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-rw-r--r--demos/STM32/RT-STM32F303-DISCOVERY-PID/Makefile219
-rw-r--r--demos/STM32/RT-STM32F303-DISCOVERY-PID/chconf.h608
-rw-r--r--demos/STM32/RT-STM32F303-DISCOVERY-PID/halconf.h419
-rw-r--r--demos/STM32/RT-STM32F303-DISCOVERY-PID/halconf_community.h173
-rw-r--r--demos/STM32/RT-STM32F303-DISCOVERY-PID/main.c171
-rw-r--r--demos/STM32/RT-STM32F303-DISCOVERY-PID/mcuconf.h255
-rw-r--r--demos/STM32/RT-STM32F303-DISCOVERY-PID/mcuconf_community.h155
-rw-r--r--os/various/pid.c194
-rw-r--r--os/various/pid.h78
9 files changed, 2272 insertions, 0 deletions
diff --git a/demos/STM32/RT-STM32F303-DISCOVERY-PID/Makefile b/demos/STM32/RT-STM32F303-DISCOVERY-PID/Makefile
new file mode 100644
index 0000000..2173b3e
--- /dev/null
+++ b/demos/STM32/RT-STM32F303-DISCOVERY-PID/Makefile
@@ -0,0 +1,219 @@
+##############################################################################
+# Build global options
+# NOTE: Can be overridden externally.
+#
+
+# Compiler options here.
+ifeq ($(USE_OPT),)
+ USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
+endif
+
+# C specific options here (added to USE_OPT).
+ifeq ($(USE_COPT),)
+ USE_COPT =
+endif
+
+# C++ specific options here (added to USE_OPT).
+ifeq ($(USE_CPPOPT),)
+ USE_CPPOPT = -fno-rtti
+endif
+
+# Enable this if you want the linker to remove unused code and data
+ifeq ($(USE_LINK_GC),)
+ USE_LINK_GC = yes
+endif
+
+# Linker extra options here.
+ifeq ($(USE_LDOPT),)
+ USE_LDOPT =
+endif
+
+# Enable this if you want link time optimizations (LTO)
+ifeq ($(USE_LTO),)
+ USE_LTO = yes
+endif
+
+# If enabled, this option allows to compile the application in THUMB mode.
+ifeq ($(USE_THUMB),)
+ USE_THUMB = yes
+endif
+
+# Enable this if you want to see the full log while compiling.
+ifeq ($(USE_VERBOSE_COMPILE),)
+ USE_VERBOSE_COMPILE = no
+endif
+
+# If enabled, this option makes the build process faster by not compiling
+# modules not used in the current configuration.
+ifeq ($(USE_SMART_BUILD),)
+ USE_SMART_BUILD = yes
+endif
+
+#
+# Build global options
+##############################################################################
+
+##############################################################################
+# Architecture or project specific options
+#
+
+# Stack size to be allocated to the Cortex-M process stack. This stack is
+# the stack used by the main() thread.
+ifeq ($(USE_PROCESS_STACKSIZE),)
+ USE_PROCESS_STACKSIZE = 0x400
+endif
+
+# Stack size to the allocated to the Cortex-M main/exceptions stack. This
+# stack is used for processing interrupts and exceptions.
+ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
+ USE_EXCEPTIONS_STACKSIZE = 0x400
+endif
+
+# Enables the use of FPU (no, softfp, hard).
+ifeq ($(USE_FPU),)
+ USE_FPU = no
+endif
+
+#
+# Architecture or project specific options
+##############################################################################
+
+##############################################################################
+# Project, sources and paths
+#
+
+# Define project name here
+PROJECT = ch
+
+# Imported source files and paths
+CHIBIOS = ../../../../ChibiOS-RT
+CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Startup files.
+include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f3xx.mk
+# HAL-OSAL files (optional).
+include $(CHIBIOS_CONTRIB)/os/hal/hal.mk
+include $(CHIBIOS_CONTRIB)/os/hal/ports/STM32/STM32F3xx/platform.mk
+include $(CHIBIOS)/os/hal/boards/ST_STM32F3_DISCOVERY/board.mk
+include $(CHIBIOS)/os/hal/osal/rt/osal.mk
+# RTOS files (optional).
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
+# Other files (optional).
+
+# Define linker script file here
+LDSCRIPT= $(STARTUPLD)/STM32F303xC.ld
+
+# C sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CSRC = $(STARTUPSRC) \
+ $(KERNSRC) \
+ $(PORTSRC) \
+ $(OSALSRC) \
+ $(HALSRC) \
+ $(PLATFORMSRC) \
+ $(BOARDSRC) \
+ $(TESTSRC) \
+ $(CHIBIOS_CONTRIB)/os/various/pid.c \
+ main.c
+
+# C++ sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CPPSRC =
+
+# C sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+# option that results in lower performance and larger code size.
+ACSRC =
+
+# C++ sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+# option that results in lower performance and larger code size.
+ACPPSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+# option that results in lower performance and larger code size.
+TCSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+# option that results in lower performance and larger code size.
+TCPPSRC =
+
+# List ASM source files here
+ASMSRC =
+ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+
+INCDIR = $(CHIBIOS)/os/license \
+ $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
+ $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
+ $(CHIBIOS_CONTRIB)/os/various
+
+#
+# Project, sources and paths
+##############################################################################
+
+##############################################################################
+# Compiler settings
+#
+
+MCU = cortex-m4
+
+#TRGT = arm-elf-
+TRGT = arm-none-eabi-
+CC = $(TRGT)gcc
+CPPC = $(TRGT)g++
+# Enable loading with g++ only if you need C++ runtime support.
+# NOTE: You can use C++ even without C++ support if you are careful. C++
+# runtime support makes code size explode.
+LD = $(TRGT)gcc
+#LD = $(TRGT)g++
+CP = $(TRGT)objcopy
+AS = $(TRGT)gcc -x assembler-with-cpp
+AR = $(TRGT)ar
+OD = $(TRGT)objdump
+SZ = $(TRGT)size
+HEX = $(CP) -O ihex
+BIN = $(CP) -O binary
+
+# ARM-specific options here
+AOPT =
+
+# THUMB-specific options here
+TOPT = -mthumb -DTHUMB
+
+# Define C warning options here
+CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes
+
+# Define C++ warning options here
+CPPWARN = -Wall -Wextra -Wundef
+
+#
+# Compiler settings
+##############################################################################
+
+##############################################################################
+# Start of user section
+#
+
+# List all user C define here, like -D_DEBUG=1
+UDEFS =
+
+# Define ASM defines here
+UADEFS =
+
+# List all user directories here
+UINCDIR =
+
+# List the user directory to look for the libraries here
+ULIBDIR =
+
+# List all user libraries here
+ULIBS =
+
+#
+# End of user defines
+##############################################################################
+
+RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
+include $(RULESPATH)/rules.mk
diff --git a/demos/STM32/RT-STM32F303-DISCOVERY-PID/chconf.h b/demos/STM32/RT-STM32F303-DISCOVERY-PID/chconf.h
new file mode 100644
index 0000000..53bd676
--- /dev/null
+++ b/demos/STM32/RT-STM32F303-DISCOVERY-PID/chconf.h
@@ -0,0 +1,608 @@
+/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file templates/chconf.h
+ * @brief Configuration file template.
+ * @details A copy of this file must be placed in each project directory, it
+ * contains the application specific kernel settings.
+ *
+ * @addtogroup config
+ * @details Kernel related settings and hooks.
+ * @{
+ */
+
+#ifndef CHCONF_H
+#define CHCONF_H
+
+#define _CHIBIOS_RT_CONF_
+#define _CHIBIOS_RT_CONF_VER_5_0_
+
+/*===========================================================================*/
+/**
+ * @name System timers settings
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief System time counter resolution.
+ * @note Allowed values are 16 or 32 bits.
+ */
+#define CH_CFG_ST_RESOLUTION 32
+
+/**
+ * @brief System tick frequency.
+ * @details Frequency of the system timer that drives the system ticks. This
+ * setting also defines the system tick time unit.
+ */
+#define CH_CFG_ST_FREQUENCY 10000
+
+/**
+ * @brief Time intervals data size.
+ * @note Allowed values are 16, 32 or 64 bits.
+ */
+#define CH_CFG_INTERVALS_SIZE 32
+
+/**
+ * @brief Time types data size.
+ * @note Allowed values are 16 or 32 bits.
+ */
+#define CH_CFG_TIME_TYPES_SIZE 32
+
+/**
+ * @brief Time delta constant for the tick-less mode.
+ * @note If this value is zero then the system uses the classic
+ * periodic tick. This value represents the minimum number
+ * of ticks that is safe to specify in a timeout directive.
+ * The value one is not valid, timeouts are rounded up to
+ * this value.
+ */
+#define CH_CFG_ST_TIMEDELTA 2
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel parameters and options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief Round robin interval.
+ * @details This constant is the number of system ticks allowed for the
+ * threads before preemption occurs. Setting this value to zero
+ * disables the preemption for threads with equal priority and the
+ * round robin becomes cooperative. Note that higher priority
+ * threads can still preempt, the kernel is always preemptive.
