diff --git a/MDK-ARM/VOQC.uvguix.admin b/MDK-ARM/VOQC.uvguix.admin index bc5b064..fba88bf 100644 --- a/MDK-ARM/VOQC.uvguix.admin +++ b/MDK-ARM/VOQC.uvguix.admin @@ -1806,7 +1806,7 @@ File 2550 - 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898 @@ -3608,23 +3608,23 @@ ../Core/Src/main.c 0 75 - 85 + 93 1 0 ..\users\Src\provalctrl.c - 52 - 198 - 300 + 3 + 158 + 250 1 0 ../users/Inc/provalctrl.h - 6 + 7 49 63 1 diff --git a/MDK-ARM/VOQC/VOQC.axf b/MDK-ARM/VOQC/VOQC.axf index 07628b5..edca85b 100644 Binary files a/MDK-ARM/VOQC/VOQC.axf and b/MDK-ARM/VOQC/VOQC.axf differ diff --git a/MDK-ARM/VOQC/VOQC.build_log.htm b/MDK-ARM/VOQC/VOQC.build_log.htm index 694a9ff..3a5fcf4 100644 --- a/MDK-ARM/VOQC/VOQC.build_log.htm +++ b/MDK-ARM/VOQC/VOQC.build_log.htm @@ -27,6 +27,10 @@ Project File Date: 08/26/2024

Output:

*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Users\admin\Desktop\wujunchao\99_General softwares\Keil_v5\ARM\ARM Compiler_5_06\Bin' Build target 'VOQC' +compiling provalctrl.c... +linking... +Program Size: Code=33582 RO-data=458 RW-data=408 ZI-data=6704 +FromELF: creating hex file... "VOQC\VOQC.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

@@ -50,7 +54,7 @@ Package Vendor: Keil

Collection of Component Files used:

* Component: ARM::CMSIS:CORE@5.6.0 -Build Time Elapsed: 00:00:01 +Build Time Elapsed: 00:00:05 diff --git a/MDK-ARM/VOQC/VOQC.hex b/MDK-ARM/VOQC/VOQC.hex index 14f8c82..ce4f35c 100644 --- a/MDK-ARM/VOQC/VOQC.hex +++ b/MDK-ARM/VOQC/VOQC.hex @@ -26,8 +26,8 @@ :10018000830200088302000800F002F800F05CF827 :100190000AA090E8000C82448344AAF10107DA45E2 :1001A00001D100F051F8AFF2090EBAE80F0013F0D8 -:1001B000010F18BFFB1A43F0010318471485000014 -:1001C000348500000A444FF0000C10F8013B13F096 +:1001B000010F18BFFB1A43F0010318471C8300000E +:1001C0003C8300000A444FF0000C10F8013B13F090 :1001D000070408BF10F8014B1D1108BF10F8015BA0 :1001E000641E05D010F8016B641E01F8016BF9D193 :1001F00013F0080F1EBF10F8014BAD1C0C1B09D1EA @@ -35,7 +35,7 @@ :1002100001F8016B6D1EF9D59142D6D370470000ED :100220000023002400250026103A28BF78C1FBD8FF :10023000520728BF30C148BF0B6070471FB508F098 -:1002400031FA1FBD10B510BD00F070F91146FFF76F +:1002400035F91FBD10B510BD00F070F91146FFF76C :10025000F5FF05F003FE00F08EF903B4FFF7F2FF9F 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+:1084B000E1EE100A704700061016000610160000C4 +:1084C0000000000000000102030406070809000084 +:1084D0000000010203040000F884000800000020EE +:1084E00098010000C40100081885000898010020C8 +:1084F000301A0000200200084132104201034D24CE +:10850000F43954012B02D7640510CDCC4C3D320513 +:088510005AFF0101103298002E :040000050800018965 :00000001FF diff --git a/MDK-ARM/VOQC/VOQC.htm b/MDK-ARM/VOQC/VOQC.htm index 2aa5174..36a2d80 100644 --- a/MDK-ARM/VOQC/VOQC.htm +++ b/MDK-ARM/VOQC/VOQC.htm @@ -3,7 +3,7 @@ Static Call Graph - [VOQC\VOQC.axf]

Static Call Graph for image VOQC\VOQC.axf

-

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Thu Aug 29 09:50:08 2024 +

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Mon Sep 02 09:41:59 2024

Maximum Stack Usage = 452 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -2179,7 +2179,7 @@ Global Symbols
[Called By]
  • >>   HAL_UART_RxCpltCallback
-

prov_adj (Thumb, 1504 bytes, Stack size 16 bytes, provalctrl.o(i.prov_adj)) +

prov_adj (Thumb, 1488 bytes, Stack size 16 bytes, provalctrl.o(i.prov_adj))

[Stack]

  • Max Depth = 80
  • Call Chain = prov_adj ⇒ ee_writefloats ⇒ ee_writebytes ⇒ i2c_sendbyte

[Calls]
  • >>   prov_adj_init @@ -2195,7 +2195,7 @@ Global Symbols
  • >>   prov_adj
-

prov_calibrate_pid (Thumb, 780 bytes, Stack size 8 bytes, provalctrl.o(i.prov_calibrate_pid)) +

prov_calibrate_pid (Thumb, 454 bytes, Stack size 8 bytes, provalctrl.o(i.prov_calibrate_pid))

[Stack]

  • Max Depth = 8
  • Call Chain = prov_calibrate_pid

[Calls]
  • >>   abs_bias @@ -2221,7 +2221,7 @@ Global Symbols
    [Called By]
    • >>   main
    -

    prov_set (Thumb, 400 bytes, Stack size 16 bytes, provalctrl.o(i.prov_set)) +

    prov_set (Thumb, 244 bytes, Stack size 16 bytes, provalctrl.o(i.prov_set))

    [Stack]

