STMCWB 4.0复选框如何激活？

Ciao Christian
 
 
 事情并不像看起来那么简单。理想的不仅仅是激活WB中的复选框，因为在FW中不能自动启用差分terrm。
 
 我试着更好地解释一下。
 
 启用FW中任何PI的差异项均使用PI的PID代码，并且必须更改实际创建PI的函数的名称。
 这是通过MCTasks.c中的MCBoot函数完成的。让我们考虑一下这个函数创建的速度PI：
 
 oPIDSpeed [M1] =（CPI）PI_NewObject（＆amp; PISpeedParamsM1）;
 
 而且，正如您可以在函数名称中读到的那样，它只创建一个PI（而不是PID）。要创建PID，必须使用另一个函数
 
 PID_NewObject（pPIParams_t pPIParam，pPIDParams_t pPIDParam）;
 
 你必须改变oPIDSpeed的类型
 
 CPI oPIDSpeed [NBR_OF_MOTORS];
 
 至
 
 CPID_PI oPIDSpeed [NBR_OF_MOTORS];
 
 关于PID_NewObject所需的参数结构，您可以照常使用PISpeedParamsM1，但您还需要创建另一个定义差异部分的结构。这在PID_PIRegulatorClass.h中定义为：
 
 typedef const struct
 {
 int16_t hDefKdGain; / *＆LT！;默认Kd增益，用于初始化Kd
 获得软件变量* /
 uint16_t hKdDivisor; / *＆LT！; Kd获得除数，与之结合使用
 Kd增益允许获得小数值。
 如果未定义FULL_MISRA_C_COMPLIANCY
 除数是通过实施的
 algebrical右移以加速PI
 执行。只有在这种情况下这个参数
 指定正确的班次数
 执行* /
 uint16_t hKdDivisorPOW2; / *＆LT！; Kd获得除数表示为2的幂。
 例如。如果增益除数是512的值
 必须是9因为2 ^ 9 = 512 * /
 } PIDParams_t，* pPIDParams_t;
 
 这不是在SystemNDriveParams.h中管理的。所以你需要创建它，例如在#include''SystemNDriveParams.h'之后的MCTasks.c的开头。
 
 PIDParams_t PISpeedParamsM1 =
 {
 PID_SPEED_KD_DEFAULT，
 SP_KDDIV，
 （uint16_t）SP_KDDIV_LOG2
 }
 
 像这样......
 
 因此，还需要做一些工作来使用差分项。
 
 再见
 梁咏琪



以下为原文





Ciao Christian


The thing is not as simple as it might seem. Ideed is not just matter of activate the check boxes in the WB because the differential terrm is not automaticaly enabled in the FW is such way.

I try to explain better.

Enable the differential term of any PI in the FW means to use the code of PID insted of PI and to do this you have to change the name of the function that actually creates the PI.
This is done by the MCBoot function inside the MCTasks.c. Let consider the speed PI that is created by this function:

oPIDSpeed[M1] = (CPI)PI_NewObject(&PISpeedParamsM1);

And, as you can read in the name of the function, it creates just a PI (not a PID). To create the PID is necessary to use another function that is  

PID_NewObject (pPIParams_t pPIParam, pPIDParams_t pPIDParam);

You have to change the type of oPIDSpeed from  

CPI oPIDSpeed[NBR_OF_MOTORS];

to

CPID_PI oPIDSpeed[NBR_OF_MOTORS];

Regarding the parameter structures required by PID_NewObject you can use the PISpeedParamsM1 as usual but you need to create also another structure that defines the differential part. This is defined in the PID_PIRegulatorClass.h as:

typedef const struct
{
int16_t hDefKdGain; /*!< Default Kd gain, used to initialize Kd  
gain software variable */
uint16_t hKdDivisor; /*!< Kd gain divisor, used in conjuction with  
Kd gain allows obtaining fractional values.  
If FULL_MISRA_C_COMPLIANCY is not defined  
the divisor is implemented through  
algebrical right shifts to speed up PI  
execution. Only in this case this parameter
specifies the number of right shifts to be  
executed */
uint16_t hKdDivisorPOW2; /*!< Kd gain divisor expressed as power of 2.
E.g. if gain divisor is 512 the value  
must be 9 because 2^9 = 512 */
}PIDParams_t, *pPIDParams_t;

That is not managed in the SystemNDriveParams.h. So you need to create it somewere, for instance in the begin of MCTasks.c after the #include ''SystemNDriveParams.h''

PIDParams_t PISpeedParamsM1 =  
{
PID_SPEED_KD_DEFAULT,
SP_KDDIV,
(uint16_t)SP_KDDIV_LOG2
}

And someting like this...

So there is a little bit of work that is required to do to use also the differential term.

Ciao
Gigi