LSMushui
e3d432f3b5
原 modules/ 下目录大小写混用(BMI088/BUZZER/DR16/IST8310/LED/PID 为大写,
attitude/c_comm/filter/gimbal/ins/motor/referee/shoot 为小写),且把第三方
移植代码(QuaternionEKF/kalman_filter)与本工程封装(ins)混在同一目录。
新结构(全部小写,按角色分层,第三方代码单独隔离):
modules/
algorithm/ pid.c/h filter.c/h 通用算法
imu/ attitude.c/h ins.c/h 姿态与惯导封装
imu/qekf/ QuaternionEKF.c/h kalman_filter.c/h
(移植自 Wang Hongxi INS 例程)
sensor/ bmi088.c/h ist8310.c/h 板载传感器驱动
comms/ dr16.c/h c_comm.c/h referee.c/h
motor/ dji_motor.c/h 电机抽象
control/ gimbal.c/h shoot.c/h 整车控制逻辑
(底盘为 chassis.c/h)
dev/ led.c/h buzzer.c/h 板级指示/发声
共移动 58 个文件(每板 29 个),旧目录全部删除。
工程文件同步(每个工程各 2 个):
- .uvprojx: Modules 分组 16 个 <FilePath> 改为新路径;
2 个非空 <IncludePath> 元素:15 个旧模块路径收敛为 8 个新目录,
并顺带删除陈旧项 ../modules/AHRS(目录根本不存在,legacy 时代残留)
与冗余项 ..\bsp(与 ../Bsp/Inc 重复)
- .uvoptx: 16 个 <PathWithFileName> 同步
关于"为什么不用改源码": Keil 的 include 靠 IncludePath 解析,本工程所有
#include 都是纯文件名形式(无路径限定),所以移动目录只需改工程配置。
另外 .h 完全不登记在工程里(只有 16 个 .c 被登记),故头文件只需移动。
回归验证(无法在此环境编译,用等价判据):
- 两个工程引用的 98 / 95 个 <FilePath> 全部真实存在
- 磁盘上 47 / 45 个 .c 全部仍被工程引用 —— 即没有任何文件掉出编译
- 2 个 IncludePath 元素均含全部 8 个新模块目录,无旧路径残留
- 所有 IncludePath 指向的目录均真实存在
- .uvprojx/.uvoptx XML 良构
- 两棵树结构一致(chassis/gimbal 等板级差异符合预期)
⚠️ 仍需在 Keil 里点一次编译确认(见 README 的构建章节)。
127 lines
3.7 KiB
C
127 lines
3.7 KiB
C
/* =============================================================================
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* pid.c - 位置式/增量式 PID(自 legacy Control/PID 原样移植)
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* 用法:
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* PID_PositionStructureInit(pid, need) 初始化
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* PID_PositionSetParameter(pid, kp, ki, kd) 设置增益
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* PID_PositionSetEkRange(pid, lo, hi) 误差死区(|ek|在区间内视为0)
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* PID_PositionSetOUTRange(pid, lo, hi) 输出限幅
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* PID_PositionCalc(pid, now) 每周期计算,结果在 pid->OUT
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* PID_PositionClean(pid) 清误差与积分(模式切换时)
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* 注意: 积分无独立限幅,靠输出限幅+死区约束;所有云台/底盘 PID 参数集中在
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* robot_param.h,控制周期 2ms(与 legacy 调参时一致,勿随意改周期)
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* ========================================================================== */
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#include "pid.h"
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void PID_PositionStructureInit(PID_PositionTypeDef * pid, float need_value)
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{
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pid->Need_Value = need_value;
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pid->Ek = 0;
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pid->Sum_Ek = 0;
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pid->Ek_low = 0;
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pid->Ek_up = 0;
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pid->Kp = 0;
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pid->Ki = 0;
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pid->Kd = 0;
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pid->OUT_low = -1e10;
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pid->OUT_up = 1e10;
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}
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void PID_PositionSetParameter(PID_PositionTypeDef * pid, float kp, float ki, float kd)
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{
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pid->Kp = kp;
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pid->Ki = ki;
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pid->Kd = kd;
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}
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void PID_PositionSetEkRange(PID_PositionTypeDef * pid, float ek_low, float ek_up)
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{
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pid->Ek_low = ek_low;
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pid->Ek_up = ek_up;
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}
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void PID_PositionSetOUTRange(PID_PositionTypeDef * pid, float out_low, float out_up)
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{
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pid->OUT_low = out_low;
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pid->OUT_up = out_up;
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}
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void PID_PositionClean(PID_PositionTypeDef * pid)
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{
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pid->Ek = 0;
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pid->Sum_Ek = 0;
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}
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void PID_PositionCalc(PID_PositionTypeDef * pid, float now_value)
