（6/9）stabilizerInit()； /*电机传感器PID初始化*/【PID结构体 及 电机初始化（端口复用&&定时器&&PWM）】

 

文章目录

 

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前言

本文针对 stabilizerInit(); 进行学习

/*电机传感器PID初始化*/

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一、stabilizerInit(); /*姿态 电机 初始化*/

void stabilizerInit(void)
{
	if(isInit) return;

	stateControlInit();		/*×Ë̬PID³õʼ»¯*/
	powerControlInit();		/*µç»ú³õʼ»¯*/

	isInit = true;
}

二、stateControlInit();//姿态PID初始化

void stateControlInit(void)
{
    attitudeControlInit(RATE_PID_DT, ANGEL_PID_DT); /*初始化姿态PID  两个参数分别为1/500 和1/250   */ 
    positionControlInit(VELOCITY_PID_DT, POSITION_PID_DT); /*初始化位置PID 两个参数都为 1/250  */
}

 attitudeControlInit(RATE_PID_DT, ANGEL_PID_DT)

void attitudeControlInit(float ratePidDt, float anglePidDt)
{
	pidInit(&pidAngleRoll, 0, configParam.pidAngle.roll, ratePidDt);			/*roll 角度PID初始化*/
	pidInit(&pidAnglePitch, 0, configParam.pidAngle.pitch, ratePidDt);			/*pitch 角度PID初始化*/
	pidInit(&pidAngleYaw, 0, configParam.pidAngle.yaw, ratePidDt);				/*yaw   角度PID初始化*/
	pidSetIntegralLimit(&pidAngleRoll, PID_ANGLE_ROLL_INTEGRATION_LIMIT);		/*roll  角度积分限幅设置*/
	pidSetIntegralLimit(&pidAnglePitch, PID_ANGLE_PITCH_INTEGRATION_LIMIT);		/*pitch 角度积分限幅设置*/
	pidSetIntegralLimit(&pidAngleYaw, PID_ANGLE_YAW_INTEGRATION_LIMIT);			/*yaw   角度积分限幅设置*/
	
	pidInit(&pidRateRoll, 0, configParam.pidRate.roll, anglePidDt);				/*roll 角速度PID初始化*/
	pidInit(&pidRatePitch, 0, configParam.pidRate.pitch, anglePidDt);			/*pitch 角度PID初始化*/
	pidInit(&pidRateYaw, 0, configParam.pidRate.yaw, anglePidDt);				/*yaw 角度PID初始化*/
	pidSetIntegralLimit(&pidRateRoll, PID_RATE_ROLL_INTEGRATION_LIMIT);			/*roll 角速度积分限幅设置*/
	pidSetIntegralLimit(&pidRatePitch, PID_RATE_PITCH_INTEGRATION_LIMIT);		/*pitch角速度积分限幅设置*/
	pidSetIntegralLimit(&pidRateYaw, PID_RATE_YAW_INTEGRATION_LIMIT);			/*yaw  角速度积分限幅设置*/
}

typedef struct
{
    float desired;        //< set point
    float error;        //< error
    float prevError;    //< previous error
    float integ;        //< integral  偏差对时间的积分
    float deriv;        //< derivative   偏差对时间的微分
    float kp;           //< proportional gain
    float ki;           //< integral gain
    float kd;           //< derivative gain
    float outP;         //< proportional output (debugging)
    float outI;         //< integral output (debugging)
    float outD;         //< derivative output (debugging)
    float iLimit;       //< integral limit
    float outputLimit;  //< total PID output limit, absolute value. '0' means no limit.
    float dt;           //< delta-time dt
} PidObject;

PidObject pidAngleRoll;
PidObject pidAnglePitch;
PidObject pidAngleYaw;
PidObject pidRateRoll;
PidObject pidRatePitch;
PidObject pidRateYaw;

pidInit() 和pidSetIntegralLimit()  就是对各个PID结构体进行初始化 赋参数

参数来源于之前的一个    configParamInit();    /*初始化配置参数*/   里面根据版本 初始化了参数。

三、powerControlInit();//电机初始化

void powerControlInit(void)
{
    motorsInit();
} //拒绝俄罗斯套娃 为什么不直接写 motorsInit();

 

void motorsInit(void)	/*µç»ú³õʼ»¯*/
{
    //定义了GPIO初始化结构体 计时器初始化结构体 PWM通道设置结构体
	GPIO_InitTypeDef GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	
     //使能GPIO总线时钟 使能端口定时器复用时钟
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA|RCC_AHB1Periph_GPIOB, ENABLE);	//ʹÄÜPORTA PORTBʱÖÓ
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2|RCC_APB1Periph_TIM4,ENABLE);  	//TIM2ºÍTIM4ʱÖÓʹÄÜ    
	
