概述
. O: N) n/ a$ d7 D" ]) B. f! p小车外形:
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( _4 |3 h4 G2 t9 o4 e! O/ H功能简介! m0 I5 D& c+ m p
利用摄像头识别前车尾部的AprilTag,得到前车位置,传回stm32主控板处理,使两车在行驶时保持恒定距离,实现自动跟车。
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openMV4摄像头# }4 \/ W, ^/ G: I8 L% |, q
1.1 Apriltag识别与串口传输( \0 P: m. f+ f& B l
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7 K. ?! p# l# n8 J7 i3 xAprilTag是一个视觉基准库,在AR,机器人,相机校准领域广泛使用。通过特定的标志(与二维码相似,但是降低了复杂度以满足实时性要求),可以快速地检测标志,并计算相对位置。& A) f, e" M: b; g- k* ~
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Apriltag示例:0 W$ p* r1 g: G7 x
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通过识别Apriltag,可以得到x,y,z三个方向的距离以及偏移角度。这里只需要三维的距离即可,通过串口传回stm32.
2 P. Q. B2 X4 f, ~, g. W- <font face="微软雅黑" size="3">" F* K, q* h1 u8 {4 q
- import sensor, image, time, math,pyb. p0 h# O8 g0 L% G) Z* c
- from pyb import UART" y6 w9 u) e$ I, v
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- sensor.reset()0 [- ]3 ]4 m) N' {
- sensor.set_pixformat(sensor.RGB565)) |* p- _* f% Y+ V
- sensor.set_framesize(sensor.QQVGA) # we run out of memory if the resolution is much bigger...
+ Q. G: c" v4 B7 E; r6 b, o) [0 z - sensor.skip_frames(time = 2000). n+ B: y$ H1 W
- sensor.set_auto_gain(False) # must turn this off to prevent image washout...% O; y x4 j/ v; f
- sensor.set_auto_whitebal(False) # must turn this off to prevent image washout...5 E& i/ F1 t% w
- clock = time.clock()
1 }) t$ @! k5 y+ g( H t - uart = UART(3, 115200)#串口波特率+ ?: ]& R2 A' y1 n" f
( o+ K& e" C- ^) ~9 h# k- f_x = (2.8 / 3.984) * 160 # find_apriltags defaults to this if not set" M% Q" ^' C' i0 W8 y% C- U
- f_y = (2.8 / 2.952) * 120 # find_apriltags defaults to this if not set7 O. s( y- k( N' m
- c_x = 160 * 0.5 # find_apriltags defaults to this if not set (the image.w * 0.5)3 b9 y2 B0 n3 ]
- c_y = 120 * 0.5 # find_apriltags defaults to this if not set (the image.h * 0.5). }8 q3 a& p: D! _, q
6 p( Q* t8 |. A- def degrees(radians):
" Y1 J' \$ i( m) f - return (180 * radians) / math.pi( r: y ]$ |6 g% N
: g. h! n* e7 }/ g* K" V- while(True):% y9 T6 `* p( t) m
- clock.tick()8 [9 `, }! v7 h
- img = sensor.snapshot()
+ o, p' f3 [+ | - for tag in img.find_apriltags(fx=f_x, fy=f_y, cx=c_x, cy=c_y): # defaults to TAG36H11. ] A+ I1 G- u4 n+ m$ v
- img.draw_rectangle(tag.rect(), color = (255, 0, 0))1 t* l& C0 d9 o6 [4 k% Q% ~
- img.draw_cross(tag.cx(), tag.cy(), color = (0, 255, 0))
# w2 ?/ W2 F/ }$ m$ M - print_args = (tag.x_translation(), tag.y_translation(), tag.z_translation())5 E1 S8 ]; D Q& ? C
- #degrees(tag.x_rotation()), degrees(tag.y_rotation()), degrees(tag.z_rotation()))
1 |/ A+ C( E8 I% {. d - # Translation units are unknown. Rotation units are in degrees.
$ k* ]1 t/ g$ k - # print("Tx %f, Ty %f, Tz %f" % print_args)
/ Z7 t- C" L: T2 h" v4 [ - uart.write("A%.2f,B%.2f,C%.2f," % print_args+'\r\n')#设置特定格式,以便于stm32分割取得数据0 K3 ^( o" e" [4 K* @/ d: w
- #pyb.delay(500)
5 n# t' L* A ^) x' I' P" F - # print(clock.fps())</font>
复制代码 STM32主控板(型号为F407)
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- I, D) G# k. l0 ]2 M+ D6 I2.1 时钟与中断配置9 m, l: ]% E' c3 `8 x& E3 M
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. H: S) Y9 f7 b) w8 \ P0 i$ e附上stm32时钟示意图:
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定时器示意图:* E6 b! `8 z: S! R I! A5 Q
8 u! x% L5 q' w" x定时器分配:
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所有时钟初始化的函数:(每个函数的详细内容在后面)' `" {* y2 W& f O4 a. F. c, b/ H
- <font face="微软雅黑" size="3">. x/ l" W$ t* i3 M. c
- TIM8_PWM_Init(400-1,20-1); //用于控制电机,168M/20=8.4Mhz的计数频率,重装载值400,所以PWM频率为 8.4M/400=21Khz. # f: r( J3 c9 \% g: Q
- TIM3_PWM_Init(200-1,8400-1);//用于控制舵机,50HZ
5 u! q. p8 T4 x* {0 ` P' |5 l - TIM2_Int_Init(400-1,20-1);//定时中断,21KHZ
n- S' a! m0 p! G - TIM7_Int_Init(500-1,8400-1);//用于编码器计数,20HZ,50ms中断一次 r- Q1 i- \' m6 A7 S# g
- uart_init(115200); //初始化串口1波特率为1152009 z- T6 M8 w4 o7 F' B3 }
- Encoder_Init_TIM4();//编码器接口初始化</font>
复制代码 2.2 串口收发与数据处理
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& Y( G! d7 e4 K- u( `2 l# m串口中断:USART1,USART2
5 V) u4 m0 f: L0 Z: y z% U串口初始化函数(以USART1为例):& g: C4 ^3 G" R7 e* C" O+ _
- <font face="微软雅黑" size="3">
9 k7 S, K" L4 s. s+ c8 d5 T1 Z - void uart_init(u32 bound){
x4 z8 [3 @# G! I0 V, j' L8 e& ^& k& U - //GPIO端口设置. P2 p* {* e7 ^! e
- GPIO_InitTypeDef GPIO_InitStructure;4 p/ b' |' e# z) k* \- R
- USART_InitTypeDef USART_InitStructure;
4 R6 |# v3 z( z3 f- v9 w& i- ^& p - NVIC_InitTypeDef NVIC_InitStructure;* g5 G; l& r4 ~4 B
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7 E/ ?; o; D3 k+ c/ Z7 O - RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE); //使能GPIOA时钟9 ]+ V; k# C& g: E0 e
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE);//使能USART1时钟
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- //串口1对应引脚复用映射
4 P2 j U% L# d3 }( r - GPIO_PinAFConfig(GPIOA,GPIO_PinSource9,GPIO_AF_USART1); //GPIOA9复用为USART11 G. L( V5 w1 W" _" t1 z
- GPIO_PinAFConfig(GPIOA,GPIO_PinSource10,GPIO_AF_USART1); //GPIOA10复用为USART1% d: o$ H( a: |" R# q- ~
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# m. Z7 u$ B: R. W5 H( j - //USART1端口配置
+ d+ z7 e- S1 \% X: m5 O% m0 q$ @5 Q" g - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10; //GPIOA9与GPIOA10
5 w7 C1 E1 E" @1 Z - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能) J) E1 m* [0 P) l
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //速度50MHz/ d" d9 A& T2 K" H4 s
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
( e( y( n( u6 ^ - GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉9 g: e' x6 K: M" M8 U
- GPIO_Init(GPIOA,&GPIO_InitStructure); //初始化PA9,PA10
