Parameters Kp, Ki and Kd as parameters.

Corrected indentation and comments.

src/data_conversion.c

@@ -39,16 +39,16 @@
 /////
 // Local variables
 
-//ADC convertions variable
+// ADC convertions variable
 
-//ADC1
+// ADC1
 static float32_t raw_values_adc1[4];
 static float32_t raw_values_offset_removed_adc1[4];
 static float32_t converted_values_adc1[4];
 static float32_t gain_adc1[4] = {0.0125, 0.0107, 0.0125, 0};
 static float32_t offset_adc1[4] = {2030.88, 2029.065, 2017.68, 0};
 
-//ADC2
+// ADC2
 static float32_t raw_values_adc2[3];
 static float32_t raw_values_offset_removed_adc2[3];
 static float32_t converted_values_adc2[3];
@@ -59,7 +59,7 @@ static float32_t offset_adc2_triple_linearization[3] = {2036.583, 1834.98, 2160.
 
 
 /////
-// Public Functions
+// Private Functions
 
 /**
  * This function select the right conversion equation
@@ -103,7 +103,7 @@ void data_conversion()
 		(data_dispatch_get_values_available_in_adc2_channel(1)!=0) &&
 		(data_dispatch_get_values_available_in_adc2_channel(2)!=0) )
 	{
-		//Data gathering from the buffer and conversion to float for PID calculation
+		// Data gathering from the buffer and conversion to float for PID calculation
 		raw_values_adc1[0] = (float32_t)data_dispatch_get_next_value_from_adc1_channel(0);
 		raw_values_adc1[1] = (float32_t)data_dispatch_get_next_value_from_adc1_channel(1);
 		raw_values_adc1[2] = (float32_t)data_dispatch_get_next_value_from_adc1_channel(2);
@@ -111,16 +111,16 @@ void data_conversion()
 		raw_values_adc2[1] = (float32_t)data_dispatch_get_next_value_from_adc2_channel(1);
 		raw_values_adc2[2] = (float32_t)data_dispatch_get_next_value_from_adc2_channel(2);
 
-        //Update of the linearization depending of the value
-        triple_linerarization(raw_values_adc2[0], 0);
-        triple_linerarization(raw_values_adc2[1], 1);
+		// Update of the linearization depending of the value
+		triple_linerarization(raw_values_adc2[0], 0);
+		triple_linerarization(raw_values_adc2[1], 1);
 
-		//Conversion of the raw ADC value in volt and ampere
+		// Conversion of the raw ADC value in volt and ampere
 		arm_sub_f32(raw_values_adc1, offset_adc1, raw_values_offset_removed_adc1, 4);
 		arm_sub_f32(raw_values_adc2, offset_adc2, raw_values_offset_removed_adc2, 3);
 		arm_mult_f32(raw_values_offset_removed_adc1, gain_adc1, converted_values_adc1, 4);
 		arm_mult_f32(raw_values_offset_removed_adc2, gain_adc2, converted_values_adc2, 3);
-    }    
+	}
 }
 
 /**
@@ -128,13 +128,13 @@ void data_conversion()
  */
 float32_t get_value_converted(uint8_t adc_number, uint8_t adc_channel)
 {
-    if (adc_number == 1)
-    {
-        return converted_values_adc1[adc_channel];
-    }
-
-    else if (adc_number == 2)
-    {
-        return converted_values_adc2[adc_channel];
-    }
-}
\ No newline at end of file
+	if (adc_number == 1)
+	{
+		return converted_values_adc1[adc_channel];
+	}
+
+	else if (adc_number == 2)
+	{
+		return converted_values_adc2[adc_channel];
+	}
+}

src/pid.c

@@ -58,17 +58,14 @@
 /////
 // Local variables
 
-//PID variables
-static float32_t Vref = 10;
+// PID variables
+static float32_t Vref;
 static float32_t V1_value;
 static float32_t error_pid;
-static float32_t Kpgain;		//Buck application gains calculated via matlab
-static float32_t Kigain;
-static float32_t Kdgain;
 static arm_pid_instance_f32 PID_variables;
 
-//PWM variables
-static float32_t pwm_duty_cycle = 0.1;                    // pwm initialization value
+// PWM variables
+static float32_t pwm_duty_cycle = 0.1; // PWM initialization value
 static uint16_t pwm_pulse_width;
 static uint16_t pwm_period, pwm_phase_shift, pwm_low_pulse_width, pwm_high_pulse_width;
 
@@ -77,45 +74,42 @@ static uint16_t pwm_period, pwm_phase_shift, pwm_low_pulse_width, pwm_high_pulse
 // Public Functions
 