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{
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pid->Now_Value = now_value;
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pid->Ek_1 = pid->Ek;
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pid->Ek = pid->Need_Value - pid->Now_Value;
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if (pid->Ek_low < pid->Ek && pid->Ek < pid->Ek_up) // 误差为0检测
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pid->Ek = 0;
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pid->Sum_Ek += pid->Ek;
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pid->Del_Ek = pid->Ek - pid->Ek_1;
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pid->P_OUT = pid->Kp * pid->Ek;
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pid->I_OUT = pid->Ki * pid->Sum_Ek;
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pid->D_OUT = pid->Kd * pid->Del_Ek;
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pid->OUT = pid->P_OUT + pid->I_OUT + pid->D_OUT;
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if (pid->OUT < pid->OUT_low) // 输出限幅
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pid->OUT = pid->OUT_low;
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if (pid->OUT > pid->OUT_up)
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pid->OUT = pid->OUT_up;
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}
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void PID_IncrementalStructureInit(PID_IncrementalTypeDef * pid, float need_value)
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{
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pid->Need_Value = need_value;
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pid->Ek = 0;
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pid->Ek_1 = 0;
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pid->Ek_low = 0;
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pid->Ek_up = 0;
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pid->Kp = 0;
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pid->Ki = 0;
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pid->Kd = 0;
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pid->OUT_low = -1e10;
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pid->OUT_up = 1e10;
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}
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void PID_IncrementalSetParameter(PID_IncrementalTypeDef * pid, float kp, float ki, float kd)
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{
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pid->Kp = kp;
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pid->Ki = ki;
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pid->Kd = kd;
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}
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void PID_IncrementalSetEkRange(PID_IncrementalTypeDef * pid, float ek_low, float ek_up)
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{
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pid->Ek_low = ek_low;
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pid->Ek_up = ek_up;
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}
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void PID_IncrementalSetOUTRange(PID_IncrementalTypeDef * pid, float out_low, float out_up)
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{
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pid->OUT_low = out_low;
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pid->OUT_up = out_up;
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}
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void PID_IncrementalCalc(PID_IncrementalTypeDef * pid, float now_value)
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{
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pid->Now_Value = now_value;
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pid->Ek_2 = pid->Ek_1;
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pid->Ek_1 = pid->Ek;
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pid->Ek = pid->Need_Value - pid->Now_Value;
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if (pid->Ek_low < pid->Ek && pid->Ek < pid->Ek_up) // 误差为0检测
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pid->Ek = 0;
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pid->P_OUT = pid->Kp * (pid->Ek - pid->Ek_1);
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pid->I_OUT = pid->Ki * pid->Ek;
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pid->D_OUT = pid->Kd * (pid->Ek - 2 * pid->Ek_1 + pid->Ek_2);
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pid->OUT = pid->P_OUT + pid->I_OUT + pid->D_OUT;
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if (pid->OUT < pid->OUT_low) // 输出限幅
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pid->OUT = pid->OUT_low;
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if (pid->OUT > pid->OUT_up)
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pid->OUT = pid->OUT_up;
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}
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