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之前有个应用想控制一个真空泵来着，需要略微的调速并且保持稳定，正好本次拿到了这个小开发板，就准备试试，好的话以后可以使用它干点商品，话不多说，说一下大体思路，

基于STM32生态良好的开发工具包，cube里提供了很多范例，所以快速开发还得是借用cube的快速配置，使用cube样例程序包里的定时器输入捕获程序使用TIM1作为采样频率计进行采样hall信号，获得pid的current参数，使用TIM PWM out程序作为PWM输出部分，给无刷驱动版提供PWM（PS：由于样例程序PWM信号只有100Hz，所以手动调整了样例程序使其达到1000Hz）

至于TIM14，设置成一秒100次中断（使用cube快速设置分频和重装值）每次中断进行pid的输出来修正电机。

void TimerUpdate_Callback(void) { aa++; if(pid_motor.target>0){ PID_Execute(&pid_motor); DutyCycle-=pid_motor.out; if(DutyCycle>100)DutyCycle=100; if(DutyCycle<0)DutyCycle=0; Configure_DutyCycle(DutyCycle); }else{ PID_Reset(&pid_motor); Configure_DutyCycle(0); } }

本次控制的是一个无刷电机，所以就可以通过PWM控制并且反馈信号可以取的无刷电机的hall传感器来进行pid调速（实际上只是PI，调参数太麻了，调不动了，只是调电机不带负载那酸爽你懂得）

