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feat: 完成互补pwm输出接口

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This commit is contained in:
CaoWangrenbo
2024-04-16 18:17:30 +08:00
parent 58af6f0c89
commit f0cbc9f1d3
16 changed files with 765 additions and 82 deletions
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4
.clang-format
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@@ -7,8 +7,8 @@ Language: Cpp
################################### ###################################
UseTab: Never UseTab: Never
IndentWidth: 4 IndentWidth: 2
TabWidth: 4 TabWidth: 2
ColumnLimit: 0 ColumnLimit: 0
AccessModifierOffset: -4 AccessModifierOffset: -4
NamespaceIndentation: All NamespaceIndentation: All

7
.eide/eide.json
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@@ -4,7 +4,8 @@
"dependenceList": [], "dependenceList": [],
"srcDirs": [ "srcDirs": [
".eide/deps", ".eide/deps",
"3rd-part" "3rd-part",
"app"
], ],
"virtualFolder": { "virtualFolder": {
"name": "<virtual_root>", "name": "<virtual_root>",
@@ -126,7 +127,9 @@
".cmsis/include", ".cmsis/include",
"project/MDK_V5/RTE/_BC2D", "project/MDK_V5/RTE/_BC2D",
".eide/deps", ".eide/deps",
"3rd-part/dwt_delay" "3rd-part/dwt_delay",
"3rd-part/PID-Library",
"app"
], ],
"libList": [], "libList": [],
"sourceDirList": [], "sourceDirList": [],

21
3rd-part/PID-Library/LICENSE Normal file
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@@ -0,0 +1,21 @@
MIT License
Copyright (c) 2021 Majid Derhambakhsh
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.

164
3rd-part/PID-Library/README.md Normal file
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![Banner](Banner.png)
# PID-Library (C Version)
PID Controller library for ARM Cortex M (STM32)
> #### Download Arduino Library : [Arduino-PID-Library](https://github.com/br3ttb/Arduino-PID-Library)
## Release
- #### Version : 1.0.0
- #### Type : Embedded Software.
- #### Support :
- ARM STM32 series
- #### Program Language : C/C++
- #### Properties :
- #### Changes :
- #### Required Library/Driver :
## Overview
### Initialization and de-initialization functions:
```c++
void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection);
```
### Operation functions:
```c++
/* ::::::::::: Computing ::::::::::: */
uint8_t PID_Compute(PID_TypeDef *uPID);
/* ::::::::::: PID Mode :::::::::::: */
void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
PIDMode_TypeDef PID_GetMode(PID_TypeDef *uPID);
/* :::::::::: PID Limits ::::::::::: */
void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max);
/* :::::::::: PID Tunings :::::::::: */
void PID_SetTunings(PID_TypeDef *uPID, float Kp, float Ki, float Kd);
void PID_SetTunings2(PID_TypeDef *uPID, float Kp, float Ki, float Kd, PIDPON_TypeDef POn);
/* ::::::::: PID Direction ::::::::: */
void PID_SetControllerDirection(PID_TypeDef *uPID, PIDCD_TypeDef Direction);
PIDCD_TypeDef PID_GetDirection(PID_TypeDef *uPID);
/* ::::::::: PID Sampling :::::::::: */
void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
/* ::::::: Get Tunings Param ::::::: */
float PID_GetKp(PID_TypeDef *uPID);
float PID_GetKi(PID_TypeDef *uPID);
float PID_GetKd(PID_TypeDef *uPID);
```
### Macros:
```diff
non
```
## Guide
#### This library can be used as follows:
#### 1. Add pid.h header
#### 2. Create PID struct and initialize it, for example:
* Initializer:
```c++
PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
```
* Parameters:
* uPID : Pointer to pid struct
* Input : The variable we're trying to control (float)
* Output : The variable that will be adjusted by the pid (float)
* Setpoint : The value we want to Input to maintain (float)
* Kp,Ki,Kd : Tuning Parameters. these affect how the pid will change the output (float>=0)
* POn : Either P_ON_E (Default) or P_ON_M. Allows Proportional on Measurement to be specified.
* ControllerDirection : Either DIRECT or REVERSE. determines which direction the output will move when faced with a given error. DIRECT is most common
* Example:
```c++
PID_TypeDef TPID;
float Temp, PIDOut, TempSetpoint;
PID(&TPID, &Temp, &PIDOut, &TempSetpoint, 2, 5, 1, _PID_P_ON_E, _PID_CD_DIRECT);
```
#### 3. Set 'mode', 'sample time' and 'output limit', for example:
* Functions:
```c++
void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max);
void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
```
* Parameters:
* uPID : Pointer to pid struct
* Mode : _PID_MODE_AUTOMATIC or _PID_MODE_MANUAL
* Min : Low end of the range. must be < max (float)
* Max : High end of the range. must be > min (float)
* NewSampleTime : How often, in milliseconds, the PID will be evaluated. (int>0)
* Example:
```c++
PID_SetMode(&TPID, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&TPID, 500);
PID_SetOutputLimits(&TPID, 1, 100);
```
#### 4. Using Compute function, for example:
```c++
PID_Compute(&TPID);
```
## Examples
#### Example 1: PID Compute for temperature
```c++
#include "main.h"
#include "pid.h"
PID_TypeDef TPID;
char OutBuf[50];
float Temp, PIDOut, TempSetpoint;
int main(void)
{
HW_Init();
PID(&TPID, &Temp, &PIDOut, &TempSetpoint, 2, 5, 1, _PID_P_ON_E, _PID_CD_DIRECT);
PID_SetMode(&TPID, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&TPID, 500);
PID_SetOutputLimits(&TPID, 1, 100);
while (1)
{
Temp = GetTemp();
PID_Compute(&TPID);
sprintf(OutBuf, "Temp%3.2f : %u\n", Temp, (uint16_t)PIDOut);
UART_Transmit((uint8_t *)OutBuf, strlen(OutBuf));
Delay_ms(500);
}
}
```
## Tests performed:
- [x] Run on STM32 Fx cores
## Developers:
- ### Majid Derhambakhsh

