initial commit

2024-04-25 22:31:01 +08:00
commit 200b5703f9
119 changed files with 52620 additions and 0 deletions
--- a/3rd-part/PID-Library/pid.h
+++ b/3rd-part/PID-Library/pid.h
@@ -0,0 +1,175 @@
+ /*
+------------------------------------------------------------------------------
+~ File   : pid.h
+~ Author : Majid Derhambakhsh
+~ Version: V1.0.0
+~ Created: 02/11/2021 03:43:00 AM
+~ Brief  :
+~ Support:
+		   E-Mail : Majid.do16@gmail.com (subject : Embedded Library Support)
+
+		   Github : https://github.com/Majid-Derhambakhsh
+------------------------------------------------------------------------------
+~ Description:
+
+~ Attention  :
+
+~ Changes    :
+------------------------------------------------------------------------------
+*/
+
+#ifndef __PID_H_
+#define __PID_H_
+
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Include ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+#include <stdint.h>
+#include <string.h>
+
+// #include "zf_common_headfile.h"
+
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* ------------------------ Library ------------------------ */
+#define _PID_LIBRARY_VERSION    1.0.0
+
+/* ------------------------ Public ------------------------- */
+#define _PID_8BIT_PWM_MAX       UINT8_MAX
+#define _PID_SAMPLE_TIME_MS_DEF 100
+
+#ifndef _FALSE
+
+	#define _FALSE 0
+
+#endif
+
+#ifndef _TRUE
+
+	#define _TRUE 1
+
+#endif
+
+/* ---------------------- By compiler ---------------------- */
+#ifndef GetTime
+
+	/* ---------------------- By compiler ---------------------- */
+
+	#ifdef __CODEVISIONAVR__  /* Check compiler */
+
+		#define GetTime()   0
+
+	/* ------------------------------------------------------------------ */
+
+	#elif defined(__GNUC__)  /* Check compiler */
+
+		#define GetTime()   0
+
+	/* ------------------------------------------------------------------ */
+
+
+	#else
+	#endif /* __CODEVISIONAVR__ */
+	/* ------------------------------------------------------------------ */
+
+#endif
+
+/* --------------------------------------------------------- */
+
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Types ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* PID Mode */
+typedef enum
+{
+	
+	_PID_MODE_MANUAL    = 0,
+	_PID_MODE_AUTOMATIC = 1
+	
+}PIDMode_TypeDef;
+
+/* PID P On x */
+typedef enum
+{
+	
+	_PID_P_ON_M = 0, /* Proportional on Measurement */
+	_PID_P_ON_E = 1
+	
+}PIDPON_TypeDef;
+
+/* PID Control direction */
+typedef enum
+{
+	
+	_PID_CD_DIRECT  = 0,
+	_PID_CD_REVERSE = 1
+	
+}PIDCD_TypeDef;
+
+/* PID Structure */
+typedef struct
+{
+	
+	PIDPON_TypeDef  POnE;
+	PIDMode_TypeDef InAuto;
+
+	PIDPON_TypeDef  POn;
+	PIDCD_TypeDef   ControllerDirection;
+
+	uint32_t        LastTime;
+	uint32_t        SampleTime;
+
+	float          DispKp;
+	float          DispKi;
+	float          DispKd;
+
+	float          Kp;
+	float          Ki;
+	float          Kd;
+
+	float          *MyInput;
+	float          *MyOutput;
+	float          *MySetpoint;
+
+	float          OutputSum;
+	float          LastInput;
+
+	float          OutMin;
+	float          OutMax;
+	
+}PID_TypeDef;
+
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Variables ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Struct ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Class ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Prototype ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+/* :::::::::::::: Init ::::::::::::: */
+void PID_Init(PID_TypeDef *uPID);
+void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
+void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection);
+
+/* ::::::::::: Computing ::::::::::: */
+uint8_t PID_Compute(PID_TypeDef *uPID);
+
+/* ::::::::::: PID Mode :::::::::::: */
+void            PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
+PIDMode_TypeDef PID_GetMode(PID_TypeDef *uPID);
+
+/* :::::::::: PID Limits ::::::::::: */
+void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max);
+
+/* :::::::::: PID Tunings :::::::::: */
+void PID_SetTunings(PID_TypeDef *uPID, float Kp, float Ki, float Kd);
+void PID_SetTunings2(PID_TypeDef *uPID, float Kp, float Ki, float Kd, PIDPON_TypeDef POn);
+
+/* ::::::::: PID Direction ::::::::: */
+void          PID_SetControllerDirection(PID_TypeDef *uPID, PIDCD_TypeDef Direction);
+PIDCD_TypeDef PID_GetDirection(PID_TypeDef *uPID);
+
+/* ::::::::: PID Sampling :::::::::: */
+void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
+
+/* ::::::: Get Tunings Param ::::::: */
+float PID_GetKp(PID_TypeDef *uPID);
+float PID_GetKi(PID_TypeDef *uPID);
+float PID_GetKd(PID_TypeDef *uPID);
+
+/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ End of the program ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
+
+#endif /* __PID_H_ */