Commit 6890e7da authored by Baptiste Toussaint's avatar Baptiste Toussaint
Browse files

Coucou (enfin !)

Contrôle M3508 et GM6020
parent 8bd84679
[PreviousGenFiles]
HeaderPath=E:/Project/examples/GM6020_demo/Inc
HeaderFiles=gpio.h;can.h;tim.h;stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;
SourcePath=E:/Project/examples/GM6020_demo/Src
SourceFiles=gpio.c;can.c;tim.c;stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;
[PreviousLibFiles]
LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f427xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/arm_common_tables.h;Drivers/CMSIS/Include/arm_const_structs.h;Drivers/CMSIS/Include/arm_math.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armcc_V6.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cmFunc.h;Drivers/CMSIS/Include/core_cmInstr.h;Drivers/CMSIS/Include/core_cmSimd.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;
[PreviousUsedKeilFiles]
SourceFiles=..\Src\main.c;..\Src\gpio.c;..\Src\can.c;..\Src\tim.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../\Src/system_stm32f4xx.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../\Src/system_stm32f4xx.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;E:/Project/examples/GM6020_demo//MDK-ARM/startup_stm32f427xx.s;
HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Inc;
/****************************************************************************
* Copyright (C) 2018 RoboMaster.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
***************************************************************************/
#include "bsp_can.h"
#include "bsp_led.h"
moto_info_t motor_info[MOTOR_MAX_NUM];
uint16_t can_cnt;
/**
* @brief init can filter, start can, enable can rx interrupt
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
void can_user_init(CAN_HandleTypeDef* hcan )
{
CAN_FilterTypeDef can_filter;
can_filter.FilterBank = 0; // filter 0
can_filter.FilterMode = CAN_FILTERMODE_IDMASK; // mask mode
can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
can_filter.FilterIdHigh = 0;
can_filter.FilterIdLow = 0;
can_filter.FilterMaskIdHigh = 0;
can_filter.FilterMaskIdLow = 0; // set mask 0 to receive all can id
can_filter.FilterFIFOAssignment = CAN_RX_FIFO0; // assign to fifo0
can_filter.FilterActivation = ENABLE; // enable can filter
can_filter.SlaveStartFilterBank = 14; // only meaningful in dual can mode
HAL_CAN_ConfigFilter(hcan, &can_filter); // init can filter
HAL_CAN_Start(&hcan1); // start can1
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING); // enable can1 rx interrupt
}
/**
* @brief can rx callback, get motor feedback info
* @param hcan pointer to a CAN_HandleTypeDef structure that contains
* the configuration information for the specified CAN.
* @retval None
*/
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];
if(hcan->Instance == CAN1)
{
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data); //receive can data
}
if ((rx_header.StdId >= FEEDBACK_ID_BASE)
&& (rx_header.StdId < FEEDBACK_ID_BASE + MOTOR_MAX_NUM)) // judge the can id
{
can_cnt ++;
uint8_t index = rx_header.StdId - FEEDBACK_ID_BASE; // get motor index by can_id
motor_info[index].rotor_angle = ((rx_data[0] << 8) | rx_data[1]);
motor_info[index].rotor_speed = ((rx_data[2] << 8) | rx_data[3]);
motor_info[index].torque_current = ((rx_data[4] << 8) | rx_data[5]);
motor_info[index].temp = rx_data[6];
}
if (can_cnt == 500)
{
can_cnt = 0;
LED_GREEN_TOGGLE(); // green led blink indicate can comunication successful
}
}
/**
* @brief send motor control message through can bus
* @param id_range to select can control id 0x1ff or 0x2ff
* @param motor voltage 1,2,3,4 or 5,6,7
* @retval None
*/
void set_motor_voltage(uint8_t id_range, int16_t v1, int16_t v2, int16_t v3, int16_t v4)
{
CAN_TxHeaderTypeDef tx_header;
uint8_t tx_data[8];
tx_header.StdId = (id_range == 0)?(0x200):(0x1ff);
tx_header.IDE = CAN_ID_STD;
tx_header.RTR = CAN_RTR_DATA;
tx_header.DLC = 8;
tx_data[0] = (v1>>8)&0xff;
tx_data[1] = (v1)&0xff;
tx_data[2] = (v2>>8)&0xff;
tx_data[3] = (v2)&0xff;
tx_data[4] = (v3>>8)&0xff;
tx_data[5] = (v3)&0xff;
tx_data[6] = (v4>>8)&0xff;
tx_data[7] = (v4)&0xff;
HAL_CAN_AddTxMessage(&hcan1, &tx_header, tx_data,(uint32_t*)CAN_TX_MAILBOX0);
}
/****************************************************************************
* Copyright (C) 2018 RoboMaster.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
***************************************************************************/
#ifndef __BSP_CAN
#define __BSP_CAN