292
3rd-part/PID-Library/pid.c Normal file
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 /*
------------------------------------------------------------------------------
~ File : pid.c
~ Author : Majid Derhambakhsh
~ Version: V1.0.0
~ Created: 02/11/2021 03:43:00 AM
~ Brief :
~ Support:
E-Mail : Majid.do16@gmail.com (subject : Embedded Library Support)
Github : https://github.com/Majid-Derhambakhsh
------------------------------------------------------------------------------
~ Description:
~ Attention :
~ Changes :
------------------------------------------------------------------------------
*/
#include "pid.h"
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Functions ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ~~~~~~~~~~~~~~~~~ Initialize ~~~~~~~~~~~~~~~~ */
void PID_Init(PID_TypeDef *uPID)
{
/* ~~~~~~~~~~ Set parameter ~~~~~~~~~~ */
uPID->OutputSum = *uPID->MyOutput;
uPID->LastInput = *uPID->MyInput;
if (uPID->OutputSum > uPID->OutMax)
{
uPID->OutputSum = uPID->OutMax;
}
else if (uPID->OutputSum < uPID->OutMin)
{
uPID->OutputSum = uPID->OutMin;
}
}
void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection)
{
/* ~~~~~~~~~~ Set parameter ~~~~~~~~~~ */
uPID->MyOutput = Output;
uPID->MyInput = Input;
uPID->MySetpoint = Setpoint;
uPID->InAuto = (PIDMode_TypeDef)_FALSE;
PID_SetOutputLimits(uPID, 0, _PID_8BIT_PWM_MAX);
uPID->SampleTime = _PID_SAMPLE_TIME_MS_DEF; /* default Controller Sample Time is 0.1 seconds */
PID_SetControllerDirection(uPID, ControllerDirection);
PID_SetTunings2(uPID, Kp, Ki, Kd, POn);
}
void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection)
{
PID(uPID, Input, Output, Setpoint, Kp, Ki, Kd, _PID_P_ON_E, ControllerDirection);
}
/* ~~~~~~~~~~~~~~~~~ Computing ~~~~~~~~~~~~~~~~~ */
uint8_t PID_Compute(PID_TypeDef *uPID)
{
float input=0;
float error=0;
float dInput=0;
float output=0;
/* ~~~~~~~~~~ Check PID mode ~~~~~~~~~~ */
if (!uPID->InAuto)
{
return _FALSE;
}
/* ..... Compute all the working error variables ..... */
input = *uPID->MyInput;
error = *uPID->MySetpoint - input;
dInput = (input - uPID->LastInput);
uPID->OutputSum += (uPID->Ki * error);
/* ..... Add Proportional on Measurement, if P_ON_M is specified ..... */
if (!uPID->POnE)
{
uPID->OutputSum -= uPID->Kp * dInput;
}
if (uPID->OutputSum > uPID->OutMax)
{
uPID->OutputSum = uPID->OutMax;
}
else if (uPID->OutputSum < uPID->OutMin)
{
uPID->OutputSum = uPID->OutMin;
}
else { }
/* ..... Add Proportional on Error, if P_ON_E is specified ..... */
if (uPID->POnE)
{
output = uPID->Kp * error;
}
else
{
output = 0;
}
/* ..... Compute Rest of PID Output ..... */
output += uPID->OutputSum - uPID->Kd * dInput;
if (output > uPID->OutMax)
{
output = uPID->OutMax;
}
else if (output < uPID->OutMin)
{
output = uPID->OutMin;
}
else { }
*uPID->MyOutput = output;
/* ..... Remember some variables for next time ..... */
uPID->LastInput = input;
return _TRUE;
}
/* ~~~~~~~~~~~~~~~~~ PID Mode ~~~~~~~~~~~~~~~~~~ */
