/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2022 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bsp_delay.h"
#include "bsp_key.h"
#include "bsp_motor.h"
#include "bsp_usart.h"
#include "bsp_pid.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim3;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
uint16_t g_encoder_update_cnt = 0;
int32_t pos_current; /* 单位：0.001r */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_TIM3_Init(void);
static void MX_TIM1_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART1_UART_Init();
MX_TIM3_Init();
MX_TIM1_Init();
/* USER CODE BEGIN 2 */
delay_init(168);
usart_init();
pid_init();
__HAL_TIM_SET_COUNTER(&htim3, 0);
__HAL_TIM_CLEAR_FLAG(&htim3, TIM_FLAG_UPDATE);
__HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
int32_t velocity_current; /* 单位：0.001r/min */
uint8_t buffer_usart_send[16];
uint32_t tick;
uint16_t sum;
uint8_t i;
uint8_t run = 0;
uint32_t tick_start_run; /* 开始运行时刻 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
usart_task();
if(KEY1_StateRead()==KEY_DOWN)
{
__HAL_TIM_SET_COUNTER(&htim1, 0);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
run = 1;
}
if (run)
{
pid_ctrl(get_pid_pos().target);
}
if (run)
{
pos_current = ((int32_t)(g_encoder_update_cnt * (htim3.Init.Period + 1) + __HAL_TIM_GET_COUNTER(&htim3))) * 1.0 / STEP_ENCODER_CIRCLE * 1000;
velocity_current = get_velocity_current() * 1000;
tick = HAL_GetTick();
buffer_usart_send[0] = 0x01; /* 帧头 */
buffer_usart_send[1] = 0x67; /* 帧头 */
buffer_usart_send[2] = 0x42; /* 帧头 */
buffer_usart_send[3] = 0xc0; /* 帧头 */
buffer_usart_send[4] = (tick - tick_start_run) >> 8; /* 时刻 */
buffer_usart_send[5] = (tick - tick_start_run) & 0xff; /* 时刻 */
buffer_usart_send[6] = pos_current >> 24; /* 电机位置，0.001r */
buffer_usart_send[7] = pos_current >> 16; /* 电机位置，0.001r */
buffer_usart_send[8] = pos_current >> 8; /* 电机位置，0.001r */
buffer_usart_send[9] = pos_current & 0xff; /* 电机位置，0.001r */
buffer_usart_send[10] = velocity_current >> 24; /* 编码器速度，0.001r/min */
buffer_usart_send[11] = velocity_current >> 16; /* 编码器速度，0.001r/min */
buffer_usart_send[12] = velocity_current >> 8; /* 编码器速度，0.001r/min */
buffer_usart_send[13] = velocity_current & 0xff; /* 编码器速度，0.001r/min */
sum = 0;
for (i = 4; i < 14; i++)
{
sum += buffer_usart_send[i];
}
buffer_usart_send[14] = sum >> 8;
buffer_usart_send[15] = sum & 0xff;
HAL_UART_Transmit(&huart1, buffer_usart_send, 16, 1000);
//delay_ms(10);
}
else
{
tick_start_run = HAL_GetTick();
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief TIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM1_Init(void)
{
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END TIM1_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE BEGIN TIM1_Init 1 */
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 20;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 10000;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
HAL_TIM_MspPostInit(&htim1);
}
/**
* @brief TIM3 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM3_Init(void)
{
/* USER CODE BEGIN TIM3_Init 0 */
/* USER CODE END TIM3_Init 0 */
TIM_Encoder_InitTypeDef sConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
htim3.Init.Prescaler = 0;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 65535;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOF, GPIO_PIN_11, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_11|GPIO_PIN_3|GPIO_PIN_7, GPIO_PIN_RESET);
/*Configure GPIO pins : PE2 PE3 PE4 PE0
PE1 */
GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_0
|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pin : PF11 */
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
/*Configure GPIO pins : PD11 PD3 PD7 */
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_3|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f4xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2022 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bsp_motor.h"
#include "bsp_usart_host.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim3;
extern UART_HandleTypeDef huart1;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
/******************************************************************************/
/* Cortex-M4 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1)
{
}
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
}
/**
* @brief This function handles Pre-fetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */
}
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */
}
}
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
/* USER CODE BEGIN SVCall_IRQn 0 */
/* USER CODE END SVCall_IRQn 0 */
/* USER CODE BEGIN SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32f4xx.s). */
/******************************************************************************/
/**
* @brief This function handles TIM3 global interrupt.