+ * @note Disabling the round robin preemption makes the kernel more compact
+ * and generally faster.
+ * @note The round robin preemption is not supported in tickless mode and
+ * must be set to zero in that case.
+ */
+#define CH_CFG_TIME_QUANTUM 0
+
+/**
+ * @brief Managed RAM size.
+ * @details Size of the RAM area to be managed by the OS. If set to zero
+ * then the whole available RAM is used. The core memory is made
+ * available to the heap allocator and/or can be used directly through
+ * the simplified core memory allocator.
+ *
+ * @note In order to let the OS manage the whole RAM the linker script must
+ * provide the @p __heap_base__ and @p __heap_end__ symbols.
+ * @note Requires @p CH_CFG_USE_MEMCORE.
+ */
+#define CH_CFG_MEMCORE_SIZE 0
+
+/**
+ * @brief Idle thread automatic spawn suppression.
+ * @details When this option is activated the function @p chSysInit()
+ * does not spawn the idle thread. The application @p main()
+ * function becomes the idle thread and must implement an
+ * infinite loop.
+ */
+#define CH_CFG_NO_IDLE_THREAD FALSE
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Performance options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief OS optimization.
+ * @details If enabled then time efficient rather than space efficient code
+ * is used when two possible implementations exist.
+ *
+ * @note This is not related to the compiler optimization options.
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_OPTIMIZE_SPEED TRUE
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Subsystem options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief Time Measurement APIs.
+ * @details If enabled then the time measurement APIs are included in
+ * the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_TM FALSE
+
+/**
+ * @brief Threads registry APIs.
+ * @details If enabled then the registry APIs are included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_REGISTRY TRUE
+
+/**
+ * @brief Threads synchronization APIs.
+ * @details If enabled then the @p chThdWait() function is included in
+ * the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_WAITEXIT TRUE
+
+/**
+ * @brief Semaphores APIs.
+ * @details If enabled then the Semaphores APIs are included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_SEMAPHORES TRUE
+
+/**
+ * @brief Semaphores queuing mode.
+ * @details If enabled then the threads are enqueued on semaphores by
+ * priority rather than in FIFO order.
+ *
+ * @note The default is @p FALSE. Enable this if you have special
+ * requirements.
+ * @note Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#define CH_CFG_USE_SEMAPHORES_PRIORITY FALSE
+
+/**
+ * @brief Mutexes APIs.
+ * @details If enabled then the mutexes APIs are included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_MUTEXES TRUE
+
+/**
+ * @brief Enables recursive behavior on mutexes.
+ * @note Recursive mutexes are heavier and have an increased
+ * memory footprint.
+ *
+ * @note The default is @p FALSE.
+ * @note Requires @p CH_CFG_USE_MUTEXES.
+ */
+#define CH_CFG_USE_MUTEXES_RECURSIVE FALSE
+
+/**
+ * @brief Conditional Variables APIs.
+ * @details If enabled then the conditional variables APIs are included
+ * in the kernel.
+ *
+ * @note The default is @p TRUE.
+ * @note Requires @p CH_CFG_USE_MUTEXES.
+ */
+#define CH_CFG_USE_CONDVARS TRUE
+
+/**
+ * @brief Conditional Variables APIs with timeout.
+ * @details If enabled then the conditional variables APIs with timeout
+ * specification are included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ * @note Requires @p CH_CFG_USE_CONDVARS.
+ */
+#define CH_CFG_USE_CONDVARS_TIMEOUT TRUE
+
+/**
+ * @brief Events Flags APIs.
+ * @details If enabled then the event flags APIs are included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_EVENTS TRUE
+
+/**
+ * @brief Events Flags APIs with timeout.
+ * @details If enabled then the events APIs with timeout specification
+ * are included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ * @note Requires @p CH_CFG_USE_EVENTS.
+ */
+#define CH_CFG_USE_EVENTS_TIMEOUT TRUE
+
+/**
+ * @brief Synchronous Messages APIs.
+ * @details If enabled then the synchronous messages APIs are included
+ * in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_MESSAGES TRUE
+
+/**
+ * @brief Synchronous Messages queuing mode.
+ * @details If enabled then messages are served by priority rather than in
+ * FIFO order.
+ *
+ * @note The default is @p FALSE. Enable this if you have special
+ * requirements.
+ * @note Requires @p CH_CFG_USE_MESSAGES.
+ */
+#define CH_CFG_USE_MESSAGES_PRIORITY FALSE
+
+/**
+ * @brief Mailboxes APIs.
+ * @details If enabled then the asynchronous messages (mailboxes) APIs are
+ * included in the kernel.
+ *
+ * @note The default is @p TRUE.
+ * @note Requires @p CH_CFG_USE_SEMAPHORES.
+ */
+#define CH_CFG_USE_MAILBOXES TRUE
+
+/**
+ * @brief Core Memory Manager APIs.
+ * @details If enabled then the core memory manager APIs are included
+ * in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_MEMCORE TRUE
+
+/**
+ * @brief Heap Allocator APIs.
+ * @details If enabled then the memory heap allocator APIs are included
+ * in the kernel.
+ *
+ * @note The default is @p TRUE.
+ * @note Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
+ * @p CH_CFG_USE_SEMAPHORES.
+ * @note Mutexes are recommended.
+ */
+#define CH_CFG_USE_HEAP TRUE
+
+/**
+ * @brief Memory Pools Allocator APIs.
+ * @details If enabled then the memory pools allocator APIs are included
+ * in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_MEMPOOLS TRUE
+
+/**
+ * @brief Objects FIFOs APIs.
+ * @details If enabled then the objects FIFOs APIs are included
+ * in the kernel.
+ *
+ * @note The default is @p TRUE.
+ */
+#define CH_CFG_USE_OBJ_FIFOS TRUE
+
+/**
+ * @brief Dynamic Threads APIs.
+ * @details If enabled then the dynamic threads creation APIs are included
+ * in the kernel.
+ *
+ * @note The default is @p TRUE.
+ * @note Requires @p CH_CFG_USE_WAITEXIT.
+ * @note Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
+ */
+#define CH_CFG_USE_DYNAMIC TRUE
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Objects factory options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief Objects Factory APIs.
+ * @details If enabled then the objects factory APIs are included in the
+ * kernel.
+ *
+ * @note The default is @p FALSE.
+ */
+#define CH_CFG_USE_FACTORY TRUE
+
+/**
+ * @brief Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ * pointer but this could have unintended side effects.
+ */
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH 8
+
+/**
+ * @brief Enables the registry of generic objects.
+ */
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY TRUE
+
+/**
+ * @brief Enables factory for generic buffers.
+ */
+#define CH_CFG_FACTORY_GENERIC_BUFFERS TRUE
+
+/**
+ * @brief Enables factory for semaphores.
+ */
+#define CH_CFG_FACTORY_SEMAPHORES TRUE
+
+/**
+ * @brief Enables factory for mailboxes.
+ */
+#define CH_CFG_FACTORY_MAILBOXES TRUE
+
+/**
+ * @brief Enables factory for objects FIFOs.
+ */
+#define CH_CFG_FACTORY_OBJ_FIFOS TRUE
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Debug options
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief Debug option, kernel statistics.
+ *
+ * @note The default is @p FALSE.
+ */
+#define CH_DBG_STATISTICS FALSE
+
+/**
+ * @brief Debug option, system state check.
+ * @details If enabled the correct call protocol for system APIs is checked
+ * at runtime.
+ *
+ * @note The default is @p FALSE.
+ */
+#define CH_DBG_SYSTEM_STATE_CHECK TRUE
+
+/**
+ * @brief Debug option, parameters checks.
+ * @details If enabled then the checks on the API functions input
+ * parameters are activated.
+ *
+ * @note The default is @p FALSE.
+ */
+#define CH_DBG_ENABLE_CHECKS TRUE
+
+/**
+ * @brief Debug option, consistency checks.
+ * @details If enabled then all the assertions in the kernel code are
+ * activated. This includes consistency checks inside the kernel,
+ * runtime anomalies and port-defined checks.
+ *
+ * @note The default is @p FALSE.
+ */
+#define CH_DBG_ENABLE_ASSERTS TRUE
+
+/**
+ * @brief Debug option, trace buffer.
+ * @details If enabled then the trace buffer is activated.
+ *
+ * @note The default is @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#define CH_DBG_TRACE_MASK CH_DBG_TRACE_MASK_ALL
+
+/**
+ * @brief Trace buffer entries.
+ * @note The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
+ * different from @p CH_DBG_TRACE_MASK_DISABLED.
+ */
+#define CH_DBG_TRACE_BUFFER_SIZE 128
+
+/**
+ * @brief Debug option, stack checks.
+ * @details If enabled then a runtime stack check is performed.
+ *
+ * @note The default is @p FALSE.
+ * @note The stack check is performed in a architecture/port dependent way.
+ * It may not be implemented or some ports.
+ * @note The default failure mode is to halt the system with the global
+ * @p panic_msg variable set to @p NULL.
+ */
+#define CH_DBG_ENABLE_STACK_CHECK TRUE
+
+/**
+ * @brief Debug option, stacks initialization.
