def sim_pid_lti_comb(Kp, Ki, Kd, Nfilt):
plant = tf([1], [1, 10, 20])
config['sim/clk_freq'] = 1000
seq = [0.] * 2 + [1.] * config['sim/clk_freq']
set_point = drv(t=Float, seq=seq)
plant_out = set_point \
| pid_lti_comb(Kp=Kp, Ki=Ki, Kd=Kd, Nfilt=Nfilt, plant=plant)
find('/pid_lti_comb/lti.x').producer | scope(title="PID Input")
plant_out | scope(title="Plant Output")
sim(timeout=len(seq))
def sim_hdl_pid(Kp, Ki, Kd):
plant = tf([1], [1, 10, 20])
config['sim/clk_freq'] = 1000
seq = [0.] * 2 + [1.] * config['sim/clk_freq'] * 2
set_point = drv(t=Float, seq=seq)
plant_out = set_point \
| hdl_pid_sys(Kp=Kp, Ki=Ki, Kd=Kd, plant=plant)
find('/hdl_pid_sys/plant.x').producer | scope(title="PID Output")
plant_out | scope(title="Plant Output")
sim('/tools/home/tmp', timeout=len(seq))
def comp_pid_lti_comb_ref(Kp, Ki, Kd, Nfilt):
plant = tf([1], [1, 10, 20])
config['sim/clk_freq'] = 1000
seq = [0.] * 2 + [1.] * config['sim/clk_freq']
set_point = drv(t=Float, seq=seq)
plant_out = set_point \
| pid_lti_comb(Kp=Kp, Ki=Ki, Kd=Kd, Nfilt=Nfilt, plant=plant)
plant_out | scope(title="Plant Output")
ref_out = set_point \
| pid_lti_feedback(Kp=Kp, Ki=Ki, Kd=Kd, Nfilt=Nfilt, plant=plant)
ref_out | scope(title="Continuous Reference")
report = []
scoreboard(plant_out, ref_out, report=report, tolerance=2e-2)
sim(timeout=len(seq))
def comp_pid_pg_comb_lti_comb(Kp, Ki, Kd, Nfilt):
plant = tf([1], [1, 10, 20])
config['sim/clk_freq'] = 1000
seq = [0.] * 2 + [1.] * config['sim/clk_freq']
set_point = drv(t=Float, seq=seq)
plant_out = set_point \
| pid_pg_comb(Kp=Kp, Ki=Ki, Kd=Kd, Nfilt=Nfilt, plant=plant)
find('/pid_pg_comb/pid.x').producer | scope(title="PID Input")
find('/pid_pg_comb/pid.dout').consumer | scope(title="PID Output")
plant_out | scope(title="Plant Output")
ref_out = set_point \
| pid_lti_comb(Kp=Kp, Ki=Ki, Kd=Kd, Nfilt=Nfilt, plant=plant)
ref_out | scope(title="Continuous Reference")
report = []
scoreboard(plant_out, ref_out, report=report, tolerance=2e-2)
sim(timeout=len(seq))
def hdl_pid_sys(set_point, *, Kp, Ki, Kd, plant):
plant_out = Intf(Float)
pid_in = set_point - plant_out
pid_in | scope(title="PID Input")
pid_in = pid_in | Fixp[2, 22]
pid_out = pid_in | hdl_pid(Kp=Kp, Ki=Ki, Kd=Kd, sim_cls=SimVerilated)
pid_out = pid_out | Float
plant_out |= pid_out \
| lti(name='plant', sys=plant, init_x=0)
return plant_out
from pygears import gear
from pygears.typing import Queue
from pygears.lib import drv, flatten
from pygears.sim.modules.verilator import SimVerilated
from pygears_control.lib import scope
from pygears.typing import Float
from pygears.sim import sim
from pygears.conf.registry import bind
from pygears.lib import shred
bind('hdl/debug_intfs', ['*'])
@gear(hdl={'compile': True, 'inline_conditions': True})
async def accum(din: Queue[Fixp[5, 10], 1]) -> Queue[Fixp[12, 17], 1]:
acc = Fixp[12, 17](0)
async for (data, eot) in din:
acc = acc + data
yield (acc, eot)
seq = [0.] * 2 + [1.125] * 1000
drv(t=Queue[Fixp[5, 10], 1], seq=[seq]) \
| accum(sim_cls=SimVerilated) \
| flatten \
| Float \
| scope(clk_freq=1)
sim('/tools/home/tmp')