void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode)
{
uint8_t newAuto = (Mode == _PID_MODE_AUTOMATIC);
/* ~~~~~~~~~~ Initialize the PID ~~~~~~~~~~ */
if (newAuto && !uPID->InAuto)
{
PID_Init(uPID);
}
uPID->InAuto = (PIDMode_TypeDef)newAuto;
}
PIDMode_TypeDef PID_GetMode(PID_TypeDef *uPID)
{
return uPID->InAuto ? _PID_MODE_AUTOMATIC : _PID_MODE_MANUAL;
}
/* ~~~~~~~~~~~~~~~~ PID Limits ~~~~~~~~~~~~~~~~~ */
void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max)
{
/* ~~~~~~~~~~ Check value ~~~~~~~~~~ */
if (Min >= Max)
{
return;
}
uPID->OutMin = Min;
uPID->OutMax = Max;
/* ~~~~~~~~~~ Check PID Mode ~~~~~~~~~~ */
if (uPID->InAuto)
{
/* ..... Check out value ..... */
if (*uPID->MyOutput > uPID->OutMax)
{
*uPID->MyOutput = uPID->OutMax;
}
else if (*uPID->MyOutput < uPID->OutMin)
{
*uPID->MyOutput = uPID->OutMin;
}
else { }
/* ..... Check out value ..... */
if (uPID->OutputSum > uPID->OutMax)
{
uPID->OutputSum = uPID->OutMax;
}
else if (uPID->OutputSum < uPID->OutMin)
{
uPID->OutputSum = uPID->OutMin;
}
else { }
}
}
/* ~~~~~~~~~~~~~~~~ PID Tunings ~~~~~~~~~~~~~~~~ */
void PID_SetTunings(PID_TypeDef *uPID, float Kp, float Ki, float Kd)
{
PID_SetTunings2(uPID, Kp, Ki, Kd, uPID->POn);
}
void PID_SetTunings2(PID_TypeDef *uPID, float Kp, float Ki, float Kd, PIDPON_TypeDef POn)
{
float SampleTimeInSec;
/* ~~~~~~~~~~ Check value ~~~~~~~~~~ */
if (Kp < 0 || Ki < 0 || Kd < 0)
{
return;
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
uPID->POn = POn;
uPID->POnE = (PIDPON_TypeDef)(POn == _PID_P_ON_E);
uPID->DispKp = Kp;
uPID->DispKi = Ki;
uPID->DispKd = Kd;
/* ~~~~~~~~~ Calculate time ~~~~~~~~ */
SampleTimeInSec = ((float)uPID->SampleTime) / 1000;
uPID->Kp = Kp;
uPID->Ki = Ki * SampleTimeInSec;
uPID->Kd = Kd / SampleTimeInSec;
/* ~~~~~~~~ Check direction ~~~~~~~~ */
if (uPID->ControllerDirection == _PID_CD_REVERSE)
{
uPID->Kp = (0 - uPID->Kp);
uPID->Ki = (0 - uPID->Ki);
uPID->Kd = (0 - uPID->Kd);
}
}
/* ~~~~~~~~~~~~~~~ PID Direction ~~~~~~~~~~~~~~~ */
void PID_SetControllerDirection(PID_TypeDef *uPID, PIDCD_TypeDef Direction)
{
/* ~~~~~~~~~~ Check parameters ~~~~~~~~~~ */
if ((uPID->InAuto) && (Direction !=uPID->ControllerDirection))
{
uPID->Kp = (0 - uPID->Kp);
uPID->Ki = (0 - uPID->Ki);
uPID->Kd = (0 - uPID->Kd);
}
uPID->ControllerDirection = Direction;
}
PIDCD_TypeDef PID_GetDirection(PID_TypeDef *uPID)
{
return uPID->ControllerDirection;
}
/* ~~~~~~~~~~~~~~~ PID Sampling ~~~~~~~~~~~~~~~~ */
void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime)
{
float ratio;
/* ~~~~~~~~~~ Check value ~~~~~~~~~~ */
if (NewSampleTime > 0)
{
ratio = (float)NewSampleTime / (float)uPID->SampleTime;
uPID->Ki *= ratio;
uPID->Kd /= ratio;
uPID->SampleTime = (uint32_t)NewSampleTime;
}
}
/* ~~~~~~~~~~~~~ Get Tunings Param ~~~~~~~~~~~~~ */
float PID_GetKp(PID_TypeDef *uPID)
{
return uPID->DispKp;
}
float PID_GetKi(PID_TypeDef *uPID)
{
return uPID->DispKi;
}
float PID_GetKd(PID_TypeDef *uPID)
{
return uPID->DispKd;
}