    • Max Depth = 16
    • Call Chain = prov_set

    [Called By]
    • >>   analog_ctrl diff --git a/MDK-ARM/VOQC/VOQC.map b/MDK-ARM/VOQC/VOQC.map index 7b85463..e36b17f 100644 --- a/MDK-ARM/VOQC/VOQC.map +++ b/MDK-ARM/VOQC/VOQC.map @@ -1565,7 +1565,6 @@ Section Cross References provalctrl.o(i.prov_adj) refers to modbus.o(.data) for CoilState provalctrl.o(i.prov_adj_init) refers to provalctrl.o(.bss) for adj_pv1 provalctrl.o(i.prov_calibrate_pid) refers to provalctrl.o(i.abs_bias) for abs_bias - provalctrl.o(i.prov_calibrate_pid) refers to provalctrl.o(.data) for out_makeup provalctrl.o(i.prov_ctrl) refers to provalctrl.o(i.prov_adj_init) for prov_adj_init provalctrl.o(i.prov_ctrl) refers to provalctrl.o(i.prov_calibrate_pid) for prov_calibrate_pid provalctrl.o(i.prov_ctrl) refers to provalctrl.o(i.prov_adj) for prov_adj @@ -3179,53 +3178,53 @@ Image Symbol Table i.modbus_rtu_init 0x080062c8 Section 0 modbus_rtu.o(i.modbus_rtu_init) i.modbus_rx_cb 0x0800631c Section 0 modbus_rtu.o(i.modbus_rx_cb) i.prov_adj 0x080063a0 Section 0 provalctrl.o(i.prov_adj) - i.prov_adj_init 0x080069b8 Section 0 provalctrl.o(i.prov_adj_init) - i.prov_calibrate_pid 0x08006a70 Section 0 provalctrl.o(i.prov_calibrate_pid) - i.prov_ctrl 0x08006d88 Section 0 provalctrl.o(i.prov_ctrl) - i.prov_init 0x08006df4 Section 0 provalctrl.o(i.prov_init) - i.prov_set 0x08007068 Section 0 provalctrl.o(i.prov_set) - i.readcoilstate_rtu 0x08007204 Section 0 modbus_rtu.o(i.readcoilstate_rtu) - i.readdisinputstate_rtu 0x08007354 Section 0 modbus_rtu.o(i.readdisinputstate_rtu) - i.readholdreg_rtu 0x080074a0 Section 0 modbus_rtu.o(i.readholdreg_rtu) - i.readinputreg_rtu 0x080075ac Section 0 modbus_rtu.o(i.readinputreg_rtu) - i.setcs 0x080076b0 Section 0 ms5803.o(i.setcs) - i.tim6_cnt 0x08007718 Section 0 timer.o(i.tim6_cnt) - i.uart_send 0x08007924 Section 0 uarts.o(i.uart_send) - i.wf5803_ReadReg 0x08007938 Section 0 mf5803.o(i.wf5803_ReadReg) - i.wf5803_WriteReg 0x0800795a Section 0 mf5803.o(i.wf5803_WriteReg) - i.writemulticoil_rtu 0x0800797c Section 0 modbus_rtu.o(i.writemulticoil_rtu) - i.writemultireg_rtu 0x08007ac8 Section 0 modbus_rtu.o(i.writemultireg_rtu) - i.writesinglecoil_rtu 0x08007bcc Section 0 modbus_rtu.o(i.writesinglecoil_rtu) - i.writesinglereg_rtu 0x08007c90 Section 0 modbus_rtu.o(i.writesinglereg_rtu) - x$fpl$dadd 0x08007d48 Section 336 daddsub_clz.o(x$fpl$dadd) - $v0 0x08007d48 Number 0 daddsub_clz.o(x$fpl$dadd) - _dadd1 0x08007d59 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) - x$fpl$ddiv 0x08007e98 Section 688 ddiv.o(x$fpl$ddiv) - $v0 0x08007e98 Number 0 ddiv.o(x$fpl$ddiv) - ddiv_entry 0x08007e9f Thumb Code 0 ddiv.o(x$fpl$ddiv) - x$fpl$dfix 0x08008148 Section 94 dfix.o(x$fpl$dfix) - $v0 0x08008148 Number 0 dfix.o(x$fpl$dfix) - x$fpl$dfixu 0x080081a8 Section 90 dfixu.o(x$fpl$dfixu) - $v0 0x080081a8 Number 0 dfixu.o(x$fpl$dfixu) - x$fpl$dflt 0x08008202 Section 46 dflt_clz.o(x$fpl$dflt) - $v0 0x08008202 Number 0 dflt_clz.o(x$fpl$dflt) - x$fpl$dfltll 0x08008230 Section 162 dfltll_clz.o(x$fpl$dfltll) - $v0 0x08008230 Number 0 dfltll_clz.o(x$fpl$dfltll) - x$fpl$dmul 0x080082d4 Section 340 dmul.o(x$fpl$dmul) - $v0 0x080082d4 Number 0 dmul.o(x$fpl$dmul) - x$fpl$dnaninf 0x08008428 Section 156 dnaninf.o(x$fpl$dnaninf) - $v0 0x08008428 Number 0 dnaninf.o(x$fpl$dnaninf) - x$fpl$dretinf 0x080084c4 Section 12 dretinf.o(x$fpl$dretinf) - $v0 0x080084c4 Number 0 dretinf.o(x$fpl$dretinf) - x$fpl$dsub 0x080084d0 Section 468 daddsub_clz.o(x$fpl$dsub) - $v0 0x080084d0 Number 0 daddsub_clz.o(x$fpl$dsub) - _dsub1 0x080084e1 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) - x$fpl$fpinit 0x080086a4 Section 10 fpinit.o(x$fpl$fpinit) - $v0 0x080086a4 Number 0 fpinit.o(x$fpl$fpinit) - .constdata 0x080086ae Section 8 stm32f4xx_hal_dma.o(.constdata) - x$fpl$usenofp 0x080086ae Section 0 usenofp.o(x$fpl$usenofp) - flagBitshiftOffset 0x080086ae Data 8 stm32f4xx_hal_dma.o(.constdata) - .constdata 0x080086b6 Section 24 system_stm32f4xx.o(.constdata) + i.prov_adj_init 0x080069a4 Section 0 