Digital Power Supply Project - Questions about PID Code

Technical Discussion Power Electronics
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https://oshwhub.com/zeruns/ji-yu-stm32-de-buck-boost-xing-shu-zi-dian-yuan I’m currently replicating and studying this project. In the code’s PID section, there are three modes: BUCK, BOOST, and MIX. However, I noticed that only in the MIX mode is there the line IErr1 = IErr0; (update of the current loop PID’s historical error).

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(Code snippets for BUCK and BOOST modes—note that at the comment “// 历史数据幅值” (historical data magnitude), the line IErr1 = IErr0; is missing.)

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(Code snippet for MIX mode—here, at the comment “// 历史数据幅值”, the line IErr1 = IErr0; is present.) I don’t quite understand why the update of the current loop’s historical error is performed only in MIX mode.

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Sorry for forgetting to categorize my first post.

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Indeed, that was missed. Try adding it back. However, I feel my current loop implementation isn’t very good and shouldn’t be used as a reference. The voltage loop code, on the other hand, was based on someone else’s work.