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3rd-part/PID-Library/pid.h Normal file
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/*
------------------------------------------------------------------------------
~ File : pid.h
~ Author : Majid Derhambakhsh
~ Version: V1.0.0
~ Created: 02/11/2021 03:43:00 AM
~ Brief :
~ Support:
E-Mail : Majid.do16@gmail.com (subject : Embedded Library Support)
Github : https://github.com/Majid-Derhambakhsh
------------------------------------------------------------------------------
~ Description:
~ Attention :
~ Changes :
------------------------------------------------------------------------------
*/
#ifndef __PID_H_
#define __PID_H_
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Include ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
#include <stdint.h>
#include <string.h>
// #include "zf_common_headfile.h"
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ------------------------ Library ------------------------ */
#define _PID_LIBRARY_VERSION 1.0.0
/* ------------------------ Public ------------------------- */
#define _PID_8BIT_PWM_MAX UINT8_MAX
#define _PID_SAMPLE_TIME_MS_DEF 100
#ifndef _FALSE
#define _FALSE 0
#endif
#ifndef _TRUE
#define _TRUE 1
#endif
/* ---------------------- By compiler ---------------------- */
#ifndef GetTime
/* ---------------------- By compiler ---------------------- */
#ifdef __CODEVISIONAVR__ /* Check compiler */
#define GetTime() 0
/* ------------------------------------------------------------------ */
#elif defined(__GNUC__) /* Check compiler */
#define GetTime() 0
/* ------------------------------------------------------------------ */
#else
#endif /* __CODEVISIONAVR__ */
/* ------------------------------------------------------------------ */
#endif
/* --------------------------------------------------------- */
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Types ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* PID Mode */
typedef enum
{
_PID_MODE_MANUAL = 0,
_PID_MODE_AUTOMATIC = 1
}PIDMode_TypeDef;
/* PID P On x */
typedef enum
{
_PID_P_ON_M = 0, /* Proportional on Measurement */
_PID_P_ON_E = 1
}PIDPON_TypeDef;
/* PID Control direction */
typedef enum
{
_PID_CD_DIRECT = 0,
_PID_CD_REVERSE = 1
}PIDCD_TypeDef;
/* PID Structure */
typedef struct
{
PIDPON_TypeDef POnE;
PIDMode_TypeDef InAuto;
PIDPON_TypeDef POn;
PIDCD_TypeDef ControllerDirection;
uint32_t LastTime;
uint32_t SampleTime;
float DispKp;
float DispKi;
float DispKd;
float Kp;
float Ki;
float Kd;
float *MyInput;
float *MyOutput;
float *MySetpoint;
float OutputSum;
float LastInput;
float OutMin;
float OutMax;
}PID_TypeDef;
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Variables ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Enum ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Struct ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Class ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Prototype ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* :::::::::::::: Init ::::::::::::: */
void PID_Init(PID_TypeDef *uPID);
void PID(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDPON_TypeDef POn, PIDCD_TypeDef ControllerDirection);
void PID2(PID_TypeDef *uPID, float *Input, float *Output, float *Setpoint, float Kp, float Ki, float Kd, PIDCD_TypeDef ControllerDirection);
/* ::::::::::: Computing ::::::::::: */
uint8_t PID_Compute(PID_TypeDef *uPID);
/* ::::::::::: PID Mode :::::::::::: */
void PID_SetMode(PID_TypeDef *uPID, PIDMode_TypeDef Mode);
PIDMode_TypeDef PID_GetMode(PID_TypeDef *uPID);
/* :::::::::: PID Limits ::::::::::: */
void PID_SetOutputLimits(PID_TypeDef *uPID, float Min, float Max);
/* :::::::::: PID Tunings :::::::::: */
void PID_SetTunings(PID_TypeDef *uPID, float Kp, float Ki, float Kd);
void PID_SetTunings2(PID_TypeDef *uPID, float Kp, float Ki, float Kd, PIDPON_TypeDef POn);
/* ::::::::: PID Direction ::::::::: */
void PID_SetControllerDirection(PID_TypeDef *uPID, PIDCD_TypeDef Direction);
PIDCD_TypeDef PID_GetDirection(PID_TypeDef *uPID);
/* ::::::::: PID Sampling :::::::::: */
void PID_SetSampleTime(PID_TypeDef *uPID, int32_t NewSampleTime);
/* ::::::: Get Tunings Param ::::::: */
float PID_GetKp(PID_TypeDef *uPID);
float PID_GetKi(PID_TypeDef *uPID);
float PID_GetKd(PID_TypeDef *uPID);
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ End of the program ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
#endif /* __PID_H_ */

