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isolatedBox_PID.cpp
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isolatedBox_PID.cpp
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/*****************************************************************//**
* \file isolatedBox_PID.cpp
* \brief: Class to manage a generic PID using
* PWM modulation as actuation
*
* \author F.Morani
* \date May 2023
***********************************************************************/
#include "isolatedBox_PID.h"
#ifdef ISO_PRINT_DEBUG
#include "isolatedBox_printdebug.h"
#endif // ISO_PRINT_DEBUG
PidController::PidController()
: m_parameterLimits(ISO_TEMP_MIN_SP, ISO_TEMP_MAX_SP, ISO_TEMP_SP_DEFAULT),
m_setPointLimits(ISO_TEMP_MIN_SP, ISO_TEMP_MAX_SP, ISO_TEMP_SP_DEFAULT)
{
#ifdef ISO_PRINT_DEBUG
ISO_printDebug::printDebug("InitializingP ID Controller");
#endif
m_setPoint[PID_MIN_SET_POINT] = PID_SET_POINT_UNAVAILABLE;
m_setPoint[PID_MAX_SET_POINT] = PID_SET_POINT_UNAVAILABLE;
m_targetSetPoint = PID_SET_POINT_UNAVAILABLE;
m_kp = 0.0;
m_ki = 0.0;
m_kd = 0.0;
m_currentError = 0.0;
init();
}
PidController::~PidController()
{
}
bool PidController::setPoints(temp_t _min, temp_t _max)
{
bool lRetVal = false;
if (testSetPoint(_min) == _min)
if (testSetPoint(_max) == _max) {
lRetVal = true;
/// <summary>
/// Test points are valid - We can set both
/// The target set point by default is the Minimum one
/// </summary>
/// <param name="_min"></param>
/// <param name="_max"></param>
/// <returns></returns>
setSetPoint(PID_MIN_SET_POINT, _min);
setSetPoint(PID_MAX_SET_POINT, _max);
m_targetSetPoint = getSetPoint(PID_MIN_SET_POINT);
m_setPointLimits = ParameterLimits(_min, _max, _min);
}
else
{
/// <summary>
/// In case of faillure we set both target points
/// unavaialble
/// </summary>
/// <param name="_min"></param>
/// <param name="_max"></param>
/// <returns></returns>
setSetPoint(PID_MIN_SET_POINT, PID_SET_POINT_UNAVAILABLE);
setSetPoint(PID_MAX_SET_POINT, PID_SET_POINT_UNAVAILABLE);
m_targetSetPoint = getSetPoint(PID_MIN_SET_POINT);
m_setPointLimits = m_parameterLimits;
lRetVal = false;
}
return lRetVal;
}
bool PidController::init()
{
bool l_retVal = false;
l_retVal = m_pwmActuator.init();
/// <other_init>
/// if needed we can set
/// m_pwmActuator.setDutyCycle(...);
/// m_pwmActuator.setFrequency(...);
/// m_pwmActuator.setIntensity(...);
/// </other_init>
return l_retVal;
}
timeProcess_t PidController::Process(const temp_t _current) {
// TO DO
/// <summary>
/// This is a dummy function
/// Once the target has been changed we restart the
/// PID compensation process by uisng this function
/// </summary>
/// <param name="_current"></param>
/// <returns></returns>
timeProcess_t lret{};
// TO IMPLEMENT
return lret;
}
temp_t PidController::testCurrentTemp(temp_t _curTemp)
{
/// <summary>
/// Testing against the application interval
/// </summary>
/// <param name="_curTemp"></param>
/// <returns></returns>
return m_setPointLimits.validate(_curTemp);
}
temp_t PidController::testSetPoint(const temp_t _input)
{
/// <summary>
/// Testing against the physyical interval
/// </summary>
/// <param name="_input"></param>
/// <returns></returns>
return m_parameterLimits.validate(_input);
}
temp_t PidController::getSetPoint(uint8_t _point) const
{
if (-1 < _point < PID_MAX_NUM_POINTS) {
return m_setPoint[_point];
}
else {
return PID_SET_POINT_UNAVAILABLE;
}
}
temp_t PidController::setTargetPoint(uint8_t _point)
{
if (_point < PID_MAX_NUM_POINTS) {
m_targetSetPoint = m_setPoint[_point];
return m_targetSetPoint;
}
else {
return PID_SET_POINT_UNAVAILABLE;
}
}
temp_t PidController::setSetPoint(int _point, temp_t _setPoint)
{
if ((-1 < _point) && (_point < PID_MAX_NUM_POINTS)) {
m_setPoint[_point] = _setPoint;
return _setPoint;
}
else {
return PID_SET_POINT_UNAVAILABLE;
}
}
/* From here down the following methods are only prepared for future
* use in a possible real implementation
*/
void PidController::setKp(const temp_t _input)
{
m_kp = m_parameterLimits.validate(_input);
}
temp_t PidController::getKp() const
{
return m_kp;
}
void PidController::setKi(const temp_t _input)
{
m_ki = m_parameterLimits.validate(_input);
}
temp_t PidController::getKi() const { return m_ki; }
void PidController::setKd(const temp_t _input)
{
m_kd = m_parameterLimits.validate(_input);
}
temp_t PidController::getKd() const { return m_kd; }
temp_t PidController::getError(const temp_t _current)
{
return m_currentError;
}
temp_t PidController::getProportional(const temp_t error)
{
temp_t lret = m_kp;
return lret;
}
temp_t PidController::getIntegral(const temp_t _error) {
temp_t lret{};
// TO IMPLEMENT
return lret;
}
temp_t PidController::getDerivative(const temp_t error) {
temp_t lret{};
// TO IMPLEMENT
return lret;
}
timeProcess_t PidController::getTransferFnctn(const temp_t pTemp, const temp_t iTemp,
const temp_t dTemp)
{
timeProcess_t lret{};
// TO IMPLEMENT
return lret;
}