     //初始化定时器TIM2 TIM4为默认状态
	TIM_DeInit(TIM4);	//
	TIM_DeInit(TIM2);	//
	
	GPIO_PinAFConfig(GPIOB,GPIO_PinSource7,GPIO_AF_TIM4); 	//PB7复用为TIM4 CH2	MOTOR1
	GPIO_PinAFConfig(GPIOB,GPIO_PinSource6,GPIO_AF_TIM4); 	//PB6复用为TIM4 CH1	MOTOR2
	GPIO_PinAFConfig(GPIOB,GPIO_PinSource10,GPIO_AF_TIM2); 	//PB10复用为TIM2 CH3	MOTOR3
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource5,GPIO_AF_TIM2); 	//PA5 复用为TIM2 CH1	MOTOR4
	
    //根据复用功能 设置GPIO引脚 并初始化
	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_10;	//PB6 7 10
	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;        				//¸´Óù¦ÄÜ
	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;				//ËÙ¶È100MHz
	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;      				//ÍÆÍ츴ÓÃÊä³ö
	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;        				//ÉÏÀ­
	GPIO_Init(GPIOB,&GPIO_InitStructure);              				//³õʼ»¯PB6 7 10
	
	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_5;							//PA5
	GPIO_Init(GPIOA,&GPIO_InitStructure);              				//³õʼ»¯PA5		
	
    //设置并初始化计时器

	TIM_TimeBaseStructure.TIM_Period=MOTORS_PWM_PERIOD;			//×Ô¶¯ÖØ×°ÔØÖµ
	TIM_TimeBaseStructure.TIM_Prescaler=MOTORS_PWM_PRESCALE;	//¶¨Ê±Æ÷·ÖƵ
	TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;	//ÏòÉϼÆÊýģʽ	
	TIM_TimeBaseStructure.TIM_ClockDivision=0; 					//ʱÖÓ·ÖƵ
	TIM_TimeBaseStructure.TIM_RepetitionCounter=0;				//Öظ´¼ÆÊý´ÎÊý
	
	TIM_TimeBaseInit(TIM4,&TIM_TimeBaseStructure);				//³õʼ»¯TIM4
	TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure);				//³õʼ»¯TIM2
	

    //设置并初始化计时器的PWM输出
	TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM1;				//PWMģʽ1
	TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;	//ʹÄÜÊä³ö
	TIM_OCInitStructure.TIM_Pulse=0;							//CCRx
	TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;		//¸ßµçƽÓÐЧ
	TIM_OCInitStructure.TIM_OCIdleState=TIM_OCIdleState_Set;	//¿ÕÏиߵçƽ	
	TIM_OC2Init(TIM4, &TIM_OCInitStructure);  	//³õʼ»¯TIM4 CH2Êä³ö±È½Ï
	TIM_OC1Init(TIM4, &TIM_OCInitStructure);  	//³õʼ»¯TIM4 CH1Êä³ö±È½Ï
	TIM_OC3Init(TIM2, &TIM_OCInitStructure);  	//³õʼ»¯TIM2 CH3Êä³ö±È½Ï
	TIM_OC1Init(TIM2, &TIM_OCInitStructure);  	//³õʼ»¯TIM2 CH1Êä³ö±È½Ï
	
	TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);  //ʹÄÜTIM4ÔÚCCR2ÉϵÄԤװÔؼĴæÆ÷
	TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);  //ʹÄÜTIM4ÔÚCCR1ÉϵÄԤװÔؼĴæÆ÷
	TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);  //ʹÄÜTIM2ÔÚCCR3ÉϵÄԤװÔؼĴæÆ÷
	TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);  //ʹÄÜTIM2ÔÚCCR1ÉϵÄԤװÔؼĴæÆ÷
 
	TIM_ARRPreloadConfig(TIM4,ENABLE);	//TIM4	ARPEʹÄÜ 
	TIM_ARRPreloadConfig(TIM2,ENABLE);	//TIM2	ARPEʹÄÜ 
	
	TIM_Cmd(TIM4, ENABLE);  //ʹÄÜTIM4
	TIM_Cmd(TIM2, ENABLE);  //ʹÄÜTIM2	

	isInit = true;
}

使能GPIO  使能复用时钟

设置定时器默认模式

设置并初始化GPIO

设置并初始化定时器

设置并初始化PWM输出

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总结

stabilizerInit(); 里面包含了以下两个函数

stateControlInit();//姿态PID初始化

powerControlInit();//电机初始化