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( j5 Q8 u: C$ m+ C! |/ Z- //USART1 初始化设置8 ~$ \% d* O. n8 A* z( D, p4 f
- USART_InitStructure.USART_BaudRate = bound;//波特率设置
8 j6 {" I$ c) G# Q7 @ - USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式( [3 U' s% v! k2 V5 R
- USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位$ m0 G( I& ` n% N' J( Y" z
- USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位! |8 t2 P- r" b& z) `6 T6 c z& H( | `
- USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制0 Z4 N8 \' X# S& ]
- USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式- \, P$ _1 U+ F% c
- USART_Init(USART1, &USART_InitStructure); //初始化串口1 ^( g9 v+ p5 ~/ w1 s/ h2 V/ S. f! F
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% A, a5 h0 `$ T" v$ | - USART_Cmd(USART1, ENABLE); //使能串口1
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- USART_ClearFlag(USART1, USART_FLAG_TC);9 }, {1 B; E. \4 h' V
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- #if EN_USART1_RX " ?1 y0 j0 Y2 d: I1 i0 |& q
- USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//开启相关中断% q# H% K7 [% b! O5 O9 A6 f- R8 {
* ?4 c" \7 L7 v/ t4 j% O- //Usart1 NVIC 配置
! _, Y( n( a, u- V3 s2 i6 q - NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;//串口1中断通道
6 P# [% k5 c6 b0 K) t, N) [- I - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//抢占优先级3
9 C+ r T4 i# A9 C - NVIC_InitStructure.NVIC_IRQChannelSubPriority =3; //子优先级3
' v/ ^+ m: a7 H N! l, I - NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能- ~1 U( u3 c! u- r
- NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器、3 F$ p; f8 [& O; W* e
- w9 l# z7 i; `" ?2 z9 H" J6 O- #endif
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7 s' ^; W( V! \* v/ u - }</font>
复制代码 串口中断处理函数:( ~& h; j5 p" z( A2 T7 a: U
- <font face="微软雅黑" size="3"> m( [3 ^: ^1 u0 j7 L5 [( {
- void USART1_IRQHandler(void) //串口1中断服务程序/ j3 F" z7 J7 c4 c" T
- {
* s% @' z) C9 G0 T7 q: v - u8 Res;5 A9 ^# F7 T+ e$ t* C2 M5 T
- #ifdef OS_TICKS_PER_SEC //如果时钟节拍数定义了,说明要使用ucosII了.) m" Y7 q( ?9 ?4 z
- OSIntEnter();
+ e$ E c7 s, T" h6 Y8 f - #endif
" y6 }3 x( E% w! P# C- G* W, ]7 ? - if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //接收中断(接收到的数据必须是0x0d 0x0a结尾)& m5 c, M5 z& n
- {
0 [) m- z! O; z5 {1 _# q - Res =USART_ReceiveData(USART1);//(USART1->DR); //读取接收到的数据
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- if((USART_RX_STA&0x8000)==0)//接收未完成
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& S* f' Q/ g% I4 G" O - if(USART_RX_STA&0x4000)//接收到了0x0d
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- if(Res!=0x0a)USART_RX_STA=0;//接收错误,重新开始% T6 C o: o8 v! y# _+ Z% v ]$ ?
- else USART_RX_STA|=0x8000; //接收完成了 $ m- n% h2 a! D5 q# f5 \
- }
0 {9 c1 R, p& R* x - else //还没收到0X0D e0 V6 Q. c6 C% r
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- if(Res==0x0d)USART_RX_STA|=0x4000;
5 k, N; U. K: P9 r$ W; d9 k - else
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) V; E$ n- S4 y2 B1 n( N - USART_RX_BUF[USART_RX_STA&0X3FFF]=Res ;
0 j& C' f/ s# t/ u5 L - USART_RX_STA++;: g1 S: |% T" _; }' k* x
- if(USART_RX_STA>(USART_REC_LEN-1))USART_RX_STA=0;//接收数据错误,重新开始接收 1 M0 v" L f9 i
- }
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- #ifdef OS_TICKS_PER_SEC //如果时钟节拍数定义了,说明要使用ucosII了.
5 O7 k: O, s2 C, e* a8 `# S& c- N - OSIntExit();
; R5 @( n. Z* R ] - #endif
! D$ H G/ g0 C7 a1 V6 g0 W - }
/ d2 V# m0 _2 b P5 @ - #endif </font>
复制代码 字符串接收与处理(从openMV接收到的数据):
+ u: A( r' N, w- n, n- <font face="微软雅黑" size="3">/*涉及到的全局变量0 P2 g/ w8 ?! @) Y3 W7 v
- float data[3];//x,y,z方向的距离,浮点数形式
' g+ b7 x# N, p4 i0 O3 Z' x7 W. h - unsigned char data_string[3][7];//x,y,z方向的距离,字符串形式
. m/ p6 [8 G0 ~# I8 Q - */- ` D6 Z5 \# f1 w$ R' |
- if(USART_RX_STA&0x8000)2 [1 M; k3 A0 \5 I
- {
2 ~0 `$ f, [- P8 j9 T) e - //清空字符串
4 j+ Q( I& F3 c$ x+ X! Y - for(i=0;i<2;i++)- V' y6 q% O5 l% N2 |/ ?
- {
, ]* `- v/ }6 ^2 X) I - for(j=0;j<6;j++)
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- data_string[i][j]=' ';
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- }
* X, }0 F& o# ^# X2 {7 | - len=USART_RX_STA&0x3fff;//得到此次接收到的数据长度
! a! m; G6 d3 N- X0 P- Z0 y - for(t=0,j=0;t<len;t++)4 O7 y$ H7 \. n2 G/ t& J o
- {
: y; @" A8 k7 V9 [8 k9 a t - j=0;9 {4 y4 P% {3 O) p7 B
- if(USART_RX_BUF[t]=='A')" T e9 E/ h& Z! Y" H
- {8 F: W0 Q! K" ~
- t++;//去掉首字母
4 q8 W% O+ D3 |! P3 u - while(USART_RX_BUF[t]!=',')0 G. _. Z% g" Z. L3 J8 ?$ S6 S
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- data_string[0][j]=USART_RX_BUF[t];
V6 m2 Q' m; c3 l- s8 p - t++;
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- if(USART_RX_BUF[t]=='B')( F3 ~( m& A8 j7 @4 A
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- t++;//去掉首字母
+ r; i S8 t+ g - while(USART_RX_BUF[t]!=',')8 k! U& O1 _3 x% m, m; R* L5 O
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- data_string[1][j]=USART_RX_BUF[t];
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- }
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- if(USART_RX_BUF[t]=='C')! \+ {- _) }3 N9 r, e g
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- t++;//去掉首字母
3 v/ H) y$ |1 x3 `# a6 X - while(USART_RX_BUF[t]!=',')
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( Q1 p, O1 i2 w' K - data_string[2][j]=USART_RX_BUF[t];7 n3 x) p, k0 ~ M2 j1 P2 Z0 `
- t++;4 O+ b, ^* x; S
- j++;
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- }
( I1 t- G2 |& x8 s6 l; Z - //把字符串转化为浮点数
" \* @9 o1 B$ O; D3 v; T6 a - data[0]=myatof(data_string[0])/100.0;//x
& V& [. p" ^- D0 h1 o - data[1]=myatof(data_string[1])/100.0;//y4 R1 [; e+ J) r/ F$ R. @' ?