话不多说，上图和代码吧

可以看到tim3的输出通道接在了电机驱动板的pwm in，tim1的输入捕获通道接在了电机的一路hall，按键里面设置了十组转速，可以通过按键进行循环调速。

/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file Examples_LL/TIM/TIM_PWMOutput_Init/Src/main.c * @author MCD Application Team * @brief This example describes how to use a timer peripheral to generate a * PWM output signal and update PWM duty cycle. * Peripheral initialization done using LL initialization function. ****************************************************************************** * @attention * * Copyright (c) 2022 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ typedef struct{ double kp; double ki; double kd; double current; double target; double ival; double ilim; double error; double last_error; double out; } PID_DataTypeDef; void PID_Execute(PID_DataTypeDef * pid); void PID_Reset(PID_DataTypeDef * pid); void PID_Execute(PID_DataTypeDef * pid){ pid->error = pid->current - pid->target; pid->ival += pid->error; // Anti-windup integral processing if(pid->ival > 0){ if(pid->ival > pid->ilim) pid->ival = pid->ilim; } else{ if(pid->ival < -(pid->ilim)) pid->ival = -(pid->ilim); } pid->out = ( pid->kp * pid->error + pid->ki * pid->ival + pid->kd * (pid->error - pid->last_error) ); pid->last_error = pid->error; } void PID_Reset(PID_DataTypeDef * pid){ pid->error = 0; pid->last_error = 0; pid->ival = 0; } PID_DataTypeDef pid_motor; uint32_t DutyCycle=0; /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* Number of output compare modes */ #define TIM_DUTY_CYCLES_NB 11 /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ TIM_HandleTypeDef htim1; TIM_HandleTypeDef htim14; UART_HandleTypeDef huart2; /* USER CODE BEGIN PV */ /* Duty cycles: D = T/P * 100% */ /* where T is the pulse duration and P the period of the PWM signal */ static uint32_t aDutyCycle[TIM_DUTY_CYCLES_NB] = { 0, /* 0% */ 70, /* 10% */ 71, /* 20% */ 72, /* 30% */ 73, /* 40% */ 74, /* 50% */ 75, /* 60% */ 76, /* 70% */ 77, /* 80% */ 78, /* 90% */ 79, /* 100% */ }; /* Duty cycle index */ static uint8_t iDutyCycle = 0; /* Measured duty cycle */ __IO uint32_t uwMeasuredDutyCycle = 0; /* Measured frequency */ __IO uint32_t uwMeasuredFrequency = 0; /* TIM2 Clock */ static uint32_t TimOutClock = 1; uint32_t timxPrescaler = 0; uint32_t timxPeriod = 0; uint32_t aa=0; /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_TIM3_Init(void); static void MX_USART2_UART_Init(void); static void MX_TIM1_Init(void); static void MX_TIM14_Init(void); /* USER CODE BEGIN PFP */ __STATIC_INLINE void Configure_DutyCycle(uint32_t D); /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ // PID controllers pid_motor.kp = 0.4; pid_motor.ki = 0.007; pid_motor.kd = 0; pid_motor.ilim = 2000; /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* - Set the pre-scaler value to have TIM3 counter clock equal to 10 kHz */ /* - Set the auto-reload value to have a counter frequency of 100 Hz */ /* TIM3CLK = SystemCoreClock / (APB prescaler & multiplier) */ TimOutClock = SystemCoreClock/1; timxPrescaler = __LL_TIM_CALC_PSC(SystemCoreClock, 10000); timxPeriod = __LL_TIM_CALC_ARR(TimOutClock, timxPrescaler, 1000); /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_TIM3_Init(); MX_USART2_UART_Init(); MX_TIM1_Init(); MX_TIM14_Init(); /* USER CODE BEGIN 2 */ /**************************/ /* TIM1 interrupts set-up */ /**************************/ /* Enable the capture/compare interrupt for channel 1 */ LL_TIM_EnableIT_CC1(TIM1); /***********************/ /* Start input capture */ /***********************/ /* Enable input channel 1 */ LL_TIM_CC_EnableChannel(TIM1, LL_TIM_CHANNEL_CH1); /* Enable counter */ LL_TIM_EnableCounter(TIM1);//---- /**************************/ /* TIM14 interrupts set-up */ /**************************/ /* Enable the capture/compare interrupt for channel 1 */ LL_TIM_ClearFlag_UPDATE(TIM14); /* Enable the update interrupt */ LL_TIM_EnableIT_UPDATE(TIM14); /* Enable counter */ LL_TIM_EnableCounter(TIM14); /**************************/ /* TIM3 interrupts set-up */ /**************************/ /* Enable the capture/compare interrupt for channel 1 */ LL_TIM_EnableIT_CC1(TIM3); /**********************************/ /* Start output signal generation */ /**********************************/ /* Enable output channel 1 */ LL_TIM_CC_EnableChannel(TIM3, LL_TIM_CHANNEL_CH1); /* Enable counter */ LL_TIM_EnableCounter(TIM3); /* Force update generation */ LL_TIM_GenerateEvent_UPDATE(TIM3); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ uint8_t a=0; uint8_t b[4]; while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { LL_FLASH_SetLatency(LL_FLASH_LATENCY_1); /* HSI configuration and activation */ LL_RCC_HSI_Enable(); while(LL_RCC_HSI_IsReady() != 1) { } LL_RCC_HSI_SetCalibTrimming(64); LL_RCC_SetHSIDiv(LL_RCC_HSI_DIV_1); /* Set AHB prescaler*/ LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1); /* Sysclk activation on the HSI */ LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_HSI); while(LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_HSI) { } /* Set APB1 prescaler*/ LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_1); /* Update CMSIS variable (which can be updated also through SystemCoreClockUpdate function) */ LL_SetSystemCoreClock(48000000); /* Update the time base */ if (HAL_InitTick (TICK_INT_PRIORITY) != HAL_OK) { Error_Handler(); } } /** * @brief TIM1 Initialization Function * @param None * @retval None */ static void MX_TIM1_Init(void) { /* USER CODE BEGIN TIM1_Init 0 */ /* USER CODE END TIM1_Init 0 */ TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_IC_InitTypeDef sConfigIC = {0}; /* USER CODE BEGIN TIM1_Init 1 */ /* USER CODE END TIM1_Init 1 */ htim1.Instance = TIM1; htim1.Init.Prescaler = 2000; htim1.Init.CounterMode = TIM_COUNTERMODE_UP; htim1.Init.Period = 65535; htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim1.Init.RepetitionCounter = 0; htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_IC_Init(&htim1) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) { Error_Handler(); } sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING; sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI; sConfigIC.ICPrescaler = TIM_ICPSC_DIV1; sConfigIC.ICFilter = 0; if (HAL_TIM_IC_ConfigChannel(&htim1, &sConfigIC, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM1_Init 2 */ /* USER CODE END TIM1_Init 2 */ } /** * @brief TIM3 Initialization Function * @param None * @retval None */ static void MX_TIM3_Init(void) { /* USER CODE BEGIN TIM3_Init 0 */ /* USER CODE END TIM3_Init 0 */ LL_TIM_InitTypeDef TIM_InitStruct = {0}; LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0}; LL_GPIO_InitTypeDef GPIO_InitStruct = {0}; /* Peripheral clock enable */ LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3); /* TIM3 interrupt Init */ NVIC_SetPriority(TIM3_IRQn, 0); NVIC_EnableIRQ(TIM3_IRQn); /* USER CODE BEGIN TIM3_Init 1 */ /* USER CODE END TIM3_Init 1 */ TIM_InitStruct.Prescaler = timxPrescaler; TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP; TIM_InitStruct.Autoreload = timxPeriod; TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1; LL_TIM_Init(TIM3, &TIM_InitStruct); LL_TIM_EnableARRPreload(TIM3); LL_TIM_OC_EnablePreload(TIM3, LL_TIM_CHANNEL_CH1); TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1; TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE; TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE; TIM_OC_InitStruct.CompareValue = ((timxPeriod + 1 ) / 2); TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_HIGH; LL_TIM_OC_Init(TIM3, LL_TIM_CHANNEL_CH1, &TIM_OC_InitStruct); LL_TIM_OC_DisableFast(TIM3, LL_TIM_CHANNEL_CH1); LL_TIM_SetTriggerOutput(TIM3, LL_TIM_TRGO_RESET); LL_TIM_DisableMasterSlaveMode(TIM3); /* USER CODE BEGIN TIM3_Init 2 */ /* USER CODE END TIM3_Init 2 */ LL_IOP_GRP1_EnableClock(LL_IOP_GRP1_PERIPH_GPIOA); /**TIM3 GPIO Configuration PA6 ------> TIM3_CH1 */ GPIO_InitStruct.Pin = TIM3_CH1_Pin; GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE; GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL; GPIO_InitStruct.Pull = LL_GPIO_PULL_DOWN; GPIO_InitStruct.Alternate = LL_GPIO_AF_1; LL_GPIO_Init(TIM3_CH1_GPIO_Port, &GPIO_InitStruct); } /** * @brief TIM14 Initialization Function * @param None * @retval None */ static void MX_TIM14_Init(void) { /* USER CODE BEGIN TIM14_Init 0 */ /* USER CODE END TIM14_Init 0 */ /* USER CODE BEGIN TIM14_Init 1 */ /* USER CODE END TIM14_Init 1 */ htim14.Instance = TIM14; htim14.Init.Prescaler = 4799; htim14.Init.CounterMode = TIM_COUNTERMODE_UP; htim14.Init.Period = 99; htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim14) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM14_Init 2 */ /* USER CODE END TIM14_Init 2 */ } /** * @brief USART2 Initialization Function * @param None * @retval None */ static void MX_USART2_UART_Init(void) { /* USER CODE BEGIN USART2_Init 0 */ /* USER CODE END USART2_Init 0 */ /* USER CODE BEGIN USART2_Init 1 */ /* USER CODE END USART2_Init 1 */ huart2.Instance = USART2; huart2.Init.BaudRate = 115200; huart2.Init.WordLength = UART_WORDLENGTH_8B; huart2.Init.StopBits = UART_STOPBITS_1; huart2.Init.Parity = UART_PARITY_NONE; huart2.Init.Mode = UART_MODE_TX_RX; huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart2.Init.OverSampling = UART_OVERSAMPLING_16; huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; huart2.Init.ClockPrescaler = UART_PRESCALER_DIV1; huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; if (HAL_UART_Init(&huart2) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN USART2_Init 2 */ /* USER CODE END USART2_Init 2 */ } /** * @brief GPIO Initialization Function * @param None * @retval None */ static void MX_GPIO_Init(void) { LL_EXTI_InitTypeDef EXTI_InitStruct = {0}; /* USER CODE BEGIN MX_GPIO_Init_1 */ /* USER CODE END MX_GPIO_Init_1 */ /* GPIO Ports Clock Enable */ LL_IOP_GRP1_EnableClock(LL_IOP_GRP1_PERIPH_GPIOC); LL_IOP_GRP1_EnableClock(LL_IOP_GRP1_PERIPH_GPIOA); /**/ LL_EXTI_SetEXTISource(LL_EXTI_CONFIG_PORTC, LL_EXTI_CONFIG_LINE13); /**/ EXTI_InitStruct.Line_0_31 = LL_EXTI_LINE_13; EXTI_InitStruct.LineCommand = ENABLE; EXTI_InitStruct.Mode = LL_EXTI_MODE_IT; EXTI_InitStruct.Trigger = LL_EXTI_TRIGGER_FALLING; LL_EXTI_Init(&EXTI_InitStruct); /**/ LL_GPIO_SetPinPull(USER_BUTTON_GPIO_Port, USER_BUTTON_Pin, LL_GPIO_PULL_UP); /**/ LL_GPIO_SetPinMode(USER_BUTTON_GPIO_Port, USER_BUTTON_Pin, LL_GPIO_MODE_INPUT); /* EXTI interrupt init*/ NVIC_SetPriority(EXTI4_15_IRQn, 0); NVIC_EnableIRQ(EXTI4_15_IRQn); /* USER CODE BEGIN MX_GPIO_Init_2 */ /* USER CODE END MX_GPIO_Init_2 */ } /* USER CODE BEGIN 4 */ /** * @brief Changes the duty cycle of the PWM signal. * D = (T/P)*100 * where T is the pulse duration and P is the PWM signal period * @param D Duty cycle * @retval None */ __STATIC_INLINE void Configure_DutyCycle(uint32_t D) { uint32_t P; /* Pulse duration */ uint32_t T; /* PWM signal period */ /* PWM signal period is determined by the value of the auto-reload register */ T = LL_TIM_GetAutoReload(TIM3) + 1; /* Pulse duration is determined by the value of the compare register. */ /* Its value is calculated in order to match the requested duty cycle. */ P = (D*T)/100; LL_TIM_OC_SetCompareCH1(TIM3, P); } /******************************************************************************/ /* USER IRQ HANDLER TREATMENT */ /******************************************************************************/ /** * @brief User button interrupt processing * @note When the user key button is pressed the PWM duty cycle is updated. * @param None * @retval None */ void UserButton_Callback(void) { /* Set new duty cycle */ //iDutyCycle = (iDutyCycle + 1) % TIM_DUTY_CYCLES_NB; iDutyCycle++; if(iDutyCycle==11)iDutyCycle=0; pid_motor.target=aDutyCycle[iDutyCycle]; } /** * @brief Timer capture/compare interrupt processing * @param None * @retval None */ void TimerCaptureCompare_Callback(void) { uint32_t CNT, ARR; CNT = LL_TIM_GetCounter(TIM3); ARR = LL_TIM_GetAutoReload(TIM3); if (LL_TIM_OC_GetCompareCH1(TIM3) > ARR ) { /* If capture/compare setting is greater than autoreload, there is a counter overflow and counter restarts from 0. Need to add full period to counter value (ARR+1) */ CNT = CNT + ARR + 1; } uwMeasuredDutyCycle = (CNT * 100) / ( ARR + 1 ); } /** * @brief Timer capture/compare interrupt processing * @note TIM1 input capture module is used to capture the value of the counter * after a transition is detected by the corresponding input channel. * @param None * @retval None */ void TimerCaptureCompare_Callback_1(void) { /* Capture index */ static uint16_t uhCaptureIndex = 0; /* Captured Values */ static uint32_t uwICValue1 = 0; static uint32_t uwICValue2 = 0; static uint32_t uwDiffCapture = 0; uint32_t TIM1CLK; uint32_t PSC; uint32_t IC1PSC; uint32_t IC1Polarity; if(uhCaptureIndex == 0) { /* Get the 1st Input Capture value */ uwICValue1 = LL_TIM_IC_GetCaptureCH1(TIM1); uhCaptureIndex = 1; } else if(uhCaptureIndex == 1) { /* Get the 2nd Input Capture value */ uwICValue2 = LL_TIM_IC_GetCaptureCH1(TIM1); /* Capture computation */ if (uwICValue2 > uwICValue1) { uwDiffCapture = (uwICValue2 - uwICValue1); } else if (uwICValue2 < uwICValue1) { uwDiffCapture = ((TIM1_ARR_MAX - uwICValue1) + uwICValue2) + 1; } else { /* If capture values are equal, we have reached the limit of frequency */ /* measures. */ //LED_Blinking(LED_BLINK_ERROR); } /* The signal frequency is calculated as follows: */ /* Frequency = (TIM1*IC1PSC) / (Capture*(PSC+1)*IC1Polarity) */ /* where: */ /* Capture is the difference between two consecutive captures */ /* TIM1CLK is the timer counter clock frequency */ /* PSC is the timer prescaler value */ /* IC1PSC is the input capture prescaler value */ /* IC1Polarity value depends on the capture sensitivity: */ /* 1 if the input is sensitive to rising or falling edges */ /* 2 if the input is sensitive to both rising and falling edges */ /* Retrieve actual TIM1 counter clock frequency */ TIM1CLK = SystemCoreClock; /* Retrieve actual TIM1 prescaler value */ PSC = LL_TIM_GetPrescaler(TIM1); /* Retrieve actual IC1 prescaler ratio */ IC1PSC = __LL_TIM_GET_ICPSC_RATIO(LL_TIM_IC_GetPrescaler(TIM1, LL_TIM_CHANNEL_CH1)); /* Retrieve actual IC1 polarity setting */ if (LL_TIM_IC_GetPolarity(TIM1, LL_TIM_CHANNEL_CH1) == LL_TIM_IC_POLARITY_BOTHEDGE) IC1Polarity = 2; else IC1Polarity = 1; /* Calculate input signal frequency */ uwMeasuredFrequency = (TIM1CLK *IC1PSC) / (uwDiffCapture*(PSC+1)*IC1Polarity); pid_motor.current=uwMeasuredFrequency; /* reset capture index */ uhCaptureIndex = 0; } }//------- void TimerUpdate_Callback(void) { aa++; if(pid_motor.target>0){ PID_Execute(&pid_motor); DutyCycle-=pid_motor.out; if(DutyCycle>100)DutyCycle=100; if(DutyCycle<0)DutyCycle=0; Configure_DutyCycle(DutyCycle); }else{ PID_Reset(&pid_motor); Configure_DutyCycle(0); } } /* USER CODE END 4 */ /** * @brief This function is executed in case of error occurrence. * @retval None */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ /* USER CODE END Error_Handler_Debug */ } #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, tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* Infinite loop */ while (1) { } /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */