Renamed at_pidv2 component and manual page to at_pid.

Author: petterreinholdtsen

docs/man/man9/at_pidv2.9 docs/man/man9/at_pid.9docs/man/man9/at_pidv2.9 renamed to docs/man/man9/at_pid.9

@@ -1,19 +1,19 @@
-.TH PID "9" "2007-01-16" "LinuxCNC Documentation" "HAL Component"
+.TH AT_PID "9" "2007-01-16" "LinuxCNC Documentation" "HAL Component"
 
 .SH NAME
-pid \- proportional/integral/derivative controller
+at_pid \- proportional/integral/derivative controller
 .SH SYNOPSIS
-\fBloadrt pid [num_chan=\fInum\fB | names=\fIname1\fB[,\fIname2...\fB]] [\fBdebug=\fIdbg\fR]
+\fBloadrt at_pid [num_chan=\fInum\fB | names=\fIname1\fB[,\fIname2...\fB]] [\fBdebug=\fIdbg\fR]
 
 .SH DESCRIPTION
 \fBNOTE:\fR The auto-tuning part of this component have seen
 no development since 2011.
 .P
-\fBpid\fR is a classic Proportional/Integral/Derivative controller,
+\fBat_pid\fR is a classic Proportional/Integral/Derivative controller,
 used to control position or speed feedback loops for servo motors and
 other closed-loop applications.
 .P
-\fBpid\fR supports a maximum of sixteen controllers.  The number that
+\fBat_pid\fR supports a maximum of sixteen controllers.  The number that
 are actually loaded is set by the \fBnum_chan\fR argument when
 the module is loaded.  Alternatively, specify names= and unique names
 separated by commas.
@@ -31,7 +31,7 @@ loops such as speed loops, torch height control, and others.
 
 .P
 Each loop has a number of pins and parameters, whose names begin
-with 'pid.N.', where 'N' is the channel number.  Channel numbers start
+with 'at_pid.N.', where 'N' is the channel number.  Channel numbers start
 at zero.
 .P
 The three most important pins are 'command', 'feedback', and 'output'.
@@ -141,7 +141,7 @@ command line.
 \fBcommandDDD\fR 3rd derivative of the command
 
 .P
-The PID loop calculations are as follows (see the code in pid.c for
+The PID loop calculations are as follows (see the code in at_pid.c for
 all the nitty gritty details):
 .IP
 .nf
@@ -189,78 +189,78 @@ Auto tuning can be aborted at any time by setting \fBenable\fR or
 
 .SH NAMING
 The names for pins, parameters, and functions are prefixed as:
-  \fBpid.N.\fR for N=0,1,...,num\-1 when using \fBnum_chan=num\fR
+  \fBat_pid.N.\fR for N=0,1,...,num\-1 when using \fBnum_chan=num\fR
   \fBnameN.\fR for nameN=name1,name2,... when using \fBnames=name1,name2,...\fR
 
-The \fBpid.N.\fR format is shown in the following descriptions.
+The \fBat_pid.N.\fR format is shown in the following descriptions.
 
 .SH FUNCTIONS
 
-\fBpid.\fIN\fB.do\-pid\-calcs\fR (uses floating-point)
+\fBat_pid.\fIN\fB.do\-pid\-calcs\fR (uses floating-point)
 Does the PID calculations for control loop \fIN\fR.
 
 .SH PINS
 
 .TP
-\fBpid.\fIN\fB.command\fR float in
+\fBat_pid.\fIN\fB.command\fR float in
 The desired (commanded) value for the control loop.
 .TP
-\fBpid.\fIN\fB.Pgain\fR float in
+\fBat_pid.\fIN\fB.Pgain\fR float in
 Proportional gain.  Results in a contribution to the output that is the error
 multiplied by \fBPgain\fR.
 .TP
-\fBpid.\fIN\fB.Igain\fR float in
+\fBat_pid.\fIN\fB.Igain\fR float in
 Integral gain.  Results in a contribution to the output that is the integral
 of the error multiplied by \fBIgain\fR.  For example an error of 0.02 that
 lasted 10 seconds would result in an integrated error (\fBerrorI\fR) of 0.2,
 and if \fBIgain\fR is 20, the integral term would add 4.0 to the output.
 .TP
-\fBpid.\fIN\fB.Dgain\fR float in
+\fBat_pid.\fIN\fB.Dgain\fR float in
 Derivative gain.  Results in a contribution to the output that is the rate of
 change (derivative) of the error multiplied by \fBDgain\fR.  For example an
 error that changed from 0.02 to 0.03 over 0.2 seconds would result in an error
 derivative (\fBerrorD\fR) of of 0.05, and if \fBDgain\fR is 5, the derivative
 term would add 0.25 to the output.
 .TP
-\fBpid.\fIN\fB.feedback\fR float in
+\fBat_pid.\fIN\fB.feedback\fR float in
 The actual (feedback) value, from some sensor such as an encoder.
 .TP
-\fBpid.\fIN\fB.output\fR float out
+\fBat_pid.\fIN\fB.output\fR float out
 The output of the PID loop, which goes to some actuator such as a motor.
 .TP
-\fBpid.\fIN\fB.command\-deriv\fR float in
+\fBat_pid.\fIN\fB.command\-deriv\fR float in
 The derivative of the desired (commanded) value for the control loop.  If no
 signal is connected then the derivative will be estimated numerically.
 .TP
-\fBpid.\fIN\fB.feedback\-deriv\fR float in
+\fBat_pid.\fIN\fB.feedback\-deriv\fR float in
 The derivative of the actual (feedback) value for the control loop.  If no
 signal is connected then the derivative will be estimated numerically.  When
 the feedback is from a quantized position source (e.g., encoder feedback
 position), behavior of the D term can be improved by using a better velocity
 estimate here, such as the velocity output of encoder(9) or hostmot2(9).
 .TP
-\fBpid.\fIN\fB.error\-previous\-target\fR bit in
+\fBat_pid.\fIN\fB.error\-previous\-target\fR bit in
 Use previous invocation's target vs. current position for error calculation,
 like the motion controller expects.  This may make torque-mode position loops
 and loops requiring a large I gain easier to tune, by eliminating
 velocity\-dependent following error.
 .TP
-\fBpid.\fIN\fB.error\fR float out
+\fBat_pid.\fIN\fB.error\fR float out
 The difference between command and feedback.
 .TP
-\fBpid.\fIN\fB.enable\fR bit in
+\fBat_pid.\fIN\fB.enable\fR bit in
 When true, enables the PID calculations.  When false, \fBoutput\fR is zero,
 and all internal integrators, etc, are reset.
 .TP
-\fBpid.\fIN\fB.index\-enable\fR bit in
-On the falling edge of \fBindex\-enable\fR, pid does not update the
+\fBat_pid.\fIN\fB.index\-enable\fR bit in
+On the falling edge of \fBindex\-enable\fR, at_pid does not update the
 internal command derivative estimate.  On systems which use the encoder
 index pulse, this pin should be connected to the index\-enable signal.
 When this is not done, and FF1 is nonzero, a step change in the input
 command causes a single-cycle spike in the PID output.  On systems which use
 exactly one of the \fB\-deriv\fR inputs, this affects the D term as well.
 .TP
-\fBpid.\fIN\fB.bias\fR float in
+\fBat_pid.\fIN\fB.bias\fR float in
 \fBbias\fR is a constant amount that is added to the output.  In most cases
 it should be left at zero.  However, it can sometimes be useful to compensate
 for offsets in servo amplifiers, or to balance the weight of an object that
@@ -269,36 +269,36 @@ just like all other components of the output.  If a non-zero output is needed
 even when the PID loop is disabled, it should be added with an external HAL
 sum2 block.
 .TP
-\fBpid.\fIN\fB.FF0\fR float in
+\fBat_pid.\fIN\fB.FF0\fR float in
 Zero order feed-forward term.  Produces a contribution to the output that is
 \fBFF0\fR multiplied by the commanded value.  For position loops, it should
 usually be left at zero.  For velocity loops, \fBFF0\fR can compensate for
 friction or motor counter-EMF and may permit better tuning if used properly.
 .TP
-\fBpid.\fIN\fB.FF1\fR float in
+\fBat_pid.\fIN\fB.FF1\fR float in
 First order feed-forward term.  Produces a contribution to the output that
 is \fBFF1\fR multiplied by the derivative of the commanded value.  For
 position loops, the contribution is proportional to speed, and can be used