- data[2]=myatof(data_string[2])*(-1)/100.0;//z,输入是负数,转换为正
1 h n6 ?3 f( \2 B# [, q- _$ H - //USART2发送数据0 p& ~& S" E8 u) i/ {+ `
- // Usart_SendString( RS232_USART, (uint8_t *)USART_RX_BUF );
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" }! X# U! f) l W - //LCD更新显示
' W3 W& D, \3 S( w" W - //显示xyz
- M7 K. I+ J9 D; m0 |; u& c - // CLEAR(10);% _, p. O' O( R* N8 H6 T! W: u
- // Gui_DrawFont_GBK16(30,0,BLACK,WHITE,clear);
9 p7 R% H- r# o% S( e" X N7 N - // Gui_DrawFont_GBK16(30,0,BLACK,WHITE,data_string[0]);
0 w/ x( i6 S3 w7 R, ~ _' W - // Gui_DrawFont_GBK16(30,20,BLACK,WHITE,clear);
+ a5 b+ o1 d. J1 I+ n, f - // Gui_DrawFont_GBK16(30,20,BLACK,WHITE,data_string[1]);
5 I3 f" E+ {) T1 g$ n1 O - // Gui_DrawFont_GBK16(30,40,BLACK,WHITE,clear);% \1 T$ ^7 g3 ~( k4 h+ c
- // Gui_DrawFont_GBK16(30,40,BLACK,WHITE,data_string[2]);' | C% T W9 M4 s& U# [
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- USART_RX_STA=0;//清除标志位
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- }9 R5 D) a' @) _
- </font>
复制代码 字符串转化为两位小数浮点数(用于后续PID控制):
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- <font face="微软雅黑" size="3">int myatof(const char *str)//此函数仅适用于两位小数的浮点数,返回的是乘100后的int值,因float返回有错误
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- int flag = 1;//表示正数: Q( m- l: s' K& K. ], a0 C
- int res =0;
* i4 i1 {# A! x- P: S3 C - u8 i=1; //小数点后两位7 k& ]0 ]+ G& A' i1 c A- P% F
- while(*str != '\0')
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- if( !(*str >= '0' && *str <= '9'))//找到字符串中的第一个数字# Z- f, {9 D8 |! h
- {" d7 E6 l2 n4 e: b& ~
- str++;1 d3 z( {4 t I* j) l
- continue;
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& U, d- v( q; o; d, j1 v - if(*(str-1) == '-')( W# V' f* P% I. K) A
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- flag=-1;//表示是一个负数" a% D: R( h1 t% Q9 N& ]% Y. R, U
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7 Q' {7 y6 q% o) O0 m0 _- while(*str >= '0' && *str <= '9')3 V( i$ F+ z" C" {( w6 P4 e2 t! h" i
- {
* X- ` I3 {' F j! U& f. S! K - res = res *10 + (*str - '0');
( l- ^+ F5 ]8 w& y1 t - str++;
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- E& j4 o: c! c+ v) q) ` - if(*str == '.')/ N/ v0 C R9 t& Y. p0 h8 }# |
- {
2 o6 c( F0 U, u! u: r7 P - str++;
! ^9 a' A! ^7 a1 ], H, e - res = res *10 + (*str - '0');
. V" f) e9 ?; e: o! H' o - str++;
/ b- k2 g4 }& W% k4 I, Q - res = res *10 + (*str - '0');//保留两位,故加两次# `0 O$ R/ |9 A( Z4 i N0 K5 }) X- m
- return res*flag;6 s& z; X; `: _9 `( J F8 _' F. j, v% q
- }3 J0 {! L8 b* a: B
- }" q6 n, F; @: G$ p) h6 _0 D* a9 @) ]5 k
- }
( D" w. M9 P6 g" a - 8 b+ J/ l3 B/ ~" J) o( J
( ~" o6 x9 n. V4 D+ j d- 2.3 LCD显示模块
0 R5 K t7 \, u! y
% Y& ?5 o$ C) J9 E8 M- LCD模块用于调试时观察数据,调试完成可以删去,因为显示屏很耗时,使处理速度变慢
0 n7 g8 o1 V3 G$ J! t d - 驱动函数总览:
( w% { e; y" N! {) u
& s% ~: ?7 I3 W4 _# J
8 H* {6 \ R C9 B5 [/ J
+ q: S- _' \+ O% u. A9 X2 r- void LCD_GPIO_Init(void);
2 o6 v: ]+ B5 F, L# I - void Lcd_WriteIndex(u8 Index);5 q5 a, M8 q# ^7 |5 g' c
- void Lcd_WriteData(u8 Data);
" v T2 D4 ?# u - void Lcd_WriteReg(u8 Index,u8 Data);9 `$ Y- \8 g; I0 H0 K
- u16 Lcd_ReadReg(u8 LCD_Reg);& ]0 f3 _, i! a2 a8 R; N
- void Lcd_Reset(void);' ]9 V7 Q( B9 _2 i) Y
- void Lcd_Init(void);. p1 \" v' D i6 b0 F
- void Lcd_Clear(u16 Color);) i0 Q& f; \4 h
- void Lcd_SetXY(u16 x,u16 y);% y0 {5 c& w3 u
- void Gui_DrawPoint(u16 x,u16 y,u16 Data);; S3 |$ p. o- \9 C* `
- unsigned int Lcd_ReadPoint(u16 x,u16 y);# l- O) C5 k) ~/ d
- void Lcd_SetRegion(u16 x_start,u16 y_start,u16 x_end,u16 y_end);
' y) j$ D' X2 [0 j& r v5 q - void LCD_WriteData_16Bit(u16 Data);</font>
复制代码
0 T2 m* ~, v9 ~' H2 Y8 T" u j6 Q ]# T* h8 h$ J4 \
TFT屏幕初始化:
8 K; C! Q% [* q) v
( ?$ Q+ ?% y4 N) c( T- <font face="微软雅黑" size="3">void TFT_Init_Show(void)
$ \2 P( J% I% A2 f! Z. [8 D - {4 z+ @6 U- s. C, Y8 D2 x. {
- Lcd_Clear(WHITE);, u, {2 a0 R! {. Q" N
- Gui_DrawFont_GBK16(16,70,BLACK,WHITE,"by WILL CHAN");
B+ O" b# h$ _( S$ I/ o5 ?9 d - delay_ms(1000);
3 Y+ g6 H ?3 ?+ R' F - Lcd_Clear(WHITE);
& @0 D8 }. c& S2 j9 N# r& k - Gui_DrawFont_GBK16(3,0,RED,WHITE,"X:");
