From 0b90769083411af73eced89826f4ab7cafb3ac9e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cl=C3=A9ment=20Foucher?= <cfoucher@laas.fr>
Date: Wed, 2 Mar 2022 17:58:03 +0000
Subject: [PATCH] Correct JSON and unused variables.
---
library.json | 9 ++------
src/opalib_control_pid.c | 46 +++++++++++++++++-----------------------
2 files changed, 22 insertions(+), 33 deletions(-)
diff --git a/library.json b/library.json
index 725b852..aab097a 100644
--- a/library.json
+++ b/library.json
@@ -25,11 +25,6 @@
}
],
"license": "LGPLV2",
- "homepage": "https://www.owntech.org/",
- "dependencies": {
- "owntech/core": "~1.0"
- },
- "frameworks": "zephyr",
- "platforms": "ststm32@14.2.0"
+ "homepage": "https://www.owntech.org/"
}
-
+
diff --git a/src/opalib_control_pid.c b/src/opalib_control_pid.c
index 3d87d6a..7d40b82 100644
--- a/src/opalib_control_pid.c
+++ b/src/opalib_control_pid.c
@@ -58,7 +58,6 @@ static uint32_t pid_period_us; // Period duration of the PID calculation l
static float32_t prev_pid_out = 0.1; // Stores the previous unsaturated output
static float32_t pid_out; // Stores the current pid_output after saturation and anti windUp (the effective duty cycle)
-static uint32_t Count_pid_reset; // Counter to reset the PID when calculation is off
// Anti-Windup variables
static float32_t pid_out_windUp = 0.1; // Stores the current pid output after anti windup and before saturation
@@ -77,11 +76,9 @@ static float32_t saturation_pid_interleaved_high = 1;
// Leg1 PID variables--------------------------------------------------------------------------------------------------------------
static arm_pid_instance_f32 PID_1_variables; // PID structure
static float32_t error_pid_1; // PID error
-static uint32_t pid_1_period_us; // Period duration of the PID calculation loop in µs (used for Ki calculation)
static float32_t prev_pid_1_out = 0.1; // Stores the previous unsaturated output
static float32_t pid_1_out; // Stores the current pid_output after saturation and anti windUp (the effective duty cycle)
-static uint32_t Count_pid_1_reset; // Counter to reset the PID when calculation is off
// Anti-Windup variables
static float32_t pid_1_out_windUp = 0.1; // Stores the current pid output after anti windup and before saturation
@@ -100,11 +97,9 @@ static float32_t saturation_pid_leg1_high = 1;
// Leg2 PID variables--------------------------------------------------------------------------------------------------------------
static arm_pid_instance_f32 PID_2_variables; // PID structure
static float32_t error_pid_2; // PID error
-static uint32_t pid_2_period_us; // Period duration of the PID calculation loop in µs (used for Ki calculation)
static float32_t prev_pid_2_out = 0.1; // Stores the previous unsaturated output
static float32_t pid_2_out; // Stores the current pid_output after saturation and anti windUp (the effective duty cycle)
-static uint32_t Count_pid_2_reset; // Counter to reset the PID when calculation is off
// Anti-Windup variables
static float32_t pid_2_out_windUp = 0.1; // Stores the current pid output after anti windup and before saturation
@@ -129,7 +124,6 @@ static uint32_t pid_motor_period_us; // Period duration of the PID calcula
static float32_t prev_pid_motor_out = 0.1; // Stores the previous unsaturated output
static float32_t pid_motor_out; // Stores the current pid_output after saturation and anti windUp (the effective duty cycle)
-static uint32_t Count_pid_motor_reset; // Counter to reset the PID when calculation is off
// Anti-Windup variables
static float32_t pid_motor_out_windUp = 0.1; // Stores the current pid output after anti windup and before saturation
@@ -221,7 +215,7 @@ void opalib_control_init_motor_pid(float32_t kp, float32_t ki, float32_t kd, uin
/**
- * This function update the voltage reference of the
+ * This function update the voltage reference of the
* control task.