provalctrl.o(i.prov_adj_init) + i.prov_calibrate_pid 0x08006a5c Section 0 provalctrl.o(i.prov_calibrate_pid) + i.prov_ctrl 0x08006c28 Section 0 provalctrl.o(i.prov_ctrl) + i.prov_init 0x08006c94 Section 0 provalctrl.o(i.prov_init) + i.prov_set 0x08006f0c Section 0 provalctrl.o(i.prov_set) + i.readcoilstate_rtu 0x0800700c Section 0 modbus_rtu.o(i.readcoilstate_rtu) + i.readdisinputstate_rtu 0x0800715c Section 0 modbus_rtu.o(i.readdisinputstate_rtu) + i.readholdreg_rtu 0x080072a8 Section 0 modbus_rtu.o(i.readholdreg_rtu) + i.readinputreg_rtu 0x080073b4 Section 0 modbus_rtu.o(i.readinputreg_rtu) + i.setcs 0x080074b8 Section 0 ms5803.o(i.setcs) + i.tim6_cnt 0x08007520 Section 0 timer.o(i.tim6_cnt) + i.uart_send 0x0800772c Section 0 uarts.o(i.uart_send) + i.wf5803_ReadReg 0x08007740 Section 0 mf5803.o(i.wf5803_ReadReg) + i.wf5803_WriteReg 0x08007762 Section 0 mf5803.o(i.wf5803_WriteReg) + i.writemulticoil_rtu 0x08007784 Section 0 modbus_rtu.o(i.writemulticoil_rtu) + i.writemultireg_rtu 0x080078d0 Section 0 modbus_rtu.o(i.writemultireg_rtu) + i.writesinglecoil_rtu 0x080079d4 Section 0 modbus_rtu.o(i.writesinglecoil_rtu) + i.writesinglereg_rtu 0x08007a98 Section 0 modbus_rtu.o(i.writesinglereg_rtu) + x$fpl$dadd 0x08007b50 Section 336 daddsub_clz.o(x$fpl$dadd) + $v0 0x08007b50 Number 0 daddsub_clz.o(x$fpl$dadd) + _dadd1 0x08007b61 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) + x$fpl$ddiv 0x08007ca0 Section 688 ddiv.o(x$fpl$ddiv) + $v0 0x08007ca0 Number 0 ddiv.o(x$fpl$ddiv) + ddiv_entry 0x08007ca7 Thumb Code 0 ddiv.o(x$fpl$ddiv) + x$fpl$dfix 0x08007f50 Section 94 dfix.o(x$fpl$dfix) + $v0 0x08007f50 Number 0 dfix.o(x$fpl$dfix) + x$fpl$dfixu 0x08007fb0 Section 90 dfixu.o(x$fpl$dfixu) + $v0 0x08007fb0 Number 0 dfixu.o(x$fpl$dfixu) + x$fpl$dflt 0x0800800a Section 46 dflt_clz.o(x$fpl$dflt) + $v0 0x0800800a Number 0 dflt_clz.o(x$fpl$dflt) + x$fpl$dfltll 0x08008038 Section 162 dfltll_clz.o(x$fpl$dfltll) + $v0 0x08008038 Number 0 dfltll_clz.o(x$fpl$dfltll) + x$fpl$dmul 0x080080dc Section 340 dmul.o(x$fpl$dmul) + $v0 0x080080dc Number 0 dmul.o(x$fpl$dmul) + x$fpl$dnaninf 0x08008230 Section 156 dnaninf.o(x$fpl$dnaninf) + $v0 0x08008230 Number 0 dnaninf.o(x$fpl$dnaninf) + x$fpl$dretinf 0x080082cc Section 12 dretinf.o(x$fpl$dretinf) + $v0 0x080082cc Number 0 dretinf.o(x$fpl$dretinf) + x$fpl$dsub 0x080082d8 Section 468 daddsub_clz.o(x$fpl$dsub) + $v0 0x080082d8 Number 0 daddsub_clz.o(x$fpl$dsub) + _dsub1 0x080082e9 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) + x$fpl$fpinit 0x080084ac Section 10 fpinit.o(x$fpl$fpinit) + $v0 0x080084ac Number 0 fpinit.o(x$fpl$fpinit) + .constdata 0x080084b6 Section 8 stm32f4xx_hal_dma.o(.constdata) + x$fpl$usenofp 0x080084b6 Section 0 usenofp.o(x$fpl$usenofp) + flagBitshiftOffset 0x080084b6 Data 8 stm32f4xx_hal_dma.o(.constdata) + .constdata 0x080084be Section 24 system_stm32f4xx.o(.constdata) .data 0x20000000 Section 9 stm32f4xx_hal.o(.data) .data 0x2000000c Section 4 system_stm32f4xx.o(.data) .data 0x20000010 Section 24 ads1256.o(.data) @@ -3633,51 +3632,51 @@ Image Symbol Table modbus_process_rtu 0x08006285 Thumb Code 64 modbus_rtu.o(i.modbus_process_rtu) modbus_rtu_init 0x080062c9 Thumb Code 58 modbus_rtu.o(i.modbus_rtu_init) modbus_rx_cb 0x0800631d Thumb Code 98 modbus_rtu.o(i.modbus_rx_cb) - prov_adj 0x080063a1 Thumb Code 1504 provalctrl.o(i.prov_adj) - prov_adj_init 0x080069b9 Thumb Code 168 provalctrl.o(i.prov_adj_init) - prov_calibrate_pid 0x08006a71 Thumb Code 780 provalctrl.o(i.prov_calibrate_pid) - prov_ctrl 0x08006d89 Thumb Code 102 provalctrl.o(i.prov_ctrl) - prov_init 0x08006df5 Thumb Code 588 provalctrl.o(i.prov_init) - prov_set 0x08007069 Thumb Code 400 provalctrl.o(i.prov_set) - readcoilstate_rtu 0x08007205 Thumb Code 326 modbus_rtu.o(i.readcoilstate_rtu) - readdisinputstate_rtu 0x08007355 Thumb Code 322 modbus_rtu.o(i.readdisinputstate_rtu) - readholdreg_rtu 0x080074a1 Thumb Code 258 modbus_rtu.o(i.readholdreg_rtu) - readinputreg_rtu 0x080075ad Thumb Code 252 modbus_rtu.o(i.readinputreg_rtu) - setcs 0x080076b1 Thumb Code 86 