STM32平衡小車代碼可以直接用

ID:290582 · 發表于 2018-3-11 23:21

在其他網站找到的一份可以直接用的平衡車代碼，大家可以參考一下

單片機源程序如下:

/**
******************************************************************************
* File Name : main.c
* Description : Main program body
******************************************************************************
*
* COPYRIGHT(c) 2017 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f1xx_hal.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* USER CODE BEGIN Includes */
#include "math.h"
#include "attitude_pid.h"
#include "MPU9250.h"
#include "showwave.h"
#include "dot_matrix.h"
#include "attitude_pid.h"
#include "moto_ctrl.h"
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
uint8_t g_count = 0;
extern uint8_t g_sys_mode ;
extern mpu9250_t g_mpu9250 ;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim8;
extern float Left_Motor_Control_K;
extern float Right_Motor_Control_K;
//static float Kp = 0.95;static float Ki = 0.04;static float Kd = 0.08;static float SetOff = 9 ;
//static float Kp = 0.95; static float Ki = 0.04;static float Kd = 0.05;static float SetOff = 3;
static float Kp,Kd,Ki,SetOff;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void Error_Handler(void);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
int main(void)
{
/* USER CODE BEGIN 1 */
uint16_t i = 0;
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART1_UART_Init();
MX_I2C1_Init();
MX_TIM8_Init();
MX_TIM3_Init();
MX_SPI3_Init();
MX_USART2_UART_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
Motor_Stop();
dot_matrix_init() ;
InitSensor();
HAL_TIM_Base_Start_IT(&htim3);
// HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_1);
// HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_2);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
ReadUserButton();
if ( g_sys_mode == 0 ) { //SetOff = 9 ;
}
else if ( g_sys_mode == 1 ) { //SetOff = 0;
}
else if ( g_sys_mode == 2 ) {
}
if(i++>200)
{
i = 0;
HAL_GPIO_TogglePin(LED_Y_GPIO_Port, LED_Y_Pin);
HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
}
}
/* USER CODE END 3 */
}
/** System Clock Configuration
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/**Initializes the CPU, AHB and APB busses 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_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
/**Configure the Systick
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM6 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
static int count = 0 ;
if (htim->Instance == htim3.Instance)
{
count ++ ;
if (count < 1000 )
{Kp = 0.95 ; Ki = 0.04 ; Kd = 0.05 ; SetOff = 3 ; Left_Motor_Control_K = 1;
Right_Motor_Control_K = 1;}
else if ( count < 2000 )
{Kp = 0.95 ; Ki = 0.04 ; Kd = 0.08 ; SetOff = 9 ;Left_Motor_Control_K = 1;
Right_Motor_Control_K = 1;}
else if (count < 2500 )
{Kp = 0.95 ; Ki = 0.04 ; Kd = 0.05 ; SetOff = 3 ;Left_Motor_Control_K = 1;
Right_Motor_Control_K = 1;}
else if (count < 3000 )
{Kp = 0.95 ; Ki = 0.04 ; Kd = 0.08 ; SetOff = 9 ;Left_Motor_Control_K = 0.5;
Right_Motor_Control_K = 1.2;}
else if (count < 3500 )
{Kp = 0.95 ; Ki = 0.04 ; Kd = 0.05 ; SetOff = 3 ; Left_Motor_Control_K = 1;
Right_Motor_Control_K = 1 ;}
else if (count < 4000 )
{Kp = 0.95 ; Ki = 0.04 ; Kd = 0.08 ; SetOff = 9 ;Left_Motor_Control_K = 1.2;
Right_Motor_Control_K = 0.5;}
else if ( count < 4500 )
{Kp = 0.95 ; Ki = 0.04 ; Kd = 0.05 ; SetOff = 3 ; Left_Motor_Control_K = 1;
Right_Motor_Control_K = 1 ;}
else if ( count < 5000 )
{Kp = 0.95 ; Ki = 0.04 ; Kd = 0.08 ; SetOff = 9 ;Left_Motor_Control_K = 0;
Right_Motor_Control_K = 1;}
else Motor_Stop();
Get_Accel_Gyro() ;
// Kalman_Filter( g_mpu9250.accel_y , g_mpu9250.gyro_x );
calculate_angle() ;
PID(Kp,Kd,Ki,SetOff);
Set_Motor_Pwm() ;
/*
Angle_Calculate();
Angle_Control();
Set_Motor_Pwm();
*/
}
/* USER CODE END Callback 0 */
if (htim->Instance == TIM6) {
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */
}
/**
* @brief This function is executed in case of error occurrence.
* @param None
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler */
/* User can add his own implementation to report the HAL error return state */
while(1)
{
}
/* USER CODE END Error_Handler */
}
#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
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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陳老板終極版平衡車代碼.rar (3.49 MB, 下載次數: 46)

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STM32平衡小車代碼 可以直接用

STM32平衡小車代碼可以直接用