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#include "sys.h"#include "BLDC.h" #include "stm32f10x.h"#define START_PWM_PUSSE		100#define PWM_MAX_ARR	999#define PWM_MIN_ARR	49void MIX_PIN_Init(void){     GPIO_InitTypeDef  GPIO_InitStructure; 	    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);	 //使能PB,PE端口时钟	    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_8;				 //LED0-->PB.5 端口配置    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; 		 //推挽输出    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;		 //IO口速度为50MHz    GPIO_Init(GPIOC, &GPIO_InitStructure);					 //根据设定参数初始化GPIOB.5	    GPIO_ResetBits(GPIOC,GPIO_Pin_6|GPIO_Pin_8);						 //PB.5 输出高} /*20~30Khz    999 2 72000000/(1000*3)=24000*/void TIM8_PWM_Init(void){ 	GPIO_InitTypeDef GPIO_InitStructure;	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;	TIM_OCInitTypeDef  TIM_OCInitStructure;		RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, 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       //设置该引脚为复用输出功能,输出TIM3 CH2的PWM脉冲波形	GPIOB.5	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; //TIM_CH2	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //复用推挽输出	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化GPIO    //初始化TIM3	TIM_TimeBaseStructure.TIM_Period = 999; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值	TIM_TimeBaseStructure.TIM_Prescaler =2; //设置用来作为TIMx时钟频率除数的预分频值 	TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式	TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位		//初始化TIM3 Channel2 PWM模式	 	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; //输出极性:TIM输出比较极性高	TIM_OCInitStructure.TIM_Pulse = 100; 	TIM_OC2Init(TIM8, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2	TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器 	TIM_Cmd(TIM8, ENABLE);  //使能TIM3}/*100ms*/void TIM7_BASE_Init(void){  	NVIC_InitTypeDef        NVIC_InitStructure;	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);		TIM_TimeBaseStructure.TIM_Period = 999; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值	 80K	TIM_TimeBaseStructure.TIM_Prescaler =7199; //设置用来作为TIMx时钟频率除数的预分频值  不分频	TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式	TIM_TimeBaseInit(TIM7, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位		NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;  //TIM3中断	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;  //先占优先级0级	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;  //从优先级3级	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能	NVIC_Init(&NVIC_InitStructure);  //初始化NVIC寄存器	  TIM_ARRPreloadConfig(TIM7, ENABLE); //使能TIMx在ARR上的预装载寄存器		TIM_ITConfig(TIM7,TIM_IT_Update,ENABLE );	TIM_Cmd(TIM7, DISABLE);  //使能TIMx外设}void TIM1_ERT_Init(void){  	GPIO_InitTypeDef GPIO_InitStructure;	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;	RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE  | RCC_APB2Periph_AFIO, ENABLE);  //使能GPIO外设和AFIO复用功能模块时钟使能	GPIO_PinRemapConfig(GPIO_FullRemap_TIM1, ENABLE);		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; 	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_Init(GPIOE, &GPIO_InitStructure);		TIM_TimeBaseStructure.TIM_Period = 9999;	TIM_TimeBaseStructure.TIM_Prescaler =0;	TIM_TimeBaseStructure.TIM_ClockDivision = 0;	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;	TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);	TIM_ETRClockMode2Config(TIM1,TIM_ExtTRGPSC_OFF,TIM_ExtTRGPolarity_NonInverted,0);	TIM_SetCounter(TIM1, 0); 	TIM_Cmd(TIM1, DISABLE);}//增量式PIDtypedef struct PID {	float SetPoint;//目标 
   <速度 pps 每秒检测到的脉冲>
    		float Proportion;//比例系数 	float Integral;//积分系数	float Derivative;//微分系数	float LastError;上上次	float PrevError;//上次	float SumError;//累计		uint16_t CCR;//当前控制量  PWM占空比	int   Set_v;//设置的目标速度
    <单位 pps 每秒检测到的脉冲>
      	uint8_t stop_sta;} PID;PID   vPID={3.0,0.4,0.001,0,0,0,0,START_PWM_PUSSE,100,0};float PIDCalc( PID *pp, float NextPoint ){	float dError,	Error;	Error = pp->SetPoint - NextPoint;//本次误差  目标-当前   比例	pp->SumError += Error;//累计误差  积分	dError = pp->LastError - pp->PrevError;//两次误差差值    微分	pp->PrevError = pp->LastError; //更新	pp->LastError = Error; //更新    if(pp->SumError>900)  pp->SumError=900;//积分控制    else if(pp->SumError<-900)	  pp->SumError=-900;//积分控制	//输出增量	return (pp->Proportion * Error	+ pp->Integral * pp->SumError 	+ pp->Derivative * dError	);}float Vol(int vSet,int v3){	float vOut; 	float vIn;	vPID.SetPoint = vSet;	vIn = (float)v3;	vOut = PIDCalc ( &vPID,vIn );	 	return vOut;}//100msvoid TIM7_IRQHandler(){	int v;//每秒脉冲	float Pv=0.0; 		if(TIM_GetITStatus(TIM7,TIM_FLAG_Update))		{		TIM_ClearITPendingBit(TIM7, TIM_FLAG_Update);		v = TIM1->CNT *10;		TIM1->CNT = 0;		if(vPID.Set_v-v>=vPID.Set_v/6 || vPID.Set_v-v<=-vPID.Set_v/6)// 当前v 大于 ±设置v		{				Pv=Vol(vPID.Set_v,v);			vPID.CCR=vPID.CCR+Pv;//增量式			if(vPID.CCR>=PWM_MAX_ARR)			{				vPID.CCR=PWM_MAX_ARR;			}			else if(vPID.CCR<=PWM_MIN_ARR)			{				vPID.CCR=PWM_MIN_ARR;			}						TIM8->CCR2 = vPID.CCR;					}				if(v==0)vPID.stop_sta=0;		else vPID.stop_sta=1;	}}void Mix_MT_Config(){	MIX_PIN_Init();		TIM8_PWM_Init();	TIM7_BASE_Init();	TIM1_ERT_Init();}//v r/s   // 300  0.05~5void Mix_MT_Start(float v){		if(v<0.05)v=0.05;	else if(v>5)v=5;		vPID.Set_v = v*10*6;	GPIO_SetBits(GPIOC,GPIO_Pin_8);	TIM_CtrlPWMOutputs(TIM8,ENABLE);	TIM_SetCounter(TIM1, 0); 	TIM_Cmd(TIM1, ENABLE);	TIM_Cmd(TIM7, ENABLE);	TIM_Cmd(TIM8, ENABLE);}//v   r/s 转/秒//(0.05,5)void Mix_MT_SetSpeed(float v){	if(v<0.05)v=0.05;	else if(v>5)v=5;	vPID.Set_v = v;}void Mix_MT_Stop(){	GPIO_ResetBits(GPIOC,GPIO_Pin_8);	TIM_CtrlPWMOutputs(TIM8,DISABLE);	TIM_Cmd(TIM1, DISABLE);	TIM_Cmd(TIM7, DISABLE);	TIM_Cmd(TIM8, DISABLE);}
    
   

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