ms5803.o(i.setcs) - tim6_cnt 0x08007719 Thumb Code 420 timer.o(i.tim6_cnt) - uart_send 0x08007925 Thumb Code 20 uarts.o(i.uart_send) - wf5803_ReadReg 0x08007939 Thumb Code 34 mf5803.o(i.wf5803_ReadReg) - wf5803_WriteReg 0x0800795b Thumb Code 34 mf5803.o(i.wf5803_WriteReg) - writemulticoil_rtu 0x0800797d Thumb Code 322 modbus_rtu.o(i.writemulticoil_rtu) - writemultireg_rtu 0x08007ac9 Thumb Code 252 modbus_rtu.o(i.writemultireg_rtu) - writesinglecoil_rtu 0x08007bcd Thumb Code 188 modbus_rtu.o(i.writesinglecoil_rtu) - writesinglereg_rtu 0x08007c91 Thumb Code 176 modbus_rtu.o(i.writesinglereg_rtu) - __aeabi_dadd 0x08007d49 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) - _dadd 0x08007d49 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) - __aeabi_ddiv 0x08007e99 Thumb Code 0 ddiv.o(x$fpl$ddiv) - _ddiv 0x08007e99 Thumb Code 552 ddiv.o(x$fpl$ddiv) - __aeabi_d2iz 0x08008149 Thumb Code 0 dfix.o(x$fpl$dfix) - _dfix 0x08008149 Thumb Code 94 dfix.o(x$fpl$dfix) - __aeabi_d2uiz 0x080081a9 Thumb Code 0 dfixu.o(x$fpl$dfixu) - _dfixu 0x080081a9 Thumb Code 90 dfixu.o(x$fpl$dfixu) - __aeabi_i2d 0x08008203 Thumb Code 0 dflt_clz.o(x$fpl$dflt) - _dflt 0x08008203 Thumb Code 46 dflt_clz.o(x$fpl$dflt) - __aeabi_l2d 0x08008231 Thumb Code 0 dfltll_clz.o(x$fpl$dfltll) - _ll_sto_d 0x08008231 Thumb Code 162 dfltll_clz.o(x$fpl$dfltll) - __aeabi_dmul 0x080082d5 Thumb Code 0 dmul.o(x$fpl$dmul) - _dmul 0x080082d5 Thumb Code 332 dmul.o(x$fpl$dmul) - __fpl_dnaninf 0x08008429 Thumb Code 156 dnaninf.o(x$fpl$dnaninf) - __fpl_dretinf 0x080084c5 Thumb Code 12 dretinf.o(x$fpl$dretinf) - __aeabi_dsub 0x080084d1 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) - _dsub 0x080084d1 Thumb Code 464 daddsub_clz.o(x$fpl$dsub) - _fp_init 0x080086a5 Thumb Code 10 fpinit.o(x$fpl$fpinit) - __fplib_config_fpu_vfp 0x080086ad Thumb Code 0 fpinit.o(x$fpl$fpinit) - __fplib_config_pureend_doubles 0x080086ad Thumb Code 0 fpinit.o(x$fpl$fpinit) - __I$use$fp 0x080086ae Number 0 usenofp.o(x$fpl$usenofp) - AHBPrescTable 0x080086b6 Data 16 system_stm32f4xx.o(.constdata) - APBPrescTable 0x080086c6 Data 8 system_stm32f4xx.o(.constdata) - Region$$Table$$Base 0x080086d0 Number 0 anon$$obj.o(Region$$Table) - Region$$Table$$Limit 0x080086f0 Number 0 anon$$obj.o(Region$$Table) + prov_adj 0x080063a1 Thumb Code 1488 provalctrl.o(i.prov_adj) + prov_adj_init 0x080069a5 Thumb Code 168 provalctrl.o(i.prov_adj_init) + prov_calibrate_pid 0x08006a5d Thumb Code 454 provalctrl.o(i.prov_calibrate_pid) + prov_ctrl 0x08006c29 Thumb Code 102 provalctrl.o(i.prov_ctrl) + prov_init 0x08006c95 Thumb Code 588 provalctrl.o(i.prov_init) + prov_set 0x08006f0d Thumb Code 244 provalctrl.o(i.prov_set) + readcoilstate_rtu 0x0800700d Thumb Code 326 modbus_rtu.o(i.readcoilstate_rtu) + readdisinputstate_rtu 0x0800715d Thumb Code 322 modbus_rtu.o(i.readdisinputstate_rtu) + readholdreg_rtu 0x080072a9 Thumb Code 258 modbus_rtu.o(i.readholdreg_rtu) + readinputreg_rtu 0x080073b5 Thumb Code 252 modbus_rtu.o(i.readinputreg_rtu) + setcs 0x080074b9 Thumb Code 86 ms5803.o(i.setcs) + tim6_cnt 0x08007521 Thumb Code 420 timer.o(i.tim6_cnt) + uart_send 0x0800772d Thumb Code 20 uarts.o(i.uart_send) + wf5803_ReadReg 0x08007741 Thumb Code 34 mf5803.o(i.wf5803_ReadReg) + wf5803_WriteReg 0x08007763 Thumb Code 34 mf5803.o(i.wf5803_WriteReg) + writemulticoil_rtu 0x08007785 Thumb Code 322 modbus_rtu.o(i.writemulticoil_rtu) + writemultireg_rtu 0x080078d1 Thumb Code 252 modbus_rtu.o(i.writemultireg_rtu) + writesinglecoil_rtu 0x080079d5 Thumb Code 188 modbus_rtu.o(i.writesinglecoil_rtu) + writesinglereg_rtu 0x08007a99 Thumb Code 176 modbus_rtu.o(i.writesinglereg_rtu) + __aeabi_dadd 0x08007b51 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) + _dadd 0x08007b51 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) + __aeabi_ddiv 0x08007ca1 Thumb Code 0 ddiv.o(x$fpl$ddiv) + _ddiv 0x08007ca1 Thumb Code 552 ddiv.o(x$fpl$ddiv) + __aeabi_d2iz 0x08007f51 Thumb Code 0 dfix.o(x$fpl$dfix) + _dfix 0x08007f51 Thumb Code 94 dfix.o(x$fpl$dfix) + __aeabi_d2uiz 0x08007fb1 Thumb Code 0 