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#define PID_MACRO(v) \ v.Err = v.Ref - v.Fdb; /* Compute the error */ \ v.Up= _IQmpy(v.Kp,v.Err); /* Compute the proportional output */ \ v.Ui= v.Ui + _IQmpy(v.Ki,v.Up) + _IQmpy(v.Kc,v.SatErr); /* Compute the integral output */ \ v.OutPreSat= v.Up + v.Ui; /* Compute the pre-saturated output */ \ v.Out = _IQsat(v.OutPreSat, v.OutMax, v.OutMin); /* Saturate the output */ \ v.SatErr = v.Out - v.OutPreSat; /* Compute the saturate difference */ \ v.Up1 = v.Up; /* Update the previous proportional output */
#endif // __PIDREG3_H__
// Add the lines below if derivative output is needed following the integral update // v.Ud = _IQmpy(v.Kd,(v.Up - v.Up1)); // v.OutPreSat = v.Up + v.Ui + v.Ud;
