7.2.2 PIDCoeffCalc
Description
PIDCoeffCalc computes the PID coefficients based on values of Kp, Ki and Kd provided by the user.
abcCoefficients[0] = Kp + Ki + Kd
abcCoefficients[1] = -(Kp + 2*Kd)
abcCoefficients[2] = Kd
This routine also clears the delay line elements in the array ControlDifference as well as clears the current PID output element, ControlOutput.
Prototype
void PIDCoeffCalc (fractional *PIDGainCoeff, tPID *PIDStruct);
Arguments
|
Parameters |
Description |
|---|---|
|
PIDGainCoeff |
Pointer to an input array containing Kp, Ki, Kd coefficients in order [Kp, Ki, Kd] |
|
PIDStruct |
Pointer to a PID data structure of type tPID |
Returns
None
Remarks
PID coefficient array elements may be subject to saturation depending on values of Kp, Ki, Kd.
Source File
- pid_aa.s
Function Profile
|
Device |
Program Words |
Cycles |
|---|---|---|
|
PIC32A |
15 |
28 |
System resource usage
- W0 - used, not restored
- ACCA, ACCB - used, not restored
- CORCON - saved, used, restored
- REPEAT instruction usage – None