*/
void TIM3_IRQHandler(void)
{
/* USER CODE BEGIN TIM3_IRQn 0 */
/* USER CODE END TIM3_IRQn 0 */
HAL_TIM_IRQHandler(&htim3);
/* USER CODE BEGIN TIM3_IRQn 1 */
/* USER CODE END TIM3_IRQn 1 */
}
/**
* @brief This function handles USART1 global interrupt.
*/
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
/* USER CODE END USART1_IRQn 1 */
}
/* USER CODE BEGIN 1 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if (htim == &htim3)
{
if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3))
{
g_encoder_update_cnt--;
}
else
{
g_encoder_update_cnt++;
}
}
}
/**
* @brief usart接收中断处理回调函数
* @param huart 指针，指向产生中断的huart
* @note:
* @retval 无
*/
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(huart == &HUSART_HOST)
{
usart_wr_rxfifo_host(&g_usart_host_rx_data, 1);
HAL_UART_Receive_IT(huart, &g_usart_host_rx_data, 1);
}
}
/**
* @brief 如果usart产生错误中断，重新初始化usart
* @param huart 指针，指向产生中断的huart
* @note:
* @retval 无
*/
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
if(huart == &HUSART_HOST)
{
host_usart1_uart_init();
}
}
/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
/**
******************************************************************************
* @file bsp_pid.c
* @author
* @version V1.0
* @date
* @brief
* @others
* @copyright
******************************************************************************
* @history
*
* 1.date
* author
* modification
*
******************************************************************************
*/
#include "bsp_pid.h"
#include "bsp_motor.h"
/*static*/ pid_typedef s_pos_pid;
/*static*/ pid_typedef s_velocity_pid;
/*static*/ double s_velocity_current; /* 单位：r/min */
/**
* @brief 协议帧校验
* @param data 指针，指向接收到数据的数组
* @param len 数组data长度
* @note:
* @retval 0：执行成功
* 1：执行失败
*/
uint8_t pid_init(void)
{
s_pos_pid.target = 50; /* 单位：mm */
s_pos_pid.p = 0.06;
s_pos_pid.i = 0;
s_pos_pid.d = 0;
s_velocity_pid.target = 5; /* 单位：r/min */
s_velocity_pid.p = 0.11;
s_velocity_pid.i = 0.12;
s_velocity_pid.d = 0.03;
return 0;
}
/**
* @brief 增量式PID速度环计算
* @param current_val 当前值
* @param target_val 目标值
* @note:
* @retval 经过PID运算得到的增量值
*/
double inc_pid_calc_velocity(double current_val, double target_val)
{
double error = 0; /* 当前误差 */
static double inc_pid = 0;
static double last_error = 0;
static double prev_error = 0;
error = target_val - current_val; /* 增量计算 */
inc_pid += (s_velocity_pid.p * (error - last_error)) /* E[k]项 */
+ (s_velocity_pid.i * error) /* E[k-1]项 */
+ (s_velocity_pid.d * (error - 2 * last_error + prev_error)); /* E[k-2]项 */
prev_error = last_error; /* 存储误差，用于下次计算 */
last_error = error;
return inc_pid; /* 返回增量值 */
}
/**
* @brief 位置式PID速度环计算
* @param current_val 当前值
* @param target_val 目标值
* @note:
* @retval 经过PID运算得到的增量值
*/
double pos_pid_calc_velocity(double current_val, double target_val)
{
double error = 0; /* 当前误差 */
static double pos_pid = 0;
static double last_error = 0;
static double sum_error = 0;
error = target_val - current_val; /* 增量计算 */
sum_error += error;
pos_pid = (s_velocity_pid.p * error) /* E[k]项 */
+ (s_velocity_pid.i * sum_error) /* E[k-1]项 */
+ (s_velocity_pid.d * (error - last_error)); /* E[k-2]项 */