dfixu.o(x$fpl$dfixu) + _dfixu 0x08007fb1 Thumb Code 90 dfixu.o(x$fpl$dfixu) + __aeabi_i2d 0x0800800b Thumb Code 0 dflt_clz.o(x$fpl$dflt) + _dflt 0x0800800b Thumb Code 46 dflt_clz.o(x$fpl$dflt) + __aeabi_l2d 0x08008039 Thumb Code 0 dfltll_clz.o(x$fpl$dfltll) + _ll_sto_d 0x08008039 Thumb Code 162 dfltll_clz.o(x$fpl$dfltll) + __aeabi_dmul 0x080080dd Thumb Code 0 dmul.o(x$fpl$dmul) + _dmul 0x080080dd Thumb Code 332 dmul.o(x$fpl$dmul) + __fpl_dnaninf 0x08008231 Thumb Code 156 dnaninf.o(x$fpl$dnaninf) + __fpl_dretinf 0x080082cd Thumb Code 12 dretinf.o(x$fpl$dretinf) + __aeabi_dsub 0x080082d9 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) + _dsub 0x080082d9 Thumb Code 464 daddsub_clz.o(x$fpl$dsub) + _fp_init 0x080084ad Thumb Code 10 fpinit.o(x$fpl$fpinit) + __fplib_config_fpu_vfp 0x080084b5 Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fplib_config_pureend_doubles 0x080084b5 Thumb Code 0 fpinit.o(x$fpl$fpinit) + __I$use$fp 0x080084b6 Number 0 usenofp.o(x$fpl$usenofp) + AHBPrescTable 0x080084be Data 16 system_stm32f4xx.o(.constdata) + APBPrescTable 0x080084ce Data 8 system_stm32f4xx.o(.constdata) + Region$$Table$$Base 0x080084d8 Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x080084f8 Number 0 anon$$obj.o(Region$$Table) uwTick 0x20000000 Data 4 stm32f4xx_hal.o(.data) uwTickPrio 0x20000004 Data 4 stm32f4xx_hal.o(.data) uwTickFreq 0x20000008 Data 1 stm32f4xx_hal.o(.data) @@ -3800,9 +3799,9 @@ Memory Map of the image Image Entry point : 0x08000189 - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00008888, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00008710]) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00008690, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00008518]) - Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000086f0, Max: 0x00100000, ABSOLUTE) + Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000084f8, Max: 0x00100000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object @@ -4085,46 +4084,46 @@ Memory Map of the image 0x08006284 0x08006284 0x00000044 Code RO 5110 i.modbus_process_rtu modbus_rtu.o 0x080062c8 0x080062c8 0x00000054 Code RO 5111 i.modbus_rtu_init modbus_rtu.o 0x0800631c 0x0800631c 0x00000084 Code RO 5112 i.modbus_rx_cb modbus_rtu.o - 0x080063a0 0x080063a0 0x00000618 Code RO 5963 i.prov_adj provalctrl.o - 0x080069b8 0x080069b8 0x000000b8 Code RO 5964 i.prov_adj_init provalctrl.o - 0x08006a70 0x08006a70 0x00000318 Code RO 5965 i.prov_calibrate_pid provalctrl.o - 0x08006d88 0x08006d88 0x0000006c Code RO 5966 i.prov_ctrl provalctrl.o - 0x08006df4 0x08006df4 0x00000274 Code RO 5967 i.prov_init provalctrl.o - 0x08007068 0x08007068 0x0000019c Code RO 5968 i.prov_set provalctrl.o - 0x08007204 0x08007204 0x00000150 Code RO 5113 i.readcoilstate_rtu modbus_rtu.o - 0x08007354 0x08007354 0x0000014c Code RO 5114 i.readdisinputstate_rtu modbus_rtu.o - 0x080074a0 0x080074a0 0x0000010c Code RO 5115 i.readholdreg_rtu modbus_rtu.o - 0x080075ac 0x080075ac 0x00000104 Code RO 5116 i.readinputreg_rtu modbus_rtu.o - 0x080076b0 0x080076b0 0x00000068 Code RO 4749 i.setcs ms5803.o - 0x08007718 0x08007718 0x0000020c Code RO 5867 i.tim6_cnt timer.o - 0x08007924 0x08007924 0x00000014 Code RO 5910 i.uart_send uarts.o - 0x08007938 0x08007938 0x00000022 Code RO 4970 i.wf5803_ReadReg mf5803.o - 0x0800795a 0x0800795a 0x00000022 Code RO 4972 i.wf5803_WriteReg mf5803.o - 0x0800797c 0x0800797c 0x0000014c Code RO 5117 i.writemulticoil_rtu modbus_rtu.o - 0x08007ac8 0x08007ac8 0x00000104 Code RO 5118 i.writemultireg_rtu modbus_rtu.o - 0x08007bcc 0x08007bcc 0x000000c4 Code RO 5119 i.writesinglecoil_rtu modbus_rtu.o - 0x08007c90 0x08007c90 0x000000b8 Code RO 5120 i.writesinglereg_rtu modbus_rtu.o - 0x08007d48 0x08007d48 0x00000150 Code RO 6188 x$fpl$dadd fz_wm.l(daddsub_clz.o) - 0x08007e98 0x08007e98 0x000002b0 Code RO 6195 x$fpl$ddiv fz_wm.l(ddiv.o) - 0x08008148 0x08008148 0x0000005e Code RO 6198 x$fpl$dfix fz_wm.l(dfix.o) - 0x080081a6 0x080081a6 0x00000002 PAD - 0x080081a8 0x080081a8 0x0000005a Code RO 6206 x$fpl$dfixu fz_wm.l(dfixu.o) - 0x08008202 