STM32+L298N+PID驱动4路PWM波的程序源码 -

#include "sys.h"
#include "l298n.h"
#include "usart.h"
void l298n_TIM3_PWM_init(u16 arr,u16 psc)
//使用TIM3输出四路pwm波
{
GPIO_InitTypeDef GPIO_InitStructure;//定义结构体
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;//定义初始化结构体
TIM_OCInitTypeDef TIM_OCInitStructure;//定义结构体
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能定时器3时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);//使能GPIO外设和AFIO复用功能模块时钟
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE); //选择Timer3完全重映像
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);//禁用JTAG
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9; //使用TIM3下的TIM_CH1/TIM_CH2/TIM_CH3/TIM_CH4
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化引脚
//初始化TIM3
TIM_TimeBaseStructure.TIM_Period = arr; //自动重装载寄存器的值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //TIMX预分频的值
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //时钟分割
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据以上功能对定时器进行初始化
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;//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;//输出比较极性低
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
//使能预装载寄存器
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
//根据结构体信息进行初始化
TIM_Cmd(TIM3, ENABLE); //使能定时器TIM3
}

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#include "stdio.h"
#include "sys.h"
#include "motor_pid.h"
#define PITCH 0
#define YAW 0
#define ROW 0
//定义结构体变量
PIDTypeDef mypid;
void PID_init()//结构体初始化
{
//实际值
mypid.ActualPitch = 0;
mypid.ActualRow = 0;
mypid.ActualYaw = 0;
//设定值
mypid.SetPitch = 0;
mypid.SetRow = 0;
mypid.SetYaw = 0;
//偏差
mypid.err_pitch = 0;
mypid.err_row = 0;
mypid.err_yaw = 0;
//最近偏差
mypid.err_last_pitch = 0;
mypid.err_last_row = 0;
mypid.err_last_yaw = 0;
//历史偏差
mypid.integral_pitch = 0;
mypid.integral_row = 0;
mypid.integral_yaw = 0;
//比例微分积分
mypid.Kp_left = 0;
mypid.Ki_left = 0;
mypid.Kd_left = 0;
mypid.Kp_right = 0;
mypid.Ki_right = 0;
mypid.Kd_right = 0;
mypid.Kp_forth = 0;
mypid.Ki_forth = 0;
mypid.Kd_forth = 0;
mypid.Kp_back;
}
void PID_6050(int pitch,int yaw,int row)
//pitch 俯仰角
//yaw 偏航角
//row 翻滚角
{
mypid.SetPitch = PITCH;
mypid.SetRow = ROW;
mypid.SetYaw = YAW;
mypid.ActualPitch = pitch;
mypid.ActualRow = row;
mypid.ActualYaw = yaw;
mypid.err_pitch = mypid.SetPitch - mypid.ActualPitch;
mypid.err_row = mypid.SetRow - mypid.ActualRow;
mypid.err_yaw = mypid.SetYaw - mypid.ActualYaw;
mypid.integral_pitch += mypid.integral_pitch;
mypid.integral_row += mypid.integral_row;
mypid.integral_yaw += mypid.integral_yaw;
mypid.inLeft =
mypid.inRight =
mypid.inForth =
mypid.inBack =
pi
}

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