程序（pid）.zip_PID算法

/*功能名称IM3_PWM_Init(u16 arr,u16 psc) 描述 TIM3产生四路PWM */ void TIM3_PWM_Init(u16 arr,u16 psc) { GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟使能 GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE); //Timer3全映射 GPIOC-> 6,7,8,9 //用于TIM3的CH2输出的PWM通过该LED显示 //设置该引脚为复用输出功能,输出TIM3 CH1 CH2 CH3 CH4 的PWM脉冲波形 GPIO_InitStructure.GPIO_Pin =GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9; //初始化GPIO GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOC, &GPIO_InitStructure); GPIO_ResetBits(GPIOC,GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9);//默认电机使能端状态：不使能 TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 这里是72分频，那么时钟频率就是1M TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式 TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式1 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能 TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高 TIM_OC1Init(TIM3, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIMx在CCR1上的预装载寄存器 TIM_OC2Init(TIM3, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIMx在CCR2上的预装载寄存器 TIM_OC3Init(TIM3, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIMx在CCR3上的预装载寄存器 TIM_OC4Init(TIM3, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIMx在CCR4上的预装载寄存器 TIM_ARRPreloadConfig(TIM3, ENABLE); //使能TIMx在ARR上的预装载寄存器 TIM_Cmd(TIM3, ENABLE); //使能TIMx外设 } /*功能名称TIM4_PWMINPUT_INIT(u16 arr,u16 psc) 描述 PWM输入初始化*/ void TIM4_PWMINPUT_INIT(u16 arr,u16 psc) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //TIM的初始化结构体 NVIC_InitTypeDef NVIC_InitStructure; //中断配置 TIM_ICInitTypeDef TIM4_ICInitStructure; //TIM4 PWM配置结构体 GPIO_InitTypeDef GPIO_InitStructure; //IO口配置结构体 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //Open TIM4 clock RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //open gpioB clock GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; //GPIO 7 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //上拉输入 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式 TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位 /*配置中断优先级*/ NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); TIM4_ICInitStructure.TIM_Channel = TIM_Channel_2; TIM4_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; TIM4_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; TIM4_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; TIM4_ICInitStructure.TIM_ICFilter = 0x3; //Filter:过滤 TIM_PWMIConfig(TIM4, &TIM4_ICInitStructure); //PWM输入配置 TIM_SelectInputTrigger(TIM4, TIM_TS_TI2FP2); //选择有效输入端 TIM_SelectSlaveMode(TIM4, TIM_SlaveMode_Reset); //配置为主从复位模式 TIM_SelectMasterSlaveMode(TIM4, TIM_MasterSlaveMode_Enable);//启动定时器的被动触发 TIM_ITConfig(TIM4, TIM_IT_CC2|TIM_IT_Update, ENABLE); //中断配置 TIM_ClearITPendingBit(TIM4, TIM_IT_CC2|TIM_IT_Update); //清除中断标志位 TIM_Cmd(TIM4, ENABLE); } void TIM4_IRQHandler(void) { if (TIM_GetITStatus(TIM4, TIM_IT_CC2) != RESET)//捕获1发生捕获事件 { duty_TIM4 = TIM_GetCapture1(TIM4); //采集占空比 if (TIM_GetCapture2(TIM4)>600) period_TIM4 = TIM_GetCapture2(TIM4);//简单的处理 CollectFlag_TIM4 = 0; } TIM_ClearITPendingBit(TIM4, TIM_IT_CC2|TIM_IT_Update); //清除中断标志位 } /*功能名称TIM1_PWMINPUT_INIT(u16 arr,u16 psc) 描述 PWM输入初始化*/ void TIM1_PWMINPUT_INIT(u16 arr,u16 psc) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //TIM的初始化结构体 NVIC_InitTypeDef NVIC_InitStructure; //中断配置 TIM_ICInitTypeDef TIM1_ICInitStructure; //PWM配置结构体 GPIO_InitTypeDef GPIO_InitStructure; //IO口配置结构体 RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); //Open TIM1 clock RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE, ENABLE); //open gpioE clock GPIO_PinRemapConfig(GPIO_FullRemap_TIM1, ENABLE); //Timer1完全重映射 TIM1_CH2->PE11 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; //GPIO 11 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //上拉输入 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOE, &GPIO_InitStructure); TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式 TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位 /*配置中断优先级*/ NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn; //TIM1捕获中断 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); TIM1_ICInitStructure.TI