UM0585 datasheet(8/25 Pages) STMICROELECTRONICS

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PID controller

UM0585

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Doc ID 14988 Rev 2

Coeff[1] = Ki;/*integral coefficient*/

Coeff[2] = Kd;/*derivative coefficient*/

/* Compute the error */

Error = Target_Signal - Measured_Signal;

/* PID control process */

Command = DoPID(Error, Coeff);

2.2.2

DoFullPID

function

Table 3 describes the DoFullPID function.

Example

/* Fill the coefficients table */

Coeff[0] = Kp;/*proportional coefficient*/

Coeff[1] = Ki;/*integral coefficient*/

Coeff[2] = Kd;/*derivative coefficient*/

/* PID control process, the error is computed inside the function */

Command = DoFullPID(Measured_Signal, Target_Signal, Coeff);

2.2.3

PID_stm32

function

Table 4 describes the PID_stm32 function.

Table 3.

DoFullPID

function

Function name

DoFullPID

Prototype

uint16_t DoFullPID(uint16_t In, uint16_t Ref,

uint16_t *Coeff)

Behavior description

PID in C, error computed inside the function.

Input parameter

– In: Input (measured value)

– Ref: reference (target value)

– Coeff: pointer to the coefficients table

Output parameter

Computed error

Return parameter

PID output command

Table 4.

PID_stm32

function

Function name

PID_stm32

Prototype

uint16_t PID_stm32(uint16_t Error, uint16_t *Coeff);

Behavior description

Assembly optimized PID controller with error computed outside the function.

Input parameter

– Error: difference between reference and measured values

– Coeff: pointer to the coefficients table

Output parameter

None

Return parameter

PID output command

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