119 lines
3.4 KiB
C
119 lines
3.4 KiB
C
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/*
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* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
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* All rights reserved.
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*
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* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
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* exclusively with CVA's microcontroller products. This file can be freely
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* distributed within development tools that are supporting such microcontroller
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* products.
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*
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* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
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* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
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* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
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* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
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* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
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*/
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#ifndef _IPI_H_
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#define _IPI_H_
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/*! \brief Contains public interface to various functions related
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* to the Incremental PI (IPI) object.
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* \note The form of this PID is parallel.
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*/
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/*******************************************************************************
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* the includes
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******************************************************************************/
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#include "common/iqmath/iqmath.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*******************************************************************************
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* the defines
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******************************************************************************/
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/*******************************************************************************
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* the typedefs
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******************************************************************************/
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typedef struct _IpiType_
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{
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_iq ref; /*!< Input: Reference input */
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_iq fdb; /*!< Input: Feedback input */
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_iq Kp; /*!< Parameter: Proportional gain */
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_iq Ki; /*!< Parameter: Integral gain */
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_iq lastError; /*!< Internal Variable: last error */
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_iq delta; /*!< Output: The output of increment value */
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} IpiType;
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/*******************************************************************************
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* the globals
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******************************************************************************/
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/*******************************************************************************
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* the function prototypes
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******************************************************************************/
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/*! \brief Initialize the IPI object
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*
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* This function intialize the IPI object
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*
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* \param[in] obj : pointer to IPI instance
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* \param[in] Kp : Kp value in IQ format
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* \param[in] Ki : Ki value in IQ format
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*/
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static inline void Ipi_Init(IpiType *obj, _iq Kp, _iq Ki)
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{
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obj->ref = 0;
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obj->fdb = 0;
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obj->delta = 0;
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obj->Kp = Kp;
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obj->Ki = Ki;
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obj->lastError = 0;
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}
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/*! \brief Run the IPI control
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*
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* This function run the IPI calculation
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*
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* \param[in] obj : pointer to IPI instance
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*/
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static inline void Ipi_Run(IpiType *obj)
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{
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/* Compute the error */
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_iq error = obj->ref - obj->fdb;
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/* Compute the proportional output */
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_iq Up = _IQmpy(obj->Kp, error - obj->lastError);
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/* Compute the integral output */
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_iq Ui = _IQmpy(obj->Ki, error);
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/* Remember error for next time */
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obj->lastError = error;
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/* Assign the output */
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obj->delta = Up + Ui;
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}
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/*! \brief Reset the IPI variables
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*
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* This function reset the IPI instance to the initial state
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*
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* \param[in] obj : pointer to IPI instance
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*/
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static inline void Ipi_Reset(IpiType *obj)
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{
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obj->lastError = 0;
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obj->delta = 0;
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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 /* _IPI_H_ */
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