108 lines
2.6 KiB
C
108 lines
2.6 KiB
C
/**
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****************************(C) COPYRIGHT 2016 DJI****************************
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* @file pid.c/h
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* @brief pid实现函数，包括初始化，PID计算函数，
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* @note
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* @history
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* Version Date Author Modification
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* V1.0.0 Dec-26-2018 RM 1. 完成
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*
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@verbatim
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==============================================================================
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==============================================================================
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@endverbatim
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****************************(C) COPYRIGHT 2016 DJI****************************
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*/
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#ifndef PID_H
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#define PID_H
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#ifdef __cplusplus
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extern "C"{
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#endif
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#include "struct_typedef.h"
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enum PID_MODE
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{
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PID_POSITION = 0,
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PID_DELTA
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};
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typedef struct
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{
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uint8_t mode;
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//PID 三参数
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fp32 Kp;
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fp32 Ki;
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fp32 Kd;
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fp32 max_out; //最大输出
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fp32 max_iout; //最大积分输出
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fp32 set;
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fp32 fdb;
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fp32 out;
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fp32 Pout;
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fp32 Iout;
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fp32 Dout;
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fp32 Dbuf[3]; //微分项 0最新 1上一次 2上上次
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fp32 error[3]; //误差项 0最新 1上一次 2上上次
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} pid_type_def;
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/**
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* @brief pid struct data init
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* @param[out] pid: PID struct data point
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* @param[in] mode: PID_POSITION: normal pid
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* PID_DELTA: delta pid
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* @param[in] PID: 0: kp, 1: ki, 2:kd
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* @param[in] max_out: pid max out
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* @param[in] max_iout: pid max iout
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* @retval none
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*/
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/**
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* @brief pid struct data init
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* @param[out] pid: PID结构数据指针
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* @param[in] mode: PID_POSITION:普通PID
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* PID_DELTA: 差分PID
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* @param[in] PID: 0: kp, 1: ki, 2:kd
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* @param[in] max_out: pid最大输出
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* @param[in] max_iout: pid最大积分输出
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* @retval none
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*/
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extern void PID_init(pid_type_def *pid, uint8_t mode, const fp32 PID[3], fp32 max_out, fp32 max_iout);
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/**
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* @brief pid calculate
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* @param[out] pid: PID struct data point
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* @param[in] ref: feedback data
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* @param[in] set: set point
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* @retval pid out
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*/
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/**
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* @brief pid计算
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* @param[out] pid: PID结构数据指针
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* @param[in] ref: 反馈数据
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* @param[in] set: 设定值
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* @retval pid输出
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*/
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extern fp32 PID_calc(pid_type_def *pid, fp32 ref, fp32 set);
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/**
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* @brief pid out clear
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* @param[out] pid: PID struct data point
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* @retval none
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*/
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/**
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* @brief pid 输出清除
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* @param[out] pid: PID结构数据指针
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* @retval none
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*/
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extern void PID_clear(pid_type_def *pid);
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#ifdef __cplusplus
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}
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#endif
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#endif
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