 to compensate for friction or motor CEMF.  For velocity loops, it is
 proportional to acceleration and can compensate for inertia.  In both
 cases, it can result in better tuning if used properly.
 .TP
-\fBpid.\fIN\fB.FF2\fR float in
+\fBat_pid.\fIN\fB.FF2\fR float in
 Second order feed-forward term.  Produces a contribution to the output that is
 \fBFF2\fR multiplied by the second derivative of the commanded value.  For
 position loops, the contribution is proportional to acceleration, and can be
 used to compensate for inertia.  For velocity loops, the contribution is
 proportional to jerk, and should usually be left at zero.
 .TP
-\fBpid.\fIN\fB.FF3\fR float in
+\fBat_pid.\fIN\fB.FF3\fR float in
 Third order feed-forward term.  Produces a contribution to the output that is
 \fBFF3\fR multiplied by the third derivative of the commanded value.  For
 position loops, the contribution is proportional to jerk, and can be
 used to compensate for residual errors during acceleration.  For velocity
 loops, the contribution is proportional to snap(jounce), and should usually
 be left at zero.
 .TP
-\fBpid.\fIN\fB.deadband\fR float in
+\fBat_pid.\fIN\fB.deadband\fR float in
 Defines a range of "acceptable" error.  If the absolute value of \fBerror\fR
 is less than \fBdeadband\fR, it will be treated as if the error is zero.
 When using feedback devices such as encoders that are inherently quantized,
@@ -309,112 +309,112 @@ than the deadband, the deadband value is subtracted from the error before
 performing the loop calculations, to prevent a step in the transfer function
 at the edge of the deadband.  (See \fBBUGS\fR.)
 .TP
-\fBpid.\fIN\fB.maxoutput\fR float in
+\fBat_pid.\fIN\fB.maxoutput\fR float in
 Output limit.  The absolute value of the output will not be permitted
 to exceed \fBmaxoutput\fR, unless \fBmaxoutput\fR is zero.  When the output
 is limited, the error integrator will hold instead of integrating, to prevent
 windup and overshoot.
 .TP
-\fBpid.\fIN\fB.maxerror\fR float in
+\fBat_pid.\fIN\fB.maxerror\fR float in
 Limit on the internal error variable used for P, I, and D.  Can be used to
 prevent high \fBPgain\fR values from generating large outputs under conditions
 when the error is large (for example, when the command makes a step change).
 Not normally needed, but can be useful when tuning non-linear systems.
 .TP
-\fBpid.\fIN\fB.maxerrorD\fR float in
+\fBat_pid.\fIN\fB.maxerrorD\fR float in
 Limit on the error derivative.  The rate of change of error used by the
 \fBDgain\fR term will be limited to this value, unless the value is
 zero.  Can be used to limit the effect of \fBDgain\fR and prevent large
 output spikes due to steps on the command and/or feedback.  Not normally
 needed.
 .TP
-\fBpid.\fIN\fB.maxerrorI\fR float in
+\fBat_pid.\fIN\fB.maxerrorI\fR float in
 Limit on error integrator.  The error integrator used by the \fBIgain\fR
 term will be limited to this value, unless it is zero.  Can be used to prevent
 integrator windup and the resulting overshoot during/after sustained errors.
 Not normally needed.
 .TP
-\fBpid.\fIN\fB.maxcmdD\fR float in
+\fBat_pid.\fIN\fB.maxcmdD\fR float in
 Limit on command derivative.  The command derivative used by \fBFF1\fR will
 be limited to this value, unless the value is zero.  Can be used to prevent
 \fBFF1\fR from producing large output spikes if there is a step change on the
 command.  Not normally needed.
 .TP
-\fBpid.\fIN\fB.maxcmdDD\fR float in
+\fBat_pid.\fIN\fB.maxcmdDD\fR float in
 Limit on command second derivative.  The command second derivative used by
 \fBFF2\fR will be limited to this value, unless the value is zero.  Can be
 used to prevent \fBFF2\fR from producing large output spikes if there is a
 step change on the command.  Not normally needed.
 .TP
-\fBpid.\fIN\fB.maxcmdDDD\fR float in
+\fBat_pid.\fIN\fB.maxcmdDDD\fR float in
 Limit on command third derivative.  The command third derivative used by
 \fBFF3\fR will be limited to this value, unless the value is zero.  Can be
 used to prevent \fBFF3\fR from producing large output spikes if there is a
 step change on the command.  Not normally needed.
 .TP
-\fBpid.\fIN\fB.saturated\fR bit out
+\fBat_pid.\fIN\fB.saturated\fR bit out
 When true, the current PID output is saturated.  That is,
 .RS 12
 \fBoutput\fR = \(+- \fBmaxoutput\fR.
 .RE
 .TP
-\fBpid.\fIN\fB.saturated\-s\fR float out
+\fBat_pid.\fIN\fB.saturated\-s\fR float out
 .br
 .ns
 .TP
-\fBpid.\fIN\fB.saturated\-count\fR s32 out
+\fBat_pid.\fIN\fB.saturated\-count\fR s32 out
 When true, the output of PID was continually saturated for this many seconds
 (\fBsaturated\-s\fR) or periods (\fBsaturated\-count\fR).
 
