Function_Block_PID_Regulator.h

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//------------------------------------------------------------------------------
//! @file      Function_Block_PID_Regulator.h
//! @author    ANVILEX GmbH
//! @version   V1.0
//! @date      20.02.2016
//! @brief     PID regulator class header file.
//! @attention
//!
//! COPYRIGHT(C) 2016 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
//------------------------------------------------------------------------------
 
class TFunction_Block_PID_Regulator : 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_PID_Regulator();
 
    //!-------------------------------------------------------------------------
    //! @brief     Class destructor method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention Don't call this method directly.
    //--------------------------------------------------------------------------
 
    virtual ~TFunction_Block_PID_Regulator();
 
    //!-------------------------------------------------------------------------
    //! @brief     Function block initialisation method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention Don't call this method directly.
    //--------------------------------------------------------------------------
 
    virtual VOID Init();
    
    //!-------------------------------------------------------------------------
    //! @brief     Function block execution method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
    
    virtual VOID Execute();
 
    //--------------------------------------------------------------------------
    // Function block parameter connectors
    //--------------------------------------------------------------------------
 
    TBlock_Input_Connector object_f32_Kp;                         //!< Propotrional gain parameter
//    TBlock_Input_Connector object_f32_Ti;                       //!< Time constant parameter
    TBlock_Input_Connector object_f32_Ki;                         //!< Integral gain parameter
    TBlock_Input_Connector object_f32_Kd;                         //!< Integral gain parameter
    TBlock_Input_Connector object_f32_Integrator_Positive_Limit;  //!< Integrator positive limit parameter
    TBlock_Input_Connector object_f32_Integrator_Negative_Limit;  //!< Integrator negative limit parameter
    TBlock_Input_Connector object_f32_Output_Positive_Limit;      //!< Output positive limit parameter
    TBlock_Input_Connector object_f32_Output_Negative_Limit;      //!< Output negative limit parameter
    TBlock_Input_Connector object_f32_Sample_Time;                //!< Sample time parameter
 
    //--------------------------------------------------------------------------
    // Function block input connectors
    //--------------------------------------------------------------------------
 
    TBlock_Input_Connector object_f32_Reference;  //!< Reference signal
    TBlock_Input_Connector object_f32_Feedback;   //!< Reference signal
    TBlock_Input_Connector object_bool_Enable;    //!< Enable signal
    TBlock_Input_Connector object_bool_Reset;     //!< Reset signal
 
    //--------------------------------------------------------------------------
    // Function block output connectors
    //--------------------------------------------------------------------------
 
    TBlock_Output_Connector object_f32_Output;  //!< PI block output
 
    F32 f32_Proportional;
    F32 f32_Integral;
    F32 f32_Differential;
 
  //----------------------------------------------------------------------------
  // Protected defines, methods and variables
  //----------------------------------------------------------------------------
  
  protected:
 
  //----------------------------------------------------------------------------
  // Private defines, methods and variables
  //----------------------------------------------------------------------------
 
  private:
 
//    F32 f32_Integral;
 
};
  
//------------------------------------------------------------------------------
// End Of File 
//------------------------------------------------------------------------------