ENVIRO.NEW
ENVIRO.NAME:PICONTROLLERS
ENVIRO.STUB_BY_FUNCTION:PIControllers
ENVIRO.MAX_VARY_RANGE: 20
ENVIRO.STUB: ALL_BY_PROTOTYPE
ENVIRO.TYPE_HANDLED_DIRS_ALLOWED:
ENVIRO.LIBRARY_STUBS:
ENVIRO.COVERAGE_TYPE: STATEMENT+MCDC
ENVIRO.WHITE_BOX: YES
ENVIRO.SEARCH_LIST: $(VCAST_SRC_DIR)/include/
ENVIRO.SEARCH_LIST: $(VCAST_SRC_DIR)/source/
ENVIRO.SEARCH_LIST: $(VCAST_SRC_DIR)/App/
ENVIRO.SEARCH_LIST: $(VCAST_SRC_DIR)/App/Controllers/
ENVIRO.SEARCH_LIST: $(VCAST_SRC_DIR)/App/Drivers/
ENVIRO.SEARCH_LIST: $(VCAST_SRC_DIR)/App/Modes/
ENVIRO.SEARCH_LIST: $(VCAST_SRC_DIR)/App/Services/
ENVIRO.SEARCH_LIST: $(VCAST_SRC_DIR)/App/Tasks/
ENVIRO.SEARCH_LIST: $(VCAST_SRC_DIR)/../../fwcommon/
ENVIRO.SEARCH_LIST: $(VCAST_SRC_DIR)/../../common/
ENVIRO.PROBE_POINTS:
PROBE_ID: 1
PROBE_UNIT: PIControllers
PROBE_FUNCTION: runPIController
PROBE_LINE: controller->controlSignal = ((controller->controlSignal) > (controller->uMax) ? (controller->uMax) : ((controller->controlSignal) < (controller->uMin) ? (controller->uMin) : (controller->controlSignal)));
PROBE_CONTEXT_BEFORE:
// Add p term to control signal and re-apply range limits
controller->controlSignal += ( controller->Kp * controller->errorSignal );
END_PROBE_CONTEXT_BEFORE:
PROBE_CONTEXT_AFTER:
result = controller->controlSignal;
}
END_PROBE_CONTEXT_AFTER:
PROBE_CODE:
vcast_probe_print_float( controller->controlSignal );
END_PROBE_CODE:
ENVIRO.END_PROBE_POINTS:
ENVIRO.END