27
BC2D.ATWP
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@@ -31,20 +31,23 @@
<ModeSub name="Debug interface" value="SWD"/> <ModeSub name="Debug interface" value="SWD"/>
</Mode> </Mode>
</DEBUG> </DEBUG>
<PWC>
<Mode>
<ModeSub name="Voltage-Monitoring" value="TRUE"/>
</Mode>
<Parameters>
<ParametersSub name="BoundarySelect" value="PWC_PVM_VOLTAGE_2V8"/>
</Parameters>
</PWC>
<TMR1> <TMR1>
<Mode> <Mode>
<ModeSub name="Channel1 mode" value="Output_CH1_CH1C"/> <ModeSub name="Channel1 mode" value="Output_CH1_CH1C"/>
<ModeSub name="Channel2 mode" value="Output_CH2_CH2C"/> <ModeSub name="Channel2 mode" value="Output_CH2_CH2C"/>
<ModeSub name="Activated" value="TRUE"/> <ModeSub name="Activated" value="TRUE"/>
</Mode> </Mode>
<Parameters>
<ParametersSub name="DividerValue" value="499"/>
<ParametersSub name="Period" value="999"/>
<ParametersSub name="Overflow_Event" value="FALSE"/>
<ParametersSub name="OCMode_1" value="TMR_OUTPUT_CONTROL_PWM_MODE_A"/>
<ParametersSub name="ChannelData_1" value="500"/>
<ParametersSub name="OCIdleState_1" value="TRUE"/>
<ParametersSub name="OCMode_2" value="TMR_OUTPUT_CONTROL_PWM_MODE_A"/>
<ParametersSub name="ChannelData_2" value="500"/>
<ParametersSub name="OCIdleState_2" value="TRUE"/>
</Parameters>
</TMR1> </TMR1>
<TMR2> <TMR2>
<Mode> <Mode>
@@ -135,14 +138,12 @@
</PINInfo> </PINInfo>
<ProjectInfomation> <ProjectInfomation>
<ProjectName>BC2D</ProjectName> <ProjectName>BC2D</ProjectName>
<ProjectLocation>C:/Users/ForgotDoge/Desktop</ProjectLocation> <ProjectLocation>C:/Users/ForgotDoge/Desktop/BC2024/firmware</ProjectLocation>
<ToolchainIDE>MDK_V5</ToolchainIDE> <ToolchainIDE>MDK_V5</ToolchainIDE>
<KeepUserCode>true</KeepUserCode> <KeepUserCode>true</KeepUserCode>
<MinHeapSize>0x200</MinHeapSize> <MinHeapSize>0x200</MinHeapSize>
<MinStackSize>0x400</MinStackSize> <MinStackSize>0x400</MinStackSize>
<UseFirmware>true</UseFirmware> <UseFirmware>false</UseFirmware>
<UseFirmwareZip>true</UseFirmwareZip> <PackageVersion></PackageVersion>
<FirmwarePath>C:/Users/ForgotDoge/Desktop/AT32_Work_Bench_V1.0.03/AT32F413_Firmware_Library_V2.1.3.zip</FirmwarePath>
<FirmwareFolderPath></FirmwareFolderPath>
</ProjectInfomation> </ProjectInfomation>
</Root> </Root>

