STPS1L60 datasheet(21/34 Pages) STMICROELECTRONICS

21 / 34 page

AN3151

Firmware implementation

Doc ID 17051 Rev 1

21/34

{

s16 Proportional_Term, Integral_Term;

s16 Error, output_s16;

Error = (PID->Reference - Current_String_Input);

// Proportional term computation

Proportional_Term = PID->Kp_Gain * Error;

// Integral term computation

Integral_Term = PID->Ki_Gain * Error;

if ( (Integral_FirstRow >= 0) && (Integral_Term >= 0) && (PID-

>Max_PID_Output == FALSE) )

// freeze integral term in case of

over/underflow

{

if ( (s32)(Integral_FirstRow + Integral_Term) < 0)

{Integral_FirstRow = S16_MAX;

}

or else

{Integral_FirstRow += Integral_Term;

}

or else if ((Integral_FirstRow <= 0) && (Integral_Term <= 0) &&

(PID->Min_PID_Output == FALSE) )

{ if ( (s32)(Integral_FirstRow + Integral_Term) > 0)

{ Integral_FirstRow = -S16_MAX;

}

or else

{Integral_FirstRow += Integral_Term;

}

or else if ( (Integral_FirstRow <= 0) && (Integral_Term >= 0) )

{Integral_FirstRow += Integral_Term;

}

or else if ( (Integral_FirstRow >= 0) && (Integral_Term <= 0) )

{Integral_FirstRow += Integral_Term;

}

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