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[MOD]: Add PID Task

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This commit is contained in:
but0n 2016-11-28 22:41:31 +08:00
parent 848805f6e4
commit 4f0fca8b92
3 changed files with 47 additions and 12 deletions
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1
libs/include/mpu6050.h
View File

@ -60,7 +60,6 @@ typedef struct{
}SixAxis, *pSixAxis; }SixAxis, *pSixAxis;
void initLED();
void MPU_Sigle_Write(unsigned char reg_addr, unsigned char reg_data); void MPU_Sigle_Write(unsigned char reg_addr, unsigned char reg_data);
unsigned char MPU_Sigle_Read(unsigned reg_addr); unsigned char MPU_Sigle_Read(unsigned reg_addr);
short MPU_GetData(unsigned char REG_Addr); short MPU_GetData(unsigned char REG_Addr);

9
libs/source/uart.c
View File

@ -108,15 +108,6 @@ unsigned char uart_Float2Char(float value) {
} }
void uart_sendStr(char *cmd) { void uart_sendStr(char *cmd) {
// unsigned short pointer = 0;
// while(*(cmd + pointer)) {
// uart_sendData(*(cmd + pointer));
// pointer++;
// }
// for(;*cmd;)
// uart_sendData(*cmd++);
while(*cmd) while(*cmd)
uart_sendData(*cmd++); uart_sendData(*cmd++);
} }

49
src/main.c
View File

@ -114,12 +114,14 @@ void mpu_task() {
} }
} }
#ifdef DEBUG_BLDC
void pid_task() { void pid_task() {
while(1) { while(1) {
pid_SingleAxis(&g_pid_roll, 0); pid_SingleAxis(&g_pid_roll, 0);
vTaskDelay(10); vTaskDelay(10);
} }
} }
#endif
void uart_task() { void uart_task() {
while(1) { while(1) {
@ -138,6 +140,48 @@ void uart_task() {
} }
} }
void uart_debugPID() {
while(1) {
TTY_CLEAR();
TTY_RED();
uart_sendStr(" Motor占空比: ");
TTY_NONE();
TTY_BLUE();
uart_showData(*g_pid_roll.Channel1);
uart_sendStr("\t");
uart_showData(*g_pid_roll.Channel2);
TTY_NONE();
uart_sendStr("\n\rRoll:\t");
uart_Float2Char(*g_pid_roll.Feedback);
uart_sendStr("\tGyro:\t");
uart_Float2Char(*g_pid_roll.Gyro);
uart_sendStr("\n\rP:\t");
uart_Float2Char(g_pid_roll.p);
uart_sendStr("\n\rI:\t");
uart_Float2Char(g_pid_roll.i);
uart_sendStr("\n\rD:\t");
uart_Float2Char(g_pid_roll.d);
uart_sendStr("\n\r=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=\n\rInner Cache:\t");
uart_Float2Char(g_pid_roll.InnerLast);
uart_sendStr("\n\rOutter Cache:\t");
uart_Float2Char(g_pid_roll.OutterLast);
uart_sendStr("\n\rOutput:\t\t");
TTY_RED();
uart_showData(g_pid_roll.output);
TTY_NONE();
uart_sendStr("\n\r");
vTaskDelay(100);
}
}
int main() { int main() {
#ifdef DEBUG_BLDC #ifdef DEBUG_BLDC
@ -152,8 +196,9 @@ int main() {
uart_sendStr("MPU6050 Connect Success!"); uart_sendStr("MPU6050 Connect Success!");
UART_CR(); UART_CR();
xTaskCreate(uart_task, "UART_TASK", 100, NULL, 1, NULL); xTaskCreate(uart_debugPID, "UART_TASK", 100, NULL, 1, NULL);
xTaskCreate(mpu_task, "MPU_TASK", 100, NULL, 2, NULL); xTaskCreate(mpu_task, "MPU_TASK", 100, NULL, 3, NULL);
xTaskCreate(pid_task, "PID_TASK", 100, NULL, 2, NULL);
vTaskStartScheduler(); vTaskStartScheduler();
uart_sendStr("Stack Overflow..."); uart_sendStr("Stack Overflow...");
while(1); while(1);