\XtoCVerification{PIDLimit FiP32 CPU TM4C123GH6}
\begin{tabular}{l l}
\textbf{Date of Test} & 2026-06-19 \\
\textbf{Target controller} & TM4C123GH6 \\
\end{tabular}
\vspace{1ex}
\XtoCTestCase{Inport test}{1}
Inport test for Control block PIDLimit.

\vspace{1em}
\begin{tblr}{width=\textwidth, colspec={|c|c|c|X[c]|c|}}
\hline
\SetRow{lightgray} \SetCell[c=5]{l} \textbf{Test results} \\ \hline
\textbf{Time step} & 1 & 2 & ... & 201 \\ \hline
\textbf{CPU cycles} & 63 & 63 & ... & 251 \\ \hline
\SetRow{lightgray!50} \SetCell[c=5]{l} \textit{Inputs} \\ \hline
\textbf{In (DSP)} & 0 & 0 & ... & 0 \\ \hline
\textbf{Init (DSP)} & 236223201 & 236223201 & ... & 236223201 \\ \hline
\textbf{max (DSP)} & 1717986918 & 1717986918 & ... & 1717986918 \\ \hline
\textbf{min (DSP)} & 322122547 & 322122547 & ... & 322122547 \\ \hline
\textbf{Enable (DSP)} & 0 & 0 & ... & 1 \\ \hline
\textbf{In} & 0 & 0 & ... & 0 \\ \hline
\textbf{Init} & 0.11 & 0.11 & ... & 0.11 \\ \hline
\textbf{max} & 0.8 & 0.8 & ... & 0.8 \\ \hline
\textbf{min} & 0.15 & 0.15 & ... & 0.15 \\ \hline
\textbf{Enable} & 0 & 0 & ... & 1 \\ \hline
\SetRow{lightgray!50} \SetCell[c=5]{l} \textit{Parameters} \\ \hline
\textbf{Kp} & \SetCell[c=4]{c}2 \\ \hline
\textbf{Ki} & \SetCell[c=4]{c}2500 \\ \hline
\textbf{Kd} & \SetCell[c=4]{c}0.003 \\ \hline
\textbf{fc} & \SetCell[c=4]{c}200 \\ \hline
\textbf{initHandling} & \SetCell[c=4]{c}initialize integral \\ \hline
\textbf{ts\_fact} & \SetCell[c=4]{c}1 \\ \hline
\SetRow{lightgray!50} \SetCell[c=5]{l} \textit{Outputs} \\ \hline
\textbf{Out} & 0 & 0 & ... & 0.649 \\ \hline
\textbf{Exp. Out} & 0 & 0 & ... & 0.649 \\ \hline
\textbf{Out (DSP)} & 0 & 0 & ... & 1394267794 \\ \hline
\textbf{Exp. Out (DSP)} & 0 & 0 & ... & 1394267794 \\ \hline
\end{tblr}
\vspace{1ex}

\begin{XtoCtabular}{Test settings}
Tolerance Out & $\pm$3,0518e-05 ($\pm$65536 LSB) \\ \hline
\end{XtoCtabular}

\begin{XtoCtabular}{Test statistics}
Min CPU cycles & 63 \\ \hline
Max CPU cycles & 251 \\ \hline
Avg CPU cycles & 228 \\ \hline
\end{XtoCtabular}
\XtoCTestCase{Conversion test}{1}
Conversion test for Control block PIDLimit.

\vspace{1em}
\begin{tblr}{width=\textwidth, colspec={|c|c|c|X[c]|c|}}
\hline
\SetRow{lightgray} \SetCell[c=5]{l} \textbf{Test results} \\ \hline
\textbf{Time step} & 1 & 2 & ... & 37 \\ \hline
\SetRow{lightgray!50} \SetCell[c=5]{l} \textit{Mask parameters} \\ \hline
\textbf{Kp} & -10 & -9.444 & ... & 10 \\ \hline
\textbf{Ki} & -11 & -10.389 & ... & 11 \\ \hline
\textbf{Kd} & -10 & -9.444 & ... & 10 \\ \hline
\textbf{fc} & 0 & 13.889 & ... & 500 \\ \hline
\textbf{initHandling} & initialize integral & initialize integral & ... & initialize output \\ \hline
\textbf{ts\_fact} & 1 & 1 & ... & 1 \\ \hline
\SetRow{lightgray!50} \SetCell[c=5]{l} \textit{Controller parameters} \\ \hline
\textbf{sfrd} & 31 & 21 & ... & 16 \\ \hline
\textbf{b1d} & 0 & -1728437568 & ... & 2058874161 \\ \hline
\textbf{a0d} & -2147483647 & -2128824851 & ... & -1568527835 \\ \hline
\textbf{b0d} & 0 & 1728437568 & ... & -2058874161 \\ \hline
\textbf{initHandling} & 0 & 0 & ... & 1 \\ \hline
\textbf{sfrb0} & 31 & 31 & ... & 31 \\ \hline
\textbf{sfrb1} & 27 & 27 & ... & 27 \\ \hline
\textbf{b0} & -2362232 & -2230997 & ... & 2362232 \\ \hline
\textbf{b1} & -1342177280 & -1267611876 & ... & 1342177280 \\ \hline
\textbf{Exp. sfrd} & 31 & 21 & ... & 16 \\ \hline
\textbf{Exp. b1d} & 0 & -1728437568 & ... & 2058874161 \\ \hline
\textbf{Exp. a0d} & -2147483647 & -2128824851 & ... & -1568527835 \\ \hline
\textbf{Exp. b0d} & 0 & 1728437568 & ... & -2058874161 \\ \hline
\textbf{Exp. initHandling} & 0 & 0 & ... & 1 \\ \hline
\textbf{Exp. sfrb0} & 31 & 31 & ... & 31 \\ \hline
\textbf{Exp. sfrb1} & 27 & 27 & ... & 27 \\ \hline
\textbf{Exp. b0} & -2362232 & -2230997 & ... & 2362232 \\ \hline
\textbf{Exp. b1} & -1342177280 & -1267611876 & ... & 1342177280 \\ \hline
\end{tblr}
\vspace{1ex}