 /**
- * This function Initialize all the parameters
+ * This function initializes all the parameters
  * needed for the PID calculation for the buck topoligy
  */
-void pid_init_buck()
+void pid_init_buck(float32_t vref, float32_t kp, float32_t ki, float32_t kd)
 {
 	pwm_period = leg_period();
 	pwm_phase_shift = pwm_period / 2;
 	pwm_low_pulse_width = pwm_period * LOW_DUTY;
 	pwm_high_pulse_width = pwm_period * HIGH_DUTY;
 
-	Kpgain = -0.00000235;		//Buck application gains calculated via matlab
-	Kigain = -0.117;
-	Kdgain = 0;
+	Vref = vref;
 
-	PID_variables.Kp = Kpgain;
-	PID_variables.Ki = Kigain;
-	PID_variables.Kd = Kdgain;
-	arm_pid_init_f32(&PID_variables,1);
+	PID_variables.Kp = kp;
+	PID_variables.Ki = ki;
+	PID_variables.Kd = kd;
+
+	arm_pid_init_f32(&PID_variables, 1);
 }
 
 /**
- * This function Initialize all the parameters
+ * This function initializes all the parameters
  * needed for the PID calculation for the boost topoligy
  */
-//NOTE: all the gain are set for the buck topology, they must be changed 
-void pid_init_boost()
+void pid_init_boost(float32_t vref, float32_t kp, float32_t ki, float32_t kd)
 {
 	pwm_phase_shift = pwm_period / 2;
 	pwm_low_pulse_width = pwm_period * LOW_DUTY;
 	pwm_high_pulse_width = pwm_period * HIGH_DUTY;
 
-	Kpgain = 0;		//Boost application gains to be calculated
-	Kigain = 0;
-	Kdgain = 0;
+	Vref = vref;
+
+	PID_variables.Kp = kp;
+	PID_variables.Ki = ki;
+	PID_variables.Kd = kd;
 
-	PID_variables.Kp = Kpgain;
-	PID_variables.Ki = Kigain;
-	PID_variables.Kd = Kdgain;
-	arm_pid_init_f32(&PID_variables,1);
+	arm_pid_init_f32(&PID_variables, 1);
 }
 
 
@@ -125,20 +119,20 @@ void pid_init_boost()
  */
 void pid_calculation_and_pwm_update()
 {
-	//PID CALCUALTIONS
+	// PID CALCUALTIONS
 	V1_value = get_value_converted(2 , 0);
-	arm_sub_f32(&V1_value, &Vref, &error_pid,1);		//CALCULATING THE ERROR BASED ON THE REFERENCE
-	pwm_duty_cycle = arm_pid_f32(&PID_variables, 0.01*error_pid);	        //PID CALCULATIONS
+	arm_sub_f32(&V1_value, &Vref, &error_pid, 1);		// CALCULATING THE ERROR BASED ON THE REFERENCE
+	pwm_duty_cycle = arm_pid_f32(&PID_variables, 0.01*error_pid);	        // PID CALCULATIONS
 
-	//TESTING PWM VALUE TO AVOID OVERFLOW AND PWM UPDATE//
-	if (pwm_duty_cycle > HIGH_DUTY) //SATURATION CONDITIONS TO AVOID DIVERGENCE.
+	// TESTING PWM VALUE TO AVOID OVERFLOW AND PWM UPDATE//
+	if (pwm_duty_cycle > HIGH_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
 	{
 		pwm_pulse_width = pwm_high_pulse_width;
 		leg_set(TIMA, pwm_pulse_width, 0);
 		leg_set(TIMB, pwm_pulse_width, pwm_phase_shift);
 	}
 
-	else if (pwm_duty_cycle < LOW_DUTY) //SATURATION CONDITIONS TO AVOID DIVERGENCE.
+	else if (pwm_duty_cycle < LOW_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
 	{
 		pwm_pulse_width = pwm_low_pulse_width;
 		leg_set(TIMA, pwm_pulse_width, 0);
@@ -151,4 +145,4 @@ void pid_calculation_and_pwm_update()
 		leg_set(TIMA, pwm_pulse_width, 0);
 		leg_set(TIMB, pwm_pulse_width, pwm_phase_shift);	
 	}		
-}
\ No newline at end of file
+}

src/pid.h

@@ -35,13 +35,13 @@ extern "C" {
  * @brief     This function Initialize all the parameters
  * needed for the PID calculation for the buck topoligy
  */
-void pid_init_buck();
+void pid_init_buck(float32_t Kp, float32_t Ki, float32_t Kd);
 
 /**
  * @brief     This function Initialize all the parameters
  * needed for the PID calculation for the buck topoligy
  */
-void pid_init_boost();
+void pid_init_boost(float32_t Kp, float32_t Ki, float32_t Kd);
 
 /**
  * @brief     This function calculation of the PID for the chosen