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.

Macros
#define	K_P   (0.5 * 0.476)
	Default Kp parameter value.
#define	K_I   (0)
	Default Ki parameters value.
#define	K_D   (3.0)
	Default Kd parameter value.

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	Kp = (0.5 * 0.476)
	Proportional factor.
static float	Ki = (0)
	Integrating factor.
static float	Kd = (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

Macro Definition Documentation

K_D

#define K_D   (3.0)

Default Kd parameter value.

Definition at line 22 of file pid_controller.c.

K_I

#define K_I   (0)

Default Ki parameters value.

Definition at line 18 of file pid_controller.c.

K_P

#define K_P   (0.5 * 0.476)

Default Kp parameter value.

Definition at line 14 of file pid_controller.c.

Function Documentation

pid_ctrl_deinit()

void pid_ctrl_deinit

(

)

Deinitialize PID controller.

Definition at line 112 of file pid_controller.c.

pid_ctrl_init()

void pid_ctrl_init

(

)

Initialize PID controller.

Definition at line 104 of file pid_controller.c.

pid_ctrl_reset()

void pid_ctrl_reset

(

)

Reset PID controller.

Definition at line 118 of file pid_controller.c.

pid_ctrl_run()

float pid_ctrl_run	(	int32_t	dt,
		PtpServoAuxInput *	pAux
	)

Run the PID controller.

Parameters

dt	time error in nanoseconds
pAux	auxiliary synchronization cycle context data

Definition at line 123 of file pid_controller.c.

Variable Documentation

firstRun

bool firstRun = true

static

Indicates if first run did not occur yet.

Definition at line 28 of file pid_controller.c.

integrator_value

double integrator_value

static

value stored in the integrator

Definition at line 43 of file pid_controller.c.

Kd

float Kd = (3.0)

static

Differentiating factor.

Definition at line 38 of file pid_controller.c.

Ki

float Ki = (0)

static

Integrating factor.

Definition at line 37 of file pid_controller.c.

Kp

float Kp = (0.5 * 0.476)

static

Proportional factor.

Definition at line 36 of file pid_controller.c.

logInternals

bool logInternals = false

static

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

Definition at line 27 of file pid_controller.c.

rd_prev_ppb

double rd_prev_ppb

static

relative frequency error measured in previous iteration

Definition at line 42 of file pid_controller.c.