void PID_init(pid_type_def *pid, uint8_t mode, const fp32 PID[3], fp32 max_out, fp32 max_iout) { if (pid == NULL || PID == NULL) { return; } pid->mode = mode; pid->Kp = PID[0]; pid->Ki = PID[1]; pid->Kd = PID[2]; pid->max_out = max_out; pid->max_iout = max_iout; pid->Dbuf[0] = pid->Dbuf[1] = pid->Dbuf[2] = 0.0f; pid->error[0] = pid->error[1] = pid->error[2] = pid->Pout = pid->Iout = pid->Dout = pid->out = 0.0f; }如何在主函数中调用以上代码

如果你想在主函数中调用以上代码，需要先定义一个 pid_type_def 结构体类型的变量，然后将其作为参数传递给 PID_init 函数。例如：

#include <stdio.h>

typedef struct {
    uint8_t mode;
    fp32 Kp, Ki, Kd;
    fp32 max_out, max_iout;
    fp32 Dbuf[3], error[3];
    fp32 Pout, Iout, Dout, out;
} pid_type_def;

void PID_init(pid_type_def *pid, uint8_t mode, const fp32 PID[3], fp32 max_out, fp32 max_iout) {
    if (pid == NULL || PID == NULL) {
        return;
    }
    pid->mode = mode;
    pid->Kp = PID[0];
    pid->Ki = PID[1];
    pid->Kd = PID[2];
    pid->max_out = max_out;
    pid->max_iout = max_iout;
    pid->Dbuf[0] = pid->Dbuf[1] = pid->Dbuf[2] = 0.0f;
    pid->error[0] = pid->error[1] = pid->error[2] = pid->Pout = pid->Iout = pid->Dout = pid->out = 0.0f;
}

int main() {
    pid_type_def pid;
    fp32 PID[3] = {1.0f, 0.5f, 0.2f};
    fp32 max_out = 100.0f, max_iout = 50.0f;
    uint8_t mode = 1;
    
    PID_init(&pid, mode, PID, max_out, max_iout);
    
    printf("PID initialized:\nKp = %f\nKi = %f\nKd = %f\nmax_out = %f\nmax_iout = %f\n", pid.Kp, pid.Ki, pid.Kd, pid.max_out, pid.max_iout);
    
    return 0;
}

在上面的代码中，我们首先定义了一个 pid_type_def 结构体类型的变量 pid，并声明了一些参数。在 main 函数中，我们通过调用 PID_init 函数来初始化 pid 变量，最后输出 pid 的一些属性值。需要注意的是，我们需要使用取地址符 & 来传递 pid 变量的地址给 PID_init 函数，以便函数能够修改 pid 变量的值。