From ef1d5bead612901b1d02b62f4ff74f28f6def2a6 Mon Sep 17 00:00:00 2001 From: htujun <134864016@qq.com> Date: Wed, 20 Apr 2022 21:50:23 +0800 Subject: [PATCH] =?UTF-8?q?debug=E5=AE=8C=E6=88=90,=20=E5=8A=A0=E5=85=A5?= =?UTF-8?q?=E5=8D=A1=E5=B0=94=E6=9B=BC=E6=BB=A4=E6=B3=A2=E5=99=A8,?= =?UTF-8?q?=E5=87=8F=E5=B0=91=E7=BA=BF=E5=AF=B9=E7=BC=96=E7=A0=81=E5=99=A8?= =?UTF-8?q?=E6=95=B0=E5=80=BC=E7=9A=84=E5=BD=B1=E5=93=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- stm32/HARDWARE/KEY/key.c | 25 +- stm32/HARDWARE/KEY/key.h | 18 +- stm32/HARDWARE/TIMER/timer.c | 33 +- stm32/OBJ/Template.axf | Bin 375880 -> 608652 bytes stm32/OBJ/Template.build_log.htm | 19 +- stm32/OBJ/Template.hex | 1937 +++++++++++----------- stm32/OBJ/Template.htm | 883 +++++----- stm32/OBJ/Template_Target 1.dep | 1212 +++++++------- stm32/OBJ/adc.crf | Bin 348882 -> 348882 bytes stm32/OBJ/adc.o | Bin 383648 -> 383540 bytes stm32/OBJ/delay.crf | Bin 348302 -> 348302 bytes stm32/OBJ/delay.o | Bin 382388 -> 382272 bytes stm32/OBJ/encoder.crf | Bin 349290 -> 349290 bytes stm32/OBJ/encoder.o | Bin 383668 -> 383564 bytes stm32/OBJ/key.crf | Bin 348822 -> 348775 bytes stm32/OBJ/key.o | Bin 383316 -> 383160 bytes stm32/OBJ/led.crf | Bin 348088 -> 348088 bytes stm32/OBJ/led.o | Bin 381596 -> 381496 bytes stm32/OBJ/main.crf | Bin 364213 -> 364084 bytes stm32/OBJ/main.o | Bin 397864 -> 397764 bytes stm32/OBJ/misc.crf | Bin 347247 -> 347247 bytes stm32/OBJ/misc.o | Bin 379872 -> 379768 bytes stm32/OBJ/motor.crf | Bin 348512 -> 348512 bytes stm32/OBJ/motor.o | Bin 382328 -> 382228 bytes stm32/OBJ/oled.crf | Bin 358310 -> 358310 bytes stm32/OBJ/oled.o | Bin 398412 -> 398288 bytes stm32/OBJ/stm32f10x_adc.crf | Bin 354416 -> 354416 bytes stm32/OBJ/stm32f10x_adc.o | Bin 394056 -> 393952 bytes stm32/OBJ/stm32f10x_gpio.crf | Bin 350745 -> 350745 bytes stm32/OBJ/stm32f10x_gpio.o | Bin 386308 -> 386204 bytes stm32/OBJ/stm32f10x_it.crf | Bin 346648 -> 346648 bytes stm32/OBJ/stm32f10x_it.o | Bin 380236 -> 380124 bytes stm32/OBJ/stm32f10x_rcc.crf | Bin 354320 -> 354320 bytes stm32/OBJ/stm32f10x_rcc.o | Bin 390784 -> 390680 bytes stm32/OBJ/stm32f10x_tim.crf | Bin 369333 -> 369333 bytes stm32/OBJ/stm32f10x_tim.o | Bin 415064 -> 414960 bytes stm32/OBJ/stm32f10x_usart.crf | Bin 352858 -> 352858 bytes stm32/OBJ/stm32f10x_usart.o | Bin 390448 -> 390340 bytes stm32/OBJ/sys.crf | Bin 347494 -> 347494 bytes stm32/OBJ/sys.o | Bin 382104 -> 381976 bytes stm32/OBJ/system_stm32f10x.crf | Bin 348367 -> 348367 bytes stm32/OBJ/system_stm32f10x.o | Bin 380132 -> 380020 bytes stm32/OBJ/timer.crf | Bin 358592 -> 358844 bytes stm32/OBJ/timer.o | Bin 392744 -> 393536 bytes stm32/OBJ/usart.crf | Bin 353514 -> 353514 bytes stm32/OBJ/usart.o | Bin 386320 -> 386208 bytes stm32/OBJ/wifi.crf | Bin 351622 -> 351622 bytes stm32/OBJ/wifi.o | Bin 388120 -> 388000 bytes stm32/USER/.vscode/c_cpp_properties.json | 44 +- stm32/USER/.vscode/keil-assistant.log | 8 + stm32/USER/.vscode/settings.json | 5 + stm32/USER/.vscode/uv4.log | 14 +- stm32/USER/.vscode/uv4.log.lock | 2 +- stm32/USER/Template.map | 980 +++++------ stm32/USER/Template.uvguix.QY | 101 +- stm32/USER/Template.uvoptx | 2 +- stm32/USER/main.c | 26 +- 57 files changed, 2684 insertions(+), 2625 deletions(-) create mode 100644 stm32/USER/.vscode/settings.json diff --git a/stm32/HARDWARE/KEY/key.c b/stm32/HARDWARE/KEY/key.c index 18bc6eb..661886b 100644 --- a/stm32/HARDWARE/KEY/key.c +++ b/stm32/HARDWARE/KEY/key.c @@ -1,8 +1,8 @@ /* * @Author: your name * @Date: 2022-04-17 21:03:46 - * @LastEditTime: 2022-04-19 17:45:57 - * @LastEditors: lishengyin + * @LastEditTime: 2022-04-19 23:32:17 + * @LastEditors: Please set LastEditors * @Description: 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE * @FilePath: \undefinede:\项目\兼职项目\MotorPid\stm32\HARDWARE\KEY\key.c */ @@ -28,18 +28,13 @@ void KEY_Init(void) //IO��ʼ�� { GPIO_InitTypeDef GPIO_InitStructure; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOC,ENABLE);//ʹ��PORTA,PORTEʱ�� + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC|RCC_APB2Periph_GPIOB,ENABLE);//ʹ��PORTA,PORTEʱ�� - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_13 | GPIO_Pin_12;//KEY0-KEY1 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //���ó��������� - GPIO_Init(GPIOC, &GPIO_InitStructure);//��ʼ��GPIOE4,3 - - //��ʼ�� WK_UP-->GPIOA.0 �������� - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //PA0���ó����룬Ĭ������ - GPIO_Init(GPIOA, &GPIO_InitStructure);//��ʼ��GPIOA.0 - + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15; + GPIO_Init(GPIOC, &GPIO_InitStructure); } + //������������ //���ذ���ֵ //mode:0,��֧��������;1,֧��������; @@ -52,14 +47,14 @@ u8 KEY_Scan(u8 mode) { static u8 key_up=1;//�������ɿ���־ if(mode)key_up=1; //֧������ - if(key_up&&(KEY0==0||KEY1==0 || KEY2==0 ||WK_UP==1)) + if(key_up&&(KEY0==0 || KEY1==0 || KEY2==0 ||WK_UP==0)) { delay_ms(10);//ȥ���� key_up=0; if(KEY0==0)return KEY0_PRES; else if(KEY1==0)return KEY1_PRES; - else if(WK_UP==1)return WKUP_PRES; - else if(KEY2 == 0) return KEY2_PRES; - }else if(KEY0==1&&KEY1==1&&WK_UP==0&&KEY2==1)key_up=1; + else if(WK_UP==0)return WKUP_PRES; + else if(KEY2 == 0)return KEY2_PRES; + }else if(KEY0==1&&KEY1==1&&WK_UP==1&&KEY2==1)key_up=1; return 0;// �ް������� } diff --git a/stm32/HARDWARE/KEY/key.h b/stm32/HARDWARE/KEY/key.h index abb5564..77b594a 100644 --- a/stm32/HARDWARE/KEY/key.h +++ b/stm32/HARDWARE/KEY/key.h @@ -15,22 +15,18 @@ ////////////////////////////////////////////////////////////////////////////////// -//#define KEY0 PEin(4) //PE4 -//#define KEY1 PEin(3) //PE3 -//#define WK_UP PAin(0) //PA0 WK_UP +#define KEY0 GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_15)//��ȡ����0 +#define KEY1 GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_14)//��ȡ����1 +#define KEY2 GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_13) +#define WK_UP GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_0)//��ȡ����3(WK_UP) -#define KEY0 GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_1)//��ȡ����0 -#define KEY1 GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_13)//��ȡ����1 -#define KEY2 GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_12) - -#define WK_UP GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_0)//��ȡ����3(WK_UP) - - #define KEY0_PRES 1 //KEY0���� #define KEY1_PRES 2 //KEY1���� #define WKUP_PRES 3 //KEY_UP����(��WK_UP/KEY_UP) #define KEY2_PRES 4 void KEY_Init(void);//IO��ʼ�� -u8 KEY_Scan(u8); //����ɨ�躯�� +u8 KEY_Scan(u8); //����ɨ�躯�� + + #endif diff --git a/stm32/HARDWARE/TIMER/timer.c b/stm32/HARDWARE/TIMER/timer.c index 53e9ab2..83d43eb 100644 --- a/stm32/HARDWARE/TIMER/timer.c +++ b/stm32/HARDWARE/TIMER/timer.c @@ -11,7 +11,6 @@ extern char beam_value_buf[7]; extern struct UserInfo userInfo; - /** * @description: 设置pwm * @param {int} motor @@ -24,6 +23,26 @@ void Set_Pwm(int motor) PWMA=abs(motor); } + +/** + * @description: 卡尔曼滤波器 + * @param {unsigned long} inData + * @return {*} + */ +int KalmanFilter(int inData) +{ + static float kalman = 0; //上次卡尔曼值(估计出的最优值) + static float p = 10; + float q = 0.02; //q:过程噪声 + float r = 7.0000; //r:测量噪声 + float kg = 0; //kg:卡尔曼增益 + p += q; + kg = p / ( p + r ); //计算卡尔曼增益 + kalman = kalman + (kg * (inData - kalman)); //计算本次滤波估计值 + p = (1 - kg) * p; //更新测量方差 + return (int)kalman; //返回估计值 +} + /** * @description: * @param {int} Encoder 编码器速度 @@ -33,15 +52,16 @@ void Set_Pwm(int motor) int velocity_PID(int Encoder,int Target){ static float velocity_KP = 7.7, velocity_KI = 1.1; static int Last_bias; - int Bias, pwm = 0; + static int Bias, pwm; Bias = Encoder - Target; //计算偏差 - pwm = velocity_KP * Bias + velocity_KI * (Bias - Last_bias); //增量式PI控制器 + pwm += velocity_KP * Bias + velocity_KI * (Bias - Last_bias); //增量式PI控制器 if(pwm > 7200) pwm = 7200; if(pwm < -7200) pwm = -7200; Last_bias = Bias; //保存上一次偏差 return pwm; } + /** * @description: * @param {u16} arr @@ -72,8 +92,7 @@ void TIM3_Int_Init(u16 arr,u16 psc) NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); - TIM_Cmd(TIM3, ENABLE); - + TIM_Cmd(TIM3, ENABLE); } void TIM3_IRQHandler(void) @@ -82,7 +101,9 @@ void TIM3_IRQHandler(void) if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) { userInfo.currentSpeed = Read_Encoder(2); - if(userInfo.run) pwm = velocity_PID(userInfo.currentSpeed, userInfo.targetSpeed); + userInfo.currentSpeed = KalmanFilter(userInfo.currentSpeed); + if(userInfo.run)pwm = velocity_PID(userInfo.currentSpeed, userInfo.targetSpeed); + else pwm = 0; userInfo.pwm_val = pwm; Set_Pwm(pwm); TIM_ClearITPendingBit(TIM3, TIM_IT_Update); diff --git a/stm32/OBJ/Template.axf b/stm32/OBJ/Template.axf index 3e1d4b46e441e1e3b4a9cb7f73bb4a4ed567d8f7..02bb0bd59b870c2049258b42c54253611f3d5d42 100644 GIT binary patch delta 47129 zcmeFacX(9Q-Zs3}v&y<@nDd@UW{hvJUpa<$2tCC689ABRf+HY=q z`ZOzIBWe(OihaflD>q+J#I9SvWwOZTi5vRFwVbd^!|P6mB%7XQiS|O) z7JaVs=8RWEUSKKA$=jBmwiNR8jQytcr2Xb}(|${O{((zchrr^l{L6~%&Cs|mXN$cs 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zfENSP0wu_Vr>*gLFb-U!;f}!ivsmIs1MgO5{aZSqlpK;0W#`t&%_|N`cbGS)9g#A) zVm=~8Z>~8iW!N@9dtACRX!BKVk~PJeJ|&|zb#qo1|KH8j`m>u5(xdD!`PXiKBH8~R zj*hK^@GK~sF>G+pmz1Dk{z-~+n7^d-8|EKsN*<&PALgHEy$(XidzgQ`ja=?BSXnvD zznclaZ{gQ^0{Yh}KSI}*Hy!~fPbk3!{)x7ue=#<Xy?_$T=#;}P~7 zYt72N1^x-v??SBXkg^{1j@x@!*^^215()$ZDaQ)@W2}>ktt?sLh5kv_#r0MeOD=>c egA4ub)@OmIDWkxO4BTQBhm4>n{-{Oh@BaY^#nBG{ diff --git a/stm32/OBJ/Template.build_log.htm b/stm32/OBJ/Template.build_log.htm index 2488fc4..2e94f0a 100644 --- a/stm32/OBJ/Template.build_log.htm +++ b/stm32/OBJ/Template.build_log.htm @@ -5,7 +5,7 @@