 .SS Additional auto tuning pins
 .TP
-\fBpid.\fIN\fB.tune\-mode\fR bit in
+\fBat_pid.\fIN\fB.tune\-mode\fR bit in
 When true, enables auto tune mode.  When false, normal PID calculations are
 performed.
 .TP
-\fBpid.\fIN\fB.tune\-start\fR bit io
+\fBat_pid.\fIN\fB.tune\-start\fR bit io
 When set to true, starts auto tuning.  Cleared when the auto tuning completes.
 .TP
-\fBpid.\fIN\fB.tune\-type\fR u32 rw
+\fBat_pid.\fIN\fB.tune\-type\fR u32 rw
 When set to 0, \fBPgain/Igain/Dgain\fR are calculated. When set to 1,
 \fBPgain/Igain/FF1\fR are calculated.
 .TP
-\fBpid.\fIN\fB.tune\-cycles\fR u32 rw
+\fBat_pid.\fIN\fB.tune\-cycles\fR u32 rw
 Determines the number of cycles to run to characterize the process.
 \fBtune\-cycles\fR actually sets the number of half cycles. More cycles results
 in a more accurate characterization as the average of all cycles is used.
 .TP
-\fBpid.\fIN\fB.tune\-effort\fR float rw
+\fBat_pid.\fIN\fB.tune\-effort\fR float rw
 Determines the effort used in setting up the limit cycle in the process.
 \fBtune\-effort\fR should be set to a positive value less than \fBmaxoutput\fR.
 Start with something small and work up to a value that results in a good
 portion of the maximum motor current being used. The smaller the value, the
 smaller the amplitude of the limit cycle.
 .TP
-\fBpid.\fIN\fB.ultimate\-gain\fR float ro (only if debug=1)
+\fBat_pid.\fIN\fB.ultimate\-gain\fR float ro (only if debug=1)
 Determined from process characterization. \fBultimate\-gain\fR is the ratio of
 \fBtune\-effort\fR to the limit cycle amplitude multiplied by 4.0 divided by Pi.
 .TP
-\fBpid.\fIN\fB.ultimate\-period\fR float ro (only if debug=1)
+\fBat_pid.\fIN\fB.ultimate\-period\fR float ro (only if debug=1)
 Determined from process characterization. \fBultimate\-period\fR is the period
 of the limit cycle.
 
