Renaming PID struct typedef to avoid conflicts

2 files changed, 38 insertions, 38 deletions

diff --git a/os/various/pid.c b/os/various/pid.c
index f704b29..fee9608 100644
--- a/os/various/pid.c
+++ b/os/various/pid.c
@@ -9,13 +9,13 @@
 #include "pid.h"
 #include "osal.h"
 
-#define TIME_MS (osalOsGetSystemTimeX() / (OSAL_ST_FREQUENCY / 1000))
+#define TIME_MS ((osalOsGetSystemTimeX() * 1000) / OSAL_ST_FREQUENCY )
 
 /*Constructor (...)*********************************************************
 *    The parameters specified here are those for for which we can't set up
 *    reliable defaults, so we need to have the user set them.
 ***************************************************************************/
-void pid_create(pid_t* p, float* Input, float* Output, float* Setpoint,
+void pid_create(pidc_t* p, float* Input, float* Output, float* Setpoint,
         float Kp, float Ki, float Kd, int POn, int Direction)
 {
     p->output = Output;
@@ -23,8 +23,8 @@ void pid_create(pid_t* p, float* Input, float* Output, float* Setpoint,
     p->setPoint = Setpoint;
     p->inAuto = false;
 
-    pid_setOutputLimits(p, 0, 255); // default output limit corresponds to
-                                    // the arduino pwm limits
+    pid_setOutputLimits(p, 0, 4095); // default output limit corresponds to
+                                     // the 12 bit dac limit
 
     p->sampleTime = 100; // default Controller Sample Time is 100ms
 
@@ -42,7 +42,7 @@ void pid_create(pid_t* p, float* Input, float* Output, float* Setpoint,
 *   pid Output needs to be computed.  returns true when the output is computed,
 *   false when nothing has been done.
 **********************************************************************************/
-bool pid_compute(pid_t* p)
+bool pid_compute(pidc_t* p)
 {
     if(!p->inAuto) return false;
     unsigned long now = TIME_MS;
@@ -86,7 +86,7 @@ bool pid_compute(pid_t* p)
 * it's called automatically from the constructor, but tunings can also
 * be adjusted on the fly during normal operation
 ******************************************************************************/
-void pid_setTunings(pid_t* p, float Kp, float Ki, float Kd, int POn)
+void pid_setTunings(pidc_t* p, float Kp, float Ki, float Kd, int POn)
 {
     if (Kp < 0 || Ki < 0 || Kd < 0) return;
 
@@ -113,7 +113,7 @@ void pid_setTunings(pid_t* p, float Kp, float Ki, float Kd, int POn)
 /* SetSampleTime(...) *********************************************************
 * sets the period, in Milliseconds, at which the calculation is performed
 ******************************************************************************/
-void pid_setSampleTime(pid_t* p, int NewSampleTime)
+void pid_setSampleTime(pidc_t* p, int NewSampleTime)
 {
     if (NewSampleTime > 0)
     {
@@ -132,7 +132,7 @@ void pid_setSampleTime(pid_t* p, int NewSampleTime)
 *  want to clamp it from 0-125.  who knows.  at any rate, that can all be done
 *  here.
 **************************************************************************/
-void pid_setOutputLimits(pid_t* p, float Min, float Max)
+void pid_setOutputLimits(pidc_t* p, float Min, float Max)
 {
     if(Min >= Max) return;
     p->outMin = Min;
@@ -153,7 +153,7 @@ void pid_setOutputLimits(pid_t* p, float Min, float Max)
 * when the transition from manual to auto occurs, the controller is
 * automatically initialized
 ******************************************************************************/
-void pid_setMode(pid_t* p, int Mode)
+void pid_setMode(pidc_t* p, int Mode)
 {
     bool newAuto = (Mode == PID_AUTOMATIC);
     if(newAuto && !p->inAuto)
@@ -167,7 +167,7 @@ void pid_setMode(pid_t* p, int Mode)
 *	does all the things that need to happen to ensure a bumpless transfer
 *  from manual to automatic mode.
 ******************************************************************************/
-void pid_initialize(pid_t* p)
+void pid_initialize(pidc_t* p)
 {
     p->outputSum = *p->output;
     p->lastInput = *p->input;
@@ -181,7 +181,7 @@ void pid_initialize(pid_t* p)
 * know which one, because otherwise we may increase the output when we should
 * be decreasing.  This is called from the constructor.
 ******************************************************************************/
-void pid_setDirection(pid_t* p, int Direction)
+void pid_setDirection(pidc_t* p, int Direction)
 {
     if(p->inAuto && Direction != p->direction)
     {
diff --git a/os/various/pid.h b/os/various/pid.h
index 74d116d..49ccd6f 100644
--- a/os/various/pid.h
+++ b/os/various/pid.h
@@ -13,11 +13,11 @@
 