+ * @details If enabled then the threads working area is filled with a byte
+ * value when a thread is created. This can be useful for the
+ * runtime measurement of the used stack.
+ *
+ * @note The default is @p FALSE.
+ */
+#define CH_DBG_FILL_THREADS TRUE
+
+/**
+ * @brief Debug option, threads profiling.
+ * @details If enabled then a field is added to the @p thread_t structure that
+ * counts the system ticks occurred while executing the thread.
+ *
+ * @note The default is @p FALSE.
+ * @note This debug option is not currently compatible with the
+ * tickless mode.
+ */
+#define CH_DBG_THREADS_PROFILING FALSE
+
+/** @} */
+
+/*===========================================================================*/
+/**
+ * @name Kernel hooks
+ * @{
+ */
+/*===========================================================================*/
+
+/**
+ * @brief System structure extension.
+ * @details User fields added to the end of the @p ch_system_t structure.
+ */
+#define CH_CFG_SYSTEM_EXTRA_FIELDS \
+ /* Add threads custom fields here.*/
+
+/**
+ * @brief System initialization hook.
+ * @details User initialization code added to the @p chSysInit() function
+ * just before interrupts are enabled globally.
+ */
+#define CH_CFG_SYSTEM_INIT_HOOK(tp) { \
+ /* Add threads initialization code here.*/ \
+}
+
+/**
+ * @brief Threads descriptor structure extension.
+ * @details User fields added to the end of the @p thread_t structure.
+ */
+#define CH_CFG_THREAD_EXTRA_FIELDS \
+ /* Add threads custom fields here.*/
+
+/**
+ * @brief Threads initialization hook.
+ * @details User initialization code added to the @p _thread_init() function.
+ *
+ * @note It is invoked from within @p _thread_init() and implicitly from all
+ * the threads creation APIs.
+ */
+#define CH_CFG_THREAD_INIT_HOOK(tp) { \
+ /* Add threads initialization code here.*/ \
+}
+
+/**
+ * @brief Threads finalization hook.
+ * @details User finalization code added to the @p chThdExit() API.
+ */
+#define CH_CFG_THREAD_EXIT_HOOK(tp) { \
+ /* Add threads finalization code here.*/ \
+}
+
+/**
+ * @brief Context switch hook.
+ * @details This hook is invoked just before switching between threads.
+ */
+#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) { \
+ /* Context switch code here.*/ \
+}
+
+/**
+ * @brief ISR enter hook.
+ */
+#define CH_CFG_IRQ_PROLOGUE_HOOK() { \
+ /* IRQ prologue code here.*/ \
+}
+
+/**
+ * @brief ISR exit hook.
+ */
+#define CH_CFG_IRQ_EPILOGUE_HOOK() { \
+ /* IRQ epilogue code here.*/ \
+}
+
+/**
+ * @brief Idle thread enter hook.
+ * @note This hook is invoked within a critical zone, no OS functions
+ * should be invoked from here.
+ * @note This macro can be used to activate a power saving mode.
+ */
+#define CH_CFG_IDLE_ENTER_HOOK() { \
+ /* Idle-enter code here.*/ \
+}
+
+/**
+ * @brief Idle thread leave hook.
+ * @note This hook is invoked within a critical zone, no OS functions
+ * should be invoked from here.
+ * @note This macro can be used to deactivate a power saving mode.
+ */
+#define CH_CFG_IDLE_LEAVE_HOOK() { \
+ /* Idle-leave code here.*/ \
+}
+
+/**
+ * @brief Idle Loop hook.
+ * @details This hook is continuously invoked by the idle thread loop.
+ */
+#define CH_CFG_IDLE_LOOP_HOOK() { \
+ /* Idle loop code here.*/ \
+}
+
+/**
+ * @brief System tick event hook.
+ * @details This hook is invoked in the system tick handler immediately
+ * after processing the virtual timers queue.
+ */
+#define CH_CFG_SYSTEM_TICK_HOOK() { \
+ /* System tick event code here.*/ \
+}
+
+/**
+ * @brief System halt hook.
+ * @details This hook is invoked in case to a system halting error before
+ * the system is halted.
+ */
+#define CH_CFG_SYSTEM_HALT_HOOK(reason) { \
+ /* System halt code here.*/ \
+}
+
+/**
+ * @brief Trace hook.
+ * @details This hook is invoked each time a new record is written in the
+ * trace buffer.
+ */
+#define CH_CFG_TRACE_HOOK(tep) { \
+ /* Trace code here.*/ \
+}
+
+/** @} */
+
+/*===========================================================================*/
+/* Port-specific settings (override port settings defaulted in chcore.h). */
+/*===========================================================================*/
+
+#endif /* CHCONF_H */
+
+/** @} */
diff --git a/demos/STM32/RT-STM32F303-DISCOVERY-PID/halconf.h b/demos/STM32/RT-STM32F303-DISCOVERY-PID/halconf.h
new file mode 100644
index 0000000..9192b27
--- /dev/null
+++ b/demos/STM32/RT-STM32F303-DISCOVERY-PID/halconf.h
@@ -0,0 +1,419 @@
+/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file templates/halconf.h
+ * @brief HAL configuration header.
+ * @details HAL configuration file, this file allows to enable or disable the
+ * various device drivers from your application. You may also use
+ * this file in order to override the device drivers default settings.
+ *
+ * @addtogroup HAL_CONF
+ * @{
+ */
+
+#ifndef HALCONF_H
+#define HALCONF_H
+
+#include "mcuconf.h"
+
+/**
+ * @brief Enables the PAL subsystem.
+ */
+#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
+#define HAL_USE_PAL TRUE
+#endif
+
+/**
+ * @brief Enables the ADC subsystem.
+ */
+#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
+#define HAL_USE_ADC TRUE
+#endif
+
+/**
+ * @brief Enables the CAN subsystem.
+ */
+#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
+#define HAL_USE_CAN FALSE
+#endif
+
+/**
+ * @brief Enables the cryptographic subsystem.
+ */
+#if !defined(HAL_USE_CRY) || defined(__DOXYGEN__)
+#define HAL_USE_CRY FALSE
+#endif
+
+/**
+ * @brief Enables the DAC subsystem.
+ */
+#if !defined(HAL_USE_DAC) || defined(__DOXYGEN__)
+#define HAL_USE_DAC TRUE
+#endif
+
+/**
+ * @brief Enables the EXT subsystem.
+ */
+#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
+#define HAL_USE_EXT FALSE
+#endif
+
+/**
+ * @brief Enables the GPT subsystem.
+ */
+#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
+#define HAL_USE_GPT TRUE
+#endif
+
+/**
+ * @brief Enables the I2C subsystem.
+ */
+#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
+#define HAL_USE_I2C FALSE
+#endif
+
+/**
+ * @brief Enables the I2S subsystem.
+ */
+#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__)
+#define HAL_USE_I2S FALSE
+#endif
+
+/**
+ * @brief Enables the ICU subsystem.
+ */
+#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
+#define HAL_USE_ICU FALSE
+#endif
+
+/**
+ * @brief Enables the MAC subsystem.
+ */
+#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
+#define HAL_USE_MAC FALSE
+#endif
+
+/**
+ * @brief Enables the MMC_SPI subsystem.
+ */
+#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_MMC_SPI FALSE
+#endif
+
+/**
+ * @brief Enables the PWM subsystem.
+ */
+#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
+#define HAL_USE_PWM FALSE
+#endif
+
+/**
+ * @brief Enables the QSPI subsystem.
+ */
+#if !defined(HAL_USE_QSPI) || defined(__DOXYGEN__)
+#define HAL_USE_QSPI FALSE
+#endif
+
+/**
+ * @brief Enables the RTC subsystem.
+ */
+#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)
+#define HAL_USE_RTC FALSE
+#endif
+
+/**
+ * @brief Enables the SDC subsystem.
+ */
+#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)
+#define HAL_USE_SDC FALSE
+#endif
+
+/**
+ * @brief Enables the SERIAL subsystem.
+ */
+#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
+#define HAL_USE_SERIAL FALSE
+#endif
+
+/**
+ * @brief Enables the SERIAL over USB subsystem.
+ */
+#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
+#define HAL_USE_SERIAL_USB FALSE
+#endif
+
+/**
+ * @brief Enables the SPI subsystem.
+ */
+#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
+#define HAL_USE_SPI FALSE
+#endif
+
+/**
+ * @brief Enables the UART subsystem.
+ */
+#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
+#define HAL_USE_UART FALSE
+#endif
+
+/**
+ * @brief Enables the USB subsystem.
+ */
+#if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
+#define HAL_USE_USB FALSE
+#endif
+
+/**
+ * @brief Enables the WDG subsystem.
+ */
+#if !defined(HAL_USE_WDG) || defined(__DOXYGEN__)
+#define HAL_USE_WDG FALSE
+#endif
+
+/*===========================================================================*/
+/* ADC driver related settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Enables synchronous APIs.
+ * @note Disabling this option saves both code and data space.
+ */
+#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)
+#define ADC_USE_WAIT TRUE
+#endif
+
+/**
+ * @brief Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs.
