通过PID算法控制STM32的PWM输出

/******************** (C) COPYRIGHT 2008 STMicroelectronics ******************** * File Name : stm32f10x_it.c * Author : MCD Application Team * Version : V2.0.1 * Date : 06/13/2008 * Description : Main Interrupt Service Routines. * This file provides template for all exceptions handler * and peripherals interrupt service routine. ******************************************************************************** * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. * AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, * INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE * CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. *******************************************************************************/ /* Includes ------------------------------------------------------------------*/ #include "System_init.h" /* Private typedef -----------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/ #define RxBufferSize 4 /* Private macro -------------------------------------------------------------*/ #define countof(a) (sizeof(a) / sizeof(*(a))) /* Private variables ---------------------------------------------------------*/ u8 RxBuffer[RxBufferSize]={'0','0','0','0'}; u8 NbrOfDataToRead = RxBufferSize; u16 RxCounter = 0; int U_Set=500; int Counter_100uS=0; int Counter_1mS=0; int Counter_100mS=0; unsigned char Flag_1mS=0; unsigned char Flag_100mS=0; unsigned char Flag_1S=0; /* Private function prototypes -----------------------------------------------*/ /* Private functions ---------------------------------------------------------*/ /******************************************************************************* * Function Name : NMIException * Description : This function handles NMI exception. * Input : None * Output : None * Return : None *******************************************************************************/ void NMIException(void) { } /******************************************************************************* * Function Name : HardFaultException * Description : This function handles Hard Fault exception. * Input : None * Output : None * Return : None *******************************************************************************/ void HardFaultException(void) { /* Go to infinite loop when Hard Fault exception occurs */ while (1) { } } /******************************************************************************* * Function Name : MemManageException * Description : This function handles Memory Manage exception. * Input : None * Output : None * Return : None *******************************************************************************/ void MemManageException(void) { /* Go to infinite loop when Memory Manage exception occurs */ while (1) { } } /******************************************************************************* * Function Name : BusFaultException * Description : This function handles Bus Fault exception. * Input : None * Output : None * Return : None *******************************************************************************/ void BusFaultException(void) { /* Go to infinite loop when Bus Fault exception occurs */ while (1) { } } /******************************************************************************* * Function Name : UsageFaultException * Description : This function handles Usage Fault exception. * Input : None * Output : None * Return : None *******************************************************************************/ void UsageFaultException(void) { /* Go to infinite loop when Usage Fault exception occurs */ while (1) { } } /******************************************************************************* * Function Name : DebugMonitor * Description : This function handles Debug Monitor exception. * Input : None * Output : None * Return : None *******************************************************************************/ void DebugMonitor(void) { } /******************************************************************************* * Function Name : SVCHandler * Description : This function handles SVCall exception. * Input : None * Output : None * Return : None *******************************************************************************/ void SVCHandler(void) { } /******************************************************************************* * Function Name : PendSVC * Description : This function handles PendSVC exception. * Input : None * Output : None * Return : None *******************************************************************************/ void PendSVC(void) { } /******************************************************************************* * Function Name : SysTickHandler * Description : This function handles SysTick Handler. * Input : None * Output : None * Return : None *******************************************************************************/ void SysTickHandler(void) { Counter_100uS++; if(Counter_100uS==10){ Counter_1mS++; Flag_1mS=1; Counter_100uS=0; } if(Counter_1mS==100){ Counter_100mS++; Flag_100mS=1; Counter_1mS=0; } if(Counter_100mS==10){ Flag_1S=1; Counter_100mS=0; } } /******************************************************************************* * Function Name : WWDG_IRQHandler * Description : This function handles WWDG interrupt request. * Input : None * Output : None * Return : None *******************************************************************************/ void WWDG_IRQHandler(void) { } /******************************************************************************* * Function Name : PVD_IRQHandler * Description : This function handles PVD interrupt request. * Input : None * Output : None * Return : None *******************************************************************************/ void PVD_IRQHandler(void) { } /******************************************************************************* * Function Name : TAMPER_IRQHandler * Description : This function handles Tamper interrupt request. * Input : None * Output : None * Return : None *******************************************************************************/ void TAMPER_IRQHandler(void) { } /******************************************************************************* * Function Name : RTC_IRQHandler * Description : This function handles RTC global interrupt request. * Input : None * Output : None * Return : None *******************************************************************************/ void RTC_IRQHandler(void) { } /******************************************************************************* * Function Name : FLASH_IRQHandler * Description : This function handles Flash interrupt request. * Input : None * Output : None * Return : None *******************************************************************************/ void FLASH_IRQHandler(void) { } /******************************************************************************* * Function Name : RCC_IRQHandler * Description : This function handles RC