172 lines
4.0 KiB
C
172 lines
4.0 KiB
C
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#ifndef __MODE_PWMP_H__
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#define __MODE_PWMP_H__
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#include "filter.h"
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#include "mode_def.h"
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#include "pid_zh1.h"
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#include "mode_pwmp_adjust.h"
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#define SYS_TICK 10
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#define TASK_DUTY 25
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#define TRAVEL_VELOCITY_MIN 0.05f
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typedef enum
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{
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MODEL_L_12_1,
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MODEL_L_23_1,
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MODEL_L_34_1,
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MODEL_L_45_1,
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} model_type_e;
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typedef enum
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{
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PWMP_ADJUST_IDEL,
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PWMP_ADJUST_VALVE, // 整定阀门 位置0 位置100 上行时间、速度、加速度 下行时间、速度、加速度
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PWMP_ADJUST_IP, // 整定ip
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PWMP_ADJUST_PID, // PID
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PWMP_ADJUST_CALCULATE, // 换算
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PWMP_ADJUST_SAVE, // 存储变量
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PWMP_ADJUST_STOP, // 停止
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PWMP_ADJUST_FAIL, // 整定失败
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} mode_pwmp_adjust_state_e; // 整定状态
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#define PWMP_ADJUST_STEP LCD_ADJUST_STOP // 整定步骤
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typedef enum
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{
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PWMP_PROCESS_CONTROL,
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PWMP_PROCESS_CONTROL_STOP,
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PWMP_PROCESS_ADJUST,
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PWMP_PROCESS_ADJUST_STOP,
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PWMP_PROCESS_TEST,
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} mode_pwmp_process_state_e; // 处理状态
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typedef struct
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{
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lpf_window_t target_lpf_window;
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lpf_window_t actual_lpf_window;
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lpf_t target_lpf;
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lpf_t actual_lpf;
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kalman_t target_kalman;
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kalman_t actual_kalman;
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} mode_pwmp_filter_t;
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// 蓝牙控制参数类型
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typedef struct
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{
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uint32_t t;
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} ble_ctrl_t;
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// 速度整定控制参数类型
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typedef struct
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{
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float s;
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float t;
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float v1;
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float v2;
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float a;
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} velocity_ctrl_t;
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// 阀门整定控制参数类型
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typedef struct
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{
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uint8_t step;
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uint32_t t;
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uint32_t count;
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} valve_tune_t;
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typedef enum
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{
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IP_POSITIVE_ACTION,
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IP_NEGATIVE_NATION,
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} IP_ACTION_TYPE_t;
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// ip整定控制参数类型
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typedef struct
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{
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uint8_t step;
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uint16_t out, out_min, out_max, out_step;
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uint32_t t;
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} ip_tune_t;
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// pid整定控制参数类型
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typedef struct
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{
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uint8_t step, pre_step;
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uint32_t t;
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} pid_tune_t;
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// 所有整定控制参数类型
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typedef struct
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{
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uint8_t step;
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TUNE_ID_t tune_id;
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velocity_ctrl_t velocity;
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valve_tune_t valve;
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ip_tune_t ip;
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pid_tune_t pid;
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} tune_ctrl_t;
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// 过程控制参数类型
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typedef struct
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{
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uint32_t t;
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float32 output;
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velocity_ctrl_t velocity;
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ble_ctrl_t ble;
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} process_ctrl_t;
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typedef struct
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{
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float Kc, Tc;
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float kp, ki, kd;
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} pid_storage_t;
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// 整定结果保存参数类型
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typedef struct
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{
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uint8_t tuned_flag;
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uint8_t process_change_flag; // 磁条接收的反馈电压由大变小 0 由小变大 1
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uint8_t magnetic_dir;
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uint16_t ad_0;
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uint16_t ad_100;
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model_type_e model_type;
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float v_l2h, v_h2l;
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float t_l2h, t_h2l;
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float s;
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float ip_ctrl_min;
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float ip_ctrl_max;
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pid_storage_t inner; // 内环整定参数
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pid_storage_t outer; // 外环整定参数
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} pwmp_storage_pars_t;
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// pwmp 对象类型
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typedef struct
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{
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uint8_t lcd_adjust_step; ///< LCD自整定流程状态
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uint8_t auto_tune_state; ///< 自整定状态 0：未整定 1：整定中 2：整定完成 3：整定失败
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uint16_t current_adc; ///< 当前位置反馈的AD值
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uint8_t process_state; ///< 处理状态
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uint8_t adjust_state; ///< 整定状态
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pwmp_storage_pars_t *data; ///< 存储参数
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void (*params_save_cb)(void); ///< 参数保存回调函数
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mode_pwmp_filter_t filter; ///< 滤波
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process_ctrl_t process_ctrl; ///< 过程控制对象
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} mode_pwmp_t;
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void mode_pwmp_init(mode_interface_req_t *req, uint16_t positioner_model, pwmp_storage_pars_t *params, void (*params_save_cb)(void));
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void mode_pwmp_dinit(void);
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void mode_pwmp_process(void);
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void pwmp_process_state_set(mode_pwmp_process_state_e state);
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uint8_t pwmp_process_adjust_state_get(void); ///< 获取整定过程
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uint8_t pwmp_process_adjust_result_get(void); ///< 获取整定结果
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BOOL pwmp_process_idle(void); // 是否空闲(在进入PID控制区域不要绘图)
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BOOL pwmp_process_is_adjust(void); ///< 是否正在整定
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BOOL pwmp_algorithm_calibrated_status(void);
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#endif
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