main.c

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/*This file has been prepared for Doxygen automatic documentation generation.*/
#include <inavr.h>
#include <ioavr.h>
#include "stdint.h"
#include "pid.h"


#define K_P     1.00
#define K_I     0.00
#define K_D     0.00

struct GLOBAL_FLAGS {
  uint8_t pidTimer:1;
  uint8_t dummy:7;
} gFlags = {0, 0};

struct PID_DATA pidData;


#define TIME_INTERVAL   157

#pragma vector = TIMER0_OVF_vect
__interrupt void TIMER0_OVF_ISR( void )
{
  static uint16_t i = 0;
  if(i < TIME_INTERVAL)
    i++;
  else{
    gFlags.pidTimer = TRUE;
    i = 0;
  }
}

void Init(void)
{
  pid_Init(K_P * SCALING_FACTOR, K_I * SCALING_FACTOR , K_D * SCALING_FACTOR , &pidData);

  // Set up timer, enable timer/counte 0 overflow interrupt
  TCCR0A = (1<<CS00);
  TIMSK0 = (1<<TOIE0);
  TCNT0 = 0;
}

int16_t Get_Reference(void)
{
  return 8;
}

int16_t Get_Measurement(void)
{
  return 4;
}

void Set_Input(int16_t inputValue)
{
  ;
}


void main(void)
{
  int16_t referenceValue, measurementValue, inputValue;
  Init();
  __enable_interrupt();

  while(1){

    // Run PID calculations once every PID timer timeout
    if(gFlags.pidTimer)
    {
      referenceValue = Get_Reference();
      measurementValue = Get_Measurement();

      inputValue = pid_Controller(referenceValue, measurementValue, &pidData);

      Set_Input(inputValue);

      gFlags.pidTimer = FALSE;
    }
  }
}

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