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添加均值滤波,修改HT电机控制方式,添加了一些文档

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This commit is contained in:
NeoZng
2023-05-29 09:48:07 +08:00
parent 7403943814
commit ff5028036a
14 changed files with 272 additions and 125 deletions
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16
modules/algorithm/user_lib.c
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@@ -192,4 +192,18 @@ void Cross3d(float *v1, float *v2, float *res)
float Dot3d(float *v1, float *v2)
{
return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
}
}
// 均值滤波,删除buffer中的最后一个元素,填入新的元素并求平均值
float AverageFilter(float new_data, float *buf, uint8_t len)
{
float sum = 0;
for (uint8_t i = 0; i < len - 1; i++)
{
buf[i] = buf[i + 1];
sum += buf[i];
}
buf[len - 1] = new_data;
sum += new_data;
return sum / len;
}

49
modules/algorithm/user_lib.h
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@@ -12,20 +12,16 @@
*/
#ifndef _USER_LIB_H
#define _USER_LIB_H
#include "stdint.h"
#include "main.h"
#include "cmsis_os.h"
enum
{
CHASSIS_DEBUG = 1,
GIMBAL_DEBUG,
INS_DEBUG,
RC_DEBUG,
IMU_HEAT_DEBUG,
SHOOT_DEBUG,
AIMASSIST_DEBUG,
};
#define msin(x) (arm_sin_f32(x))
#define mcos(x) (arm_cos_f32(x))
extern uint8_t GlobalDebugMode;
@@ -89,40 +85,41 @@ extern uint8_t GlobalDebugMode;
/**
* @brief 返回一块干净的内<E79A84>?,不过仍然需要强制转<E588B6>?为你需要的类型
*
*
* @param size 分配大小
* @return void*
* @return void*
*/
void* zero_malloc(size_t size);
void *zero_malloc(size_t size);
//<2F><><EFBFBD>ٿ<EFBFBD><D9BF><EFBFBD>
// <EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD>
float Sqrt(float x);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float abs_limit(float num, float Limit);
//<2F>жϷ<D0B6><CFB7><EFBFBD>λ
// <EFBFBD>жϷ<EFBFBD><EFBFBD><EFBFBD>λ
float sign(float value);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float float_deadband(float Value, float minValue, float maxValue);
//<2F>޷<EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD>
// <EFBFBD>޷<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float float_constrain(float Value, float minValue, float maxValue);
//<2F>޷<EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD>
// <EFBFBD>޷<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int16_t int16_constrain(int16_t Value, int16_t minValue, int16_t maxValue);
//ѭ<><D1AD><EFBFBD>޷<EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD>
// ѭ<EFBFBD><EFBFBD><EFBFBD>޷<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float loop_float_constrain(float Input, float minValue, float maxValue);
//<2F>Ƕ<EFBFBD> <20><><EFBFBD>޷<EFBFBD> 180 ~ -180
// <EFBFBD>Ƕ<EFBFBD> <20><><EFBFBD>޷<EFBFBD> 180 ~ -180
float theta_format(float Ang);
int float_rounding(float raw);
float* Norm3d(float* v);
float *Norm3d(float *v);
float NormOf3d(float* v);
float NormOf3d(float *v);
void Cross3d(float* v1, float* v2, float* res);
void Cross3d(float *v1, float *v2, float *res);
float Dot3d(float* v1, float* v2);
float Dot3d(float *v1, float *v2);
float AverageFilter(float new_data, float *buf, uint8_t len);
//<2F><><EFBFBD>ȸ<EFBFBD>ʽ<EFBFBD><CABD>Ϊ-PI~PI
#define rad_format(Ang) loop_float_constrain((Ang), -PI, PI)
#endif