https://eroro.tistory.com/542
ADC로 전류값을 읽어온 후 180mA로 타겟값을 맞췄습니다. (미제어시 125mA ~ 170mA 정도 소요)
=> arm에서 제공하는 arm_cortexMxxx_math.lib를 사용
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#define TAGET_ADC 1000 void PID_ADC(uint8_t *chpADC, uint8_t chSize) { Get_RAWADC(s_chpBuf[s_ADCpointer++]); PID_CurrentControl(Average(s_chpBuf, ADCCNT, 1), TAGET_ADC); if(s_ADCpointer >= ADCCNT){ s_ADCpointer = 0; } } /******************************************************************************* * Function Name : * Parameters : None * Return : None * Description : *******************************************************************************/ void Display(void) { DEBUGPRINT("ADC_Volt %d, %fV, ", Average(s_chpBuf, ADCCNT, 0), Voltage_Calc(Average(s_chpBuf, ADCCNT, 0))); DEBUGPRINT("ADC_Curr %d, %fA, ", Average(s_chpBuf, ADCCNT, 1), Current_Calc(Average(s_chpBuf, ADCCNT, 1))); DEBUGPRINT("ADC_Temp %d, %d \r\n", Average(s_chpBuf, ADCCNT, 2), __LL_ADC_CALC_TEMPERATURE(3300, Average(s_chpBuf, ADCCNT, 2), LL_ADC_RESOLUTION)); } /******************************************************************************* * Function Name : * Parameters : None * Return : None * Description : *******************************************************************************/ void Set_DutyCycle(uint32_t D) { uint32_t P; /* Pulse duration */ if(D == 0){ LL_TIM_OC_SetCompareCH1(TIM1, PWMRANGE); } else{ P = PWMRANGE - D; LL_TIM_OC_SetCompareCH1(TIM1, P); } } /* Includes ------------------------------------------------------------------*/ #include "usr_pid.h" #include "usr_usart.h" #include "usr_timer.h" #include "usr_system.h" /* Private variables ---------------------------------------------------------*/ arm_pid_instance_f32 PID_Current; /* Current */ #define PID_PARAM_KP 100 /* Proporcional */ #define PID_PARAM_KI 0.2 /* Integral */ #define PID_PARAM_KD 10 /* Derivative */ /* Private macro -------------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/ /******************************************************************************* * Function Name : * Parameters : None * Return : None * Description : *******************************************************************************/ void Config_PID(void) { /* Set this for your needs */ PID_Current.Kp = PID_PARAM_KP; /* Proporcional */ PID_Current.Ki = PID_PARAM_KI; /* Integral */ PID_Current.Kd = PID_PARAM_KD; /* Derivative */ /* Initialize PID system, float32_t format */ arm_pid_init_f32(&PID_Current, 1); } /******************************************************************************* * Function Name : * Parameters : None * Return : None * Description : *******************************************************************************/ void PID_CurrentControl(float a_fCurr, float a_fTargetCurr) { float pid_error = 0; /* Duty cycle for PWM */ float duty = 0; /* Calculate error */ pid_error = a_fTargetCurr - a_fCurr; /* Calculate PID here, argument is error */ /* Output data will be returned, we will use it as duty cycle parameter */ duty = arm_pid_f32(&PID_Current, pid_error); Set_DutyCycle(duty); } |