3
BC2D.code-workspace
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@@ -29,7 +29,8 @@
"activityBar.background": "#14117C", "activityBar.background": "#14117C",
"titleBar.activeBackground": "#1D18AE", "titleBar.activeBackground": "#1D18AE",
"titleBar.activeForeground": "#FAFAFE" "titleBar.activeForeground": "#FAFAFE"
} },
"EIDE.OpenOCD.ExePath": "D:/Program Files (x86)/at32_OpenOCD_V2.0.2/bin/openocd.exe"
}, },
"extensions": { "extensions": {
"recommendations": [ "recommendations": [

33
app/by_motion.c Normal file
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@@ -0,0 +1,33 @@
#include "by_motion.h"
#include "dwt_delay.h"
#include "by_utils.h"
#define DRV_ENABLE() gpio_bits_set(GPIOB, GPIO_PINS_15)
#define DRV_DISABLE() gpio_bits_reset(GPIOB, GPIO_PINS_15)
void by_motion_pwm_m1(int32_t pwm_duty)
{
pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
pwm_duty += 499;
// 互补 pwm 输出，499 为中值
tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_1, pwm_duty);
}
void by_motion_pwm_m2(int32_t pwm_duty)
{
pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
pwm_duty += 499;
// 互补 pwm 输出，499 为中值
tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, pwm_duty);
}
void by_motion_init(void)
{
DRV_ENABLE();
by_motion_pwm_m1(125);
by_motion_pwm_m2(0);
}

8
app/by_motion.h Normal file
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@@ -0,0 +1,8 @@
#ifndef _BY_MOTION_H__
#define _BY_MOTION_H__
#include "at32f413.h"
void by_motion_init(void);
#endif

7
app/by_utils.c Normal file
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@@ -0,0 +1,7 @@
#include "by_utils.h"
inline int32_t clip_s32(int32_t x, int32_t low, int32_t up)
{
return (x > up ? up : x < low ? low
: x);
}

8
app/by_utils.h Normal file
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@@ -0,0 +1,8 @@
#ifndef _BY_UTILS_H__
#define _BY_UTILS_H__
#include "at32f413.h"
int32_t clip_s32(int32_t x, int32_t low, int32_t up);
#endif

2
project/inc/at32f413_conf.h
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@@ -59,7 +59,7 @@ extern "C" {
#define CRM_MODULE_ENABLED #define CRM_MODULE_ENABLED
#define DEBUG_MODULE_ENABLED #define DEBUG_MODULE_ENABLED
/*#define DMA_MODULE_ENABLED----------------------*/ /*#define DMA_MODULE_ENABLED----------------------*/
#define EXINT_MODULE_ENABLED /*#define EXINT_MODULE_ENABLED--------------------*/
#define FLASH_MODULE_ENABLED #define FLASH_MODULE_ENABLED
#define GPIO_MODULE_ENABLED #define GPIO_MODULE_ENABLED
/*#define I2C_MODULE_ENABLED----------------------*/ /*#define I2C_MODULE_ENABLED----------------------*/

3
project/inc/at32f413_wk_config.h
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@@ -74,9 +74,6 @@ extern "C" {
/* init can1 function. */ /* init can1 function. */
void wk_can1_init(void); void wk_can1_init(void);
/* init pwc function. */
void wk_pwc_init(void);
/* init usart2 function. */ /* init usart2 function. */
void wk_usart2_init(void); void wk_usart2_init(void);