*/
@@ -231,7 +225,7 @@ void opalib_control_update_saturation_interleaved(float32_t new_saturation_value
}
/**
- * This function update the voltage reference of the
+ * This function update the voltage reference of the
* control task.
*/
@@ -242,7 +236,7 @@ void opalib_control_update_saturation_leg1(float32_t new_saturation_value)
/**
- * This function update the voltage reference of the
+ * This function update the voltage reference of the
* control task.
*/
void opalib_control_update_saturation_leg2(float32_t new_saturation_value)
@@ -251,7 +245,7 @@ void opalib_control_update_saturation_leg2(float32_t new_saturation_value)
}
/**
- * This function update the voltage reference of the
+ * This function update the voltage reference of the
* control task.
*/
@@ -262,16 +256,16 @@ void opalib_control_update_saturation_motor(float32_t new_saturation_value)
/**
- * This function does the PID calculation
- * The PID has an anti-windup that permits to avoid
+ * This function does the PID calculation
+ * The PID has an anti-windup that permits to avoid
* loosing control.
*/
float32_t opalib_control_interleaved_pid_calculation(float32_t reference, float32_t measurement){
-
+
if (measurement <= saturation_interleaved){
-
- arm_sub_f32(&reference, &measurement, &error_pid, 1); // CALCULATING THE ERROR BASED ON THE REFERENCE
+
+ arm_sub_f32(&reference, &measurement, &error_pid, 1); // CALCULATING THE ERROR BASED ON THE REFERENCE
pid_out = arm_pid_f32(&PID_variables, error_pid); // PID CALCULATIONS
if(pid_out>saturation_pid_interleaved_high){
@@ -285,7 +279,7 @@ float32_t opalib_control_interleaved_pid_calculation(float32_t reference, float3
arm_add_f32(&WindUp_mult, &pid_out, &pid_out_windUp, 1);
PID_variables.state[2] = pid_out_windUp;
- pwm_duty_cycle = pid_out_windUp;
+ pwm_duty_cycle = pid_out_windUp;
prev_pid_out = pid_out;
}
@@ -293,8 +287,8 @@ float32_t opalib_control_interleaved_pid_calculation(float32_t reference, float3
}
/**
- * This function does the PID_1 calculation
- * The PID has an anti-windup that permits to avoid
+ * This function does the PID_1 calculation
+ * The PID has an anti-windup that permits to avoid
* loosing control.
*/
@@ -327,8 +321,8 @@ float32_t opalib_control_leg1_pid_calculation(float32_t reference, float32_t mea
/**
- * This function does the PID_2 calculation
- * The PID has an anti-windup that permits to avoid
+ * This function does the PID_2 calculation
+ * The PID has an anti-windup that permits to avoid
* loosing control.
*/
@@ -360,16 +354,16 @@ float32_t opalib_control_leg2_pid_calculation(float32_t reference, float32_t mea
}
/**
- * This function does the PID calculation
- * The PID has an anti-windup that permits to avoid
+ * This function does the PID calculation
+ * The PID has an anti-windup that permits to avoid
* loosing control.
*/
float32_t opalib_control_motor_pid_calculation(float32_t reference, float32_t measurement){
-
+
if (measurement <= saturation_motor){
-
- arm_sub_f32(&reference, &measurement, &error_pid_motor, 1); // CALCULATING THE ERROR BASED ON THE REFERENCE
+
+ arm_sub_f32(&reference, &measurement, &error_pid_motor, 1); // CALCULATING THE ERROR BASED ON THE REFERENCE
pid_motor_out = arm_pid_f32(&PID_motor_variables, error_pid_motor); // PID CALCULATIONS
if(pid_motor_out>saturation_pid_motor_high){
@@ -402,7 +396,7 @@ void opalib_control_motor_pid_ki_update(float32_t new_ki){
/**
- * This function resets the states of the pid
+ * This function resets the states of the pid
*/
void opalib_control_pid_reset_state()
{
--
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