Struct PidInstanceF32

Source

pub struct PidInstanceF32 {
    pub a0: f32,
    pub a1: f32,
    pub a2: f32,
    pub state: [f32; 3],
    pub kp: f32,
    pub ki: f32,
    pub kd: f32,
}

Expand description

Instance structure for the floating-point PID Control.

Fields§

§a0: f32§a1: f32§a2: f32§state: [f32; 3]§kp: f32§ki: f32§kd: f32

Implementations§

Source §

impl PidInstanceF32

Source

pub fn new(kp: f32, ki: f32, kd: f32) -> Self

Examples found in repository ?

examples/basic_usage.rs (line 36)

5fn main() {
6    println!("=== embedded-dsp Basic Usage Example ===");
7
8    // 1. Vector Operations
9    let a = [1.0f32, 2.0, 3.0, 4.0];
10    let b = [10.0f32, 20.0, 30.0, 40.0];
11    let mut vec_out = [0.0f32; 4];
12    add_f32(&a, &b, &mut vec_out);
13    println!("Vector Add: {:?}", vec_out);
14
15    let dot = dot_prod_f32(&a, &b);
16    println!("Vector Dot Product: {}", dot);
17
18    // 2. Q15 Fixed-Point Saturating Math
19    let q15_a = [20000i16, 25000];
20    let q15_b = [15000i16, 10000];
21    let mut q15_out = [0i16; 2];
22    add_q15(&q15_a, &q15_b, &mut q15_out);
23    println!("Q15 Saturating Add (clamped at 32767): {:?}", q15_out);
24
25    // 3. FIR Filtering
26    let coeffs = [0.25f32, 0.5, 0.25]; // 3-tap moving average filter
27    let mut state = [0.0f32; 3 + 4 - 1];
28    let mut fir = FirInstanceF32::init(3, &coeffs, &mut state);
29
30    let input_signal = [1.0f32, 2.0, 3.0, 4.0];
31    let mut filtered_signal = [0.0f32; 4];
32    fir_f32(&mut fir, &input_signal, &mut filtered_signal);
33    println!("FIR Filter Output: {:?}", filtered_signal);
34
35    // 4. PID Motor Controller
36    let mut pid = PidInstanceF32::new(2.0, 0.1, 0.05);
37    let control_output = pid.process(10.0);
38    println!("PID Control Signal: {}", control_output);
39
40    // 5. 64-Point Complex FFT
41    let mut fft_data = [0.0f32; 128]; // 64 complex pairs [re, im, ...]
42    for i in 0..64 {
43        fft_data[2 * i] = (i as f32 * 0.1).sin();
44    }
45    cfft_f32(&mut fft_data, 64, 0, 1);
46    println!("64-Point Complex FFT processed successfully!");
47}

Source

pub fn init(&mut self, reset_state_flag: i32)

Source

pub fn reset(&mut self)

Source

pub fn process(&mut self, in_val: f32) -> f32

Examples found in repository ?

examples/basic_usage.rs (line 37)

5fn main() {
6    println!("=== embedded-dsp Basic Usage Example ===");
7
8    // 1. Vector Operations
9    let a = [1.0f32, 2.0, 3.0, 4.0];
10    let b = [10.0f32, 20.0, 30.0, 40.0];
11    let mut vec_out = [0.0f32; 4];
12    add_f32(&a, &b, &mut vec_out);
13    println!("Vector Add: {:?}", vec_out);
14
15    let dot = dot_prod_f32(&a, &b);
16    println!("Vector Dot Product: {}", dot);
17
18    // 2. Q15 Fixed-Point Saturating Math
19    let q15_a = [20000i16, 25000];
20    let q15_b = [15000i16, 10000];
21    let mut q15_out = [0i16; 2];
22    add_q15(&q15_a, &q15_b, &mut q15_out);
23    println!("Q15 Saturating Add (clamped at 32767): {:?}", q15_out);
24
25    // 3. FIR Filtering
26    let coeffs = [0.25f32, 0.5, 0.25]; // 3-tap moving average filter
27    let mut state = [0.0f32; 3 + 4 - 1];
28    let mut fir = FirInstanceF32::init(3, &coeffs, &mut state);
29
30    let input_signal = [1.0f32, 2.0, 3.0, 4.0];
31    let mut filtered_signal = [0.0f32; 4];
32    fir_f32(&mut fir, &input_signal, &mut filtered_signal);
33    println!("FIR Filter Output: {:?}", filtered_signal);
34
35    // 4. PID Motor Controller
36    let mut pid = PidInstanceF32::new(2.0, 0.1, 0.05);
37    let control_output = pid.process(10.0);
38    println!("PID Control Signal: {}", control_output);
39
40    // 5. 64-Point Complex FFT
41    let mut fft_data = [0.0f32; 128]; // 64 complex pairs [re, im, ...]
42    for i in 0..64 {
43        fft_data[2 * i] = (i as f32 * 0.1).sin();
44    }
45    cfft_f32(&mut fft_data, 64, 0, 1);
46    println!("64-Point Complex FFT processed successfully!");
47}