\begin{XtoCtabular}{Test settings}
Tolerance sfrd & $\pm$0,0000e+00 \\ \hline
Tolerance b1d & $\pm$0,0000e+00 \\ \hline
Tolerance a0d & $\pm$0,0000e+00 \\ \hline
Tolerance b0d & $\pm$0,0000e+00 \\ \hline
Tolerance initHandling & $\pm$0,0000e+00 \\ \hline
Tolerance sfrb0 & $\pm$0,0000e+00 \\ \hline
Tolerance sfrb1 & $\pm$0,0000e+00 \\ \hline
Tolerance b0 & $\pm$0,0000e+00 \\ \hline
Tolerance b1 & $\pm$0,0000e+00 \\ \hline
\end{XtoCtabular}
\XtoCTestCase{Conversion-on-Target test}{1}
Conversion-on-Target test for Control block PIDLimit.

\vspace{1em}
\begin{tblr}{width=\textwidth, colspec={|c|c|c|X[c]|c|}}
\hline
\SetRow{lightgray} \SetCell[c=5]{l} \textbf{Test results} \\ \hline
\textbf{Time step} & 1 & 2 & ... & 37 \\ \hline
\SetRow{lightgray!50} \SetCell[c=5]{l} \textit{Mask parameters} \\ \hline
\textbf{Kp} & -10 & -9.444 & ... & 10 \\ \hline
\textbf{Ki} & -11 & -10.389 & ... & 11 \\ \hline
\textbf{Kd} & -10 & -9.444 & ... & 10 \\ \hline
\textbf{fc} & 0 & 13.889 & ... & 500 \\ \hline
\textbf{initHandling} & initialize integral & initialize integral & ... & initialize output \\ \hline
\textbf{ts\_fact} & 1 & 1 & ... & 1 \\ \hline
\SetRow{lightgray!50} \SetCell[c=5]{l} \textit{Controller parameters} \\ \hline
\textbf{sfrd} & 31 & 21 & ... & 16 \\ \hline
\textbf{b1d} & 0 & -1728437632 & ... & 2058874240 \\ \hline
\textbf{a0d} & -2147483647 & -2128824832 & ... & -1568527872 \\ \hline
\textbf{b0d} & 0 & 1728437632 & ... & -2058874240 \\ \hline
\textbf{initHandling} & 0 & 0 & ... & 1 \\ \hline
\textbf{sfrb0} & 31 & 31 & ... & 31 \\ \hline
\textbf{sfrb1} & 27 & 27 & ... & 27 \\ \hline
\textbf{b0} & -2362232 & -2230997 & ... & 2362232 \\ \hline
\textbf{b1} & -1342177280 & -1267611904 & ... & 1342177280 \\ \hline
\textbf{Exp. sfrd} & 31 & 21 & ... & 16 \\ \hline
\textbf{Exp. b1d} & 0 & -1728437568 & ... & 2058874161 \\ \hline
\textbf{Exp. a0d} & -2147483647 & -2128824851 & ... & -1568527835 \\ \hline
\textbf{Exp. b0d} & 0 & 1728437568 & ... & -2058874161 \\ \hline
\textbf{Exp. initHandling} & 0 & 0 & ... & 1 \\ \hline
\textbf{Exp. sfrb0} & 31 & 31 & ... & 31 \\ \hline
\textbf{Exp. sfrb1} & 27 & 27 & ... & 27 \\ \hline
\textbf{Exp. b0} & -2362232 & -2230997 & ... & 2362232 \\ \hline
\textbf{Exp. b1} & -1342177280 & -1267611876 & ... & 1342177280 \\ \hline
\end{tblr}
\vspace{1ex}

\begin{XtoCtabular}{Test settings}
Tolerance sfrd & $\pm$0,0000e+00 \\ \hline
Tolerance b1d & $\pm$2,0000e+02 \\ \hline
Tolerance a0d & $\pm$2,0000e+02 \\ \hline
Tolerance b0d & $\pm$2,0000e+02 \\ \hline
Tolerance initHandling & $\pm$0,0000e+00 \\ \hline
Tolerance sfrb0 & $\pm$0,0000e+00 \\ \hline
Tolerance sfrb1 & $\pm$0,0000e+00 \\ \hline
Tolerance b0 & $\pm$1,0000e+00 \\ \hline
Tolerance b1 & $\pm$1,0000e+02 \\ \hline
\end{XtoCtabular}

\begin{XtoCtabular}{Test statistics}
Min CPU cycles & 2341 \\ \hline
Max CPU cycles & 6943 \\ \hline
Avg CPU cycles & 5862 \\ \hline
\end{XtoCtabular}
