基础知识 | 简单说说斜坡函数

struct speed_ramp_mod{
int16_t target_val;  //目标参考值
int16_t present_ref; //当前参考值
int16_t step_val;  //当前参考值到目标参考值所需要的步数
int16_t inc_val;  //步长/斜率
int16_t freq_hz;  //速度环频率
};
typedef struct speed_ramp_mod speed_ramp_mod_t;
speed_ramp_mod_t user_ramp = {
.target_val = 0,   //目标参考值
.present_ref = 0,   //当前参考值
.step_val = 0,    //当前参考值到目标参考值所需要的步数
.inc_val = 0,    //步长
.freq_hz = RAMP_SPEED_FREQ //速度采样频率
};

int16_t speed_ramp_calc(speed_ramp_mod_t *p){
  
int32_t ref;
ref = p->present_ref;

if(p->step_val > 1){
  ref += p->inc_val;
  p->step_val--;
}else if(p->step_val == 1){
  ref = p->target_val;
  p->step_val = 0;
}else{
  /**
   Do Nothing
  */
}
p->present_ref = ref;
return ref;
}

uint8_t speed_ramp_exec(speed_ramp_mod_t *p,int16_t target_val,int16_t durationms){

int32_t inc = 0;
int16_t ref = 0;
ref = p->present_ref;
if(durationms == 0){
  p->step_val = 0;
  p->inc_val = 0;
  p->present_ref = target_val;
}else{
  p->target_val = target_val;
  //计算步长度
  p->step_val = (int32_t)durationms*p->freq_hz / 1000;
  p->inc_val = (p->target_val - ref)/p->step_val;
}
}

uint8_t speed_ramp_completed(speed_ramp_mod_t *p){
uint8_t retval = 0;
if(p->step_val == 0){
  retval = 1;
}
return retval;
}

void speed_ramp_stop(speed_ramp_mod_t *p){
p->step_val = 0;
p->inc_val = 0;
}

int16_t spd_ref = 0;
int16_t speed_ramp_ref = 0;
int16_t rpm_speed_set = 0;

void test(void){
if(speed_ramp_completed(&user_ramp)){
  speed_ramp_exec(&user_ramp,
                    rpm_speed_set,
                    USER_RAMP_DELAY);
}
speed_ramp_ref = speed_ramp_calc(&user_ramp);
printf("%drn", speed_ramp_ref);
}