/technologies/embedded/b/blog/posts/pid-controller-without-floating-point-for-mspm0PID controller implementation without using integer arithmetic. Uses TI IQMath lib to replace floating point instructions. Some of the content is created with AI support. I&#39;ve marked the parts where AI was used.All narrative i...en-USTelligent Community 12https://community.element14.com/technologies/embedded/b/blog/posts/pid-controller-without-floating-point-for-mspm0Mon, 12 Oct 2026 09:01:18 GMT93d5dcb4-84c2-446f-b2cb-99731719e767:8c85e1c3-c4c8-4327-b1ac-d3c5b26670d4Jan Cumps0<p>TI&#39;s CCS has&nbsp;functionality to show IQMath variables as floating point values.</p> <p>In VS Code, you can do this with watch expressions. To show a Q(24):</p> <pre>((float)&lt;VARIABLE&gt;) * 0.000000059604644775390625f</pre> <p></p> <p><img alt=" " height="168" src="/resized-image/__size/998x336/__key/commentfiles/f7d226abd59f475c9d224a79e3f0ec07-8c85e1c3-c4c8-4327-b1ac-d3c5b26670d4/pastedimage1791795643676v1.png" width="499" /></p> <p></p> <p>You can also use it for conditional breakpoints. E.g.: break when the measured value gets higher than the target (overshoot):</p> <div> <pre><span>((</span><span>float</span><span>)</span><span>feedback</span><span>) * </span><span>0.000000059604644775390625f</span><span> &gt; ((</span><span>float</span><span>)</span><span>target_command</span><span>) * </span><span>0.000000059604644775390625f</span></pre> <div><span><img height="75" src="/resized-image/__size/992x150/__key/commentfiles/f7d226abd59f475c9d224a79e3f0ec07-8c85e1c3-c4c8-4327-b1ac-d3c5b26670d4/pastedimage1791796118866v1.png" width="496" alt=" " /></span></div> <div><span></span></div> </div><img src="https://community.element14.com/aggbug?PostID=30291&AppID=7&AppType=Weblog&ContentType=0" width="1" height="1">