STM32F407 直流有刷电机PID速度环控制（增量式）

已于 2022-12-01 22:35:35 修改
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分类专栏： STM32 电机 文章标签： stm32 单片机 arm
于 2022-09-20 23:08:58 首次发布
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/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; 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;

/* 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 */
	int32_t pos_current;							/* 单位：0.001r */
	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_velocity().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>&copy; 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 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;

/**
* @brief PID控制
* @param target_val 目标值，单位：r/min
* @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 */
	static int16_t pwm = 5000;
	
	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_velocity(s_velocity_current, target_val);      /* 下一个周期编码器要走的步数 */
		
		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;
		
		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;
}

总结：
1、
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2、低转速时可能是由于扭矩不够，所以没有理论上顺滑，PWM值太小无法启动电机
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3、
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5、
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9、
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11、
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