74
project/src/at32f413_wk_config.c
View File

@@ -65,7 +65,7 @@
* @brief system clock config program * @brief system clock config program
* @note the system clock is configured as follow: * @note the system clock is configured as follow:
* system clock (sclk) = hext / 2 * pll_mult * system clock (sclk) = hext / 2 * pll_mult
* system clock source = pll (hext) * system clock source = HEXT_VALUE
* - hext = HEXT_VALUE * - hext = HEXT_VALUE
* - sclk = 200000000 * - sclk = 200000000
* - ahbdiv = 1 * - ahbdiv = 1
@@ -182,9 +182,6 @@ void wk_periph_clock_config(void)
/* enable can1 periph clock */ /* enable can1 periph clock */
crm_periph_clock_enable(CRM_CAN1_PERIPH_CLOCK, TRUE); crm_periph_clock_enable(CRM_CAN1_PERIPH_CLOCK, TRUE);
/* enable pwc periph clock */
crm_periph_clock_enable(CRM_PWC_PERIPH_CLOCK, TRUE);
} }
/** /**
@@ -217,9 +214,17 @@ void wk_nvic_config(void)
*/ */
void wk_gpio_config(void) void wk_gpio_config(void)
{ {
/* add user code begin gpio_config 0 */
/* add user code end gpio_config 0 */
gpio_init_type gpio_init_struct; gpio_init_type gpio_init_struct;
gpio_default_para_init(&gpio_init_struct); gpio_default_para_init(&gpio_init_struct);
/* add user code begin gpio_config 1 */
/* add user code end gpio_config 1 */
/* gpio input config */ /* gpio input config */
gpio_init_struct.gpio_mode = GPIO_MODE_INPUT; gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
gpio_init_struct.gpio_pins = GPIO_PINS_3 | GPIO_PINS_4 | GPIO_PINS_5 | GPIO_PINS_6; gpio_init_struct.gpio_pins = GPIO_PINS_3 | GPIO_PINS_4 | GPIO_PINS_5 | GPIO_PINS_6;
@@ -235,46 +240,10 @@ void wk_gpio_config(void)
gpio_init_struct.gpio_pins = GPIO_PINS_15; gpio_init_struct.gpio_pins = GPIO_PINS_15;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
gpio_init(GPIOB, &gpio_init_struct); gpio_init(GPIOB, &gpio_init_struct);
}
/** /* add user code begin gpio_config 2 */
* @brief init pwc function.
* @param none
* @retval none
*/
void wk_pwc_init(void)
{
/* add user code begin pwc_init 0 */
/* add user code end pwc_init 0 */ /* add user code end gpio_config 2 */
exint_init_type exint_init_struct;
/* add user code begin pwc_init 1 */
/* add user code end pwc_init 1 */
/* set the threshold voltage*/
pwc_pvm_level_select(PWC_PVM_VOLTAGE_2V8);
/* enable power voltage monitor */
pwc_power_voltage_monitor_enable(TRUE);
exint_default_para_init(&exint_init_struct);
exint_init_struct.line_enable = TRUE;
exint_init_struct.line_mode = EXINT_LINE_INTERRUPUT;
exint_init_struct.line_select = EXINT_LINE_16;
exint_init_struct.line_polarity = EXINT_TRIGGER_RISING_EDGE;
exint_init(&exint_init_struct);
/**
* Users need to configure PWC interrupt functions according to the actual application.
* 1. Add the user's interrupt handler code into the below function in the at32f413_int.c file.
* --void PVM_IRQHandler (void)
*/
/* add user code begin pwc_init 2 */
/* add user code end pwc_init 2 */
} }
/** /**
@@ -379,7 +348,7 @@ void wk_tmr1_init(void)
gpio_init(GPIOA, &gpio_init_struct); gpio_init(GPIOA, &gpio_init_struct);
/* configure counter settings */ /* configure counter settings */
tmr_base_init(TMR1, 65535, 0); tmr_base_init(TMR1, 999, 499);
tmr_cnt_dir_set(TMR1, TMR_COUNT_UP); tmr_cnt_dir_set(TMR1, TMR_COUNT_UP);
tmr_clock_source_div_set(TMR1, TMR_CLOCK_DIV1); tmr_clock_source_div_set(TMR1, TMR_CLOCK_DIV1);
tmr_repetition_counter_set(TMR1, 0); tmr_repetition_counter_set(TMR1, 0);
@@ -389,30 +358,37 @@ void wk_tmr1_init(void)
tmr_sub_sync_mode_set(TMR1, FALSE); tmr_sub_sync_mode_set(TMR1, FALSE);
tmr_primary_mode_select(TMR1, TMR_PRIMARY_SEL_RESET); tmr_primary_mode_select(TMR1, TMR_PRIMARY_SEL_RESET);
/* configure overflow event */
tmr_overflow_event_disable(TMR1, TRUE);
/* configure channel 1 output settings */ /* configure channel 1 output settings */
tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_OFF; tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A;
tmr_output_struct.oc_output_state = TRUE; tmr_output_struct.oc_output_state = TRUE;
tmr_output_struct.occ_output_state = TRUE; tmr_output_struct.occ_output_state = TRUE;
tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH; tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH;
tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH; tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH;
tmr_output_struct.oc_idle_state = FALSE; tmr_output_struct.oc_idle_state = TRUE;
tmr_output_struct.occ_idle_state = FALSE; tmr_output_struct.occ_idle_state = FALSE;
tmr_output_channel_config(TMR1, TMR_SELECT_CHANNEL_1, &tmr_output_struct); tmr_output_channel_config(TMR1, TMR_SELECT_CHANNEL_1, &tmr_output_struct);
tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_1, 0); tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_1, 500);
tmr_output_channel_buffer_enable(TMR1, TMR_SELECT_CHANNEL_1, FALSE); tmr_output_channel_buffer_enable(TMR1, TMR_SELECT_CHANNEL_1, FALSE);
tmr_output_channel_immediately_set(TMR1, TMR_SELECT_CHANNEL_1, FALSE);
/* configure channel 2 output settings */ /* configure channel 2 output settings */
tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_OFF; tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A;
tmr_output_struct.oc_output_state = TRUE; tmr_output_struct.oc_output_state = TRUE;
tmr_output_struct.occ_output_state = TRUE; tmr_output_struct.occ_output_state = TRUE;
tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH; tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH;
tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH; tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH;
tmr_output_struct.oc_idle_state = FALSE; tmr_output_struct.oc_idle_state = TRUE;
tmr_output_struct.occ_idle_state = FALSE; tmr_output_struct.occ_idle_state = FALSE;
tmr_output_channel_config(TMR1, TMR_SELECT_CHANNEL_2, &tmr_output_struct); tmr_output_channel_config(TMR1, TMR_SELECT_CHANNEL_2, &tmr_output_struct);
tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, 0); tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, 500);
tmr_output_channel_buffer_enable(TMR1, TMR_SELECT_CHANNEL_2, FALSE); tmr_output_channel_buffer_enable(TMR1, TMR_SELECT_CHANNEL_2, FALSE);
tmr_output_channel_immediately_set(TMR1, TMR_SELECT_CHANNEL_2, FALSE);
/* configure break and dead-time settings */ /* configure break and dead-time settings */
tmr_brkdt_struct.brk_enable = FALSE; tmr_brkdt_struct.brk_enable = FALSE;
tmr_brkdt_struct.auto_output_enable = FALSE; tmr_brkdt_struct.auto_output_enable = FALSE;

