www.pudn.com > DSP2812formotorcontrol.rar > pid_reg3.h

/* ================================================================================= 
File name:       PID_REG3.H  (IQ version)                     
                     
Originator:	Digital Control Systems Group 
			Texas Instruments 
 
Description:  
Header file containing constants, data type definitions, and  
function prototypes for the PIDREG3. 
===================================================================================== 
 History: 
------------------------------------------------------------------------------------- 
 04-15-2005	Version 3.20 
------------------------------------------------------------------------------*/ 
#ifndef __PIDREG3_H__ 
#define __PIDREG3_H__ 
 
typedef struct {  _iq  Ref;   			// Input: Reference input  
				  _iq  Fdb;   			// Input: Feedback input  
				  _iq  Err;				// Variable: Error 
				  _iq  Kp;				// Parameter: Proportional gain 
				  _iq  Up;				// Variable: Proportional output  
				  _iq  Ui;				// Variable: Integral output  
				  _iq  Ud;				// Variable: Derivative output 	 
				  _iq  OutPreSat; 		// Variable: Pre-saturated output 
				  _iq  OutMax;		    // Parameter: Maximum output  
				  _iq  OutMin;	    	// Parameter: Minimum output 
				  _iq  Out;   			// Output: PID output  
				  _iq  SatErr;			// Variable: Saturated difference 
				  _iq  Ki;			    // Parameter: Integral gain 
				  _iq  Kc;		     	// Parameter: Integral correction gain 
				  _iq  Kd; 		        // Parameter: Derivative gain 
				  _iq  Up1;		   	    // History: Previous proportional output 
		 	 	  void  (*calc)();	  	// Pointer to calculation function 
				 } PIDREG3;	             
 
typedef PIDREG3 *PIDREG3_handle; 
/*----------------------------------------------------------------------------- 
Default initalizer for the PIDREG3 object. 
-----------------------------------------------------------------------------*/                      
#define PIDREG3_DEFAULTS { 0, \ 
                           0, \ 
                           0, \ 
                           _IQ(1.3), \ 
                           0, \ 
                           0, \ 
                           0, \ 
                           0, \ 
                           _IQ(1), \ 
                           _IQ(-1), \ 
                           0, \ 
                           0, \ 
                           _IQ(0.02), \ 
                           _IQ(0.5), \ 
                           _IQ(1.05), \ 
                           0, \ 
              			  (void (*)(Uint32))pid_reg3_calc } 
 
/*------------------------------------------------------------------------------ 
Prototypes for the functions in PIDREG3.C 
------------------------------------------------------------------------------*/ 
void pid_reg3_calc(PIDREG3_handle); 
 
#endif // __PIDREG3_H__