+ * @note Disabling this option saves both code and data space.
+ */
+#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define ADC_USE_MUTUAL_EXCLUSION TRUE
+#endif
+
+/*===========================================================================*/
+/* CAN driver related settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Sleep mode related APIs inclusion switch.
+ */
+#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
+#define CAN_USE_SLEEP_MODE TRUE
+#endif
+
+/*===========================================================================*/
+/* CRY driver related settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Enables the SW fall-back of the cryptographic driver.
+ * @details When enabled, this option, activates a fall-back software
+ * implementation for algorithms not supported by the underlying
+ * hardware.
+ * @note Fall-back implementations may not be present for all algorithms.
+ */
+#if !defined(HAL_CRY_USE_FALLBACK) || defined(__DOXYGEN__)
+#define HAL_CRY_USE_FALLBACK FALSE
+#endif
+
+/**
+ * @brief Makes the driver forcibly use the fall-back implementations.
+ */
+#if !defined(HAL_CRY_ENFORCE_FALLBACK) || defined(__DOXYGEN__)
+#define HAL_CRY_ENFORCE_FALLBACK FALSE
+#endif
+
+/*===========================================================================*/
+/* I2C driver related settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Enables the mutual exclusion APIs on the I2C bus.
+ */
+#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define I2C_USE_MUTUAL_EXCLUSION TRUE
+#endif
+
+/*===========================================================================*/
+/* MAC driver related settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Enables an event sources for incoming packets.
+ */
+#if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__)
+#define MAC_USE_ZERO_COPY FALSE
+#endif
+
+/**
+ * @brief Enables an event sources for incoming packets.
+ */
+#if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__)
+#define MAC_USE_EVENTS TRUE
+#endif
+
+/*===========================================================================*/
+/* MMC_SPI driver related settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Delays insertions.
+ * @details If enabled this options inserts delays into the MMC waiting
+ * routines releasing some extra CPU time for the threads with
+ * lower priority, this may slow down the driver a bit however.
+ * This option is recommended also if the SPI driver does not
+ * use a DMA channel and heavily loads the CPU.
+ */
+#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)
+#define MMC_NICE_WAITING TRUE
+#endif
+
+/*===========================================================================*/
+/* SDC driver related settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Number of initialization attempts before rejecting the card.
+ * @note Attempts are performed at 10mS intervals.
+ */
+#if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__)
+#define SDC_INIT_RETRY 100
+#endif
+
+/**
+ * @brief Include support for MMC cards.
+ * @note MMC support is not yet implemented so this option must be kept
+ * at @p FALSE.
+ */
+#if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__)
+#define SDC_MMC_SUPPORT FALSE
+#endif
+
+/**
+ * @brief Delays insertions.
+ * @details If enabled this options inserts delays into the MMC waiting
+ * routines releasing some extra CPU time for the threads with
+ * lower priority, this may slow down the driver a bit however.
+ */
+#if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__)
+#define SDC_NICE_WAITING TRUE
+#endif
+
+/*===========================================================================*/
+/* SERIAL driver related settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Default bit rate.
+ * @details Configuration parameter, this is the baud rate selected for the
+ * default configuration.
+ */
+#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)
+#define SERIAL_DEFAULT_BITRATE 38400
+#endif
+
+/**
+ * @brief Serial buffers size.
+ * @details Configuration parameter, you can change the depth of the queue
+ * buffers depending on the requirements of your application.
+ * @note The default is 16 bytes for both the transmission and receive
+ * buffers.
+ */
+#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_BUFFERS_SIZE 16
+#endif
+
+/*===========================================================================*/
+/* SERIAL_USB driver related setting. */
+/*===========================================================================*/
+
+/**
+ * @brief Serial over USB buffers size.
+ * @details Configuration parameter, the buffer size must be a multiple of
+ * the USB data endpoint maximum packet size.
+ * @note The default is 256 bytes for both the transmission and receive
+ * buffers.
+ */
+#if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__)
+#define SERIAL_USB_BUFFERS_SIZE 256
+#endif
+
+/**
+ * @brief Serial over USB number of buffers.
+ * @note The default is 2 buffers.
+ */
+#if !defined(SERIAL_USB_BUFFERS_NUMBER) || defined(__DOXYGEN__)
+#define SERIAL_USB_BUFFERS_NUMBER 2
+#endif
+
+/*===========================================================================*/
+/* SPI driver related settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Enables synchronous APIs.
+ * @note Disabling this option saves both code and data space.
+ */
+#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)
+#define SPI_USE_WAIT TRUE
+#endif
+
+/**
+ * @brief Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs.
+ * @note Disabling this option saves both code and data space.
+ */
+#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define SPI_USE_MUTUAL_EXCLUSION TRUE
+#endif
+
+/*===========================================================================*/
+/* UART driver related settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Enables synchronous APIs.
+ * @note Disabling this option saves both code and data space.
+ */
+#if !defined(UART_USE_WAIT) || defined(__DOXYGEN__)
+#define UART_USE_WAIT FALSE
+#endif
+
+/**
+ * @brief Enables the @p uartAcquireBus() and @p uartReleaseBus() APIs.
+ * @note Disabling this option saves both code and data space.
+ */
+#if !defined(UART_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define UART_USE_MUTUAL_EXCLUSION FALSE
+#endif
+
+/*===========================================================================*/
+/* USB driver related settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Enables synchronous APIs.
+ * @note Disabling this option saves both code and data space.
+ */
+#if !defined(USB_USE_WAIT) || defined(__DOXYGEN__)
+#define USB_USE_WAIT FALSE
+#endif
+
+#include "halconf_community.h"
+
+#endif /* HALCONF_H */
+
+/** @} */
diff --git a/demos/STM32/RT-STM32F303-DISCOVERY-PID/halconf_community.h b/demos/STM32/RT-STM32F303-DISCOVERY-PID/halconf_community.h
new file mode 100644
index 0000000..631bb9f
--- /dev/null
+++ b/demos/STM32/RT-STM32F303-DISCOVERY-PID/halconf_community.h
@@ -0,0 +1,173 @@
+/*
+ ChibiOS - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+#ifndef HALCONF_COMMUNITY_H
+#define HALCONF_COMMUNITY_H
+
+/**
+ * @brief Enables the community overlay.
+ */
+#if !defined(HAL_USE_COMMUNITY) || defined(__DOXYGEN__)
+#define HAL_USE_COMMUNITY TRUE
+#endif
+
+/**
+ * @brief Enables the FSMC subsystem.
+ */
+#if !defined(HAL_USE_FSMC) || defined(__DOXYGEN__)
+#define HAL_USE_FSMC FALSE
+#endif
+
+/**
+ * @brief Enables the NAND subsystem.
+ */
+#if !defined(HAL_USE_NAND) || defined(__DOXYGEN__)
+#define HAL_USE_NAND FALSE
+#endif
+
+/**
+ * @brief Enables the 1-wire subsystem.
+ */
+#if !defined(HAL_USE_ONEWIRE) || defined(__DOXYGEN__)
+#define HAL_USE_ONEWIRE FALSE
+#endif
+
+/**
+ * @brief Enables the EICU subsystem.
+ */
+#if !defined(HAL_USE_EICU) || defined(__DOXYGEN__)
+#define HAL_USE_EICU FALSE
+#endif
+
+/**
+ * @brief Enables the CRC subsystem.
+ */
+#if !defined(HAL_USE_CRC) || defined(__DOXYGEN__)
+#define HAL_USE_CRC FALSE
+#endif
+
+/**
+ * @brief Enables the RNG subsystem.
+ */
+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)
+#define HAL_USE_RNG FALSE
+#endif
+
+/**
+ * @brief Enables the EEPROM subsystem.
+ */
+#if !defined(HAL_USE_EEPROM) || defined(__DOXYGEN__)
+#define HAL_USE_EEPROM FALSE
+#endif
+
+/**
+ * @brief Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_TIMCAP) || defined(__DOXYGEN__)
+#define HAL_USE_TIMCAP FALSE
+#endif
+
+/**
+ * @brief Enables the TIMCAP subsystem.
+ */
+#if !defined(HAL_USE_COMP) || defined(__DOXYGEN__)
+#define HAL_USE_COMP FALSE
+#endif
+
+/**
+ * @brief Enables the QEI subsystem.
+ */
+#if !defined(HAL_USE_QEI) || defined(__DOXYGEN__)
+#define HAL_USE_QEI FALSE
+#endif
+
+/**
+ * @brief Enables the USBH subsystem.
+ */
+#if !defined(HAL_USE_USBH) || defined(__DOXYGEN__)
+#define HAL_USE_USBH FALSE
+#endif
+
+/**
+ * @brief Enables the USB_MSD subsystem.
+ */
+#if !defined(HAL_USE_USB_MSD) || defined(__DOXYGEN__)
+#define HAL_USE_USB_MSD FALSE
+#endif
+
+/*===========================================================================*/
+/* FSMCNAND driver related settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Enables the @p nandAcquireBus() and @p nanReleaseBus() APIs.
+ * @note Disabling this option saves both code and data space.
