sergiotarxz/nuttx
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merged in raiden00/nuttx (pull request #651)

Browse Source 
stm32f334-disco/buckboost: use a PID controller from libdsp

* libdsp: initial commit

* libdsp: cosmetics

* stm32f334-disco/buckboost: use a PID controller from libdsp

Approved-by: Gregory Nutt <gnutt@nuttx.org>
This commit is contained in:
Mateusz Szafoni 2018-06-06 12:47:37 +00:00 committed by Gregory Nutt
parent e0aa6ed48c
commit a002238898
2 changed files with 30 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
configs/stm32f334-disco/buckboost/defconfig
View File

@ -34,6 +34,7 @@ CONFIG_FDCLONE_STDIO=y
CONFIG_INTELHEX_BINARY=y
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBM=y
CONFIG_LIBDSP=y
CONFIG_MAX_TASKS=4
CONFIG_MAX_WDOGPARMS=1
CONFIG_NAME_MAX=16

63
configs/stm32f334-disco/src/stm32_smps.c
View File

@ -47,6 +47,7 @@
#include <unistd.h>
#include <errno.h>
#include <debug.h>
#include <dsp.h>
#include <sys/boardctl.h>
#include <sys/ioctl.h>
@ -68,6 +69,10 @@
#if defined(CONFIG_EXAMPLES_SMPS) && defined(CONFIG_DRIVERS_SMPS)
#ifndef CONFIG_LIBDSP
# error CONFIG_LIBDSP is required
#endif
#ifndef CONFIG_ARCH_HIPRI_INTERRUPT
# error CONFIG_ARCH_HIPRI_INTERRUPT is required
#endif
@ -211,14 +216,14 @@ struct smps_lower_dev_s
struct smps_priv_s
{
uint8_t conv_mode; /* Converter mode */
uint16_t v_in_raw; /* Voltage input RAW value */
uint16_t v_out_raw; /* Voltage output RAW value */
float v_in; /* Voltage input real value in V */
float v_out; /* Voltage output real value in V */
bool running; /* Running flag */
float state[3]; /* Controller state vartiables */
float *c_limit_tab; /* Current limit tab */
uint8_t conv_mode; /* Converter mode */
uint16_t v_in_raw; /* Voltage input RAW value */
uint16_t v_out_raw; /* Voltage output RAW value */
float v_in; /* Voltage input real value in V */
float v_out; /* Voltage output real value in V */
bool running; /* Running flag */
pid_controller_t pid; /* PID controller */
float *c_limit_tab; /* Current limit tab */
};
/****************************************************************************
@ -404,6 +409,16 @@ static int smps_start(FAR struct smps_dev_s *dev)
memset(priv, 0, sizeof(struct smps_priv_s));
#ifdef SMPS_CONTROLLER_PID
/* Initialize PID controller */
pid_controller_init(&priv->pid, PID_KP, PID_KI, PID_KD);
/* Set PID controller saturation */
pid_saturation_set(&priv->pid, 0.0, BOOST_VOLT_MAX);
#endif
/* Get TIMA period value for given frequency */
fclk = HRTIM_FCLK_GET(hrtim, HRTIM_TIMER_TIMA);
@ -659,41 +674,21 @@ static int smps_ioctl(FAR struct smps_dev_s *dev, int cmd, unsigned long arg)
return OK;
}
/****************************************************************************
* Name: pid_controller
****************************************************************************/
static float pid_controller(struct smps_priv_s *priv, float err)
{
float out;
float A0 = PID_KP + PID_KD + PID_KI;
float A1 = -PID_KP - 2.0*PID_KD;
float A2 = PID_KD;
/* Get PID controller output */
out = (A0 * err) + (A1 * priv->state[0]) + (A2 * priv->state[1]) + priv->state[2];
/* Store PID contrroller variables */
priv->state[1] = priv->state[0];
priv->state[0] = err;
priv->state[2] = out;
return out;
}
/****************************************************************************
* Name: smps_controller
****************************************************************************/
static float smps_controller(struct smps_priv_s *priv, float err)
static float smps_controller(FAR struct smps_priv_s *priv, float err)
{
float out = 0.0;
#ifdef SMPS_CONTROLLER_PID
return pid_controller(priv, err);
out = pid_controller(&priv->pid, err);
#else
# error "At this time only PID controller implemented"
#endif
return out;
}
/****************************************************************************