last_error = error;
return pos_pid; /* 返回增量值 */
}
/**
* @brief 增量式PID速度环计算
* @param current_val 当前值
* @param target_val 目标值
* @note:
* @retval 经过PID运算得到的增量值
*/
double inc_pid_calc_pos(double current_val, double target_val)
{
double error = 0; /* 当前误差 */
static double inc_pid = 0;
static double last_error = 0;
static double prev_error = 0;
error = target_val - current_val; /* 增量计算 */
inc_pid += (s_pos_pid.p * (error - last_error)) /* E[k]项 */
+ (s_pos_pid.i * error) /* E[k-1]项 */
+ (s_pos_pid.d * (error - 2 * last_error + prev_error)); /* E[k-2]项 */
prev_error = last_error; /* 存储误差，用于下次计算 */
last_error = error;
return inc_pid; /* 返回增量值 */
}
double velocity_arr_current;
int16_t pwm = 5000;
/**
* @brief PID控制
* @param target_val 目标值，单位：r
* @note:
* @retval
*/
uint8_t pid_ctrl(double target_val)
{
static uint32_t tick_old = 0;
uint32_t tick_current;
static int32_t encoder_step_new = 0;
static int32_t encoder_step_old = 0;
double inc_val_step_encoder; /* 增量值 */
tick_current = HAL_GetTick();
if (tick_current - tick_old > 200)
{
encoder_step_new = g_encoder_update_cnt * (htim3.Init.Period + 1) + __HAL_TIM_GET_COUNTER(&htim3);
s_velocity_current = (encoder_step_new - encoder_step_old) * 1.0 / STEP_ENCODER_CIRCLE * 60000 / (tick_current - tick_old); /* 电机速度，单位r/min */
inc_val_step_encoder = inc_pid_calc_pos(encoder_step_new * 1.0 / STEP_ENCODER_CIRCLE, target_val);
if (inc_val_step_encoder > 10000)
{
inc_val_step_encoder = 10000;
}
else if (inc_val_step_encoder < -10000)
{
inc_val_step_encoder = -10000;
}
pwm -= inc_val_step_encoder; /* 下一个周期PWM */
if (pwm > 10000)
{
pwm = 10000;
}
else if (pwm < 0)
{
pwm = 0;
}
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, pwm);
encoder_step_old = encoder_step_new;
tick_old = tick_current;
}
return 0;
}
/**
* @brief 获取位置PID参数
* @note:
* @retval
*/
pid_typedef get_pid_pos(void)
{
return s_pos_pid;
}
/**
* @brief 设置位置PID参数
* @note:
* @retval
*/
uint8_t set_pid_pos_target(float target)
{
s_pos_pid.target = target;
return 0;
}
/**
* @brief 设置位置PID参数
* @note:
* @retval
*/
uint8_t set_pid_pos_p(float p)
{
s_pos_pid.p = p;
return 0;
}
/**
* @brief 设置位置PID参数
* @note:
* @retval
*/
uint8_t set_pid_pos_i(float i)
{
s_pos_pid.i = i;
return 0;
}
/**
* @brief 设置位置PID参数
* @note:
* @retval
*/
uint8_t set_pid_pos_d(float d)
{
s_pos_pid.d = d;
return 0;
}
/**
* @brief 获取速度PID参数
* @note:
* @retval
*/
pid_typedef get_pid_velocity(void)
{
return s_velocity_pid;
}
/**
* @brief 获取速度PID参数
* @note:
* @retval
*/
uint8_t set_pid_velocity_target(float target)
{
s_velocity_pid.target = target;
return 0;
}
/**
* @brief 获取速度PID参数
* @note:
* @retval
*/
uint8_t set_pid_velocity_p(float p)
{
s_velocity_pid.p = p;
return 0;
}
/**
* @brief 获取速度PID参数
* @note:
* @retval
*/
uint8_t set_pid_velocity_i(float i)
{
s_velocity_pid.i = i;
return 0;
}
/**
* @brief 获取速度PID参数
* @note:
* @retval
*/
uint8_t set_pid_velocity_d(float d)
{
s_velocity_pid.d = d;
return 0;
}
/**
* @brief 获取实时速度，单位：r/min
* @note:
* @retval
*/
double get_velocity_current(void)
{
return s_velocity_current;
}
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