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change clock to HF

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4x-tech
2025-11-12 21:38:23 +08:00
parent 79d7fca725
commit c67d13de54
3 changed files with 30 additions and 5 deletions
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4
3rd/lowpass_filter.c
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@@ -19,11 +19,11 @@ float Lowpassfilter(float Tf, float x)
uint32_t Timesamp = DL_SYSTICK_getValue();
if(Timesamp < Last_Timesamp)
{
dt = (float)(Last_Timesamp - Timesamp) / 32 * 1e-6;
dt = (float)(Last_Timesamp - Timesamp) / 80 * 1e-6;
}
else
{
dt = (float)(0xFFFFFF - Timesamp + Last_Timesamp) / 32 * 1e-6;
dt = (float)(0xFFFFFF - Timesamp + Last_Timesamp) / 80 * 1e-6;
}
if(dt < 0.0 || dt == 0)

4
3rd/pid_control.c
View File

@@ -19,11 +19,11 @@ float PID_Controller(float Kp, float Ki, float Kd, float Error)
uint32_t Timestamp = DL_SYSTICK_getValue();
if(Timestamp < Timestamp_Last)
{
Ts = (float)(Timestamp_Last - Timestamp) / 32 * 1e-6;
Ts = (float)(Timestamp_Last - Timestamp) / 80 * 1e-6;
}
else
{
Ts = (0xFFFFFF - Timestamp + Timestamp_Last) / 32 * 1e-6;
Ts = (0xFFFFFF - Timestamp + Timestamp_Last) / 80 * 1e-6;
}
if(Ts <= 0 || Ts > 0.05f)