Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango

2 files changed, 60 insertions, 5 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c
index f9aee7929..a443b4785 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c
@@ -71,3 +71,51 @@ float AdvancedPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_
     return output;
 }
 
+float TestPIDAlgorithmCalculation(float _setPoint,float _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral)
+{
+    float error;
+    float derivative;
+    float output;
+
+    //double error = *mySetpoint - input;
+    error = _setPoint - _mesuredParam;
+    //ITerm+= (ki * error);
+    *_integral = *_integral + (error*params->Ki);
+    /*  if(ITerm > outMax)
+      {
+          ITerm= outMax;
+      }
+      else if(ITerm < outMin)
+      {
+          ITerm= outMin;
+      } */
+    if(*_integral > params->MAX)
+    {
+        *_integral = params->MAX;
+    }
+    else if(*_integral < params->MIN)
+    {
+        *_integral = params->MIN;
+    }
+    //  double dInput = (input - lastInput);
+    derivative = error - *_pre_error;
+
+      /*Compute PID Output*/
+    //  double output = kp * error + ITerm- kd * dInput;
+    output = params->Kp*error/params->ProportionalErrorMultiplier + *_integral/params->IntegralErrorMultiplier + params->Kd*derivative;
+
+    //Saturation Filter
+    if(output > params->MAX)
+    {
+        output = params->MAX;
+    }
+    else if(output < params->MIN)
+    {
+        output = params->MIN;
+    }
+
+    //Update error
+    *_pre_error = error;
+
+    return output;
+}
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 69820e306..b7521d796 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -99,7 +99,7 @@ uint32_t                ControlDatalog[MAX_TANGO_CONTROL_DEVICES];
 uint16_t ControlBacklog[MAX_BACKLOG_SIZE]={0};
 uint16_t backlogindex = 0;
 uint32_t        Control_timerBase = TIMER0_BASE;        //Timer handle
-uint32_t MaxHighDevices = 0;
+uint32_t MaxHighDevices = 0xFF;
 /******************** Functions  ********************************************/
 void OneMilliSecondFunction(UArg arg0);
 
@@ -125,7 +125,7 @@ void ControlInit(void)
     ControlRestart = false;
 
     memset(ControlDatalog,0,sizeof(uint32_t)*MAX_TANGO_CONTROL_DEVICES);
-    MaxHighDevices = 0;
+    MaxHighDevices = 0xFF;
     for (Device_i = 0; Device_i < MAX_TANGO_CONTROL_DEVICES; Device_i++)
     {
         ControlArray[Device_i].ControlActive = false;
@@ -243,8 +243,13 @@ uint32_t  AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlF
                 break;
             }
         }
-    /*    if ((deviceId!=0xFF )&&(deviceId> MaxHighDevices))
-    //        MaxHighDevices = deviceId;
+/*        if (MaxHighDevices == 0xFF)
+            MaxHighDevices = deviceId;
+        else
+        {
+      	  	if ((deviceId!=0xFF )&&(deviceId> MaxHighDevices))
+     	       	MaxHighDevices = deviceId;
+        }
     }
     else
     {
@@ -359,7 +364,9 @@ uint32_t GetControlLowDevice_i(void)
 }
 uint32_t ControlLoop(uint32_t tick)
 {
-    //for (ControlDevice_i = 0; ControlDevice_i < MaxHighDevices;ControlDevice_i++)
+    //if (MaxHighDevices == 0xFF)
+    //    return OK;
+    //for (ControlDevice_i = 0; ControlDevice_i <= MaxHighDevices;ControlDevice_i++)
     for (ControlDevice_i = 0; ControlDevice_i < MAX_TANGO_CONTROL_DEVICES;ControlDevice_i++)
     {
         if (ControlArray[ControlDevice_i].ControlActive)