0x08008202 0x0000002e Code RO 6211 x$fpl$dflt fz_wm.l(dflt_clz.o) - 0x08008230 0x08008230 0x000000a2 Code RO 6216 x$fpl$dfltll fz_wm.l(dfltll_clz.o) - 0x080082d2 0x080082d2 0x00000002 PAD - 0x080082d4 0x080082d4 0x00000154 Code RO 6220 x$fpl$dmul fz_wm.l(dmul.o) - 0x08008428 0x08008428 0x0000009c Code RO 6252 x$fpl$dnaninf fz_wm.l(dnaninf.o) - 0x080084c4 0x080084c4 0x0000000c Code RO 6254 x$fpl$dretinf fz_wm.l(dretinf.o) - 0x080084d0 0x080084d0 0x000001d4 Code RO 6190 x$fpl$dsub fz_wm.l(daddsub_clz.o) - 0x080086a4 0x080086a4 0x0000000a Code RO 6423 x$fpl$fpinit fz_wm.l(fpinit.o) - 0x080086ae 0x080086ae 0x00000000 Code RO 6260 x$fpl$usenofp fz_wm.l(usenofp.o) - 0x080086ae 0x080086ae 0x00000008 Data RO 1572 .constdata stm32f4xx_hal_dma.o - 0x080086b6 0x080086b6 0x00000018 Data RO 4417 .constdata system_stm32f4xx.o - 0x080086ce 0x080086ce 0x00000002 PAD - 0x080086d0 0x080086d0 0x00000020 Data RO 6479 Region$$Table anon$$obj.o + 0x080063a0 0x080063a0 0x00000604 Code RO 5963 i.prov_adj provalctrl.o + 0x080069a4 0x080069a4 0x000000b8 Code RO 5964 i.prov_adj_init provalctrl.o + 0x08006a5c 0x08006a5c 0x000001cc Code RO 5965 i.prov_calibrate_pid provalctrl.o + 0x08006c28 0x08006c28 0x0000006c Code RO 5966 i.prov_ctrl provalctrl.o + 0x08006c94 0x08006c94 0x00000278 Code RO 5967 i.prov_init provalctrl.o + 0x08006f0c 0x08006f0c 0x00000100 Code RO 5968 i.prov_set provalctrl.o + 0x0800700c 0x0800700c 0x00000150 Code RO 5113 i.readcoilstate_rtu modbus_rtu.o + 0x0800715c 0x0800715c 0x0000014c Code RO 5114 i.readdisinputstate_rtu modbus_rtu.o + 0x080072a8 0x080072a8 0x0000010c Code RO 5115 i.readholdreg_rtu modbus_rtu.o + 0x080073b4 0x080073b4 0x00000104 Code RO 5116 i.readinputreg_rtu modbus_rtu.o + 0x080074b8 0x080074b8 0x00000068 Code RO 4749 i.setcs ms5803.o + 0x08007520 0x08007520 0x0000020c Code RO 5867 i.tim6_cnt timer.o + 0x0800772c 0x0800772c 0x00000014 Code RO 5910 i.uart_send uarts.o + 0x08007740 0x08007740 0x00000022 Code RO 4970 i.wf5803_ReadReg mf5803.o + 0x08007762 0x08007762 0x00000022 Code RO 4972 i.wf5803_WriteReg mf5803.o + 0x08007784 0x08007784 0x0000014c Code RO 5117 i.writemulticoil_rtu modbus_rtu.o + 0x080078d0 0x080078d0 0x00000104 Code RO 5118 i.writemultireg_rtu modbus_rtu.o + 0x080079d4 0x080079d4 0x000000c4 Code RO 5119 i.writesinglecoil_rtu modbus_rtu.o + 0x08007a98 0x08007a98 0x000000b8 Code RO 5120 i.writesinglereg_rtu modbus_rtu.o + 0x08007b50 0x08007b50 0x00000150 Code RO 6188 x$fpl$dadd fz_wm.l(daddsub_clz.o) + 0x08007ca0 0x08007ca0 0x000002b0 Code RO 6195 x$fpl$ddiv fz_wm.l(ddiv.o) + 0x08007f50 0x08007f50 0x0000005e Code RO 6198 x$fpl$dfix fz_wm.l(dfix.o) + 0x08007fae 0x08007fae 0x00000002 PAD + 0x08007fb0 0x08007fb0 0x0000005a Code RO 6206 x$fpl$dfixu fz_wm.l(dfixu.o) + 0x0800800a 0x0800800a 0x0000002e Code RO 6211 x$fpl$dflt fz_wm.l(dflt_clz.o) + 0x08008038 0x08008038 0x000000a2 Code RO 6216 x$fpl$dfltll fz_wm.l(dfltll_clz.o) + 0x080080da 0x080080da 0x00000002 PAD + 0x080080dc 0x080080dc 0x00000154 Code RO 6220 x$fpl$dmul fz_wm.l(dmul.o) + 0x08008230 0x08008230 0x0000009c Code RO 6252 x$fpl$dnaninf fz_wm.l(dnaninf.o) + 0x080082cc 0x080082cc 0x0000000c Code RO 6254 x$fpl$dretinf fz_wm.l(dretinf.o) + 0x080082d8 0x080082d8 0x000001d4 Code RO 6190 x$fpl$dsub fz_wm.l(daddsub_clz.o) + 0x080084ac 0x080084ac 0x0000000a Code RO 6423 x$fpl$fpinit fz_wm.l(fpinit.o) + 0x080084b6 0x080084b6 0x00000000 Code RO 6260 x$fpl$usenofp fz_wm.l(usenofp.o) + 0x080084b6 0x080084b6 0x00000008 Data RO 1572 .constdata stm32f4xx_hal_dma.o + 0x080084be 0x080084be 0x00000018 Data RO 4417 .constdata system_stm32f4xx.o + 0x080084d6 0x080084d6 0x00000002 PAD + 0x080084d8 0x080084d8 0x00000020 Data RO 6479 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x080086f0, Size: 0x00001bc8, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000020]) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x080084f8, Size: 0x00001bc8, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000020]) Exec Addr Load Addr Size Type Attr Idx E Section Name Object @@ -4165,7 +4164,7 @@ Memory Map of the