+ */
+#if !defined(NAND_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
+#define NAND_USE_MUTUAL_EXCLUSION TRUE
+#endif
+
+/*===========================================================================*/
+/* 1-wire driver related settings. */
+/*===========================================================================*/
+/**
+ * @brief Enables strong pull up feature.
+ * @note Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_STRONG_PULLUP FALSE
+
+/**
+ * @brief Enables search ROM feature.
+ * @note Disabling this option saves both code and data space.
+ */
+#define ONEWIRE_USE_SEARCH_ROM TRUE
+
+/*===========================================================================*/
+/* QEI driver related settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Enables discard of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_DISCARD) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_DISCARD FALSE
+#endif
+
+/**
+ * @brief Enables min max of overlow
+ */
+#if !defined(QEI_USE_OVERFLOW_MINMAX) || defined(__DOXYGEN__)
+#define QEI_USE_OVERFLOW_MINMAX FALSE
+#endif
+
+/*===========================================================================*/
+/* EEProm driver related settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Enables 24xx series I2C eeprom device driver.
+ * @note Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE24XX FALSE
+ /**
+ * @brief Enables 25xx series SPI eeprom device driver.
+ * @note Disabling this option saves both code and data space.
+ */
+#define EEPROM_USE_EE25XX FALSE
+
+#endif /* HALCONF_COMMUNITY_H */
+
+/** @} */
diff --git a/demos/STM32/RT-STM32F303-DISCOVERY-PID/main.c b/demos/STM32/RT-STM32F303-DISCOVERY-PID/main.c
new file mode 100644
index 0000000..6f09f0c
--- /dev/null
+++ b/demos/STM32/RT-STM32F303-DISCOVERY-PID/main.c
@@ -0,0 +1,171 @@
+/*
+ ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+#include "ch.h"
+#include "hal.h"
+#include "pid.h"
+#include <stdlib.h>
+
+#define STM32_UUID ((uint32_t *)0x1FFFF7AC)
+#define ADC_GRP1_NUM_CHANNELS 1
+#define ADC_GRP1_BUF_DEPTH 8
+
+static pid_t pid;
+static float input = 0, output = 0, target = 0;
+static adcsample_t samples[ADC_GRP1_NUM_CHANNELS * ADC_GRP1_BUF_DEPTH];
+
+/*
+ * ADC streaming callback.
+ */
+static void adccallback(ADCDriver *adcp, adcsample_t *buffer, size_t n) {
+
+ (void)adcp;
+ (void)n;
+ uint32_t i, tmp = 0;
+ if (samples == buffer) {
+
+ for (i = 0; i < n; i++) {
+ tmp += buffer[i];
+ }
+ input = tmp / n;
+
+ if (input <= target) {
+ palClearLine(LINE_LED7_GREEN);
+ palSetLine(LINE_LED6_GREEN);
+ }
+ else {
+ palClearLine(LINE_LED6_GREEN);
+ palSetLine(LINE_LED7_GREEN);
+ }
+ }
+}
+
+/*
+ * ADC conversion group.
+ * Mode: Linear buffer, 8 samples of 2 channels, SW triggered.
+ * Channels: IN0, IN8.
+ */
+static const ADCConversionGroup adcgrpcfg1 = {
+ TRUE,
+ ADC_GRP1_NUM_CHANNELS,
+ adccallback,
+ NULL,
+ ADC_CFGR_CONT, /* CFGR */
+ ADC_TR(0, 4095), /* TR1 */
+ { /* SMPR[2] */
+ ADC_SMPR1_SMP_AN1(ADC_SMPR_SMP_181P5),
+ 0
+ },
+ { /* SQR[4] */
+ ADC_SQR1_SQ1_N(ADC_CHANNEL_IN1),
+ 0,
+ 0,
+ 0
+ }
+};
+
+static const DACConfig dac1cfg1 = {
+ .init = 2047U,
+ .datamode = DAC_DHRM_12BIT_RIGHT,
+ .cr = 0
+};
+
+static void gptcb(GPTDriver *drv) {
+
+ (void)drv;
+ pid_compute(&pid);
+ dacPutChannelX(&DACD1, 0, (dacsample_t)output);
+}
+
+/*
+ * GPT6 configuration.
+ */
+static const GPTConfig gpt6cfg1 = {
+ .frequency = 10000U, // 10 KHz
+ .callback = gptcb,
+ .cr2 = TIM_CR2_MMS_1, /* MMS = 010 = TRGO on Update Event. */
+ .dier = 0U
+};
+
+
+/*
+ * Red LEDs blinker thread, times are in milliseconds.
+ */
+static THD_WORKING_AREA(waThread1, 128);
+static THD_FUNCTION(Thread1, arg) {
+
+ srand(osalOsGetSystemTimeX() + STM32_UUID[0]);
+
+ (void)arg;
+ chRegSetThreadName("blinker");
+ while (true) {
+ palToggleLine(LINE_LED10_RED);
+ chThdSleepMilliseconds(500);
+
+ target = 1000 + (rand() % 2500); // Change the PID target every 500ms.
+ }
+}
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+
+ halInit();
+ chSysInit();
+
+ /*
+ * Set PA0 PA3 PA4 to Analog (ADC1_CH2, DAC1_CH1)
+ * You will have to connect these with a jumper wire
+ */
+ palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
+
+ /*
+ * Start peripherals
+ */
+ adcStart(&ADCD1, NULL);
+ dacStart(&DACD1, &dac1cfg1);
+ gptStart(&GPTD6, &gpt6cfg1);
+
+ /*
+ * Start PID
+ */
+ pid_create(&pid, &input, &output, &target, 1.0, 1.0, 1.0, PID_ON_M, PID_DIRECT);
+ pid_setOutputLimits(&pid, 0.0, 4095.0); // Max DAC range
+ pid_setSampleTime(&pid, 10);
+ pid_setMode(&pid, PID_AUTOMATIC);
+
+ /*
+ * Starting a continuous conversion.
+ */
+ gptStartContinuous(&GPTD6, 101U); // 10000 / 101
+ adcStartConversion(&ADCD1, &adcgrpcfg1, samples, ADC_GRP1_BUF_DEPTH);
+
+ /*
+ * Creates the blinker thread.
+ */
+ chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
+
+ /*
+ * Normal main() thread activity.
+ */
+ while (true) {
+ chThdSleepMilliseconds(250);
+ palToggleLine(LINE_LED3_RED);
+ }
+ return 0;
+}
diff --git a/demos/STM32/RT-STM32F303-DISCOVERY-PID/mcuconf.h b/demos/STM32/RT-STM32F303-DISCOVERY-PID/mcuconf.h
new file mode 100644
index 0000000..9b14ad7
--- /dev/null
+++ b/demos/STM32/RT-STM32F303-DISCOVERY-PID/mcuconf.h
@@ -0,0 +1,255 @@
+/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+#ifndef MCUCONF_H
+#define MCUCONF_H
+
+/*
+ * STM32F3xx drivers configuration.
+ * The following settings override the default settings present in
+ * the various device driver implementation headers.
+ * Note that the settings for each driver only have effect if the whole
+ * driver is enabled in halconf.h.
+ *
+ * IRQ priorities:
+ * 15...0 Lowest...Highest.
+ *
+ * DMA priorities:
+ * 0...3 Lowest...Highest.
+ */
+
+#define STM32F3xx_MCUCONF
+
+/*
+ * HAL driver system settings.
+ */
+#define STM32_NO_INIT FALSE
+#define STM32_PVD_ENABLE FALSE
+#define STM32_PLS STM32_PLS_LEV0
+#define STM32_HSI_ENABLED TRUE
+#define STM32_LSI_ENABLED TRUE
+#define STM32_HSE_ENABLED TRUE
+#define STM32_LSE_ENABLED FALSE
+#define STM32_SW STM32_SW_PLL
+#define STM32_PLLSRC STM32_PLLSRC_HSE
+#define STM32_PREDIV_VALUE 1
+#define STM32_PLLMUL_VALUE 9
+#define STM32_HPRE STM32_HPRE_DIV1
+#define STM32_PPRE1 STM32_PPRE1_DIV2
+#define STM32_PPRE2 STM32_PPRE2_DIV2
+#define STM32_MCOSEL STM32_MCOSEL_NOCLOCK
+#define STM32_ADC12PRES STM32_ADC12PRES_DIV1
+#define STM32_ADC34PRES STM32_ADC34PRES_DIV1
+#define STM32_USART1SW STM32_USART1SW_PCLK
+#define STM32_USART2SW STM32_USART2SW_PCLK
+#define STM32_USART3SW STM32_USART3SW_PCLK
+#define STM32_UART4SW STM32_UART4SW_PCLK
+#define STM32_UART5SW STM32_UART5SW_PCLK
+#define STM32_I2C1SW STM32_I2C1SW_SYSCLK
+#define STM32_I2C2SW STM32_I2C2SW_SYSCLK
+#define STM32_TIM1SW STM32_TIM1SW_PCLK2
+#define STM32_TIM8SW STM32_TIM8SW_PCLK2
+#define STM32_RTCSEL STM32_RTCSEL_LSI
+#define STM32_USB_CLOCK_REQUIRED TRUE
+#define STM32_USBPRE STM32_USBPRE_DIV1P5
+
+/*
+ * IRQ system settings.
