54 lines
1.2 KiB
C
54 lines
1.2 KiB
C
#ifndef __WORK_H__
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#define __WORK_H__
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#include "main.h"
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#include "key.h"
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#include "pid.h"
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#include "filter.h"
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typedef enum
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{
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// PWM占空比映射到电机
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WORK_PWM_MAP = 0,
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// 电机位置控制
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WORK_MOTOR_POS = 1,
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// 电机速度控制
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WORK_MOTOR_SPEED = 2,
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// S曲线
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WORK_S_CURVE = 3,
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} work_e;
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typedef struct
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{
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work_e type;
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uint8_t timer_cycle; // 定时器周期
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uint32_t enter_cnt; // 进入次数
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int32_t encoder_cnt; // 编码器位置
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int32_t encoder_show; // 滤波后的编码器位置
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float32 pwm_percent; // PWM占空比
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uint32_t pwm_feq; // PWM频率
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uint16_t pwm_arr; // PWM自动重装载值
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pid_t pid;
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pid_common_position_t *position;
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pid_common_increment_t *increment;
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struct
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{
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float32 kp;
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float32 ki;
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float32 kd;
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float32 dead_zone;
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} pid_params;
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int32_t target_pos; // 目标位置
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int32_t target_speed; // 目标速度
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int32_t target_speed_filter;
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lpf_t encoder_lpf;
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lpf_t target_speed_lpf;
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} work_t;
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extern work_t work;
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void work_init(void);
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void work_process(void);
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void work_key_handle_cb(button_id_e id);
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void work_encoder_exti(void);
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#endif // __WORK_H__
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