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STM32平衡小车代码 可以直接用

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ID:290582 发表于 2018-3-11 23:21 | 只看该作者 回帖奖励 |倒序浏览 |阅读模式
在其他网站找到的一份可以直接用的平衡车代码，大家可以参考一下

单片机源程序如下:
  1. /**
  2.   ******************************************************************************
  3.   * File Name          : main.c
  4.   * Description        : Main program body
  5.   ******************************************************************************
  6.   *
  7.   * COPYRIGHT(c) 2017 STMicroelectronics
  8.   *
  9.   * Redistribution and use in source and binary forms, with or without modification,
  10.   * are permitted provided that the following conditions are met:
  11.   *   1. Redistributions of source code must retain the above copyright notice,
  12.   *      this list of conditions and the following disclaimer.
  13.   *   2. Redistributions in binary form must reproduce the above copyright notice,
  14.   *      this list of conditions and the following disclaimer in the documentation
  15.   *      and/or other materials provided with the distribution.
  16.   *   3. Neither the name of STMicroelectronics nor the names of its contributors
  17.   *      may be used to endorse or promote products derived from this software
  18.   *      without specific prior written permission.
  19.   *
  20.   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  21.   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  22.   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  23.   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  24.   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  25.   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  26.   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  27.   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  28.   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  29.   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  30.   *
  31.   ******************************************************************************
  32.   */
  33. /* Includes ------------------------------------------------------------------*/
  34. #include "main.h"
  35. #include "stm32f1xx_hal.h"
  36. #include "i2c.h"
  37. #include "spi.h"
  38. #include "tim.h"
  39. #include "usart.h"
  40. #include "gpio.h"

  42. /* USER CODE BEGIN Includes */
  43. #include "math.h"
  44. #include "attitude_pid.h"
  45. #include "MPU9250.h"
  46. #include "showwave.h"
  47. #include "dot_matrix.h"
  48. #include "attitude_pid.h"
  49. #include "moto_ctrl.h"
  50. /* USER CODE END Includes */

  52. /* Private variables ---------------------------------------------------------*/

  54. /* USER CODE BEGIN PV */
  55. /* Private variables ---------------------------------------------------------*/
  56. uint8_t g_count = 0;
  57. extern uint8_t g_sys_mode  ;
  58. extern mpu9250_t g_mpu9250 ;
  59. extern TIM_HandleTypeDef htim3;
  60. extern TIM_HandleTypeDef htim8;
  61. extern float Left_Motor_Control_K;
  62. extern float Right_Motor_Control_K;
  63. //static float Kp = 0.95;static float Ki = 0.04;static float Kd = 0.08;static float SetOff = 9 ;
  64. //static float Kp = 0.95;  static float Ki = 0.04;static float Kd = 0.05;static float SetOff = 3;
  65. static float Kp,Kd,Ki,SetOff;
  66. /* USER CODE END PV */

  68. /* Private function prototypes -----------------------------------------------*/
  69. void SystemClock_Config(void);
  70. void Error_Handler(void);

  72. /* USER CODE BEGIN PFP */
  73. /* Private function prototypes -----------------------------------------------*/

  75. /* USER CODE END PFP */

  77. /* USER CODE BEGIN 0 */

  79. /* USER CODE END 0 */

  81. int main(void)
  82. {

  84.   /* USER CODE BEGIN 1 */
  85.   uint16_t i = 0;

  87.   /* USER CODE END 1 */

  89.   /* MCU Configuration----------------------------------------------------------*/

  91.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  92.   HAL_Init();

  94.   /* Configure the system clock */
  95.   SystemClock_Config();

  97.   /* Initialize all configured peripherals */
  98.   MX_GPIO_Init();
  99.   MX_USART1_UART_Init();
  100.   MX_I2C1_Init();
  101.   MX_TIM8_Init();
  102.   MX_TIM3_Init();
  103.   MX_SPI3_Init();
  104.   MX_USART2_UART_Init();
  105.   MX_USART3_UART_Init();

  107.   /* USER CODE BEGIN 2 */
  108.         Motor_Stop();
  109.         dot_matrix_init() ;
  110.         InitSensor();
  111.         HAL_TIM_Base_Start_IT(&htim3);
  112. //        HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_1);
  113. //        HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_2);

  115.   /* USER CODE END 2 */

  117.   /* Infinite loop */
  118.   /* USER CODE BEGIN WHILE */
  119.   while (1)
  120.   {
  121.   /* USER CODE END WHILE */

  123.   /* USER CODE BEGIN 3 */
  124.                
  125.                 ReadUserButton();
  126.                 if ( g_sys_mode == 0 ) {        //SetOff = 9 ;       
  127.                 }
  128.                 else if ( g_sys_mode == 1 ) {  //SetOff = 0;
  129.                 }
  130.                 else if ( g_sys_mode == 2 ) {
  131.     }

  133.                 if(i++>200)
  134.                 {                       
  135.                         i = 0;
  136.                         HAL_GPIO_TogglePin(LED_Y_GPIO_Port, LED_Y_Pin);
  137.                         HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
  138.                 }
  139.   }
  140.   /* USER CODE END 3 */

  142. }

  144. /** System Clock Configuration
  145. */
  146. void SystemClock_Config(void)
  147. {

