pid.c

来自「调试成功的C语言PWM信号（F2812)」· C语言 代码 · 共 32 行

#include "DSP281x_Device.h"
#include "pid.h"

//PID Calculation Program
Uint32 PIDCalc(struct STRUCT_PID *pp,Uint32 NextPoint,Uint32 SetPoint)
{

Uint32 dError,Error;
pp->SetPoint=SetPoint;
Error=pp->SetPoint-NextPoint;       //deviation 
pp->SumError+=Error;                //Integral
dError=pp->LastError-pp->PrevError; //Current Derivative
pp->PrevError=pp->LastError;
pp->LastError=Error;
return(pp->Proportion*Error        //proprotion term
       +pp->Integral*pp->SumError  //Integral term
	   +pp->Derivative*dError);    //Derivative term

}


//PID intialization Program
void PID_Init(struct STRUCT_PID *pp)
{

struct STRUCT_PID *pid;
pid=pp;

}