+ */
+#define STM32_IRQ_EXTI0_PRIORITY 6
+#define STM32_IRQ_EXTI1_PRIORITY 6
+#define STM32_IRQ_EXTI2_PRIORITY 6
+#define STM32_IRQ_EXTI3_PRIORITY 6
+#define STM32_IRQ_EXTI4_PRIORITY 6
+#define STM32_IRQ_EXTI5_9_PRIORITY 6
+#define STM32_IRQ_EXTI10_15_PRIORITY 6
+#define STM32_IRQ_EXTI16_PRIORITY 6
+#define STM32_IRQ_EXTI17_PRIORITY 6
+#define STM32_IRQ_EXTI18_PRIORITY 6
+#define STM32_IRQ_EXTI19_PRIORITY 6
+#define STM32_IRQ_EXTI20_PRIORITY 6
+#define STM32_IRQ_EXTI21_22_29_PRIORITY 6
+#define STM32_IRQ_EXTI30_32_PRIORITY 6
+#define STM32_IRQ_EXTI33_PRIORITY 6
+
+/*
+ * ADC driver system settings.
+ */
+#define STM32_ADC_DUAL_MODE FALSE
+#define STM32_ADC_COMPACT_SAMPLES FALSE
+#define STM32_ADC_USE_ADC1 TRUE
+#define STM32_ADC_USE_ADC2 TRUE
+#define STM32_ADC_USE_ADC3 TRUE
+#define STM32_ADC_USE_ADC4 TRUE
+#define STM32_ADC_ADC1_DMA_STREAM STM32_DMA_STREAM_ID(1, 1)
+#define STM32_ADC_ADC2_DMA_STREAM STM32_DMA_STREAM_ID(2, 1)
+#define STM32_ADC_ADC3_DMA_STREAM STM32_DMA_STREAM_ID(2, 5)
+#define STM32_ADC_ADC4_DMA_STREAM STM32_DMA_STREAM_ID(2, 2)
+#define STM32_ADC_ADC1_DMA_PRIORITY 2
+#define STM32_ADC_ADC2_DMA_PRIORITY 2
+#define STM32_ADC_ADC3_DMA_PRIORITY 2
+#define STM32_ADC_ADC4_DMA_PRIORITY 2
+#define STM32_ADC_ADC12_IRQ_PRIORITY 5
+#define STM32_ADC_ADC3_IRQ_PRIORITY 5
+#define STM32_ADC_ADC4_IRQ_PRIORITY 5
+#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY 5
+#define STM32_ADC_ADC2_DMA_IRQ_PRIORITY 5
+#define STM32_ADC_ADC3_DMA_IRQ_PRIORITY 5
+#define STM32_ADC_ADC4_DMA_IRQ_PRIORITY 5
+#define STM32_ADC_ADC12_CLOCK_MODE ADC_CCR_CKMODE_AHB_DIV1
+#define STM32_ADC_ADC34_CLOCK_MODE ADC_CCR_CKMODE_AHB_DIV1
+
+/*
+ * CAN driver system settings.
+ */
+#define STM32_CAN_USE_CAN1 FALSE
+#define STM32_CAN_CAN1_IRQ_PRIORITY 11
+
+/*
+ * DAC driver system settings.
+ */
+#define STM32_DAC_DUAL_MODE FALSE
+#define STM32_DAC_USE_DAC1_CH1 TRUE
+#define STM32_DAC_USE_DAC1_CH2 TRUE
+#define STM32_DAC_DAC1_CH1_IRQ_PRIORITY 10
+#define STM32_DAC_DAC1_CH2_IRQ_PRIORITY 10
+#define STM32_DAC_DAC1_CH1_DMA_PRIORITY 2
+#define STM32_DAC_DAC1_CH2_DMA_PRIORITY 2
+
+/*
+ * GPT driver system settings.
+ */
+#define STM32_GPT_USE_TIM1 FALSE
+#define STM32_GPT_USE_TIM2 FALSE
+#define STM32_GPT_USE_TIM3 FALSE
+#define STM32_GPT_USE_TIM4 FALSE
+#define STM32_GPT_USE_TIM6 TRUE
+#define STM32_GPT_USE_TIM7 FALSE
+#define STM32_GPT_USE_TIM8 FALSE
+#define STM32_GPT_TIM1_IRQ_PRIORITY 7
+#define STM32_GPT_TIM2_IRQ_PRIORITY 7
+#define STM32_GPT_TIM3_IRQ_PRIORITY 7
+#define STM32_GPT_TIM4_IRQ_PRIORITY 7
+#define STM32_GPT_TIM6_IRQ_PRIORITY 7
+#define STM32_GPT_TIM7_IRQ_PRIORITY 7
+#define STM32_GPT_TIM8_IRQ_PRIORITY 7
+
+/*
+ * I2C driver system settings.
+ */
+#define STM32_I2C_USE_I2C1 FALSE
+#define STM32_I2C_USE_I2C2 FALSE
+#define STM32_I2C_BUSY_TIMEOUT 50
+#define STM32_I2C_I2C1_IRQ_PRIORITY 10
+#define STM32_I2C_I2C2_IRQ_PRIORITY 10
+#define STM32_I2C_USE_DMA TRUE
+#define STM32_I2C_I2C1_DMA_PRIORITY 1
+#define STM32_I2C_I2C2_DMA_PRIORITY 1
+#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
+
+/*
+ * ICU driver system settings.
+ */
+#define STM32_ICU_USE_TIM1 FALSE
+#define STM32_ICU_USE_TIM2 FALSE
+#define STM32_ICU_USE_TIM3 FALSE
+#define STM32_ICU_USE_TIM4 FALSE
+#define STM32_ICU_USE_TIM8 FALSE
+#define STM32_ICU_TIM1_IRQ_PRIORITY 7
+#define STM32_ICU_TIM2_IRQ_PRIORITY 7
+#define STM32_ICU_TIM3_IRQ_PRIORITY 7
+#define STM32_ICU_TIM4_IRQ_PRIORITY 7
+#define STM32_ICU_TIM8_IRQ_PRIORITY 7
+
+/*
+ * PWM driver system settings.
+ */
+#define STM32_PWM_USE_ADVANCED FALSE
+#define STM32_PWM_USE_TIM1 FALSE
+#define STM32_PWM_USE_TIM2 FALSE
+#define STM32_PWM_USE_TIM3 FALSE
+#define STM32_PWM_USE_TIM4 FALSE
+#define STM32_PWM_USE_TIM8 FALSE
+#define STM32_PWM_TIM1_IRQ_PRIORITY 7
+#define STM32_PWM_TIM2_IRQ_PRIORITY 7
+#define STM32_PWM_TIM3_IRQ_PRIORITY 7
+#define STM32_PWM_TIM4_IRQ_PRIORITY 7
+#define STM32_PWM_TIM8_IRQ_PRIORITY 7
+
+/*
+ * SERIAL driver system settings.
+ */
+#define STM32_SERIAL_USE_USART1 FALSE
+#define STM32_SERIAL_USE_USART2 FALSE
+#define STM32_SERIAL_USE_USART3 FALSE
+#define STM32_SERIAL_USE_UART4 FALSE
+#define STM32_SERIAL_USE_UART5 FALSE
+#define STM32_SERIAL_USART1_PRIORITY 12
+#define STM32_SERIAL_USART2_PRIORITY 12
+#define STM32_SERIAL_USART3_PRIORITY 12
+#define STM32_SERIAL_UART4_PRIORITY 12
+#define STM32_SERIAL_UART5_PRIORITY 12
+
+/*
+ * SPI driver system settings.
+ */
+#define STM32_SPI_USE_SPI1 FALSE
+#define STM32_SPI_USE_SPI2 FALSE
+#define STM32_SPI_USE_SPI3 FALSE
+#define STM32_SPI_SPI1_DMA_PRIORITY 1
+#define STM32_SPI_SPI2_DMA_PRIORITY 1
+#define STM32_SPI_SPI3_DMA_PRIORITY 1
+#define STM32_SPI_SPI1_IRQ_PRIORITY 10
+#define STM32_SPI_SPI2_IRQ_PRIORITY 10
+#define STM32_SPI_SPI3_IRQ_PRIORITY 10
+#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure")
+
+/*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY 8
+#define STM32_ST_USE_TIMER 2
+
+/*
+ * UART driver system settings.
+ */
+#define STM32_UART_USE_USART1 FALSE
+#define STM32_UART_USE_USART2 FALSE
+#define STM32_UART_USE_USART3 FALSE
+#define STM32_UART_USART1_IRQ_PRIORITY 12
+#define STM32_UART_USART2_IRQ_PRIORITY 12
+#define STM32_UART_USART3_IRQ_PRIORITY 12
+#define STM32_UART_USART1_DMA_PRIORITY 0
+#define STM32_UART_USART2_DMA_PRIORITY 0
+#define STM32_UART_USART3_DMA_PRIORITY 0
+#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure")
+
+/*
+ * USB driver system settings.
