From 58adb4cd6ef4c382098d73b0423842c58f98fd2d Mon Sep 17 00:00:00 2001
From: Luiz-Fernando Lavado-Villa <lflavado@tu-te-calmes>
Date: Mon, 24 Jan 2022 19:36:45 +0100
Subject: [PATCH] Updated some bugs on the library concerning the saturation
value
---
src/opalib_control_pid.c | 7 +++++--
1 file changed, 5 insertions(+), 2 deletions(-)
diff --git a/src/opalib_control_pid.c b/src/opalib_control_pid.c
index 8e11905..235bb0a 100644
--- a/src/opalib_control_pid.c
+++ b/src/opalib_control_pid.c
@@ -117,6 +117,7 @@ void opalib_control_init_interleaved_pid(float32_t kp, float32_t ki, float32_t k
PID_variables.Kd = kd;
arm_pid_init_f32(&PID_variables, 1);
+ saturation_interleaved = VMAX;
}
@@ -124,7 +125,7 @@ void opalib_control_init_interleaved_pid(float32_t kp, float32_t ki, float32_t k
* This function initializes all the parameters
* needed for the PID calculation for the buck topology
*/
-void opalib_power_conversion_init_leg1_pid(bool leg1_buck_mode, float32_t vref, float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us)
+void opalib_control_init_leg1_pid(float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us)
{
pid_period_us = task_period_us;
@@ -134,6 +135,7 @@ void opalib_power_conversion_init_leg1_pid(bool leg1_buck_mode, float32_t vref,
PID_1_variables.Kd = kd;
arm_pid_init_f32(&PID_1_variables, 1);
+ saturation_leg1 = VMAX;
}
@@ -141,7 +143,7 @@ void opalib_power_conversion_init_leg1_pid(bool leg1_buck_mode, float32_t vref,
* This function initializes all the parameters
* needed for the PID calculation for the buck topology
*/
-void opalib_power_conversion_init_leg2(float32_t vref, float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us)
+void opalib_control_init_leg2(float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us)
{
pid_period_us = task_period_us;
@@ -151,6 +153,7 @@ void opalib_power_conversion_init_leg2(float32_t vref, float32_t kp, float32_t k
PID_2_variables.Kd = kd;
arm_pid_init_f32(&PID_2_variables, 1);
+ saturation_leg2 = VMAX;
}
--
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