- key.h:
点击查看代码
#ifndef __KEY_H
#define __KEY_H
#include "sys.h"
#define KEY0 PEin(4) //PE4
#define KEY1 PEin(3) //PE3
#define WK_UP PAin(0) //PA0 WK_UP
//#define KEY0 GPIO_ReadInputDataBit(GPIOE,GPIO_Pin_4)//读取按键0
//#define KEY1 GPIO_ReadInputDataBit(GPIOE,GPIO_Pin_3)//读取按键1
//#define WK_UP GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_0)//读取按键3(WK_UP)
#define KEY0_PRES 1 //KEY0按下
#define KEY1_PRES 2 //KEY1按下
#define WKUP_PRES 3 //KEY_UP按下(即WK_UP/KEY_UP)
void KEY_Init(void);//IO初始化
u8 KEY_Scan(u8); //按键扫描函数
#endif
- key.c:
点击查看代码
#include "stm32f10x.h"
#include "key.h"
#include "sys.h"
#include "delay.h"
//按键初始化函数
void KEY_Init(void) //IO初始化
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOE,ENABLE);//使能PORTA,PORTE时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_3;//KEY0-KEY1
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //设置成上拉输入
GPIO_Init(GPIOE, &GPIO_InitStructure);//初始化GPIOE4,3
//初始化 WK_UP-->GPIOA.0 下拉输入
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //PA0设置成输入，默认下拉
GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA.0
}
//按键处理函数
//返回按键值
//mode:0,不支持连续按;1,支持连续按;
//0，没有任何按键按下
//1，KEY0按下
//2，KEY1按下
//3，KEY3按下 WK_UP
//注意此函数有响应优先级,KEY0>KEY1>KEY_UP!!
u8 KEY_Scan(u8 mode)
{
static u8 key_up=1;//按键按松开标志
if(mode)key_up=1; //支持连按
if(key_up&&(KEY0==0||KEY1==0||WK_UP==1))
{
delay_ms(10);//去抖动
key_up=0;
if(KEY0==0)return 1;
else if(KEY1==0)return 2;
else if(WK_UP==1)return 3;
}
else if(KEY0==1&&KEY1==1&&WK_UP==0)key_up=1;
return 0;// 无按键按下
}
- encode.h:
点击查看代码
#ifndef __ENCODER_H
#define __ENCODER_H
#include <sys.h>
#define ENCODER_TIM_PERIOD (u16)(65535) //不可大于65535 因为F103的定时器是16位的。
void Encoder_Init_TIM4(void);
int Read_Encoder(void);
#endif
- encode.c:
点击查看代码
#include "encode.h"
#include "sys.h"
void Encoder_Init_TIM4(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//使能定时器4的时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能PB端口时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入
GPIO_Init(GPIOB, &GPIO_InitStructure); //根据设定参数初始化GPIOB
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//TIM向上计数
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_BothEdge, TIM_ICPolarity_BothEdge);//使用编码器模式3
TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_ICFilter = 10;
TIM_ICInit(TIM4, &TIM_ICInitStructure);
TIM_ClearFlag(TIM4, TIM_FLAG_Update);//清除TIM的更新标志位
TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE);
//Reset counter
TIM_SetCounter(TIM4,0);
TIM_Cmd(TIM4, ENABLE);
}
int Read_Encoder(void)
{
int Encoder_TIM;
Encoder_TIM= (short)TIM4 -> CNT;
TIM4 -> CNT=0;
return Encoder_TIM;
}
void TIM4_IRQHandler(void)
{
if(TIM4->SR&0X0001)//溢出中断
{
}
TIM4->SR&=~(1<<0);//清除中断标志位
}
- time.h:
点击查看代码
#ifndef __TIMER_H
#define __TIMER_H
#include "sys.h"
extern u16 i;
extern float n;
extern float current_speed;
void TIM3_PWM_Init(u16 arr,u16 psc);
void TIM5_Init(u16 per,u16 psc);
#endif
- time.c:
点击查看代码
#include "time.h"
#include "led.h"
#include "usart.h"
#include "encode.h"
u16 i;
float n=0;
float current_speed;
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); //使能定时器3时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB , ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //TIM3_CH1和TIM3_CH2
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIO
//初始化TIM3
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(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
//初始化TIM3 Channel2 PWM模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
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T指定的参数初始化外设TIM3 OC2
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OC2Init(TIM3, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM3 OC2
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR2上的预装载寄存器
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR2上的预装载寄存器
TIM_Cmd(TIM3, ENABLE); //使能TIM3
}
void TIM5_Init(u16 per,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5,ENABLE);//使能TIM5时钟
TIM_TimeBaseInitStructure.TIM_Period=per; //自动装载值
TIM_TimeBaseInitStructure.TIM_Prescaler=psc; //分频系数
TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; //设置向上计数模式
TIM_TimeBaseInit(TIM5,&TIM_TimeBaseInitStructure);
TIM_ITConfig(TIM5,TIM_IT_Update,ENABLE); //开启定时器中断
TIM_ClearITPendingBit(TIM5,TIM_IT_Update);
NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;//定时器中断通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;//抢占优先级
NVIC_InitStructure.NVIC_IRQChannelSubPriority =3; //子优先级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure);
TIM_Cmd(TIM5,ENABLE); //使能定时器
}
void TIM5_IRQHandler(void)
{
if(TIM_GetITStatus(TIM5,TIM_IT_Update))
{
i=TIM4->CNT;
TIM4->CNT=20000;
if(i<20000)
{
n=(20000-i)*5000/(260*4);
current_speed=n*60/100;
}
if(i>20000)
{
n=(i-20000)*5000/(260*4);
current_speed=n*60/100;
}
// i=Read_Encoder();
// n=i/(260*4);
// current_speed=n*50;
}
TIM_ClearITPendingBit(TIM5,TIM_IT_Update);
}
- pid.h:
点击查看代码
#ifndef __pid_H
#define __pid_H
#include<stdio.h>
#include<stdlib.h>
extern float adjust_Speed ;
//void PID_init();
float PI_regulation(int Target_Speed,int Actual_Speed);
#endif
- pid.c:
点击查看代码
#include "pid.h"
float SetSpeed;
float ActualSpeed;
float err;
float last_err;
float Kp=0.35;
float Ki=0.225;
float PI_regulation(int Target_Speed,int Actual_Speed)
{
float adjust_Speed;
SetSpeed=Target_Speed;
ActualSpeed=Actual_Speed;
err=SetSpeed-ActualSpeed;
adjust_Speed=Kp*(err-last_err)+Ki*err; //数字式pi算法
last_err=err;
if(adjust_Speed>100)
adjust_Speed=100;
if(adjust_Speed<-100)
adjust_Speed=-100;
return adjust_Speed;
}
浙公网安备 33010602011771号