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correct SYSTICK and RELOAD_CYCLES

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4x-tech
2025-11-20 16:32:17 +08:00
parent a9aa2e19c8
commit a2d2773ace
7 changed files with 50 additions and 147 deletions
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5
3rd/pid_control.c
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@@ -1,4 +1,5 @@
#include "pid_control.h"
#include "config.h"
#include <stdint.h>
#include <ti_msp_dl_config.h>
@@ -14,9 +15,9 @@ float PID_Controller(struct _PID *pid, float error) {
float Ts = 0.0;
uint32_t Timestamp = DL_SYSTICK_getValue(); // 假设这里是正确获取时间戳的方式
if (Timestamp < pid->Timestamp_Last)
Ts = (float)(pid->Timestamp_Last - Timestamp) / 9 * 1e-6;
Ts = (float)(pid->Timestamp_Last - Timestamp) / MCLK_IN_MHZ * 1e-6;
else
Ts = (0xFFFFFF - Timestamp + pid->Timestamp_Last) / 9 * 1e-6;
Ts = (0xFFFFFF - Timestamp + pid->Timestamp_Last) / MCLK_IN_MHZ * 1e-6;
if (Ts <= 0 || Ts > 0.05f)
Ts = 0.001;