小车直冲天际代码说明书

变量目录

结构体

typedef struct{
	_Bool			OnOff;
	uint16_t		pwmrate;
	_Bool			IN1;
	_Bool 			IN2;
}MotorDriver;

typedef struct{
	float		pwmrate;	
	float   	Pwmrate;
	uint8_t		angle;
}SteMotDriver;

typedef struct{
	__IO	uint16_t			orignalData[5];
	__IO	float				filterData[5];
	__IO	float				IDUC_L;
	__IO	float				IDUC_R;
	__IO	float				IDUC_M;
	__IO	float				IDUC_LM;
	__IO	float				IDUC_RM;
	__IO	float				Error;
}ADCData;

typedef struct{
	float paramA;
	float paramB;
	float paramC;
	float paramP;
}PoorCmpAnd;

struct{
	_Bool	key1;
	_Bool	key2;
}Key;

typedef struct{
	__IO	float 	symStateNow[5];			//系统实时状态X(k)
	__IO	float	symStatePostFore[5];	//系统上次预测状态X(k|k-1)
	__IO	float	symStatePostBest[5];	//系统上次最优状态X(k-1|k-1)
	__IO	float 	covNow[5];				//本次系统状态协方差P(k|k)
	__IO	float	covPostFore[5];			//上次预测状态协方差P(k|k-1)
	__IO	float 	covPostBest[5];			//上次最优状态协方差P(k-1|k-1)
			float 	symControl;				//系统控制量U(k)
			float 	symParmA;				//系统参数A
			float 	symParmB;				//系统参数B
	__IO	float 	errorMes;				//k时刻测量值Z(k)
			float	mesParm;				//测量系统的参数H
			float 	pcesNoise;				//过程噪声W(k)
			float 	mesNoise;				//测量噪声V(k)
			float 	transposeA;				//A的转置矩阵A'
			float	transposeQ;
			float 	transposeR;
			float 	transposeH;
	__IO	float 	gain[5];
}Kalman;