添加pid_set_params (cb055bce) · Commits · Wenxi XU / Mambo

include/zephyr/drivers/pid.h

+23 −4

Original line number	Diff line number	Diff line
		@@ -7,6 +7,7 @@
		#define PID_H

		#include <math.h>
		#include <errno.h>
		#include <stdbool.h>
		#include <stdint.h>
		#include <string.h>
		@@ -201,6 +202,9 @@ STATIC float pid_calc_in(struct pid_data *data, float error, float deltaT_us)
		if (pid_para->output_limit != 0 && fabsf(out) > pid_para->output_limit) {
		out = out > 0 ? pid_para->output_limit : -pid_para->output_limit;
		}
		if (data->output != NULL) {
		*(data->output) = out;
		}
		return out;
		}
		return NAN;
		@@ -243,13 +247,28 @@ STATIC_VOID mit_reg_detri_input(struct pid_data data, float detri_curr, float
		data->detri_ref = detri_ref;
		}

		STATIC const struct pid_config pid_get_params(struct pid_data data)
		STATIC int pid_get_params(struct pid_data data, struct pid_config config)
		{
		const struct device *dev = data->pid_dev;
		if (dev == NULL) {
		return NULL;
		struct pid_config pid_para = (struct pid_config )dev->config;
		if (dev == NULL \|\| pid_para == NULL) {
		return -ENOSYS;
		}
		if (config != NULL) {
		config = pid_para;
		}
		return 0;
		}
		return dev->config;

		STATIC int pid_set_params(struct pid_data data, struct pid_config config)
		{
		const struct device *dev = data->pid_dev;
		struct pid_config pid_para = (struct pid_config )dev->config;
		if (dev == NULL \|\| pid_para == NULL) {
		return -ENOSYS;
		}
		pid_para = config;
		return 0;
		}

		#ifdef __cplusplus