qpid.h

 
#ifndef QPID_H
#define QPID_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
    #include <stdlib.h>
    #include <stdint.h>
    #include "qnuma.h"
 
   typedef struct {
       float Kc;        
       float Ki;        
       float Kd;        
   } qPID_Gains_t;
 
    typedef enum {
        qPID_TYPE_P,    
        qPID_TYPE_PD,   
        qPID_TYPE_PI,   
        qPID_TYPE_PID   
    } qPID_Type_t;
 
    typedef enum {
        qPID_Automatic, 
        qPID_Manual     
    } qPID_Mode_t;
 
 
    typedef enum {
        qPID_Forward,   
        qPID_Backward   
    } qPID_Direction_t;
 
    typedef struct
    {
        float p00, p01, p10, p11;   /*covariance values*/
        float b1, a1;               /*estimation  values*/
        float uk, yk;               /*process I/O measurements*/
        float l, il;                /*memory factor [ 0.9 < l < 1 ]*/
        float k, tao;               /*process metrics*/
        float mu, speed;            /*fine adjustments  [ 0 < mu < speed ] [ 0 < speed < 1 ]*/
        uint32_t it;                /*enable time*/
    } qPID_AutoTuning_t;
 
    #define QPID_AUTOTUNING_UNDEFINED      ( 0xFFFFFFFEUL )
 
    typedef struct
    {
        float kc, ki, kd, b, c, dt, min, max, epsilon, kw, kt, D, u1, beta, uSat;
        float m, mInput;
        const float *yr;
        float alfa, gamma; /*MRAC additive controller parameters*/
        qNumA_state_t c_state; /*controller integral & derivative state*/
        qNumA_state_t m_state; /*MRAC additive controller state*/
        qNumA_state_t b_state; /*Bumples-transfer state*/
        qPID_AutoTuning_t *adapt;
        qNumA_IntegrationMethod_t integrate;
        qPID_Mode_t mode;
        qPID_Direction_t dir;
        qPID_Type_t type;
        uint8_t init;
    } qPID_controller_t;
 
    int qPID_Setup( qPID_controller_t * const c,
                    const float kc,
                    const float ki,
                    const float kd,
                    const float dt );
 
    int qPID_SetDirection( qPID_controller_t * const c,
                        const qPID_Direction_t d );
 
    int qPID_SetParams( qPID_controller_t * const c,
                        const float kc,
                        const float ti,
                        const float td );
 
    int qPID_SetGains( qPID_controller_t * const c,
                       const float kc,
                       const float ki,
                       const float kd );
 
    int qPID_SetExtraGains( qPID_controller_t * const c,
                            const float kw,
                            const float kt );
 
    int qPID_Reset( qPID_controller_t * const c );
 
    int qPID_SetSaturation( qPID_controller_t * const c,
                            const float min,
                            const float max );
 
    int qPID_SetSeries( qPID_controller_t * const c );
 
    int qPID_SetEpsilon( qPID_controller_t * const c,
                         const float eps );
 
    int qPID_SetDerivativeFilter( qPID_controller_t * const c,
                                  const float beta );
 
    int qPID_SetReferenceWeighting( qPID_controller_t * const c,
                                    const float gb,
                                    const float gc );
 
    int qPID_SetManualInput( qPID_controller_t * const c,
                             const float manualInput );
 
    int qPID_SetMode( qPID_controller_t * const c,
                      const qPID_Mode_t m );
 
    int qPID_SetMRAC( qPID_controller_t * const c,
                      const float *modelRef,
                      const float gamma );
 
    float qPID_Control( qPID_controller_t * const c,
                        const float w,
                        const float y );
 
    int qPID_BindAutoTuning( qPID_controller_t * const c,
                             qPID_AutoTuning_t * const at );
 
    int qPID_EnableAutoTuning( qPID_controller_t * const c,
                               const uint32_t tEnable );
 
    int qPID_AutoTuningComplete( const qPID_controller_t * const c );
 
    int qPID_AutoTuningSetParameters( qPID_controller_t * const c,
                                      const float mu,
                                      const float alfa,
                                      const float lambda );
    int qPID_SetIntegrationMethod( qPID_controller_t * const c,
                                   qNumA_IntegrationMethod_t im );
 
 
    bool qPID_AutoTunningControllerType( qPID_controller_t *c,
                                        const qPID_Type_t t );
 
#ifdef __cplusplus
}
#endif
 
#endif