; }/ ?; L0 B$ m* U0 ]: i& a - Gui_DrawFont_GBK16(3,20,RED,WHITE,"Y:");. C* {; x1 Y" \3 l# j9 `" R" }
- Gui_DrawFont_GBK16(3,40,RED,WHITE,"Z:");" v( w6 c4 C+ N
- Gui_DrawFont_GBK16(3,60,RED,WHITE,"speed:");
. s" ?* ]" ^, M9 f/ B% @ - }</font>
复制代码 字符串显示函数;* h# a% c1 [9 z% w% M$ S
- <font face="微软雅黑" size="3">; t. A8 h2 _. ?- J
- void Gui_DrawFont_GBK16(u16 x, u16 y, u16 fc, u16 bc, u8 *s)
7 l' O6 H* e8 r4 o6 {: }! _; V - {; l D! C" t/ \
- unsigned char i,j;) T1 t* g8 P7 N. z
- unsigned short k,x0;
2 {. q6 P) E2 h+ T, g9 u - x0=x;
3 h4 T$ j3 v7 x! ]. e$ w
' [; V9 r- T6 Z. `6 ?5 J0 {% \- while(*s)
@* l: E- y( s6 H7 o% G; ?4 t - { + p/ c p8 D3 I, y( f, l
- if((*s) < 128)
8 l. a+ _% d, H, Z( @- h9 }4 ~2 U - {! ^7 Y& F/ u0 R( D0 i0 D
- k=*s;1 s8 p! ]' }5 g& H" |0 Q" a
- if (k==13) ! G' P) s: { K0 g& y x( r
- {
% H. \! P6 ?; U - x=x0;
) [9 _' U1 y. y* T0 }) ] - y+=16;, w6 C0 }- F+ M2 p1 T' L2 V
- }5 a! _6 k& ?. `& s$ k# {
- else
& u d. Q6 i: V' |" p2 u, M2 R7 k - {$ g$ g0 ?+ P7 V6 j! o+ s
- if (k>32) k-=32; else k=0;+ V8 ^4 N3 k# \% B
-
" c. F* k/ @" G% w6 w - for(i=0;i<16;i++)
. T9 A* S) F' [# u: R- @3 E, I: ~' r - for(j=0;j<8;j++)
; ?+ `* a+ ~" l) u ? - {9 I4 K( D# ?" K b! \* h* k( e
- if(asc16[k*16+i]&(0x80>>j)) Gui_DrawPoint(x+j,y+i,fc);; h# z4 k1 [2 [( |- k8 S9 k
- else
8 \; M+ f+ Q6 m3 I* M, j - {
. ^! E7 w0 \2 F$ q" A! o - if (fc!=bc) Gui_DrawPoint(x+j,y+i,bc);6 t, d5 I, k/ u5 Y- d
- }
" N ~6 e1 ~# s9 ^3 N5 @/ K - }
. ?$ ?- Z* k. F# r$ q" s - x+=8;
3 h1 b- z# Z/ [# M$ z5 y5 F0 F - }
% _% b, t4 p: u1 z7 [ n) x6 B: [- _ - s++;4 E% J( y" V5 W
- }
/ \& k2 X# d- Z! V) v7 u% P - ( p& x7 ?9 ~: @
- else
5 c+ P3 Z& D+ X/ M3 x; p - {
& o! w0 S/ ~: Z2 Q! P' u" ] -
; R; E/ M* R p; S - % H% J+ s. t. I C) h
- for (k=0;k<hz16_num;k++)
; P5 W$ q+ O% ]$ v5 |/ | - {
' y' m- R9 Z3 `5 j - if ((hz16[k].Index[0]==*(s))&&(hz16[k].Index[1]==*(s+1)))! B# [; T5 R! x
- { , {* `' U4 ^+ d1 B8 Y
- for(i=0;i<16;i++)' e& Y, [# G( x1 o
- {
, ~& D& S( Z/ b. k7 p O7 d - for(j=0;j<8;j++)
& D5 g' a M) S. d* z; K - {9 @0 B! a/ r5 h& I/ z
- if(hz16[k].Msk[i*2]&(0x80>>j)) Gui_DrawPoint(x+j,y+i,fc);7 T( M) F/ P: D% M
- else {
: _* K6 H9 J+ G ~6 v - if (fc!=bc) Gui_DrawPoint(x+j,y+i,bc);) t1 `0 G1 _7 w0 F8 o! d( k4 P6 r
- }
* N: }* w. C! \9 k& c - }4 R D1 K* i; I$ L' r
- for(j=0;j<8;j++)
$ D7 B8 \( J4 h$ _% [ - {
; Z1 z5 A, j2 |: {3 ~& z - if(hz16[k].Msk[i*2+1]&(0x80>>j)) Gui_DrawPoint(x+j+8,y+i,fc);
5 c8 }6 _, t4 c# l. L - else
* J O: U# I: G& D. k$ k$ F) y - {+ b2 a- M& f% Y8 H
- if (fc!=bc) Gui_DrawPoint(x+j+8,y+i,bc);
* L& ]; P, i0 i7 f) ~ - }# T7 t" [1 j1 E
- }
% w. D7 s- v t5 u) V - }' x) g. T* K: _; D' j- C+ Q
- }
# l2 R, a& t+ z3 ^ - }
+ o9 E4 n1 I8 U" O7 f! b( Q" e - s+=2;x+=16;9 b# q0 @ A; ~, B
- }
# z; }3 P' S! b+ _5 h - ! S) `5 T. d+ q% D
- }
, O0 R# b* v/ Z1 @5 ]) t- R - }4 p N& O3 w n, W# P! L' b
- </font>
复制代码 2.4 电机、舵机与编码器' T: v7 k3 ]6 a- }7 I9 x$ o. z) Z% }
' C8 a9 I: U/ G# r; o- c0 s3 X, V) C. L
定时中断:TIM2,用于修改电机和舵机的PWM占空比- ]& e! C/ k4 N" B
初始化函数:
8 T+ d Q" z$ S ?
9 B7 G/ Q2 f$ t- <font face="微软雅黑" size="3">( Z% f0 {4 t, T7 |5 k
- //通用定时器2中断初始化2 V9 K. N$ j" P; V3 C4 |
- //arr:自动重装值。
* b* ~4 m: M9 k5 p, V* S6 l - //psc:时钟预分频数
4 U* M! V! M) Y" |9 ?- |/ b - //定时器溢出时间计算方法:Tout=((arr+1)*(psc+1))/Ft us.& F, n. g- }/ V% k7 s
- //Ft=定时器工作频率,单位:Mhz2 U# c9 u6 }! z' ~7 V
- //这里使用的是定时器2!+ k$ F! {# `( p0 k( n& m' s
- void TIM2_Int_Init(u16 arr,u16 psc)
5 w3 s& p/ p0 s7 ]; P6 w) a4 S9 K+ h - {/ }: E7 S# @0 O: Q M _
- TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
4 u% Z, ~% u+ n" ?$ o - NVIC_InitTypeDef NVIC_InitStructure;
" I9 J, \5 ~0 z6 P: E8 G$ S) i -
% ? _. p% `( R7 n - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE); ///使能TIM2时钟
0 v" e; G3 ? l+ M. g# T7 U - ( [0 q1 S j8 G# k5 z
- TIM_TimeBaseInitStructure.TIM_Period = arr; //自动重装载值2 K) n& z6 g* X, @
- TIM_TimeBaseInitStructure.TIM_Prescaler=psc; //定时器分频
5 k0 X, w: d- o f. d+ L - TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式3 a7 B, N0 V( u8 c. J8 I5 T% T! L. ?
- TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1; 4 x7 u, Y; F7 `1 L, X, j" B
-
' V; W5 C( ~& n, C - TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);//初始化TIM32 q3 Q, ]- v6 \& t9 F
- 7 ^! d/ @4 A/ \" z4 E& C$ k
- TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE); //允许定时器2更新中断2 ~) A- M- v0 g; \3 s
- TIM_Cmd(TIM2,ENABLE); //使能定时器28 k4 I0 ]2 g9 [& I) ] V0 e. F
-
3 J T2 G8 | G0 |2 L" ` - NVIC_InitStructure.NVIC_IRQChannel=TIM2_IRQn; //定时器2中断
* d: h( G1 J. y3 f4 w0 h# k - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0; //抢占优先级1
6 G' l' @3 t- \; `7 I3 s2 N- B# q - NVIC_InitStructure.NVIC_IRQChannelSubPriority=2; //子优先级3* J: E" F" g4 y. X
- NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;# @& M' m' x2 t4 C- R
- NVIC_Init(&NVIC_InitStructure);, E# h2 D2 F5 ^5 P
6 [4 y. ?' W% j6 {1 ?7 N( M! C" \$ B- }</font>
复制代码 TIM2中断处理函数:
# T+ d+ ~' u' v% H: T0 z- <font face="微软雅黑" size="3">+ A2 \1 z% |' X, T: q0 d
- void TIM2_IRQHandler(void)4 o# c2 s9 S7 T; O
- { & K/ n: r: F C
- if(TIM_GetITStatus(TIM2,TIM_IT_Update)==SET)//溢出中断& a: i: ^$ `. [- {! a* r# s! X
- {$ S6 d3 o3 `! F" n" m0 f% i$ X
- if(motor_flag==1)//反转/ j& Y7 b& [+ g7 R
- {
, c0 @" _+ P3 T: S2 N1 U - TIM_SetCompare1(TIM8,motor_duty*PID_val_motor*400.0);//和定时器的自动重装载值进行比较,来设置占空比,引脚:PC6+ t1 {$ U# A) n O, }
- TIM_SetCompare2(TIM8,0);6 b& O5 ^: N- D* }; R6 @+ x8 N3 L
- }& s4 }5 f! c7 q6 E2 l+ g
- if(motor_flag==0)//正转* O* x9 i' y" W/ c% K% R* L
- {& w' ~( p; ]$ A6 }; F
- TIM_SetCompare1(TIM8,0);& o f" ]. [/ Q* [4 ]
- TIM_SetCompare2(TIM8,motor_duty*PID_val_motor*400.0);//和定时器的自动重装载值进行比较,来设置占空比,引脚:PC7. r8 s' T3 F+ s
- }
) i0 }+ R& K* a9 x4 O - TIM_SetCompare1(TIM3,200-(servo_angle/45.0+1)*5);//设置舵机角度,引脚:PA6
( ?, \7 Q3 s6 U, c5 a n0 ~ - }
! J2 ]6 a6 L* M2 H' L3 C - TIM_ClearITPendingBit(TIM2,TIM_IT_Update); //清除中断标志位. x- M* C! `7 ]' m9 t
- }
+ [) g. X: D) L* S" n - </font>
复制代码 PWM输出:TIM3(舵机),TIM8(电机)$ S& W" M# x' S3 @
初始化函数(以TIM8为例):" E9 N0 m+ U) X2 \' w; k
. _% m S3 ^- O7 O9 {3 Y- <font face="微软雅黑" size="3">
, [& Q0 g! O; D& m - void TIM8_PWM_Init(u32 arr,u32 psc)* a9 H! R' ~. p5 |
- { ( h: n# C5 ?% U) _2 p
- //此部分需手动修改IO口设置5 u5 M+ \( Z7 c! {7 F }
-
2 b& D9 U; n# {) Q& h2 \ - GPIO_InitTypeDef GPIO_InitStructure;5 S( \/ ?# Z( c6 U$ y
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
! v# c; u6 S! I6 Y/ ^ - TIM_OCInitTypeDef TIM_OCInitStructure;0 }1 r; ~2 g( m) C9 }' [2 e2 t' V
- TIM_BDTRInitTypeDef TIM_BDTRInitStructure;+ N7 ~1 L) T8 M9 j4 g1 q
- " d! _2 T- @4 R# W: ~) N x6 l
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8,ENABLE); //TIM8时钟使能
* Q2 G' D s B$ v9 {0 r - RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA|RCC_AHB1Periph_GPIOB|RCC_AHB1Periph_GPIOC, ENABLE); //使能PORTA时钟 1 \( p; n% L6 h- m: W8 u& g! |
- & z1 w, O" _8 S. u
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; //GPIOFA. x7 g( o+ E( \+ V' s
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
; f! q7 A4 T; k0 @ - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //速度100MHz
% T6 @4 \ d$ T( k - GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
/ V( D* ]( W/ i4 _! ^ - GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
! f+ B$ @9 ~7 B4 K4 n; B - GPIO_Init(GPIOA,&GPIO_InitStructure); //初始化PA7; S5 S3 S: b. I; N) O
- * d J4 }: G, w9 v, B4 t- w
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;+ ~1 ]5 e) c; A8 B; U% S9 [) G) _2 a
- GPIO_Init(GPIOB,&GPIO_InitStructure);$ h' d: Y' s0 R6 S9 I& p
- ( l, _7 r$ w* }3 w( k, o; e2 w- O' B
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8;
( _0 v/ L; C6 n- z6 ~% W - GPIO_Init(GPIOC,&GPIO_InitStructure);
6 f6 M6 A. _8 Z& N3 ] -
6 d# a9 d5 f3 {1 h4 j" E - GPIO_PinAFConfig(GPIOC,GPIO_PinSource6,GPIO_AF_TIM8); //GPIOA8复用为定时器18 o! e1 m1 O0 G- N$ S
- GPIO_PinAFConfig(GPIOC,GPIO_PinSource7,GPIO_AF_TIM8); //GPIOA9复用为定时器1) u8 y6 a4 r0 y) ]! S8 n" ^9 o
- GPIO_PinAFConfig(GPIOC,GPIO_PinSource8,GPIO_AF_TIM8); //GPIOA10复用为定时器1
/ V8 Z9 _2 `, b - GPIO_PinAFConfig(GPIOA,GPIO_PinSource7,GPIO_AF_TIM8); //GPIOB13复用为定时器13 M ?. E. x; x) Y, Q
- GPIO_PinAFConfig(GPIOB,GPIO_PinSource0,GPIO_AF_TIM8); //GPIOB14复用为定时器1 m# a. Q/ i& M: o8 b& e1 Z+ k
- GPIO_PinAFConfig(GPIOB,GPIO_PinSource1,GPIO_AF_TIM8); //GPIOB15复用为定时器1
5 X& E; }: Y7 H1 Z; Y
4 v! p* E' Q0 f: F0 ]& R- TIM_TimeBaseStructure.TIM_Prescaler=psc; //定时器分频
! d- O! O: `9 L6 [+ n; e$ ^ - TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
0 @2 p& ^/ w1 T8 H) @( U - TIM_TimeBaseStructure.TIM_Period=arr; //自动重装载值$ @ W* t* F& |- K4 H$ G; s
- TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1; 6 O/ r) K0 |$ b- E7 P5 C
- 0 t2 [; J1 h. O1 |; c" @' ?
