pid_controller.c File Reference

#include "pid_controller.h"
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include <flexptp_options.h>

Go to the source code of this file.

Functions
void	pid_ctrl_init ()
void	pid_ctrl_deinit ()
void	pid_ctrl_reset ()
float	pid_ctrl_run (int32_t dt, PtpServoAuxInput *pAux)

Variables
static bool	logInternals = false
	Decides if servo's internal operation shoud be reported or not.
static bool	firstRun = true
	Indicates if first run did not occur yet.
static float	P_FACTOR = 0.5 * 0.476
	Proportional factor.
static float	I_FACTOR = 0
	Integrating factor.
static float	D_FACTOR = 3.0
	Differentiating factor.
static double	rd_prev_ppb
	relative frequency error measured in previous iteration
static double	integrator_value
	value stored in the integrator

Function Documentation

pid_ctrl_deinit()

void pid_ctrl_deinit

(

)

Deinitialize PD controller.

Definition at line 90 of file pid_controller.c.

pid_ctrl_init()

void pid_ctrl_init

(

)

Initalize PD controller.

Definition at line 82 of file pid_controller.c.

pid_ctrl_reset()

void pid_ctrl_reset

(

)

Reset PD controller.

Definition at line 96 of file pid_controller.c.

pid_ctrl_run()

float pid_ctrl_run	(	int32_t	dt,
		PtpServoAuxInput *	pAux
	)

Run the PD controller.

Parameters

dt	time error in nanoseconds
pAux	auxiliary synchronization cycle context data

Definition at line 101 of file pid_controller.c.

Variable Documentation

D_FACTOR

float D_FACTOR = 3.0

static

Differentiating factor.

Definition at line 24 of file pid_controller.c.

firstRun

bool firstRun = true

static

Indicates if first run did not occur yet.

Definition at line 14 of file pid_controller.c.

I_FACTOR

float I_FACTOR = 0

static

Integrating factor.

Definition at line 23 of file pid_controller.c.

integrator_value

double integrator_value

static

value stored in the integrator

Definition at line 29 of file pid_controller.c.

logInternals

bool logInternals = false

static

Decides if servo's internal operation shoud be reported or not.

Definition at line 13 of file pid_controller.c.

P_FACTOR

float P_FACTOR = 0.5 * 0.476

static

Proportional factor.

Definition at line 22 of file pid_controller.c.

rd_prev_ppb

double rd_prev_ppb

static

relative frequency error measured in previous iteration

Definition at line 28 of file pid_controller.c.