+ */
+#define STM32_USB_USE_USB1 FALSE
+#define STM32_USB_LOW_POWER_ON_SUSPEND FALSE
+#define STM32_USB_USB1_HP_IRQ_PRIORITY 13
+#define STM32_USB_USB1_LP_IRQ_PRIORITY 14
+
+/*
+ * WDG driver system settings.
+ */
+#define STM32_WDG_USE_IWDG FALSE
+
+#include "mcuconf_community.h"
+
+#endif /* MCUCONF_H */
diff --git a/demos/STM32/RT-STM32F303-DISCOVERY-PID/mcuconf_community.h b/demos/STM32/RT-STM32F303-DISCOVERY-PID/mcuconf_community.h
new file mode 100644
index 0000000..cf6a1ce
--- /dev/null
+++ b/demos/STM32/RT-STM32F303-DISCOVERY-PID/mcuconf_community.h
@@ -0,0 +1,155 @@
+/*
+ ChibiOS/RT - Copyright (C) 2014 Uladzimir Pylinsky aka barthess
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/*
+ * FSMC driver system settings.
+ */
+#define STM32_FSMC_USE_FSMC1 FALSE
+#define STM32_FSMC_FSMC1_IRQ_PRIORITY 10
+
+/*
+ * FSMC NAND driver system settings.
+ */
+#define STM32_NAND_USE_FSMC_NAND1 FALSE
+#define STM32_NAND_USE_FSMC_NAND2 FALSE
+#define STM32_NAND_USE_EXT_INT FALSE
+#define STM32_NAND_DMA_STREAM STM32_DMA_STREAM_ID(2, 7)
+#define STM32_NAND_DMA_PRIORITY 0
+#define STM32_NAND_DMA_ERROR_HOOK(nandp) osalSysHalt("DMA failure")
+
+/*
+ * FSMC SRAM driver system settings.
+ */
+#define STM32_USE_FSMC_SRAM FALSE
+#define STM32_SRAM_USE_FSMC_SRAM1 FALSE
+#define STM32_SRAM_USE_FSMC_SRAM2 FALSE
+#define STM32_SRAM_USE_FSMC_SRAM3 FALSE
+#define STM32_SRAM_USE_FSMC_SRAM4 FALSE
+
+/*
+ * FSMC SDRAM driver system settings.
+ */
+#define STM32_USE_FSMC_SDRAM FALSE
+
+/*
+ * TIMCAP driver system settings.
+ */
+#define STM32_TIMCAP_USE_TIM1 TRUE
+#define STM32_TIMCAP_USE_TIM2 FALSE
+#define STM32_TIMCAP_USE_TIM3 TRUE
+#define STM32_TIMCAP_USE_TIM4 TRUE
+#define STM32_TIMCAP_USE_TIM5 TRUE
+#define STM32_TIMCAP_USE_TIM8 TRUE
+#define STM32_TIMCAP_USE_TIM9 TRUE
+#define STM32_TIMCAP_TIM1_IRQ_PRIORITY 3
+#define STM32_TIMCAP_TIM2_IRQ_PRIORITY 3
+#define STM32_TIMCAP_TIM3_IRQ_PRIORITY 3
+#define STM32_TIMCAP_TIM4_IRQ_PRIORITY 3
+#define STM32_TIMCAP_TIM5_IRQ_PRIORITY 3
+#define STM32_TIMCAP_TIM8_IRQ_PRIORITY 3
+#define STM32_TIMCAP_TIM9_IRQ_PRIORITY 3
+
+/*
+ * COMP driver system settings.
+ */
+#define STM32_COMP_USE_COMP1 TRUE
+#define STM32_COMP_USE_COMP2 TRUE
+#define STM32_COMP_USE_COMP3 TRUE
+#define STM32_COMP_USE_COMP4 TRUE
+#define STM32_COMP_USE_COMP5 TRUE
+#define STM32_COMP_USE_COMP6 TRUE
+#define STM32_COMP_USE_COMP7 TRUE
+
+#define STM32_COMP_USE_INTERRUPTS TRUE
+#define STM32_COMP_1_2_3_IRQ_PRIORITY 5
+#define STM32_COMP_4_5_6_IRQ_PRIORITY 5
+#define STM32_COMP_7_IRQ_PRIORITY 5
+
+#if STM32_COMP_USE_INTERRUPTS
+#define STM32_DISABLE_EXTI21_22_29_HANDLER
+#define STM32_DISABLE_EXTI30_32_HANDLER
+#define STM32_DISABLE_EXTI33_HANDLER
+#endif
+
+/*
+ * USBH driver system settings.
+ */
+#define STM32_OTG1_CHANNELS_NUMBER 8
+#define STM32_OTG2_CHANNELS_NUMBER 12
+
+#define STM32_USBH_USE_OTG1 1
+#define STM32_OTG1_RXFIFO_SIZE 1024
+#define STM32_OTG1_PTXFIFO_SIZE 128
+#define STM32_OTG1_NPTXFIFO_SIZE 128
+
+#define STM32_USBH_USE_OTG2 0
+#define STM32_OTG2_RXFIFO_SIZE 2048
+#define STM32_OTG2_PTXFIFO_SIZE 1024
+#define STM32_OTG2_NPTXFIFO_SIZE 1024
+
+#define STM32_USBH_MIN_QSPACE 4
+#define STM32_USBH_CHANNELS_NP 4
+
+/*
+ * CRC driver system settings.
+ */
+#define STM32_CRC_USE_CRC1 TRUE
+#define STM32_CRC_CRC1_DMA_IRQ_PRIORITY 1
+#define STM32_CRC_CRC1_DMA_PRIORITY 2
+#define STM32_CRC_CRC1_DMA_STREAM STM32_DMA1_STREAM2
+
+#define CRCSW_USE_CRC1 FALSE
+#define CRCSW_CRC32_TABLE TRUE
+#define CRCSW_CRC16_TABLE TRUE
+#define CRCSW_PROGRAMMABLE TRUE
+
+/*
+ * EICU driver system settings.
+ */
+#define STM32_EICU_USE_TIM1 TRUE
+#define STM32_EICU_USE_TIM2 FALSE
+#define STM32_EICU_USE_TIM3 TRUE
+#define STM32_EICU_USE_TIM4 TRUE
+#define STM32_EICU_USE_TIM5 TRUE
+#define STM32_EICU_USE_TIM8 TRUE
+#define STM32_EICU_USE_TIM9 TRUE
+#define STM32_EICU_USE_TIM10 TRUE
+#define STM32_EICU_USE_TIM11 TRUE
+#define STM32_EICU_USE_TIM12 TRUE
+#define STM32_EICU_USE_TIM13 TRUE
+#define STM32_EICU_USE_TIM14 TRUE
+#define STM32_EICU_TIM1_IRQ_PRIORITY 7
+#define STM32_EICU_TIM2_IRQ_PRIORITY 7
+#define STM32_EICU_TIM3_IRQ_PRIORITY 7
+#define STM32_EICU_TIM4_IRQ_PRIORITY 7
+#define STM32_EICU_TIM5_IRQ_PRIORITY 7
+#define STM32_EICU_TIM8_IRQ_PRIORITY 7
+#define STM32_EICU_TIM9_IRQ_PRIORITY 7
+#define STM32_EICU_TIM10_IRQ_PRIORITY 7
+#define STM32_EICU_TIM11_IRQ_PRIORITY 7
+#define STM32_EICU_TIM12_IRQ_PRIORITY 7
+#define STM32_EICU_TIM13_IRQ_PRIORITY 7
+#define STM32_EICU_TIM14_IRQ_PRIORITY 7
+
+/*
+ * QEI driver system settings.
+ */
+#define STM32_QEI_USE_TIM1 TRUE
+#define STM32_QEI_USE_TIM2 FALSE
+#define STM32_QEI_USE_TIM3 TRUE
+#define STM32_QEI_TIM1_IRQ_PRIORITY 3
+#define STM32_QEI_TIM2_IRQ_PRIORITY 3
+#define STM32_QEI_TIM3_IRQ_PRIORITY 3
diff --git a/os/various/pid.c b/os/various/pid.c
new file mode 100644
index 0000000..fee9608
--- /dev/null
+++ b/os/various/pid.c
@@ -0,0 +1,194 @@
+/**********************************************************************************************
+* Arduino PID Library - Version 1.2.1
+* by Brett Beauregard <br3ttb@gmail.com> brettbeauregard.com
+* Modified by Fabien Poussin <fabien.poussin@gmail.com> for ChibiOS.
+*
+* This Library is licensed under the MIT License
+**********************************************************************************************/
+
+#include "pid.h"
+#include "osal.h"
+
+#define TIME_MS ((osalOsGetSystemTimeX() * 1000) / OSAL_ST_FREQUENCY )
+
+/*Constructor (...)*********************************************************
+* The parameters specified here are those for for which we can't set up
+* reliable defaults, so we need to have the user set them.
