完美的平衡车程序卡尔曼滤波和PID及nrf24l01无线 -

/***********************************************
标题: mian.c
日期: 2013/12/27
版本：v1.0
MDK-ARM 版本: v4.12
ST 库版本：v3.50
功能: 自平衡小车平衡及控制
说明：可结合上位机校正六轴的补偿值，使用蓝牙或者NRF24L01控制
*************************************************/
#include "stm32f10x.h"
#include "iic.h"
#include "timer.h"
#include "usart.h"
#include "24l01.h"
#include "mpu3050.h"
#include "adxl345.h"
#include "filter.h"
#include "calculate.h"
#include "usb_lib.h"
#include "usb_desc.h"
#include "usb_istr.h"
#include "hw_config.h"
#include "usb_pwr.h"
#include "usb_pwr.h"
#include <stdio.h>
#include <math.h>
u8 receive_data;
u8 flg_get_senor_data;
u8 out[35] ={0x5f, 0x60, 0};
static float angle, angle_dot, f_angle, f_angle_dot;
s16 temp;
s16 gx, gy, gz, ax ,ay, az, temperature;
s16 gx_offset, ax_offset, ay_offset, az_offset;
u8 tmp[2]={0};
#define USB
#define FILTER_COUNT 32
s16 gx_buf[FILTER_COUNT], ax_buf[FILTER_COUNT], ay_buf[FILTER_COUNT],az_buf[FILTER_COUNT];
/******************************************************************************/
void delay(u32 count) //延时函数
{
for(; count != 0; count--);
}
/*************************************************
名称：void acc_filter(void)
功能：加速度计数据滤波
输入参数：据滤波后的数据
输出参数：无
返回值：无
**************************************************/
void acc_filter(void)
{
u8 i;
s32 ax_sum = 0, ay_sum = 0, az_sum = 0;
for(i = 1 ; i < FILTER_COUNT; i++)
{
ax_buf[i - 1] = ax_buf[i];
ay_buf[i - 1] = ay_buf[i];
az_buf[i - 1] = az_buf[i];
}
ax_buf[FILTER_COUNT - 1] = ax;
ay_buf[FILTER_COUNT - 1] = ay;
az_buf[FILTER_COUNT - 1] = az;
for(i = 0 ; i < FILTER_COUNT; i++)
{
ax_sum += ax_buf[i];
ay_sum += ay_buf[i];
az_sum += az_buf[i];
}
ax = (s16)(ax_sum / FILTER_COUNT);
ay = (s16)(ay_sum / FILTER_COUNT);
az = (s16)(az_sum / FILTER_COUNT);
}
/*****************************************************************************/
int main(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
#ifdef USB //usb接入
NVIC_InitTypeDef NVIC_InitStructure;
#endif
u8 j, i=0;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_SetBits(GPIOA,GPIO_Pin_5); //blue led
#ifdef USB
usb_system_init();
#endif
//初始化
usart_init();
iic_init();
timer_init();
NRF24L01_Init(); //初始化NRF24L01
mpu3050_init();
adxl345_init();
motor_init();
LED2OFF;//确认关闭LED2
while(NRF24L01_Check())//检测不到24L01
{
delay(3000);
LED2ON; //LED2常亮
}
RX_Mode(); //24L01接收模式
LED1ON;
while (1)
{
if(flg_get_senor_data) //TIM3触发
{
flg_get_senor_data = 0;
#ifdef USB
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE; //USB通讯关闭
NVIC_Init(&NVIC_InitStructure);
#endif
//获取六轴的原始值
mpu3050_get_data(&gx, &gy, &gz, &temperature);
adxl345_get_data(&ax, &ay ,&az);
#ifdef USB
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //USB通讯启动
NVIC_Init(&NVIC_InitStructure);
#endif
acc_filter();
gx -= gx_offset; //gx补偿校正
ax -= ax_offset; //ax补偿校正
ay -= ay_offset; //ay补偿校正
az -= az_offset; //az补偿校正
angle_dot = gx * GYRO_SCALE; //+-2000 0.060975 °/LSB
angle = atan(ay / sqrt(ax * ax + az * az ));
angle = angle * 57.295780; //180/pi
kalman_filter(angle, angle_dot, &f_angle, &f_angle_dot);//卡尔曼滤波函数
if(tmp[0]==0){ receive_parameter(receive_data);}//蓝牙控制
//---------------------------------------------------------------
if(NRF24L01_RxPacket(tmp)==0) //24L01控制
{
receive_parameter(tmp[1]);
LED1OFF;
}
//------------------------------------------------------------
pid(f_angle, f_angle_dot); //PID调节
#ifdef USB //USB上位机数据处理
temp = (s16)(f_angle * 100);
out[2] = (u8)(gx >> 8);
out[3] = (u8)(gx);
out[4] = (u8)(gy >> 8);
out[5] = (u8)(gy);
out[6] = (u8)(gz >> 8);
out[7] = (u8)(gz);
out[8] = (u8)(ax >> 8);
out[9] = (u8)(ax);
out[10] = (u8)(ay >> 8);
out[11] = (u8)(ay);
out[12] = (u8)(az >> 8);
out[13] = (u8)(az);
out[14] = (u8)(temp >> 8);
out[15] = (u8)(temp);
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