4x-tech/foc
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

add systick ； issue -- i2c transfer unstable

Browse Source
This commit is contained in:
4x-tech
2025-11-12 21:26:40 +08:00
parent 4dc04bdd7e
commit 79d7fca725
11 changed files with 241 additions and 165 deletions
Download Patch File Download Diff File Expand all files Collapse all files

64
3rd/pid_control.c
View File

@@ -1,12 +1,12 @@
#include <stdint.h>
#include <ti_msp_dl_config.h>
#define limit 6.3
#define Output_ramp 10000
//限幅
float _constrain(float amt, float low, float high)
float _constrain(float amt, float low, float high)
{
return ((amt<low)?(low):((amt)>(high)?(high):(amt)));
return ((amt < low) ? (low) : ((amt) > (high) ? (high) : (amt)));
}
unsigned long Timestamp_Last = 0.0;
@@ -15,31 +15,37 @@ float Last_intergration = 0.0;
float Last_Output = 0.0;
float PID_Controller(float Kp, float Ki, float Kd, float Error)
{
float Ts = 0.0;
//TODO
uint32_t Timestamp = 0;
//uint32_t Timestamp = SysTick->VAL;
if(Timestamp < Timestamp_Last) Ts = (float)(Timestamp_Last - Timestamp)/9*1e-6;
else
Ts = (0xFFFFFF - Timestamp + Timestamp_Last)/9*1e-6;
if(Ts<=0 || Ts > 0.05f) Ts = 0.001;
float proportion = Kp * Error;//P环
float intergration = Last_intergration + Ki * 0.5f * Ts * Error;//I环
intergration = _constrain(intergration, -limit, limit);
float differential = Kd * (Error - Last_Error)/Ts;//D环
float Output = proportion + intergration + differential;
Output = _constrain(Output, -limit, limit);
Last_Error = Error;
Last_intergration = intergration;
Last_Output = Output;
Timestamp_Last = Timestamp;
return Output;
float Ts = 0.0;
uint32_t Timestamp = DL_SYSTICK_getValue();
if(Timestamp < Timestamp_Last)
{
Ts = (float)(Timestamp_Last - Timestamp) / 32 * 1e-6;
}
else
{
Ts = (0xFFFFFF - Timestamp + Timestamp_Last) / 32 * 1e-6;
}
if(Ts <= 0 || Ts > 0.05f)
{
Ts = 0.001;
}
float proportion = Kp * Error;//P环
float intergration = Last_intergration + Ki * 0.5f * Ts * Error;//I环
intergration = _constrain(intergration, -limit, limit);
float differential = Kd * (Error - Last_Error) / Ts; //D环
float Output = proportion + intergration + differential;
Output = _constrain(Output, -limit, limit);
Last_Error = Error;
Last_intergration = intergration;
Last_Output = Output;
Timestamp_Last = Timestamp;
return Output;
}