Tool Versions:

IDE-Version: Vision V5.25.2.0 Copyright (C) 2018 ARM Ltd and ARM Germany GmbH. All rights reserved. -License Information: li Administrator, li, LIC=LSNX7-ESVPU-ARPXW-QH3G4-M33TV-HZM1L +License Information: sasasa QY, asas, LIC=QF8WF-6I29G-55ZT2-95TJS-AUNX7-U54RF Tool Versions: Toolchain: MDK-ARM Plus Version: 5.25.2.0 @@ -21,19 +21,18 @@ Target DLL: STLink\ST-LINKIII-KEIL_SWO.dll V3.0.1.0 Dialog DLL: TCM.DLL V1.35.1.0

Project:

-e:\workspace\items\MotorPid-master\motorpid\stm32\USER\Template.uvprojx -Project File Date: 04/18/2022 +e:\Ŀ\ְĿ\20220418-MotorPid\stm32\USER\Template.uvprojx +Project File Date: 04/17/2022

Output:

*** Using Compiler 'V5.06 update 6 (build 750)', folder: 'D:\Keil_v5\ARM\ARMCC\Bin' Build target 'Target 1' -compiling key.c... -compiling main.c... -main.c(113): warning: #167-D: argument of type "char *" is incompatible with parameter of type "u8 *" - OLED_ShowString(0,0, str, 16); -main.c: 1 warning, 0 errors +compiling timer.c... +..\HARDWARE\TIMER\timer.c(23): warning: #223-D: function "abs" declared implicitly + PWMA=abs(motor); +..\HARDWARE\TIMER\timer.c: 1 warning, 0 errors linking... -Program Size: Code=12802 RO-data=2342 RW-data=392 ZI-data=1344 +Program Size: Code=13154 RO-data=2342 RW-data=408 ZI-data=1344 FromELF: creating hex file... "..\OBJ\Template.axf" - 0 Error(s), 1 Warning(s). @@ -49,7 +48,7 @@ Package Vendor: Keil D:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.3.0\Device\Include