  149.   RCC_OscInitTypeDef RCC_OscInitStruct;
  150.   RCC_ClkInitTypeDef RCC_ClkInitStruct;

  152.     /**Initializes the CPU, AHB and APB busses clocks
  153.     */
  154.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  155.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  156.   RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  157.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  158.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  159.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  160.   RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  161.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  162.   {
  163.     Error_Handler();
  164.   }

  166.     /**Initializes the CPU, AHB and APB busses clocks
  167.     */
  168.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
  169.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  170.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  171.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  172.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  173.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  175.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  176.   {
  177.     Error_Handler();
  178.   }

  180.     /**Configure the Systick interrupt time
  181.     */
  182.   HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

  184.     /**Configure the Systick
  185.     */
  186.   HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  188.   /* SysTick_IRQn interrupt configuration */
  189.   HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
  190. }

  192. /* USER CODE BEGIN 4 */

  194. /* USER CODE END 4 */

  196. /**
  197.   * @brief  Period elapsed callback in non blocking mode
  198.   * @note   This function is called  when TIM6 interrupt took place, inside
  199.   * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  200.   * a global variable "uwTick" used as application time base.
  201.   * @param  htim : TIM handle
  202.   * @retval None
  203.   */
  204. void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
  205. {
  206. /* USER CODE BEGIN Callback 0 */
  207.         static int count = 0 ;
  208.         if (htim->Instance == htim3.Instance)
  209.         {
  210.                 count ++ ;
  211.                 if (count < 1000 )
  212.                     {Kp = 0.95 ; Ki = 0.04 ; Kd = 0.05 ; SetOff = 3 ; Left_Motor_Control_K = 1;
  213.          Right_Motor_Control_K = 1;}
  214.                 else if ( count < 2000 )
  215.                             {Kp = 0.95 ; Ki = 0.04 ; Kd = 0.08 ; SetOff = 9 ;Left_Motor_Control_K = 1;
  216.             Right_Motor_Control_K = 1;}
  217.                                          else if (count < 2500 )
  218.                                                  {Kp = 0.95 ; Ki = 0.04 ; Kd = 0.05 ; SetOff = 3 ;Left_Motor_Control_K = 1;
  219.               Right_Motor_Control_K = 1;}
  220.                                                  else if (count < 3000 )
  221.                                                          {Kp = 0.95 ; Ki = 0.04 ; Kd = 0.08 ; SetOff = 9 ;Left_Motor_Control_K = 0.5;
  222.                  Right_Motor_Control_K = 1.2;}
  223.                                                          else if (count < 3500 )
  224.                                                                  {Kp = 0.95 ; Ki = 0.04 ; Kd = 0.05 ; SetOff = 3 ; Left_Motor_Control_K = 1;
  225.                   Right_Motor_Control_K = 1 ;}
  226.                                                                          else if (count < 4000 )
  227.                                                                                  {Kp = 0.95 ; Ki = 0.04 ; Kd = 0.08 ; SetOff = 9 ;Left_Motor_Control_K = 1.2;
  228.                         Right_Motor_Control_K = 0.5;}
  229.                                                                                  else if ( count < 4500 )
  230.                                                                                          {Kp = 0.95 ; Ki = 0.04 ; Kd = 0.05 ; SetOff = 3 ; Left_Motor_Control_K = 1;
  231.                          Right_Motor_Control_K = 1 ;}
  232.                                                                                          else if ( count < 5000 )
  233.                                                                                                  {Kp = 0.95 ; Ki = 0.04 ; Kd = 0.08 ; SetOff = 9 ;Left_Motor_Control_K = 0;
  234.                             Right_Motor_Control_K = 1;}
  235.                                                                                                  else Motor_Stop();                                                                                                                                                                                                    
  236.     Get_Accel_Gyro() ;
  237. //                Kalman_Filter( g_mpu9250.accel_y , g_mpu9250.gyro_x );
  238.     calculate_angle() ;
  239.                 PID(Kp,Kd,Ki,SetOff);
  240.                 Set_Motor_Pwm() ;
  241.                
  242. /*
  243.                 Angle_Calculate();
  244.                 Angle_Control();
  245.                 Set_Motor_Pwm();       
  246. */
  247.         }
  248. /* USER CODE END Callback 0 */
  249.   if (htim->Instance == TIM6) {
  250.     HAL_IncTick();
  251.   }
  252. /* USER CODE BEGIN Callback 1 */

  254. /* USER CODE END Callback 1 */
  255. }

  257. /**
  258.   * @brief  This function is executed in case of error occurrence.
  259.   * @param  None
  260.   * @retval None
  261.   */
  262. void Error_Handler(void)
  263. {
  264.   /* USER CODE BEGIN Error_Handler */
  265.   /* User can add his own implementation to report the HAL error return state */
  266.   while(1)
  267.   {
  268.   }
  269.   /* USER CODE END Error_Handler */
  270. }

  272. #ifdef USE_FULL_ASSERT

  274. /**
  275.    * @brief Reports the name of the source file and the source line number
  276.    * where the assert_param error has occurred.
  277.    * @param file: pointer to the source file name
  278.    * @param line: assert_param error line source number
  279.    * @retval None
  280.    */
  281. void assert_failed(uint8_t* file, uint32_t line)
  282. {
  283.   /* USER CODE BEGIN 6 */
  284.   /* User can add his own implementation to report the file name and line number,
  285.     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  286.   /* USER CODE END 6 */

  288. }

  290. #endif

  292. /**
  293.   * @}
  294.   */

  296. /**
  297.   * @}
  298. */

  300. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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