain
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int32_t Kd; //!< Derivative gain
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int32_t c1; //!< D-term filter coefficient 1
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int32_t c2; //!< D-term filter coefficient 2
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int32_t d2; //!< D-term filter intermediate storage 1
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int32_t d3; //!< D-term filter intermediate storage 2
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int32_t i10; //!< I-term intermediate storage
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int32_t i14; //!< Intermediate saturation storage
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int32_t Umax; //!< Upper saturation limit
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int32_t Umin; //!< Lower saturation limit
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DCL_PID32_SPS *sps; //!< Pointer to the shadow parameter set
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DCL_CSS *css; //!< Pointer to the common support structure
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} DCL_PID32;
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//! \brief Defines default values to initialize the PID structure
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//!
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#define DCL_PID32_DEFAULTS { Q24_PLUS_1, 0L, 0L, Q24_PLUS_1, 0L, 0L, 0L, 0L, \
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Q24_PLUS_1, Q24_PLUS_1, Q24_MINUS_1, \
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NULL_ADDR, NULL_ADDR }
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//! \brief Resets PID internal storage data
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//! \param[in] p Pointer to the DCL_PID32 structure
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//! \return None
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//!
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static inline void DCL_resetPID32(DCL_PID32 *p)
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{
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uint16_t v;
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v = DCL_DISABLE_INTS;
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p->d2 = p->d3 = p->i10 = 0L;
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p->i14 = Q24_PLUS_1;
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DCL_RESTORE_INTS(v);
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}
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//! \brief Loads PID tuning parameters
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//! \param[in] p Pointer to the DCL_PID32 active controller structure
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//! \return None
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//!
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static inline void DCL_updatePID32(DCL_PID32 *p)
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{
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uint16_t v;
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if (p->css->sts & STS_UPDATE_PENDING)
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{
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v = DCL_DISABLE_INTS;
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p->Kp = p->sps->Kp;
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p->Ki = p->sps->Ki;
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p->Kd = p->sps->Kd;
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p->c1 = p->sps->c1;
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p->c2 = p->sps->c2;
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p->Umax = p->sps->Umax;
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p->Umin = p->sps->Umin;
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DCL_RESTORE_INTS(v);
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DCL_CLEAR_UPDATE_REQUEST(p);
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}
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}
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//! \brief Loads PID32 tuning parameters
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//! Implemented as assembly module
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//! \param[in] p Pointer to the active DCL_PID32 controller structure
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//! \return None
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//!
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extern void DCL_fupdatePID32(DCL_PID32 *p);
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//! \brief Executes a parallel form PID controller on the C28x
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//! \param[in] p Pointer to the DCL_PID32 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 int32_t DCL_runPID_A1(DCL_PID32 *p, int32_t rk, int32_t yk);
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//--- Linear PI controller ----------------------------------------------------
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//! \brief Defines the PI32 shadow parameter set
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//!
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typedef struct dcl_pi32_sps {
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int32_t Kp; //!< Proportional gain
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int32_t Ki; //!< Integral gain
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int32_t Umax; //!< Upper saturation limit
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int32_t Umin; //!< Lower saturation limit
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} DCL_PI32_SPS;
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//! \brief Defines default values to initialize the PI32 shadow structure
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//!
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#define PI32_SPS_DEFAULTS { Q24_PLUS_1, 0L, Q24_PLUS_1, Q24_MINUS_1 }
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//! \brief Defines the PI32 controller structure
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//!
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typedef struct dcl_pi32 {
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int32_t Kp; //!< Proportional gain
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int32_t Ki; //!< Integral gain
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int32_t i6; //!< Saturation storage
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int32_t i10; //!< I storage
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int32_t Umax; //!< Upper saturation limit
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int32_t Umin; //!< Lower saturation limit
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DCL_PI32_SPS *sps; //!< Pointer to the shadow parameter set
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DCL_CSS *css; //!< Pointer to the common support structure
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} DCL_PI32;
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//! \brief Defines default values to initialize the active PI structure
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//!
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#define DCL_PI32_DEFAULTS { Q24_PLUS_1, 0L, Q24_PLUS_1, 0L, \
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Q24_PLUS_1, Q24_MINUS_1, \
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NULL_ADDR, NULL_ADDR }
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//! \brief Resets PI32 internal storage data
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//! \param[in] p Pointer to the DCL_PI32 active controller structure
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//! \return None
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//!
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static inline void DCL_resetPI32(DCL_PI32 *p)
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{
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int16_t v;
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v = DCL_DISABLE_INTS;
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p->i10 = 0L;
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p->i6 = Q24_PLUS_1;
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DCL_RESTORE_INTS(v);
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}
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//! \brief Loads active PI32 controller parameters
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//! \param[in] p Pointer to the DCL_PI32 active controller structure
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//! \return None
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//!
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static inline void DCL_updatePI32(DCL_PI32 *p)
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{
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uint16_t v;
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if (p->css->sts & STS_UPDATE_PENDING)
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{
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v = DCL_DISABLE_INTS;
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p->Kp = p->sps->Kp;
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p->Ki = p->sps->Ki;
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p->Umax = p->sps->Umax;
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p->Umin = p->sps->Umin;
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DCL_RESTORE_INTS(v);
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DCL_CLEAR_UPDATE_REQUEST(p);
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}
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}
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//! \brief Loads PI32 tuning parameters
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//! Implemented as assembly module
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//! \param[in] p Pointer to the active DCL_PI32 controller structure
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//! \return None
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//!
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extern void DCL_fupdatePI32(DCL_PI32 *p);
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//! \brief Executes a series form PI_FP controller on the C28x
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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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extern int32_t DCL_runPI_A1(DCL_PI32 *p, int32_t rk, int32_t yk);
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//----------------------------------------------------------------------------
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#ifdef __cplusplus
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}
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#endif // extern "C"
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#endif // _C_DCLC28_H
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