 
 typedef struct {
-    
+
     float kp;     // * (P)roportional Tuning Parameter
     float ki;     // * (I)ntegral Tuning Parameter
     float kd;     // * (D)erivative Tuning Parameter
-    
+
     float dispKp; // * we'll hold on to the tuning parameters in user-entered 
     float dispKi; //   format for display purposes
     float dispKd; //
@@ -36,43 +36,43 @@ typedef struct {
     unsigned long sampleTime;
     float outMin;
     float outMax;
-    
+
     bool inAuto;
     bool pOnE;
 
-} pid_t;
+} pidc_t;
 
 
 //commonly used functions **************************************************************************
-void pid_create(pid_t* p, float* Input, float* Output, float* Setpoint,  // * constructor.  links the PID to the Input, Output, and 
-                float Kp, float Ki, float Kd, int POn, int Direction);   //   Setpoint.  Initial tuning parameters are also set here.
-                                                                         //   (overload for specifying proportional mode)
+void pid_create(pidc_t* p, float* Input, float* Output, float* Setpoint,  // * constructor.  links the PID to the Input, Output, and 
+                float Kp, float Ki, float Kd, int POn, int Direction);    //   Setpoint.  Initial tuning parameters are also set here.
+                                                                          //   (overload for specifying proportional mode)
 
-void pid_setMode(pid_t* p, int mode);                 // * sets PID to either Manual (0) or Auto (non-0)
+void pid_setMode(pidc_t* p, int mode);                 // * sets PID to either Manual (0) or Auto (non-0)
 
-bool pid_compute(pid_t* p);               // * performs the PID calculation.  it should be
-                                          //   called every time loop() cycles. ON/OFF and
-                                          //   calculation frequency can be set using SetMode
-                                          //   SetsampleTime respectively
+bool pid_compute(pidc_t* p);               // * performs the PID calculation.  it should be
+                                           //   called every time loop() cycles. ON/OFF and
+                                           //   calculation frequency can be set using SetMode
+                                           //   SetsampleTime respectively
 
-void pid_setOutputLimits(pid_t* p, float Min, float Max); // * clamps the output to a specific range. 0-255 by default, but
-                                                          //   it's likely the user will want to change this depending on
-                                                          //   the application
+void pid_setOutputLimits(pidc_t* p, float Min, float Max); // * clamps the output to a specific range. 0-255 by default, but
+                                                           //   it's likely the user will want to change this depending on
+                                                           //   the application
 
 
 
 //available but not commonly used functions ********************************************************
-void pid_setTunings(pid_t* p, float Kp, float Ki, float Kd, int POn);  // * While most users will set the tunings once in the 
-                                                                      //   constructor, this function gives the user the option
-                                                                      //   of changing tunings during runtime for Adaptive control
-
-void pid_setDirection(pid_t* p, int Direction);  // * Sets the Direction, or "Action" of the controller. DIRECT
-                                                 //   means the output will increase when error is positive. REVERSE
-                                                 //   means the opposite.  it's very unlikely that this will be needed
-                                                 //   once it is set in the constructor.
-void pid_setSampleTime(pid_t* p, int NewSampleTime);  // * sets the frequency, in Milliseconds, with which 
-                                                      //   the PID calculation is performed.  default is 100
-
-void pid_initialize(pid_t* p);
+void pid_setTunings(pidc_t* p, float Kp, float Ki, float Kd, int POn);  // * While most users will set the tunings once in the 
+                                                                        //   constructor, this function gives the user the option
+                                                                        //   of changing tunings during runtime for Adaptive control
+
+void pid_setDirection(pidc_t* p, int Direction);  // * Sets the Direction, or "Action" of the controller. DIRECT
+                                                  //   means the output will increase when error is positive. REVERSE
+                                                  //   means the opposite.  it's very unlikely that this will be needed
+                                                  //   once it is set in the constructor.
+void pid_setSampleTime(pidc_t* p, int NewSampleTime);  // * sets the frequency, in Milliseconds, with which 
+                                                       //   the PID calculation is performed.  default is 100
+
+void pid_initialize(pidc_t* p);
 
 #endif