11
project/src/main.c
View File

@@ -30,6 +30,8 @@
/* private includes ----------------------------------------------------------*/ /* private includes ----------------------------------------------------------*/
/* add user code begin private includes */ /* add user code begin private includes */
#include "dwt_delay.h" #include "dwt_delay.h"
#include "by_motion.h"
/* add user code end private includes */ /* add user code end private includes */
/* private typedef -----------------------------------------------------------*/ /* private typedef -----------------------------------------------------------*/
@@ -82,9 +84,6 @@ int main(void)
/* init debug function. */ /* init debug function. */
wk_debug_config(); wk_debug_config();
/* init pwc function. */
wk_pwc_init();
/* nvic config. */ /* nvic config. */
wk_nvic_config(); wk_nvic_config();
@@ -111,15 +110,13 @@ int main(void)
/* add user code begin 2 */ /* add user code begin 2 */
DWT_Init(); DWT_Init();
by_motion_init();
/* add user code end 2 */ /* add user code end 2 */
while(1) while(1)
{ {
/* add user code begin 3 */ /* add user code begin 3 */
gpio_bits_reset(GPIOB, GPIO_PINS_15);
DWT_Delay(500000);
gpio_bits_set(GPIOB, GPIO_PINS_15);
DWT_Delay(500000);
/* add user code end 3 */ /* add user code end 3 */
} }
} }