https://github.com/mbedlab/pid-library
C/C++ PID Controller library for ARM Cortex M (STM32)
https://github.com/mbedlab/pid-library
mbedlab pid-control pid-controller
Last synced: 12 months ago
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C/C++ PID Controller library for ARM Cortex M (STM32)
- Host: GitHub
- URL: https://github.com/mbedlab/pid-library
- Owner: mbedlab
- License: mit
- Created: 2021-06-22T16:50:05.000Z (almost 5 years ago)
- Default Branch: main
- Last Pushed: 2021-11-27T23:22:07.000Z (over 4 years ago)
- Last Synced: 2025-04-19T23:49:28.909Z (12 months ago)
- Topics: mbedlab, pid-control, pid-controller
- Language: C++
- Homepage:
- Size: 5.31 MB
- Stars: 4
- Watchers: 0
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# PID-Library (C Version)
PID Controller library for ARM Cortex M (STM32)
> #### Download Arduino Library : [Arduino-PID-Library](https://github.com/br3ttb/Arduino-PID-Library)
## Release
- #### Version : 1.0.0
- #### Type : Embedded Software.
- #### Support :
- ARM STM32 series
- #### Program Language : C/C++
- #### Properties :
- #### Changes :
- #### Required Library/Driver :
## Overview
### Initialization and de-initialization functions:
```c++
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);
```
### Operation functions:
```c++
/* ::::::::::: 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);
```
### Macros:
```diff
non
```
## Guide
#### This library can be used as follows:
#### 1. Add pid.h header
#### 2. Create PID struct and initialize it, for example:
* Initializer:
```c++
PID(PID_TypeDef *uPID, double *Input, double *Output, double *Setpoint, double Kp, double Ki, double Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
```
* 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
* Example:
```c++
PID_TypeDef TPID;
double Temp, PIDOut, TempSetpoint;
PID(&TPID, &Temp, &PIDOut, &TempSetpoint, 2, 5, 1, _PID_P_ON_E, _PID_CD_DIRECT);
```
#### 3. Set 'mode', 'sample time' and 'output limit', for example:
* Functions:
```c++
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);
```
* 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)
* Example:
```c++
PID_SetMode(&TPID, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&TPID, 500);
PID_SetOutputLimits(&TPID, 1, 100);
```
#### 4. Using Compute function, for example:
```c++
PID_Compute(&TPID);
```
## Examples
#### Example 1: PID Compute for temperature
```c++
#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);
}
}
```
## Tests performed:
- [x] Run on STM32 Fx cores
## Developers:
- ### Majid Derhambakhsh