├── .gitignore
├── PID.c
├── main.c
├── README.md
└── PID.h


/.gitignore:
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1 | .vscode
2 | 


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/PID.c:
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https://raw.githubusercontent.com/WangHongxi2001/PID_Library/HEAD/PID.c


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/main.c:
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https://raw.githubusercontent.com/WangHongxi2001/PID_Library/HEAD/main.c


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/README.md:
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 1 |   ******************************************************************************
 2 |   * PID_Library
 3 |   * @author  Hongxi Wong <hongxiw0x7d1@foxmail.com>
 4 |   * @version V1.0.5
 5 |   * @date    2020/5/1
 6 |   *
 7 |   * Reference: Brett Beauregard(https://github.com/br3ttb/Arduino-PID-Library)
 8 |   ******************************************************************************
 9 |   * @attention 
10 |   * For more details, please see https://www.cnblogs.com/HongxiWong/p/12404424.html
11 |   ******************************************************************************
12 | 


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/PID.h:
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  1 | /**
  2 |   ******************************************************************************
  3 |   * @file	 pid.h
  4 |   * @author  Hongxi Wong
  5 |   * @version V1.0.6
  6 |   * @date    2019/12/17
  7 |   * @brief   
  8 |   ******************************************************************************
  9 |   * @attention
 10 |   *
 11 |   ******************************************************************************
 12 |   */
 13 | #ifndef _PID_H
 14 | #define _PID_H
 15 | 
 16 | #include "stdint.h"
 17 | 
 18 | #define ABS(x) ((x > 0) ? x : -x)
 19 | 
 20 | typedef enum pid_Improvement_e
 21 | {
 22 |     NONE = 0X00,                        //0000 0000
 23 |     Integral_Limit = 0x01,              //0000 0001
 24 |     Derivative_On_Measurement = 0x02,   //0000 0010
 25 |     Trapezoid_Intergral = 0x04,         //0000 0100
 26 |     Proportional_On_Measurement = 0x08, //0000 1000
 27 |     OutputFilter = 0x10,                //0001 0000
 28 |     ChangingIntegralRate = 0x20,        //0010 0000
 29 |     DerivativeFilter = 0x40,            //0100 0000
 30 |     ErrorHandle = 0x80,                 //1000 0000
 31 | } PID_Improvement_e;
 32 | 
 33 | typedef enum errorType_e
 34 | {
 35 |     PID_ERROR_NONE = 0x00U,
 36 |     Motor_Blocked = 0x01U
 37 | } ErrorType_e;
 38 | 
 39 | typedef struct
 40 | {
 41 |     uint64_t ERRORCount;
 42 |     ErrorType_e ERRORType;
 43 | } PID_ErrorHandler_t;
 44 | 
 45 | typedef struct _PID_TypeDef
 46 | {
 47 |     float Target;
 48 |     float LastNoneZeroTarget;
 49 |     float Kp;
 50 |     float Ki;
 51 |     float Kd;
 52 | 
 53 |     float Measure;
 54 |     float Last_Measure;
 55 |     float Err;
 56 |     float Last_Err;
 57 | 
 58 |     float Pout;
 59 |     float Iout;
 60 |     float Dout;
 61 |     float ITerm;
 62 | 
 63 |     float Output;
 64 |     float Last_Output;
 65 |     float Last_Dout;
 66 | 
 67 |     float MaxOut;
 68 |     float IntegralLimit;
 69 |     float DeadBand;
 70 |     float ControlPeriod;
 71 |     float MaxErr;
 72 |     float ScalarA; //For Changing Integral
 73 |     float ScalarB; //ITerm = Err*((A-abs(err)+B)/A)  when B<|err|<A+B
 74 |     float Output_Filtering_Coefficient;
 75 |     float Derivative_Filtering_Coefficient;
 76 | 
 77 |     uint32_t thistime;
 78 |     uint32_t lasttime;
 79 |     uint8_t dtime;
 80 | 
 81 |     uint8_t Improve;
 82 | 
 83 |     PID_ErrorHandler_t ERRORHandler;
 84 | 
 85 |     void (*PID_param_init)(
 86 |         struct _PID_TypeDef *pid,
 87 |         uint16_t maxOut,
 88 |         uint16_t integralLimit,
 89 |         float deadband,
 90 |         float Kp,
 91 |         float ki,
 92 |         float kd,
 93 |         float A,
 94 |         float B,
 95 |         float output_filtering_coefficient,
 96 |         float derivative_filtering_coefficient,
 97 |         uint8_t improve);
 98 | 
 99 |     void (*PID_reset)(
100 |         struct _PID_TypeDef *pid,
101 |         float Kp,
102 |         float ki,
103 |         float kd);
104 | } PID_TypeDef;
105 | 
106 | static void f_Trapezoid_Intergral(PID_TypeDef *pid);
107 | static void f_Integral_Limit(PID_TypeDef *pid);
108 | static void f_Derivative_On_Measurement(PID_TypeDef *pid);
109 | static void f_Changing_Integral_Rate(PID_TypeDef *pid);
110 | static void f_Output_Filter(PID_TypeDef *pid);
111 | static void f_Derivative_Filter(PID_TypeDef *pid);
112 | static void f_Output_Limit(PID_TypeDef *pid);
113 | static void f_Proportion_Limit(PID_TypeDef *pid);
114 | static void f_PID_ErrorHandle(PID_TypeDef *pid);
115 | 
116 | void PID_Init(
117 |     PID_TypeDef *pid,
118 |     uint16_t max_out,
119 |     uint16_t intergral_limit,
120 |     float deadband,
121 | 
122 |     float kp,
123 |     float ki,
124 |     float kd,
125 | 
126 |     float A,
127 |     float B,
128 | 
129 |     float output_filtering_coefficient,
130 |     float derivative_filtering_coefficient,
131 | 
132 |     uint8_t improve);
133 | float PID_Calculate(PID_TypeDef *pid, float measure, float target);
134 | 		
135 | #endif
136 | 


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