PID Controller library for ARM Cortex M (STM32)
Download Arduino Library : Arduino-PID-Library
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- ARM STM32 series
void PID(PID_TypeDef *uPID, double *Input, double *Output, double *Setpoint, double Kp, double Ki, double Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
void PID2(PID_TypeDef *uPID, double *Input, double *Output, double *Setpoint, double Kp, double Ki, double Kd, PIDCD_TypeDef ControllerDirection);/* ::::::::::: Computing ::::::::::: */
uint8_t PID_Compute(PID_TypeDef *uPID);
/* ::::::::::: PID Mode :::::::::::: */
void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
PIDMode_TypeDef PID_GetMode(PID_TypeDef *uPID);
/* :::::::::: PID Limits ::::::::::: */
void PID_SetOutputLimits(PID_TypeDef *uPID, double Min, double Max);
/* :::::::::: PID Tunings :::::::::: */
void PID_SetTunings(PID_TypeDef *uPID, double Kp, double Ki, double Kd);
void PID_SetTunings2(PID_TypeDef *uPID, double Kp, double Ki, double Kd, PIDPON_TypeDef POn);
/* ::::::::: PID Direction ::::::::: */
void PID_SetControllerDirection(PID_TypeDef *uPID, PIDCD_TypeDef Direction);
PIDCD_TypeDef PID_GetDirection(PID_TypeDef *uPID);
/* ::::::::: PID Sampling :::::::::: */
void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
/* ::::::: Get Tunings Param ::::::: */
double PID_GetKp(PID_TypeDef *uPID);
double PID_GetKi(PID_TypeDef *uPID);
double PID_GetKd(PID_TypeDef *uPID);non -
Initializer:
PID(PID_TypeDef *uPID, double *Input, double *Output, double *Setpoint, double Kp, double Ki, double Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
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Parameters:
- uPID : Pointer to pid struct
- Input : The variable we're trying to control (double)
- Output : The variable that will be adjusted by the pid (double)
- Setpoint : The value we want to Input to maintain (double)
- Kp,Ki,Kd : Tuning Parameters. these affect how the pid will change the output (double>=0)
- POn : Either P_ON_E (Default) or P_ON_M. Allows Proportional on Measurement to be specified.
- ControllerDirection : Either DIRECT or REVERSE. determines which direction the output will move when faced with a given error. DIRECT is most common
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Example:
PID_TypeDef TPID; double Temp, PIDOut, TempSetpoint; PID(&TPID, &Temp, &PIDOut, &TempSetpoint, 2, 5, 1, _PID_P_ON_E, _PID_CD_DIRECT);
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Functions:
void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode); void PID_SetOutputLimits(PID_TypeDef *uPID, double Min, double Max); void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
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Parameters:
- uPID : Pointer to pid struct
- Mode : _PID_MODE_AUTOMATIC or _PID_MODE_MANUAL
- Min : Low end of the range. must be < max (double)
- Max : High end of the range. must be > min (double)
- NewSampleTime : How often, in milliseconds, the PID will be evaluated. (int>0)
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Example:
PID_SetMode(&TPID, _PID_MODE_AUTOMATIC); PID_SetSampleTime(&TPID, 500); PID_SetOutputLimits(&TPID, 1, 100);
PID_Compute(&TPID);#include "main.h"
#include "pid.h"
PID_TypeDef TPID;
char OutBuf[50];
double Temp, PIDOut, TempSetpoint;
int main(void)
{
HW_Init();
PID(&TPID, &Temp, &PIDOut, &TempSetpoint, 2, 5, 1, _PID_P_ON_E, _PID_CD_DIRECT);
PID_SetMode(&TPID, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&TPID, 500);
PID_SetOutputLimits(&TPID, 1, 100);
while (1)
{
Temp = GetTemp();
PID_Compute(&TPID);
sprintf(OutBuf, "Temp%3.2f : %u\n", Temp, (uint16_t)PIDOut);
UART_Transmit((uint8_t *)OutBuf, strlen(OutBuf));
Delay_ms(500);
}
}
- Run on STM32 Fx cores