File syn_autotune.c¶

FileList > control > syn_autotune.c

#include "../port/syn_port_system.h"
#include "../util/syn_assert.h"
#include "syn_autotune.h"
#include <string.h>
#include <stdio.h>

Public Functions¶

Type	Name
void	syn_autotune_abort (SYN_AutoTune * at) Abort the auto-tune and stop the motor immediately.
void	syn_autotune_apply (SYN_AutoTune * at) Apply computed gains to the motor controller.
void	syn_autotune_calc_relay_gains (int32_t Ku, uint32_t Tu_ms, SYN_AutoTune_Method method, uint16_t multiplier_pct, int32_t * kp, int32_t * ki, int32_t * kd) Calculate Ziegler-Nichols / Tyreus-Luyben PID gains from ultimate gain (Ku) and period (Tu_ms).
SYN_Status	syn_autotune_init (SYN_AutoTune * at, SYN_MotorCtrl * ctrl, const SYN_AutoTune_Config * cfg) Initialize the auto-tuner.
SYN_Status	syn_autotune_start (SYN_AutoTune * at, SYN_MotorCtrl * ctrl, const SYN_AutoTune_Limits * limits, SYN_AutoTune_Flags flags, uint16_t gain_multiplier) Start a fully automatic tune sequence.
SYN_AutoTune_State	syn_autotune_update (SYN_AutoTune * at) Update the auto-tuner — call from main loop.

Public Static Functions¶

Type	Name
void	apply_raw_output (SYN_AutoTune * at, int32_t output)
void	emergency_stop (SYN_AutoTune * at, SYN_AutoTune_AbortReason reason)
int32_t	ramp_output (SYN_AutoTune * at, int32_t target, uint32_t elapsed)
bool	safety_ok (SYN_AutoTune * at, int32_t pos, int32_t velocity)
void	write_log (SYN_AutoTune * at)

Public Functions Documentation¶

function syn_autotune_abort¶

Abort the auto-tune and stop the motor immediately.

void syn_autotune_abort (
    SYN_AutoTune * at
)

Parameters:

at Auto-tuner instance.

function syn_autotune_apply¶

Apply computed gains to the motor controller.

void syn_autotune_apply (
    SYN_AutoTune * at
)

Copies ff_kv, ff_scale, and PID gains into the motor controller. Only valid when state == DONE.

Parameters:

at Auto-tuner instance.

function syn_autotune_calc_relay_gains¶

Calculate Ziegler-Nichols / Tyreus-Luyben PID gains from ultimate gain (Ku) and period (Tu_ms).

void syn_autotune_calc_relay_gains (
    int32_t Ku,
    uint32_t Tu_ms,
    SYN_AutoTune_Method method,
    uint16_t multiplier_pct,
    int32_t * kp,
    int32_t * ki,
    int32_t * kd
)

Parameters:

Ku Ultimate gain (scaled by pid_scale).
Tu_ms Ultimate period in milliseconds.
method Tuning rule (Ziegler-Nichols, Tyreus-Luyben, No-Overshoot).
multiplier_pct Gain safety multiplier percentage (1-200, e.g. 80 for 80%).
kp Output proportional gain.
ki Output integral gain.
kd Output derivative gain.

function syn_autotune_init¶

Initialize the auto-tuner.

SYN_Status syn_autotune_init (
    SYN_AutoTune * at,
    SYN_MotorCtrl * ctrl,
    const SYN_AutoTune_Config * cfg
)

Parameters:

at Auto-tuner instance.
ctrl Motor controller to tune (tuner takes control while active).
cfg Configuration. position_limit MUST be set.

Returns:

SYN_OK, or SYN_ERROR if position_limit is 0.

function syn_autotune_start¶

Start a fully automatic tune sequence.

SYN_Status syn_autotune_start (
    SYN_AutoTune * at,
    SYN_MotorCtrl * ctrl,
    const SYN_AutoTune_Limits * limits,
    SYN_AutoTune_Flags flags,
    uint16_t gain_multiplier
)

Runs probe → FF identification → braking → relay PID tune → braking as a single self-sequencing state machine. The user only provides physical constraints.

Parameters:

at Auto-tuner instance.
ctrl Motor controller to tune.
limits Physical constraints (track limits, max velocity).
flags Feature flags (e.g., SYN_ATUNE_FLAG_ALL).
gain_multiplier Safety margin for PID gains (percentage, e.g., 80).

Returns:

SYN_OK on success, or error code.

function syn_autotune_update¶

Update the auto-tuner — call from main loop.

SYN_AutoTune_State syn_autotune_update (
    SYN_AutoTune * at
)

Parameters:

at Auto-tuner instance.

Returns:

Current state. When DONE, results are in syn_autotune_result().

Public Static Functions Documentation¶

function apply_raw_output¶

static void apply_raw_output (
    SYN_AutoTune * at,
    int32_t output
)

function emergency_stop¶

static void emergency_stop (
    SYN_AutoTune * at,
    SYN_AutoTune_AbortReason reason
)

function ramp_output¶

static int32_t ramp_output (
    SYN_AutoTune * at,
    int32_t target,
    uint32_t elapsed
)

Ramp output from 0 toward target over ramp_ms. Returns current output.

function safety_ok¶

static bool safety_ok (
    SYN_AutoTune * at,
    int32_t pos,
    int32_t velocity
)

Check all safety conditions. Returns true if safe.

function write_log¶

static void write_log (
    SYN_AutoTune * at
)

The documentation for this class was generated from the following file src/syntropic/control/syn_autotune.c