Function_Block_PI_Regulator_F32_T8.h

Go to the documentation of this file.

//------------------------------------------------------------------------------
//! @file      Function_Block_PI_Regulator_F32_T8.h
//! @author    ANVILEX GmbH
//! @version   V1.0
//! @date      08.03.2022
//! @brief       PI regulator class header file.
//! @attention
//!
//! COPYRIGHT(C) 2015-2022 ANVILEX GmbH
//!
//! Redistribution and use in source and binary forms, with or without
//! modification, are permitted provided that the following conditions are met:
//!
//! 1. Redistributions of source code must retain the above copyright notice,
//!    this list of conditions and the following disclaimer.
//!
//! 2. Redistributions in binary form must reproduce the above copyright notice,
//!    this list of conditions and the following disclaimer in the documentation
//!    and/or other materials provided with the distribution.
//!
//! 3. Neither the name of ANVILEX nor the names of its contributors may be
//!    used to endorse or promote products derived from this software without
//!    specific prior written permission.
//!
//! THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
//! AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
//! IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
//! ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
//! LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
//! CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
//! SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
//! INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
//! CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
//! ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
//! POSSIBILITY OF SUCH DAMAGE.
//------------------------------------------------------------------------------
 
//------------------------------------------------------------------------------
// Protecting header files from mutual, recursive inclusion.
//------------------------------------------------------------------------------
 
#pragma once
 
//------------------------------------------------------------------------------
// Include standard libraries header files
//------------------------------------------------------------------------------
 
//------------------------------------------------------------------------------
// Include thrid party header files
//------------------------------------------------------------------------------
 
//------------------------------------------------------------------------------
// Include ConOpSys header files
//------------------------------------------------------------------------------
 
#include "Function_Block_Base.h"
 
//------------------------------------------------------------------------------
// Include ConOpSys application header files
//------------------------------------------------------------------------------
 
//------------------------------------------------------------------------------
// Macros
//------------------------------------------------------------------------------
 
//------------------------------------------------------------------------------
//! @brief Class declaration description
//------------------------------------------------------------------------------
 
//------------------------------------------------------------------------------
//! @brief Class TFunction_Block_PI_Regulator_F32_T8 definition.
//------------------------------------------------------------------------------
// Same functionality as TFunction_Block_PI_Regulator_F32_T1 but with additional
// feedforward input.
//------------------------------------------------------------------------------
class TFunction_Block_PI_Regulator_F32_T8 : public TFunction_Block_Base
{
 
  //----------------------------------------------------------------------------
  // Public defines, methods and variables
  //----------------------------------------------------------------------------
 
  public:
 
    //!-------------------------------------------------------------------------
    //! @brief     Class constructor method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention Don't call this method directly.
    //--------------------------------------------------------------------------
 
    TFunction_Block_PI_Regulator_F32_T8();
 
    //!-------------------------------------------------------------------------
    //! @brief     Class destructor method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention Don't call this method directly.
    //--------------------------------------------------------------------------
 
    virtual ~TFunction_Block_PI_Regulator_F32_T8();
 
    //!-------------------------------------------------------------------------
    //! @brief     Function block initialisation method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention Don't call this method directly.
    //--------------------------------------------------------------------------
 
    VOID Init();
 
    //!-------------------------------------------------------------------------
    //! @brief     Function block cyclic execution method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention Don't call this method directly.
    //--------------------------------------------------------------------------
 
    virtual VOID Execute();
 
    //!-------------------------------------------------------------------------
    //! @brief     Send information about Function block over communication link protocol
    //! @note      This method sends information about Function block over specified communication link protocol.
    //! @param     [in] *object_Protocol - Pointer to the communication link protocol
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    virtual VOID Send_Information( TProtocol_Base *object_Protocol );
 
    //--------------------------------------------------------------------------
    // Function block parameter connectors
    //--------------------------------------------------------------------------
 
    //! @brief Propotrional gain parameter
    TBlock_Input_Connector object_f32_Kp;
 
    //! @brief Integral gain parameter
    TBlock_Input_Connector object_f32_Ki;
 
    //! @brief Feedforward gain parameter
    TBlock_Input_Connector object_f32_Kf;
 
    //! @brief Integrator positive limit parameter
    TBlock_Input_Connector object_f32_Integrator_Positive_Limit;
 
    //! @brief Integrator negative limit parameter
    TBlock_Input_Connector object_f32_Integrator_Negative_Limit;
 
    //! @brief Output positive limit parameter
    TBlock_Input_Connector object_f32_Output_Positive_Limit;
 
    //! @brief Output negative limit parameter
    TBlock_Input_Connector object_f32_Output_Negative_Limit;
 
    //! @brief Sample time parameter
    TBlock_Input_Connector object_f32_Sample_Time;
 
    //--------------------------------------------------------------------------
    // Function block input connectors
    //--------------------------------------------------------------------------
 
    //! @brief Setpoint signal input
    TBlock_Input_Connector object_f32_Setpoint;
 
    //! @brief Feedback signal input
    TBlock_Input_Connector object_f32_Feedback;
 
    //! @brief PI regulator block feedforward input
    TBlock_Input_Connector object_f32_Feedforward;
 
    //! @brief Enable signal input
    TBlock_Input_Connector object_bool_Enable;
 
    //! @brief Reset signal input
    TBlock_Input_Connector object_bool_Reset;
 
    //--------------------------------------------------------------------------
    // Function block output connectors
    //--------------------------------------------------------------------------
 
    //! @brief Error signal output
    TBlock_Output_Connector object_f32_Error;
 
    //! @brief PI regulator block output
    TBlock_Output_Connector object_f32_Output;
 
  //----------------------------------------------------------------------------
  // Protected defines, methods and variables
  //----------------------------------------------------------------------------
 
  protected:
 
  //----------------------------------------------------------------------------
  // Private defines, methods and variables
  //----------------------------------------------------------------------------
 
  private:
 
    //! @brief Proportional part
    F32 f32_Proportional = (F32)0.0f;
 
    //! @brief Integral part
    F32 f32_Integral = (F32)0.0f;
 
    //! @brief Feedforward part
    F32 f32_Feedforward = (F32)0.0f;
 
};
 
//------------------------------------------------------------------------------
// End of file
//------------------------------------------------------------------------------