PID Controller register mapΒΆ
Register Name |
Register offset |
Field name |
Field position |
Description |
|---|---|---|---|---|
RESERVED |
0x0 |
reserved |
31:0 |
reserved |
KP_NOM |
0x4 |
Nominator value |
31:0 |
Value of the proportional action gain nominator |
KI_NOM |
0x8 |
Nominator value |
31:0 |
Value of the integral action gain nominator |
KD_NOM |
0xC |
Nominator value |
31:0 |
Value of the derivative action gain nominator |
OUT_SAT_P |
0x10 |
saturation_value |
31:0 |
Value of the positive output saturation |
OUT_SAT_N |
0x14 |
saturation_value |
31:0 |
Value of the negative output saturation |
INT_SAT_P |
0x18 |
saturation_value |
31:0 |
Value of the positive integral saturation |
INT_SAT_N |
0x1C |
saturation_value |
31:0 |
Value of the negative integral saturation |
DENOMINATORS |
0x20 |
kp_denominator |
7:0 |
Value of the proportional action gain denominator |
ki_denominator |
15:8 |
Value of the integral action gain denominator |
||
kd_denominator |
23:16 |
Value of the derivative action gain denominator |