Collection of Component Files used:

-Build Time Elapsed: 00:00:03 +Build Time Elapsed: 00:00:01 diff --git a/stm32/OBJ/Template.hex b/stm32/OBJ/Template.hex index 6313838..17709d3 100644 --- a/stm32/OBJ/Template.hex +++ b/stm32/OBJ/Template.hex @@ -1,962 +1,985 @@ :020000040800F2 -:10000000C8060020B1140008B5020008B7020008B5 -:10001000BB020008BF020008C30200080000000085 -:10002000000000000000000000000000C7020008FF -:10003000C902000800000000CB020008CD02000841 -:10004000CB140008CB140008CB140008CB14000814 -:10005000CB140008CB140008CB140008CB14000804 -:10006000CB140008CB140008CB140008CB140008F4 -:10007000CB140008CB140008CB140008CB140008E4 -:10008000CB140008CB140008CB140008CB140008D4 -:10009000CB140008CB140008CB140008CB140008C4 -:1000A000CB140008CB140008CB140008CB140008B4 -:1000B000411100088908000829110008CB14000824 -:1000C000CB140008CB140008CB140008CB14000894 -:1000D000CB14000825140008CB14000851050008B3 -:1000E000CB140008CB140008CB140008DFF80CD0A8 -:1000F00002F0FAFF0048004741020008C80600204D 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+:103CD000121C101036100804020132FF06140102F3 +:103CE0000408100D13FE222222FE00FE828292A200 +:103CF0009E2880601F0242827F0814FF402F102CF4 +:103D000043800B1590884C57A42454548C84001085 +:103D10001301018042221A07024282423E01010140 +:103D20000E1504E4242CB4252624B42C24E4040C1D +:103D300014FF02011E1212121E41827F0212013074 +:103D40001101020304010203040607080902040624 +:043D50000800000067 :04000005080000ED02 :00000001FF diff --git a/stm32/OBJ/Template.htm b/stm32/OBJ/Template.htm index db55891..b85125e 100644 --- a/stm32/OBJ/Template.htm +++ b/stm32/OBJ/Template.htm @@ -3,9 +3,9 @@ Static Call Graph - [..\OBJ\Template.axf]

Static Call Graph for image ..\OBJ\Template.axf

-

#<CALLGRAPH># ARM Linker, 5060750: Last Updated: Tue Apr 19 17:46:51 2022 +

#<CALLGRAPH># ARM Linker, 5060750: Last Updated: Wed Apr 20 21:42:16 2022

-

Maximum Stack Usage = 168 bytes + Unknown(Cycles, Untraceable Function Pointers)

+

Maximum Stack Usage = 192 bytes + Unknown(Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

main ⇒ OLED_Display ⇒ OLED_ShowString ⇒ OLED_ShowChar ⇒ OLED_Set_Pos ⇒ OLED_WR_Byte ⇒ Write_IIC_Data ⇒ Write_IIC_Byte

@@ -82,28 +82,28 @@ Global Symbols

__main (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
[Address Reference Count : 1]

  • startup_stm32f10x_md.o(.text)
-

_main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001)) +

_main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))

_main_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))

[Calls]

  • >>   __scatterload
-

__main_after_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004)) +

__main_after_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))

[Called By]

  • >>   __scatterload
-

_main_clock (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008)) +

_main_clock (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008)) -

_main_cpp_init (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A)) +

_main_cpp_init (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A)) -

_main_init (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B)) +

_main_init (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B)) -

__rt_final_cpp (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D)) +

__rt_final_cpp (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D)) -

__rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F)) +

__rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F)) -

OLED_Display (Thumb, 112 bytes, Stack size 48 bytes, main.o(.text)) -

[Stack]