 .SH PARAMETERS
 .TP
-\fBpid.\fIN\fB.errorI\fR float ro (only if debug=1)
+\fBat_pid.\fIN\fB.errorI\fR float ro (only if debug=1)
 Integral of error.  This is the value that is multiplied by \fBIgain\fR to produce the Integral term of the output.
 .TP
-\fBpid.\fIN\fB.errorD\fR float ro (only if debug=1)
+\fBat_pid.\fIN\fB.errorD\fR float ro (only if debug=1)
 Derivative of error.  This is the value that is multiplied by \fBDgain\fR to produce the Derivative term of the output.
 .TP
-\fBpid.\fIN\fB.commandD\fR float ro (only if debug=1)
+\fBat_pid.\fIN\fB.commandD\fR float ro (only if debug=1)
 Derivative of command.  This is the value that is multiplied by \fBFF1\fR to produce the first order feed-forward term of the output.
 .TP
-\fBpid.\fIN\fB.commandDD\fR float ro (only if debug=1)
+\fBat_pid.\fIN\fB.commandDD\fR float ro (only if debug=1)
 Second derivative of command.  This is the value that is multiplied by
 \fBFF2\fR to produce the second order feed-forward term of the output.
 .TP
-\fBpid.\fIN\fB.commandDDD\fR float ro (only if debug=1)
+\fBat_pid.\fIN\fB.commandDDD\fR float ro (only if debug=1)
 Third derivative of command.  This is the value that is multiplied by
 \fBFF3\fR to produce the third order feed-forward term of the output.
 
@@ -424,7 +424,7 @@ treated as zero if it is within the deadband, and be unmodified if it is outside
 the deadband.  This was not done because it would cause a step in the transfer
 function equal to the size of the deadband.  People who prefer that behavior are
 welcome to add a parameter that will change the behavior, or to write their own
-version of \fBpid\fR. However, the default behavior should not be changed.
+version of \fBat_pid\fR. However, the default behavior should not be changed.
 
 Negative gains may lead to unwanted behavior.  It is possible in some
 situations that negative FF gains make sense, but in general all gains

src/Makefile

@@ -894,8 +894,6 @@ obj-$(CONFIG_PID) += pid.o
 pid-objs := hal/components/pid.o $(MATHSTUB)
 obj-$(CONFIG_AT_PID) += at_pid.o
 at_pid-objs := hal/components/at_pid.o $(MATHSTUB)
-obj-$(CONFIG_AT_PIDV2) += at_pidv2.o
-at_pidv2-objs := hal/components/at_pidv2.o $(MATHSTUB)
 obj-$(CONFIG_PID) += threads.o
 threads-objs := hal/components/threads.o $(MATHSTUB)
 obj-$(CONFIG_SUPPLY) += supply.o
@@ -1228,7 +1226,6 @@ endif
 ../rtlib/pwmgen$(MODULE_EXT): $(addprefix objects/rt,$(pwmgen-objs))
 ../rtlib/siggen$(MODULE_EXT): $(addprefix objects/rt,$(siggen-objs))
 ../rtlib/at_pid$(MODULE_EXT): $(addprefix objects/rt,$(at_pid-objs))
-../rtlib/at_pidv2$(MODULE_EXT): $(addprefix objects/rt,$(at_pidv2-objs))
 ../rtlib/pid$(MODULE_EXT): $(addprefix objects/rt,$(pid-objs))
 ../rtlib/threads$(MODULE_EXT): $(addprefix objects/rt,$(threads-objs))
 ../rtlib/supply$(MODULE_EXT): $(addprefix objects/rt,$(supply-objs))

src/Makefile.inc.in

@@ -190,7 +190,6 @@ CONFIG_FREQGEN=m
 CONFIG_PWMGEN=m
 CONFIG_SIGGEN=m
 CONFIG_AT_PID=m
-CONFIG_AT_PIDV2=m
 CONFIG_PID=m
 CONFIG_SUPPLY=m
 CONFIG_CLASSICLADDER_RT=m