image 0x200017c8 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o - Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08008710, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) + Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08008518, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) **** No section assigned to this execution region **** @@ -4196,7 +4195,7 @@ Image component sizes 358 32 0 110 196 7180 modbus.o 2760 146 0 0 2048 13994 modbus_rtu.o 256 50 0 17 0 3199 ms5803.o - 4450 256 0 33 456 9233 provalctrl.o + 3946 250 0 33 456 9081 provalctrl.o 204 22 0 0 88 1861 spi.o 64 26 392 0 1536 892 startup_stm32f407xx.o 212 36 0 9 0 9777 stm32f4xx_hal.o @@ -4219,7 +4218,7 @@ Image component sizes 1288 114 0 0 840 5222 usart.o ---------------------------------------------------------------------- - 30720 2048 458 408 6608 946713 Object Totals + 30216 2042 458 408 6608 946561 Object Totals 0 0 32 0 0 0 (incl. Generated) 30 0 2 13 3 0 (incl. Padding) @@ -4284,15 +4283,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 34086 2240 458 408 6704 926561 Grand Totals - 34086 2240 458 32 6704 926561 ELF Image Totals (compressed) - 34086 2240 458 32 0 0 ROM Totals + 33582 2234 458 408 6704 926409 Grand Totals + 33582 2234 458 32 6704 926409 ELF Image Totals (compressed) + 33582 2234 458 32 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 34544 ( 33.73kB) + Total RO Size (Code + RO Data) 34040 ( 33.24kB) Total RW Size (RW Data + ZI Data) 7112 ( 6.95kB) - Total ROM Size (Code + RO Data + RW Data) 34576 ( 33.77kB) + Total ROM Size (Code + RO Data + RW Data) 34072 ( 33.27kB) ============================================================================== diff --git a/MDK-ARM/VOQC/VOQC_VOQC.dep b/MDK-ARM/VOQC/VOQC_VOQC.dep index adca700..606a4f5 100644 --- a/MDK-ARM/VOQC/VOQC_VOQC.dep +++ b/MDK-ARM/VOQC/VOQC_VOQC.dep @@ -2242,7 +2242,7 @@ I (../Core/Inc/spi.h)(0x668F85FC) I (../CH395Q/ch395cmd.h)(0x664FF969) I (C:\Users\admin\Desktop\wujunchao\99_General softwares\Keil_v5\ARM\ARM Compiler_5_06\include\string.h)(0x5E8E3CC2) I (C:\Users\admin\Desktop\wujunchao\99_General softwares\Keil_v5\ARM\ARM Compiler_5_06\include\stdio.h)(0x5E8E3CC2) -F (..\users\Src\provalctrl.c)(0x66CFD3CB)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 -Otime --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../board/Inc -I ../CH395Q -I ../modbus/Inc -I ../users/Inc -I.\RTE\_VOQC -IC:\Users\admin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include -IC:\Users\admin\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o voqc\provalctrl.o --omf_browse voqc\provalctrl.crf --depend voqc\provalctrl.d) +F (..\users\Src\provalctrl.c)(0x66D517CB)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 -Otime --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../board/Inc -I ../CH395Q -I ../modbus/Inc -I ../users/Inc -I.\RTE\_VOQC -IC:\Users\admin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include -IC:\Users\admin\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o voqc\provalctrl.o --omf_browse voqc\provalctrl.crf --depend voqc\provalctrl.d) I (../users/Inc/provalctrl.h)(0x66CFD26E) I (../modbus/Inc/modbus.h)(0x66CEC5B0) I (../users/Inc/timer.h)(0x66CEDE30) diff --git a/MDK-ARM/VOQC/provalctrl.crf b/MDK-ARM/VOQC/provalctrl.crf index 52b136c..8b9caeb 100644 Binary files a/MDK-ARM/VOQC/provalctrl.crf and b/MDK-ARM/VOQC/provalctrl.crf differ diff --git a/MDK-ARM/VOQC/provalctrl.o b/MDK-ARM/VOQC/provalctrl.o index 92f6466..11d5149 100644 Binary files a/MDK-ARM/VOQC/provalctrl.o and b/MDK-ARM/VOQC/provalctrl.o differ diff --git a/users/Src/provalctrl.c b/users/Src/provalctrl.c index e604c5f..d46af84 100644 --- a/users/Src/provalctrl.c +++ b/users/Src/provalctrl.c @@ -28,13 +28,13 @@ void prov_init(void) //不同比例阀的初始参数不一样 pv_one.input_max = 20; //输入电流上限20mA pv_one.bias = 0; //偏差 = 目标气压百分比 - 当前气压百分比 pv_one.bias_previous = 0; //前一个时刻的偏差 - pv_one.bias_area = 0.5; //允许的误差范围，±a(%) + pv_one.bias_area = 0.3; //允许的误差范围，±a(%) pv_one.Kp = data_rd[0]; //比例系数 pv_one.Ti = (data_rd[1] == 0)?