+***************************************************************************/
+void pid_create(pidc_t* p, float* Input, float* Output, float* Setpoint,
+ float Kp, float Ki, float Kd, int POn, int Direction)
+{
+ p->output = Output;
+ p->input = Input;
+ p->setPoint = Setpoint;
+ p->inAuto = false;
+
+ pid_setOutputLimits(p, 0, 4095); // default output limit corresponds to
+ // the 12 bit dac limit
+
+ p->sampleTime = 100; // default Controller Sample Time is 100ms
+
+ pid_setDirection(p, Direction);
+ pid_setTunings(p, Kp, Ki, Kd, POn);
+ pid_initialize(p);
+
+ p->lastTime = TIME_MS - p->sampleTime;
+}
+
+
+/* Compute() **********************************************************************
+* This, as they say, is where the magic happens. this function should be called
+* every time "void loop()" executes. the function will decide for itself whether a new
+* pid Output needs to be computed. returns true when the output is computed,
+* false when nothing has been done.
+**********************************************************************************/
+bool pid_compute(pidc_t* p)
+{
+ if(!p->inAuto) return false;
+ unsigned long now = TIME_MS;
+ unsigned long timeChange = (now - p->lastTime);
+ if(timeChange >= p->sampleTime)
+ {
+ /* Compute all the working error variables */
+ float input = *p->input;
+ float error = *p->setPoint - input;
+ float dInput = (input - p->lastInput);
+ p->outputSum += (p->ki * error);
+
+ /* Add Proportional on Measurement, if PID_ON_M is specified */
+ if(!p->pOnE) p->outputSum -= p->kp * dInput;
+
+ if(p->outputSum > p->outMax) p->outputSum = p->outMax;
+ else if(p->outputSum < p->outMin) p->outputSum = p->outMin;
+
+ /* Add Proportional on Error, if P_ON_E is specified */
+ float output;
+ if(p->pOnE) output = p->kp * error;
+ else output = 0;
+
+ /* Compute Rest of PID Output */
+ output += p->outputSum - p->kd * dInput;
+
+ if(output > p->outMax) output = p->outMax;
+ else if(output < p->outMin) output = p->outMin;
+ *p->output = output;
+
+ /* Remember some variables for next time */
+ p->lastInput = input;
+ p->lastTime = now;
+ return true;
+ }
+ else return false;
+}
+
+/* SetTunings(...)*************************************************************
+* This function allows the controller's dynamic performance to be adjusted.
+* it's called automatically from the constructor, but tunings can also
+* be adjusted on the fly during normal operation
+******************************************************************************/
+void pid_setTunings(pidc_t* p, float Kp, float Ki, float Kd, int POn)
+{
+ if (Kp < 0 || Ki < 0 || Kd < 0) return;
+
+ p->pOn = POn;
+ p->pOnE = POn == PID_ON_E;
+
+ p->dispKp = Kp;
+ p->dispKi = Ki;
+ p->dispKd = Kd;
+
+ float SampleTimeInSec = ((float)p->sampleTime) / 1000.0;
+ p->kp = Kp;
+ p->ki = Ki * SampleTimeInSec;
+ p->kd = Kd / SampleTimeInSec;
+
+ if(p->direction == PID_REVERSE)
+ {
+ p->kp = (0 - p->kp);
+ p->ki = (0 - p->ki);
+ p->kd = (0 - p->kd);
+ }
+}
+
+/* SetSampleTime(...) *********************************************************
+* sets the period, in Milliseconds, at which the calculation is performed
+******************************************************************************/
+void pid_setSampleTime(pidc_t* p, int NewSampleTime)
+{
+ if (NewSampleTime > 0)
+ {
+ float ratio = (float)NewSampleTime / (float)p->sampleTime;
+ p->ki *= ratio;
+ p->kd /= ratio;
+ p->sampleTime = (unsigned long)NewSampleTime;
+ }
+}
+
+/* SetOutputLimits(...)****************************************************
+* This function will be used far more often than SetInputLimits. while
+* the input to the controller will generally be in the 0-1023 range (which is
+* the default already,) the output will be a little different. maybe they'll
+* be doing a time window and will need 0-8000 or something. or maybe they'll
+* want to clamp it from 0-125. who knows. at any rate, that can all be done
+* here.
+**************************************************************************/
+void pid_setOutputLimits(pidc_t* p, float Min, float Max)
+{
+ if(Min >= Max) return;
+ p->outMin = Min;
+ p->outMax = Max;
+
+ if(p->inAuto)
+ {
+ if(*p->output > p->outMax) *p->output = p->outMax;
+ else if(*p->output < p->outMin) *p->output = p->outMin;
+
+ if(p->outputSum > p->outMax) p->outputSum = p->outMax;
+ else if(p->outputSum < p->outMin) p->outputSum = p->outMin;
+ }
+}
+
+/* SetMode(...)****************************************************************
+* Allows the controller Mode to be set to manual (0) or Automatic (non-zero)
+* when the transition from manual to auto occurs, the controller is
+* automatically initialized
+******************************************************************************/
+void pid_setMode(pidc_t* p, int Mode)
+{
+ bool newAuto = (Mode == PID_AUTOMATIC);
+ if(newAuto && !p->inAuto)
+ { /* we just went from manual to auto */
+ pid_initialize(p);
+ }
+ p->inAuto = newAuto;
+}
+
+/* Initialize()****************************************************************
+* does all the things that need to happen to ensure a bumpless transfer
+* from manual to automatic mode.
+******************************************************************************/
+void pid_initialize(pidc_t* p)
+{
+ p->outputSum = *p->output;
+ p->lastInput = *p->input;
+ if(p->outputSum > p->outMax) p->outputSum = p->outMax;
+ else if(p->outputSum < p->outMin) p->outputSum = p->outMin;
+}
+
+/* SetControllerDirection(...)*************************************************
+* The PID will either be connected to a DIRECT acting process (+Output leads
+* to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to
+* know which one, because otherwise we may increase the output when we should
+* be decreasing. This is called from the constructor.
+******************************************************************************/
+void pid_setDirection(pidc_t* p, int Direction)
+{
+ if(p->inAuto && Direction != p->direction)
+ {
+ p->kp = (0 - p->kp);
+ p->ki = (0 - p->ki);
+ p->kd = (0 - p->kd);
+ }
+ p->direction = Direction;
+}
+
diff --git a/os/various/pid.h b/os/various/pid.h
new file mode 100644
index 0000000..49ccd6f
--- /dev/null
+++ b/os/various/pid.h
@@ -0,0 +1,78 @@
+#ifndef PID_h
+#define PID_h
+
+#include "chtypes.h"
+
+//Constants used in some of the functions below
+#define PID_AUTOMATIC 1
+#define PID_MANUAL 0
+#define PID_DIRECT 0
+#define PID_REVERSE 1
+#define PID_ON_M 0
+#define PID_ON_E 1
+
+
+typedef struct {
+
+ float kp; // * (P)roportional Tuning Parameter
+ float ki; // * (I)ntegral Tuning Parameter
+ float kd; // * (D)erivative Tuning Parameter
+
+ float dispKp; // * we'll hold on to the tuning parameters in user-entered
+ float dispKi; // format for display purposes
+ float dispKd; //
+
+ int direction;
+ int pOn;
+
+ float *input; // * Pointers to the Input, Output, and Setpoint variables
+ float *output; // This creates a hard link between the variables and the
+ float *setPoint; // PID, freeing the user from having to constantly tell us
+ // what these values are. with pointers we'll just know.
+ unsigned long lastTime;
+ float outputSum;
+ float lastInput;
+
+ unsigned long sampleTime;
+ float outMin;
+ float outMax;
+
+ bool inAuto;
+ bool pOnE;
+
+} pidc_t;
+
+
+//commonly used functions **************************************************************************
+void pid_create(pidc_t* p, float* Input, float* Output, float* Setpoint, // * constructor. links the PID to the Input, Output, and
+ float Kp, float Ki, float Kd, int POn, int Direction); // Setpoint. Initial tuning parameters are also set here.
+ // (overload for specifying proportional mode)
+
+void pid_setMode(pidc_t* p, int mode); // * sets PID to either Manual (0) or Auto (non-0)
+
+bool pid_compute(pidc_t* p); // * performs the PID calculation. it should be
+ // called every time loop() cycles. ON/OFF and
+ // calculation frequency can be set using SetMode
+ // SetsampleTime respectively
+
+void pid_setOutputLimits(pidc_t* p, float Min, float Max); // * clamps the output to a specific range. 0-255 by default, but
+ // it's likely the user will want to change this depending on
+ // the application
+
+
+
+//available but not commonly used functions ********************************************************
+void pid_setTunings(pidc_t* p, float Kp, float Ki, float Kd, int POn); // * While most users will set the tunings once in the
+ // constructor, this function gives the user the option
+ // of changing tunings during runtime for Adaptive control
+
+void pid_setDirection(pidc_t* p, int Direction); // * Sets the Direction, or "Action" of the controller. DIRECT
+ // means the output will increase when error is positive. REVERSE
+ // means the opposite. it's very unlikely that this will be needed
+ // once it is set in the constructor.
+void pid_setSampleTime(pidc_t* p, int NewSampleTime); // * sets the frequency, in Milliseconds, with which
+ // the PID calculation is performed. default is 100
+
+void pid_initialize(pidc_t* p);
+
+#endif
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