/**********************************************************************
* � 2005 Microchip Technology Inc.
*
* FileName: main.c
* Dependencies: Header (.h) files if applicable, see below
* Processor: dsPIC30Fxxxx
* Compiler: MPLAB� C30 v3.00 or higher
* IDE: MPLAB� IDE v7.52 or later
* Dev. Board Used: dsPICDEM 1.1 Development Board
* Hardware Dependencies: None
*
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* REVISION HISTORY:
*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
* Author Date Comments on this revision
*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
* HV/SB 11/15/05 First release of source file
*
*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
*
* ADDITIONAL NOTES:
*
*
**********************************************************************/
#include <dsp.h>
/*
Variable Declaration required for each PID controller in your application
*/
/* Declare a PID Data Structure named, fooPID */
tPID fooPID;
/* The fooPID data structure contains a pointer to derived coefficients in X-space and */
/* pointer to controler state (history) samples in Y-space. So declare variables for the */
/* derived coefficients and the controller history samples */
fractional abcCoefficient[3] __attribute__ ((section (".xbss, bss, xmemory")));
fractional controlHistory[3] __attribute__ ((section (".ybss, bss, ymemory")));
/* The abcCoefficients referenced by the fooPID data structure */
/* are derived from the gain coefficients, Kp, Ki and Kd */
/* So, declare Kp, Ki and Kd in an array */
fractional kCoeffs[] = {0,0,0};
/*
Main function demonstrating the use of PID(), PIDInit() and PIDCoeffCalc()
functions from DSP library in MPLAB C30 v3.00 and higher
*/
int main (void)
{
/*
Step 1: Initialize the PID data structure, fooPID
*/
fooPID.abcCoefficients = &abcCoefficient[0]; /*Set up pointer to derived coefficients */
fooPID.controlHistory = &controlHistory[0]; /*Set up pointer to controller history samples */
PIDInit(&fooPID); /*Clear the controler history and the controller output */
kCoeffs[0] = Q15(0.7);
kCoeffs[1] = Q15(0.2);
kCoeffs[2] = Q15(0.07);
PIDCoeffCalc(&kCoeffs[0], &fooPID); /*Derive the a,b, & c coefficients from the Kp, Ki & Kd */
/*
Step 2: Use the PID Controller
*/
fooPID.controlReference = Q15(0.74) ; /*Set the Reference Input for your controller */
fooPID.measuredOutput = Q15(0.453) ; /*Typically the measuredOutput variable is a plant response*/
/*measured from an A/D input or a sensor. */
/*In this example we manually set it to some value for */
/*demonstration but the user should note that this value will */
/*keep changing in a real application*/
while (1) /*We use a while(1) loop here for demonstration purposes.*/
{ /*Typically, the PID calculation may be triggered off a timer*/
/*or A/D interrupt */
PID(&fooPID); /*Call the PID controller using the new measured input */
/*The user may place a breakpoint on "PID(&fooPID)", halt the debugger,*/
/*tweak the measuredOutput variable within the watch window */
/*and then run the debugger again */
}
}
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