(1000000):(data_rd[1]); //积分时间，位于分母 pv_one.Ing = 0; //积分输出 - pv_one.Ing_max = 50; //积分上限 - pv_one.Ing_min = -50; //积分下限 + pv_one.Ing_max = 10000; //积分上限 + pv_one.Ing_min = -10000; //积分下限 pv_one.Ing_sum = 0; //偏差求和 pv_one.Td = data_rd[2]; //微分时间 pv_one.Ts = 0.05; //采样周期，50ms @@ -77,8 +77,8 @@ void prov_init(void) //不同比例阀的初始参数不一样 pv_two.Kp = data_rd[0]; pv_two.Ti = (data_rd[1] == 0)?(1000000):(data_rd[1]); //积分时间 pv_two.Ing = 0; - pv_two.Ing_max = 50; - pv_two.Ing_min = -50; + pv_two.Ing_max = 10000; + pv_two.Ing_min = -10000; pv_two.Ing_sum = 0; pv_two.Td = data_rd[2]; pv_two.Ts = 0.05; //采样周期，50ms @@ -149,25 +149,6 @@ void prov_set(float target_p, propotion_valve *pvx) //比例阀目标值设定 // pvx->cstep_max = pvx->current_input + (float)0.8; //逐步输出调节上限 // pvx->cstep_min = pvx->current_input - (float)0.8; //逐步输出调节下限 // pvx->cstep_wait = 0; //等待计数清零 - switch(pvx->gas_direction) //根据气体方向对输出做补偿 - { - case GAS_IN: - { - pvx->current_input = ( (pvx->current_input*(1 - out_makeup)) <= pvx->input_min )?(pvx->input_min):(pvx->current_input*(1 - out_makeup) ); //输出补偿 - } - break; - - case GAS_OUT: - { - pvx->current_input = ( (pvx->current_input*(1 - out_makeup)) <= pvx->input_min )?(pvx->input_min):(pvx->current_input*(1 - out_makeup)); //输出补偿 - } - break; - - default: - { - } - break; - } pvx->slow_down_flg = 0; //减速标志清零 @@ -201,42 +182,40 @@ void prov_calibrate_pid(propotion_valve *pvx) pvx->Div = ( pvx->Td / pvx->Ts ) * ( pvx->bias - pvx->bias_previous ); //微分项 pvx->pidout = pvx->Kp*( pvx->bias + pvx->Ing + pvx->Div ); //pid输出 - pvx->current_input += (pvx->pidout/100) * (pvx->input_max - pvx->input_min); + pvx->current_input = (pvx->pidout/100) * (pvx->input_max - pvx->input_min); pvx->bias_previous = pvx->bias; //更新前一个时刻的偏差 - if(pvx->slow_down_flg == 1) //是否已经减速过 - { +// if(pvx->slow_down_flg == 1) //是否已经减速过 +// { pvx->current_input = (pvx->current_input < pvx->pidout_max)?(pvx->current_input):(pvx->pidout_max); //pid输出限幅 pvx->current_input = (pvx->current_input > pvx->pidout_min)?(pvx->current_input):(pvx->pidout_min); - }else - { - switch(pvx->gas_direction) //根据气体方向对输出范围做补偿 - { - case GAS_IN: - { - pvx->current_input = (pvx->current_input < (pvx->pidout_max*(1 - out_makeup) ) )?(pvx->current_input):(pvx->pidout_max*(1 - out_makeup) ); //pid输出限幅 - pvx->current_input = (pvx->current_input > (pvx->pidout_min*(1 - out_makeup) ) )?(pvx->current_input):(pvx->pidout_min*(1 - out_makeup) ); - } - break; - - case GAS_OUT: - { - pvx->current_input = (pvx->current_input < (pvx->pidout_max*(1 - out_makeup) ) )?(pvx->current_input):(pvx->pidout_max*(1 - out_makeup) ); //pid输出限幅 - pvx->current_input = (pvx->current_input > (pvx->pidout_min*(1 - out_makeup) ) )?(pvx->current_input):(pvx->pidout_min*(1 - out_makeup) ); - } - break; - - default: - { - } - break; - } +// }else +// { +// switch(pvx->gas_direction) //根据气体方向对输出范围做补偿 +// { +// case GAS_IN: +// { + +// } +// break; +// +// case GAS_OUT: +// { + +// } +// break; +// +// default: +// { +// } +// break; +// } if( abs_bias(pvx->previous_pressure[0] - pvx->previous_pressure[SLDW_PRES_OUT - 1]) <= 10 ) { pvx->slow_down_flg = 1; } - } +// } pvx->current_input = (pvx->current_input < pvx->input_max)?(pvx->current_input):(pvx->input_max); //dac输出限幅 pvx->current_input = (pvx->current_input > pvx->input_min)?(pvx->current_input):(pvx->input_min); @@ -244,8 +223,7 @@ void prov_calibrate_pid(propotion_valve *pvx) pvx->pvout(pvx->current_input); //dac输出 }else { - pvx->Ing_sum = 0; - pvx->Ing = 0; + } } @@ -563,9 +541,9 @@ void prov_adj(propotion_valve *pvx, prov_adjust *adj_pvx) /* PI [0.45,0.8]*/ /* PID [0.6,0.5,0.12]*/ - pvx->Kp = (float)0.6 * ( 4 * (float)0.1 ) / ( (float)3.1415 * adj_pvx->relay_A ) *(float)0.5;//偏大 - pvx->Ti = (float)0.5 * adj_pvx->relay_Tc/1000 * 100; //偏小 - pvx->Td = (float)0.12 * adj_pvx->relay_Tc/1000 * (float)0.5; //偏大 + pvx->Kp = (float)0.6 * ( 4 * (float)0.1 ) / ( (float)3.1415 * adj_pvx->relay_A ); + pvx->Ti = (float)0.5 * adj_pvx->relay_Tc/1000 / 10; + pvx->Td = (float)0.12 * adj_pvx->relay_Tc/1000; switch(pvx->tag)