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finish all bsp utilities

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NeoZng
2022-11-01 22:32:15 +08:00
parent c113ca81e0
commit a2b7558047
13 changed files with 514 additions and 436 deletions
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49
modules/algorithm/controller.c
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@@ -1,37 +1,38 @@
/**
* @file controller.c
* @author wanghongxi
* @author modified by neozng
* @brief PID控制器定义
* @version beta
* @date 2022-11-01
*
* @copyrightCopyright (c) 2022 HNU YueLu EC all rights reserved
*/
#include "controller.h"
#include <memory.h>
/******************************* PID CONTROL *********************************/
// PID优化环节函数声明
static void f_Trapezoid_Intergral(PID_t *pid);
static void f_Integral_Limit(PID_t *pid);
static void f_Derivative_On_Measurement(PID_t *pid);
static void f_Changing_Integration_Rate(PID_t *pid);
static void f_Output_Filter(PID_t *pid);
static void f_Derivative_Filter(PID_t *pid);
static void f_Output_Limit(PID_t *pid);
static void f_Proportion_Limit(PID_t *pid);
static void f_PID_ErrorHandle(PID_t *pid);
static void f_Trapezoid_Intergral(PID_t *pid); // 梯形积分
static void f_Integral_Limit(PID_t *pid); // 积分限幅
static void f_Derivative_On_Measurement(PID_t *pid); // 微分先行(仅使用反馈微分)
static void f_Changing_Integration_Rate(PID_t *pid); // 变速积分
static void f_Output_Filter(PID_t *pid); // 输出滤波
static void f_Derivative_Filter(PID_t *pid); // 微分滤波(采集时)
static void f_Output_Limit(PID_t *pid); // 输出限幅
static void f_PID_ErrorHandle(PID_t *pid); // 堵转保护
/**
* @brief
* @brief 初始化PID,设置参数和启用的优化环节,将其他数据置零
*
* @param pid
* @param config
* @param pid PID实例
* @param config PID初始化设置
*/
void PID_Init(PID_t* pid,PID_Init_config_s *config)
void PID_Init(PID_t *pid, PID_Init_config_s *config)
{
// utilize the quality of struct that its memeory is continuous
memcpy(pid, config, sizeof(PID_Init_config_s));
memset(&pid->Measure,0,sizeof(PID_t)-sizeof(PID_Init_config_s));
// // DWT定时器计数变量清零
// // reset DWT Timer count counter
// pid->DWT_CNT = 0;
// // 设置PID异常处理 目前仅包含电机堵转保护
// pid->ERRORHandler.ERRORCount = 0;
// pid->ERRORHandler.ERRORType = PID_ERROR_NONE;
// set rest of memory to 0
memset(&pid->Measure, 0, sizeof(PID_t) - sizeof(PID_Init_config_s));
}
/**