From e2e5b79c68dbcf380e9eafae5743e4e2dd1fd4bd Mon Sep 17 00:00:00 2001
From: tims <tims@stu-workstation2.net.ida>
Date: Fri, 14 Mar 2025 10:40:07 +0100
Subject: [PATCH] removed old/ obsolete pid_orig.c

---
 src/APP/Aufgabe7/ps7/core0/src/pid_orig.c | 128 ------------------------------
 1 file changed, 128 deletions(-)
 delete mode 100644 src/APP/Aufgabe7/ps7/core0/src/pid_orig.c

diff --git a/src/APP/Aufgabe7/ps7/core0/src/pid_orig.c b/src/APP/Aufgabe7/ps7/core0/src/pid_orig.c
deleted file mode 100644
index e9b5c40..0000000
--- a/src/APP/Aufgabe7/ps7/core0/src/pid_orig.c
+++ /dev/null
@@ -1,128 +0,0 @@
-/*
- * pid.c
- *  Created on: Jan 28, 2019
- *  Author: laurenzb
- */
-
-#include "xparameters.h"
-#include "ucos_uartps.h"
-#include "xil_printf.h"
-#include "ucos_ii.h"
-#include "ucos_bsp.h"
-#include <stdio.h>
-#include <stdlib.h>
-#include <math.h>
-#include "pid.h"
-
-
-#define PRINTPID 0
-
-#define KP  300.0
-#define KD  0.0
-#define KI  200.0
-#define SAMPLE_TIME ((float)(5.0/1000.0))
-
-
-
-static float targetAngle = 0.0;
-extern int16_t accData[3];
-extern int16_t gyroData[3];
-int16_t gyroOffset[3];
-
-//int16_t accMin[3] = {-8960, -9560, -8767};	//gelb
-//int16_t accMax[3] = {9077, 9010, 9429};		//gelb
-
-//int16_t accMin[3] = {-7890, -8277, -9915};	//braun
-//int16_t accMax[3] = {9870, 8983, 8420};		//braun
-
-int16_t accMin[3] = {-8757 , -8649 , -8547};	//gruen
-int16_t accMax[3] = {9221 , 9725 , 9158};		//gruen
-
-//int16_t accMin[3] = {-8554 ,-8513 , -8341}; 	//rot
-//int16_t accMax[3] = {8862 ,8385 ,9283};			//rot
-
-
-
-
-int32_t pidValue=0;
-float errorSumAngle=0;
-float prevAngle=0;
-float gyroAnglePerStep=0;
-int cycle = 0;
-
-/* * * * * * * * calculates a PID value from -1000 to 1000 by using acc and gyro data * * * * * * * * */
-int pid_Task(void* pdata) {
-	mpu9250_Get_Acc_Min_Max();
-    cycle++;
-    if (cycle == 10 * 1000/5)
-		targetAngle = prevAngle;
-		
-	float accAngle=0, currentAngle=0, errorAngle=0, gyroRate=0; 			
-	int16_t accAxisOne = map(pid_Constrain(accData[0], accMin[0], accMax[0]), accMin[0], accMax[0],-32767, 32767);
-	int16_t accAxisTwo = map(pid_Constrain(accData[2], accMin[2], accMax[2]), accMin[2], accMax[2],-32767, 32767);
-	accAngle = (float)atan2((double)(accAxisOne), (double)(accAxisTwo))*(180/PI);		//calc the angle of inclination only by using accelerometer data
-	accAngle = -accAngle;																//change the orientation
-	gyroRate = (((float)(gyroData[1]+gyroOffset[1]))/(65.5));							//calculate real gyro value according to the set sensivity, for more info see datasheet
-	gyroAnglePerStep = gyroRate*SAMPLE_TIME;  											//change to last step, calculated by gyro
-	currentAngle = 0.98*(prevAngle + gyroAnglePerStep) + 0.02*accAngle;				//complementary filter, eleminates noise from the acc and fixes gyro drift
-	errorAngle = currentAngle - targetAngle;											//calc the error to the disired angle
-	errorSumAngle = errorSumAngle + errorAngle;											//integrate the error to use it in the PID
-	errorSumAngle = (float)pid_Constrain((int)errorSumAngle, -750, 750); 				//constrain maximum integrated error
-
-	CPU_SR cpu_sr;
-	OS_ENTER_CRITICAL();
-	pidValue = (int16_t)(KP*(errorAngle) + KI*(errorSumAngle)*SAMPLE_TIME + KD/SAMPLE_TIME*(currentAngle-prevAngle));		//calculate output from P, I and D values
-	pidValue = pid_Constrain(pidValue, -PID_BOUND, PID_BOUND);							//constrain maximum integrated error, to use the max value in calculations for step frequency
-
-	if(pidValue == 0){ 																	//prevent divison by 0
-		pidValue=1;
-	}
-	OS_EXIT_CRITICAL();
-	prevAngle = currentAngle;															//prepare next iteration
-
-	if (PRINTPID==1){
-		UCOS_Print("Angle:");
-		UCOS_Printf("%8d ", (int)currentAngle);
-
-		UCOS_Print("Acc:");
-		UCOS_Printf("%8d ", (int)accAngle);
-
-		//UCOS_Print("Pid:");
-		//UCOS_Printf("%8d ", (int)pidValue);
-
-		UCOS_Printf("\r\n");
-	}
-	return 0;
-}
-
-/* * * * * * * * clears Gyro offset and sets it new * * * * * * * * */
-unsigned int pid_Init(void *pdata){
-	uint8_t i = 0;
-	uint8_t t = 0;
-	for (i = 0; i < 3; i++) {
-		gyroOffset[i]=0;
-	}
-	for (t = 0; t <10; t++) {
-		for (i = 0; i < 3; i++) {
-			gyroOffset[i]=(gyroData[i]/10);
-		}
-	OSTimeDly(OS_TICKS_PER_SEC/10);
-	}
-	return 0;
-}
-
-/* * * * * * * * sets outer bounds * * * * * * * * */
-int16_t pid_Constrain(int16_t value, int16_t lowerBorder, int16_t higherBorder){
-	if (value > higherBorder){
-		value = higherBorder;
-	}
-	if (value < lowerBorder){
-		value = lowerBorder;
-	}
-	return value;
-}
-
-/* * * * * * maps to another numberroom * * * * * * */
-int16_t map(int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max) {
-  return ((x - in_min) * (out_max - out_min)) / (in_max - in_min) + out_min;
-}