- TIM_TimeBaseInit(TIM8,&TIM_TimeBaseStructure);//初始化定时器1
+ O' j9 N0 e- [1 p6 d - ) k9 X; f3 a% L. `" X
- //初始化PWM模式
, Y" T. d* m& O - TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
' y7 m4 {# f& B9 s - TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
- a5 z9 _! y, [ - TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
$ f9 [3 }8 v4 X - TIM_OCInitStructure.TIM_Pulse = 0;2 [. V3 z* O1 F. F2 R1 e
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;* a0 P' J2 p$ |+ b9 g' }
- TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;3 g4 t7 U- l% e/ K% O! }
- TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; ( s" d% o1 g- h9 T( _! ?/ F
- TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
Z7 }5 A8 a) b/ ~ - # `$ e5 n* K* C
- TIM_OC1Init(TIM8, &TIM_OCInitStructure);% L. k o6 A% P& V: f* ?
- TIM_OC2Init(TIM8, &TIM_OCInitStructure);
0 J Y( d7 ?, ~( u8 s - TIM_OC3Init(TIM8, &TIM_OCInitStructure);
+ T# d- \. A0 A, n; X( Z8 ^% {
* q4 d0 o+ u- \& i: C6 e, P- TIM_OC1PreloadConfig(TIM8,TIM_OCPreload_Enable);# F' J: n, K1 v t) ?$ e7 C
- TIM_OC2PreloadConfig(TIM8,TIM_OCPreload_Enable);4 J. a2 V: u2 x' j3 R
- TIM_OC3PreloadConfig(TIM8,TIM_OCPreload_Enable);% e9 L2 I0 i p4 A( V
- 6 `- j! f0 v8 [ g5 j. J
- TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
% q# i" w( g: G/ u$ X- p* m* |/ ^ - TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
3 R x. v% N2 p, U; ` - TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;% @- ~$ V, k+ ?5 }5 ?- T
- TIM_BDTRInitStructure.TIM_DeadTime = 0;! @3 E* u4 u, l5 P i+ S
- TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
3 k V" z" X R% \ - TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low;8 F0 w! t$ G+ T n9 A1 N: V
- TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;4 a9 H; e( X: f5 r) E5 Z
- TIM_BDTRConfig(TIM8,&TIM_BDTRInitStructure);2 L W# @/ ~) g6 O1 f
- ! r5 [, \6 U" I P$ Q
- TIM_Cmd(TIM8,ENABLE);
, T0 G/ q, X& ] D) r7 g - TIM_CCPreloadControl(TIM8,ENABLE);
9 N0 o: W' Z! w$ }% @ - TIM_CtrlPWMOutputs(TIM8,ENABLE);
* U( Q3 e" n1 g2 _* X% i( |% ?/ Y) i - 5 q% x. }' W8 j/ |+ R% U* p
- }</font>
复制代码 编码器初始化函数:- J6 p1 D8 i5 e0 \. |( H# `0 {
- <font face="微软雅黑" size="3">
+ J& @+ w+ ]5 p9 r; K& s1 j - void Encoder_Init_TIM4(void)4 v0 z+ T, s5 d6 c( v) d# E
- {
8 q. G& h0 q. {: |% ]$ H! u - GPIO_InitTypeDef GPIO_InitStructure; ) \( [6 g7 V" ?9 C6 F
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
' {2 g0 r' z/ W" ~" Y1 X$ l4 j - TIM_ICInitTypeDef TIM_ICInitStructure;6 M7 c! o0 \. H6 f: u
- NVIC_InitTypeDef NVIC_InitStructure;/ k* U* f( ]( N5 Q
- ! k i( c- Z5 ~: E$ s( X
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);//开启TIM4时钟 y9 t. P% ?5 P* W
- RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE);//开启GPIOB时钟
- l L# e3 D" Y: U -
& @+ B! T8 u% t0 x3 {' N - GPIO_PinAFConfig(GPIOB,GPIO_PinSource6,GPIO_AF_TIM4);//PB6引脚复用
" U5 L" ~: z- U5 m& R - GPIO_PinAFConfig(GPIOB,GPIO_PinSource7,GPIO_AF_TIM4);//PB7引脚服用, {1 N8 z |3 W9 a) m. [ d3 ]9 |
- / l1 p o S7 M1 |# @
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //GPIOB6,GPIOB7
9 J0 P' A( ?* ?! d( ~: ^ - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
$ t* d# p# t: j# v - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;! Z5 o* r5 Q! \! u9 p# c
- GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
4 U5 O5 V. C; N I( D - //GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
' J- g) M9 F3 G& O3 @! l - GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;5 |( q8 T% p4 Z# |. r
- GPIO_Init(GPIOB,&GPIO_InitStructure);
' p' r0 u* r4 S1 J4 E# D0 o# ? - $ t6 `4 u9 |2 e6 w
- NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;8 F/ ~) S' `; }9 A
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; /*它的抢占优先级可以尽量设置低点*/8 E/ a* D! @ l+ t+ f8 Z/ u- `
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;/ E/ D' U& g. t5 G% I! q, o5 I
- NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;//禁用中断,防止计数溢出而没有相应函数,造成卡死* E, I9 a7 E1 u: ?) w! X
- NVIC_Init(&NVIC_InitStructure);
X: V0 d) Z9 r; ?' u8 ] - : W0 ]0 u- I& P
- 4 x6 h! F4 }( B1 Y
-
$ E |7 I5 O- `: F - TIM_TimeBaseStructure.TIM_Period = 4095; //设置下一个更新事件装入活动的自动重装载寄存器周期的值
i" L6 H0 _3 B2 V @5 i+ I( M - TIM_TimeBaseStructure.TIM_Prescaler = 0; //设置用来作为TIMx时钟频率除数的预分频值 不分频
4 A+ }. o4 l2 Q5 L& e - TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
0 Y, G; }0 F, j, @/ T/ z - TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式- b3 k* l1 n& N. F* V
- TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
& l T( K) v7 H4 u9 w+ v! `# [( ` - 7 R$ D' F% I3 N7 \0 o% p2 C
- TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising,TIM_ICPolarity_Falling);8 G! J8 v( x* i- ^; o
- TIM_ICStructInit(&TIM_ICInitStructure);4 `) b# Q: s3 R% r- ?
- TIM_ICInitStructure.TIM_ICFilter = 10; //输入滤波器- ?' _0 ^7 l+ z$ g% d
- TIM_ICInit(TIM4, &TIM_ICInitStructure);3 C# G7 f, h$ V. I
- TIM_ClearFlag(TIM4, TIM_FLAG_Update); //清除所有标志位
2 P7 E' k: c0 z S3 b6 M8 _: L% g3 @ F - TIM_ITConfig(TIM4, TIM_IT_Update, DISABLE); //允许中断更新
1 V4 W: l5 O4 D3 }8 D6 \( i' i - TIM4->CNT = 0;
% L& u* Y `- [' ^! F3 _( } - TIM_Cmd(TIM4, ENABLE); //使能TIM48 {5 S! H% y, v- d
- }- o5 O& T4 H2 w1 }( s. e4 H
- </font>
复制代码 编码器返回速度值:
# K6 L; Z, w0 J) X4 x i# F$ W- <font face="微软雅黑" size="3">/**************************************************************************
' P6 U2 `& S+ G: D - 函数功能:单位时间读取编码器计数
$ i/ ~/ d/ }7 K" x9 d - 入口参数:定时器5 @% h$ l: {6 S' t: `2 ^
- 返回 值:速度值
) _( S2 Q- f- J* Y0 m" I - **************************************************************************/
9 F* \2 ]* U% T" [. B$ Q! u' U - float Read_Encoder_Speed(uint8_t TIMX)
, s3 F# |8 Q& o8 E( g6 a - {
; L* c; c4 T: ? X+ m5 [ - int32_t Encoder_TIM;
+ p% }! r$ s3 _ - float res = 0;( \; n1 l) v: I9 X
- switch (TIMX)* w* X4 Z `- c0 T/ L0 }
- {
" ?8 Z5 T2 U |' `: f2 a$ _+ [ - case 5:( U. v5 F% c" P: K% X# W! S
- Encoder_TIM = TIM_GetCounter(TIM5);6 `. I; }+ n5 s' l" D2 H/ h6 V/ d7 w
- TIM5->CNT = ENCODER_BASE_COUNT;
* i! \/ M" o" X - res = (int32_t)Encoder_TIM - ENCODER_BASE_COUNT;3 \" f0 M& C8 m8 R
- break;; C" F+ R, \, E4 y/ V
- case 4:
& H( v& I+ X3 M - Encoder_TIM = TIM_GetCounter(TIM4);8 t; P2 w! N( T% y, s% @
- TIM4->CNT = ENCODER_BASE_COUNT;
) e3 J% P" \# D% s$ j8 X0 |. {/ Y9 Z - res = (int32_t)Encoder_TIM - ENCODER_BASE_COUNT;
) r* X) i3 V7 F7 W - break;
, F, N/ y/ e7 f. F - default:
% q6 k" R! T0 P; A - Encoder_TIM = 0;
" }5 n* \: R+ I+ S, s2 O3 d - res = 0;
, `& P& u+ q. S$ k" B0 h - }
2 J4 T9 X3 S% V5 I - if(res>2048.0f)
$ a: t! z& I* ~. F0 i% k1 u - res-=4096.0f;
6 v8 H, m6 d0 Q8 ~ - return res*360.0f/4096.0f;2 m' w1 C0 b3 d2 \6 V# A. v8 U
- }
- w! X! {. `9 v6 \ - </font>
复制代码 定时从编码器取数,注意,时间不一样,取回的数值也不一样,取决于实际速度以及编码器线数。这里50ms取一次:
9 U9 q' `. w t) W- <font face="微软雅黑" size="3">
* { Y5 \( L, F. q) K8 V - void TIM7_IRQHandler(void)//频率20HZ,用于编码器计数
7 T1 r2 V& ~7 D8 f: @ - {
- o, O9 i. w4 j$ d6 m - if(TIM_GetITStatus(TIM7,TIM_IT_Update)==SET)//溢出中断4 c* E7 S" g- u: b4 h( x
- {: R# `& S5 s8 {7 V
- speed=Read_Encoder_Speed(4);7 b% z+ Q& K2 L7 ]/ ~( E5 M3 \
- }
& f' D* g+ S. {, v0 I5 W8 Q# y# t l. o - TIM_ClearITPendingBit(TIM7,TIM_IT_Update); //清除中断标志位. B/ d& W( V( l6 k3 t2 z- f
- }</font>
复制代码 2.5 PID控制
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* N$ G& y) H# G5 h5 z5 Y$ X! o+ t0 b8 T& _, }
PID库函数:
* j4 |. } i% Z7 I7 W& ]( r& Z/ U- g8 y' S2 H
- <font face="微软雅黑" size="3">! ?: \5 E' u I
- #define N 2 //需要对多少变量进行pid调节
6 A* A8 i8 O. I: R1 x9 b: N
2 w2 }' e1 F, w# D- const float KP[N]={1.3,1.0};//这里只用了比例调节
, O/ P1 r/ m: l! i, K$ P - const float KI[N]={0,0};
; l! f) K& h8 {. [+ x* w4 X6 A. s0 [ - const float KD[N]={0,0}; `+ c4 e$ {: K$ y: R/ k+ y
- ; S- i5 `3 k! s( C, e6 ~" R( w1 y
- . ^5 O( }( e; F5 p2 R
- struct _pid{
* [' m' Z8 a" O9 ~% D8 O - float SetVol; //定义设定值2 u( W9 H; k; v/ r, C7 b$ S& U7 U* ?
- float ActVol; //定义实际值2 H! \. p3 t) V8 D9 V1 H; O6 [( z
- float Err; //定义误差: P4 _) g$ d8 z2 {8 e
- float Err_Next; //定义上一个误差
/ |, @ o3 V( u/ V8 n. C - float Err_Last; //定义上上一个误差" a2 \& V* P. z% q- e
- float Kp,Ki,Kd; //定义比例、积分、微分系数4 j* T: g/ Z1 X0 L8 S3 m6 s$ N7 o
- float integral; //定义积分值
6 i, [( b/ w7 ] i0 L - float actuator; //定义控制器执行变量% R! ^9 L9 L, r) D; N: g. D
- }pid[N];/ z& a m. a% d
- 4 U, ~ o& i- @( ^
- void PID_Init(void)4 a! ]3 P( p! h- K0 x
- {
3 k4 N) ]) C/ l7 B( Z6 q7 r& u - for(int i=0;i<N;i++)8 @% ^8 {* {- ]0 F4 A$ D7 I3 f7 r
- {
5 a$ f. A* m5 c# ` - pid[i].SetVol=0.0;
* n& O$ P% b3 @( M - pid[i].ActVol=0.0;
4 Z' B+ d1 X- u! l7 R- r5 e - pid[i].Err=0.0;& s# T2 Q4 R- ~
- pid[i].Err_Next=0.0;
- k- v+ w: R. T$ w5 w - pid[i].Err_Last=0.0;$ B O7 w! K; o& l7 t5 C
- pid[i].integral=0.0;
R2 ]8 L6 [$ y3 L) G; ^4 u - pid[i].actuator=0.0;
- b( T" q! k* } D6 l6 o0 d o - pid[i].Kp=KP[i];
& t# R( O( V- u" t. d - pid[i].Ki=KI[i];& y! T( H' }- R2 I) C& y
- pid[i].Kd=KD[i];" y6 B d! I; u4 H
- }
" H3 x. w9 D2 k - }
* p% m: w9 [! x9 w$ |' g" Z
1 F _4 O" J: y3 n* a- float PID_realize(float set_val,float get_val,int i) //位置型PID算法实现
8 e( z' [- }& H! A& N' `6 h - {) j) Z5 r; I) y4 y3 ?
- pid[i].SetVol=set_val;( k. D4 ~( ^2 d# Z x" d% O
- pid[i].ActVol=get_val;# ~# D" ~0 a6 f! ]
- pid[i].Err=pid[i].SetVol-pid[i].ActVol;
% U+ C$ k1 L$ o/ U - float IncVol; //定义增量
% r0 f- C6 p9 Z$ p( Y+ h - pid[i].integral+=pid[i].Err;9 t- M' M6 L/ O0 J& A7 o
- // IncVol=pid[i].Kp*(pid[i].Err-pid[i].Err_Next)+pid[i].Ki*pid[i].Err+pid[i].Kd*(pid[i].Err-2*pid[i].Err_Next+pid[i].Err_Last);% j' ^3 l, S ? V
- pid[i].actuator=pid[i].Kp* pid[i].Err+pid[i].Ki*pid[i].integral+pid[i].Kd*(pid[i].Err-pid[i].Err_Next);$ F/ ~$ h$ v! Z6 ^
- // pid[i].actuator=adc_val+IncVol;
! Y3 N/ b0 k* l4 _+ e( ?$ B - pid[i].ActVol=pid[i].actuator;2 B3 q6 j' y0 P
- pid[i].Err_Last=pid[i].Err_Next;$ Y2 \0 E" W* t; i4 n9 M, s/ v8 G$ D
- pid[i].Err_Next=pid[i].Err;
9 O" P. H3 C3 _# t - . i3 N3 H* m1 m( C K! X
- return pid[i].actuator;0 i+ }( S3 o& c9 Z8 X. x
- }</font>
复制代码 主函数中的PID调节:
! Y# [1 I" h% ^7 R1 ~& I& h, H" i0 c
- <font face="微软雅黑" size="3">' `; T$ I' S! N! {2 z
- z_get=data[2];
' Q/ h' G3 G+ t! b( s% T/ F - x_get=data[0];
% c- R$ ?' v* j" f - if(z_get-z_set>0.5||z_get-z_set<-0.5)//电机PID* m) X! g. z" D+ E
- {
3 j7 a C% p4 ?. v% O - LED1=0; //调节时灯亮
: g! `2 S% m" V' u - PID_val_motor=PID_realize(z_set,z_get,0);
9 W3 M9 F& w' I - PID_val_motor=PID_val_motor/10.0;
; A) R, ?- r' F+ m7 S - if(PID_val_motor<=0)
2 d9 ^1 b0 [' s4 a5 b1 J- g3 j* P3 P7 A - motor_flag=0;//motor_flag控制电机正反转,PID_val_motor用于改变占空比,范围0~1: \! I( k" \1 `9 |
- if(PID_val_motor>0)
( g1 E/ i3 ]* R - motor_flag=1;* f6 @! u5 i# G
- PID_val_motor=abs_float(PID_val_motor);
( B( q) `1 A7 L9 f7 z6 d; o; G - if(PID_val_motor>2)PID_val_motor=0;//标志太远,让车停止2 }) D( C& \7 p9 J/ ^
- if(PID_val_motor>1&&PID_val_motor<=2)PID_val_motor=1;
8 m" h" G/ s2 }, E% _: Z- L2 Q8 N - if(PID_val_motor<0.2)PID_val_motor=0;( H; E; y3 n( j) y
- }5 |% K' z6 u3 K3 k# r
- if(x_get-x_set>0.1||x_get-x_set<-0.1)//舵机PID! Y* R$ t% @- w% p" a5 C" G
- {7 ?5 s8 f! l* R2 J
- LED1=0;
& C( }) e0 `) M0 e* q8 j - PID_val_servo=PID_realize(x_set,x_get,1);
- |, o% d* ~6 h' w, R - servo_angle=((140-35)/6)*PID_val_servo+35;//线性映射,把PID的值转化为角度35~140的舵机转角' ]- @2 e" I: m4 I6 N7 d% Z
- if(servo_angle<35)servo_angle=35;4 C2 a7 r1 u, K% `# r
- if(servo_angle>140)servo_angle=140;
4 v5 ~3 E1 s+ K6 G* \ - }- I6 H+ n& p$ I. n6 O% i1 |# k# M2 \
- LED1=1;</font>
复制代码 定时器TIM2中断里改变占空比:! E5 d7 ^6 T* q M" c/ ?( w" n# l2 K
- <font face="微软雅黑" size="3">/ V/ {- s: W( J* i- {+ u' L
- void TIM2_IRQHandler(void)
/ U; R0 v* v- T! u( }& p - {
- ?+ L' k3 L2 \: w" O - if(TIM_GetITStatus(TIM2,TIM_IT_Update)==SET)//溢出中断
5 b9 u% B8 k8 T - {
1 F3 O. k2 r g- E - if(motor_flag==1)//反转3 X- ~: r( y" C9 T
- {( r6 l! u9 m% c* U3 Z
- TIM_SetCompare1(TIM8,motor_duty*PID_val_motor*400.0);//和定时器的自动重装载值进行比较,来设置占空比,引脚:PC6( p, J3 @8 J9 D! r
- TIM_SetCompare2(TIM8,0);
) @+ R+ P- v5 @" q( R* | - }% O6 |) x$ t# Q, s
- if(motor_flag==0)//正转- m/ F% X/ K$ a( O) O0 w9 {
- {4 D( b, f' e4 D
- TIM_SetCompare1(TIM8,0);
6 v6 F5 }$ o$ ]& _ - TIM_SetCompare2(TIM8,motor_duty*PID_val_motor*400.0);//和定时器的自动重装载值进行比较,来设置占空比,引脚:PC7* W) C! }) Y+ b0 {' V! I" {
- }) x' m1 ]4 |. y1 s" S; L
- TIM_SetCompare1(TIM3,200-(servo_angle/45.0+1)*5);//设置舵机角度,根据舵机手册得到占空比与转角的关系,引脚:PA6* v& E: } a2 \" U- b3 {& [
- }& d6 U5 G( C" O& x9 o
- TIM_ClearITPendingBit(TIM2,TIM_IT_Update); //清除中断标志位8 O& a5 c5 s8 S* Z% u1 c
- }+ n6 p. m: s. E! O
- </font>
复制代码
* m1 O3 `, L2 t3 ^
1 n" r0 B& E0 a/ g! l" W, A* \; }# d
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