#include "can.h"
#define FEEDBACK_ID_BASE 0x201
#define CAN_CONTROL_ID_BASE 0x200
#define CAN_CONTROL_ID_EXTEND 0x1ff
#define MOTOR_MAX_NUM 7
typedef struct
{
uint16_t can_id;
int16_t set_voltage;
uint16_t rotor_angle;
int16_t rotor_speed;
int16_t torque_current;
uint8_t temp;
}moto_info_t;
void can_user_init(CAN_HandleTypeDef* hcan);
void set_motor_voltage(uint8_t id_range, int16_t v1, int16_t v2, int16_t v3, int16_t v4);
#endif
/****************************************************************************
* Copyright (C) 2018 RoboMaster.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
***************************************************************************/
#include "bsp_key.h"
/**
* @brief detect key presse down event
* @param None
* @retval event flag
*/
uint8_t key_scan(void)
{
static uint8_t key_last = 0;
static uint8_t key = 0;
key_last = key;
key = HAL_GPIO_ReadPin(KEY_GPIO_Port,KEY_Pin);
if( (key == GPIO_PIN_RESET) && (key_last == GPIO_PIN_SET))
{
return 1;
}
else
{
return 0;
}
}
\ No newline at end of file
/****************************************************************************
* Copyright (C) 2018 RoboMaster.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
***************************************************************************/
#ifndef __BSP_KEY
#define __BSP_KEY
#include "gpio.h"
uint8_t key_scan(void);
#endif
/****************************************************************************
* Copyright (C) 2018 RoboMaster.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
***************************************************************************/
#ifndef __BSP_LED
#define __BSP_LED
#define LED_GREEN_ON() HAL_GPIO_WritePin(LED_GREEN_GPIO_Port, LED_GREEN_Pin, GPIO_PIN_RESET)
#define LED_GREEN_OFF() HAL_GPIO_WritePin(LED_GREEN_GPIO_Port, LED_GREEN_Pin, GPIO_PIN_SET)
#define LED_GREEN_TOGGLE() LED_GREEN_GPIO_Port->ODR ^= LED_GREEN_Pin
#define LED_RED_ON() HAL_GPIO_WritePin(LED_RED_GPIO_Port, LED_RED_Pin, GPIO_PIN_RESET)
#define LED_RED_OFF() HAL_GPIO_WritePin(LED_RED_GPIO_Port, LED_RED_Pin, GPIO_PIN_SET)
#define LED_RED_TOGGLE() LED_RED_GPIO_Port->ODR ^= LED_RED_Pin
#define LED_ALL_OFF LED_RED_OFF(); LED_RED_OFF();
#endif
/****************************************************************************
* Copyright (C) 2018 RoboMaster.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
***************************************************************************/
#include "bsp_pwm.h"
/**
* @brief start pwm output
* @param None
* @retval None
*/
void pwm_init(void)
{
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); // start pwm output
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
}
/****************************************************************************
* Copyright (C) 2018 RoboMaster.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
***************************************************************************/
#ifndef __BSP_PWM
#define __BSP_PWM
#include "tim.h"
void pwm_init(void);
#endif
/****************************************************************************
* Copyright (C) 2018 RoboMaster.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
***************************************************************************/
#include "pid.h"
/**
* @brief init pid parameter
* @param pid struct
@param parameter
* @retval None
*/
void pid_init(pid_struct_t *pid,
float kp,
float ki,
float kd,
float i_max,
float out_max)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->i_max = i_max;
pid->out_max = out_max;
}
/**
* @brief pid calculation
* @param pid struct
@param reference value
@param feedback value
* @retval calculation result
*/
float pid_calc(pid_struct_t *pid, float ref, float fdb)
{
pid->ref = ref;
pid->fdb = fdb;
pid->err[1] = pid->err[0];
pid->err[0] = pid->ref - pid->fdb;
pid->p_out = pid->kp * pid->err[0];
pid->i_out += pid->ki * pid->err[0];
pid->d_out = pid->kd * pid->err[0] - pid->err[1];
LIMIT_MIN_MAX(pid->i_out, -pid->i_max, pid->i_max);
pid->output = pid->p_out + pid->i_out + pid->d_out;
LIMIT_MIN_MAX(pid->output, -pid->out_max, pid->out_max);
return pid->output;
}
/****************************************************************************
* Copyright (C) 2018 RoboMaster.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
***************************************************************************/
#ifndef _PID_H
#define _PID_H
#include "main.h"
typedef struct _pid_struct_t
{
float kp;
float ki;
float kd;
float i_max;
float out_max;
float ref; // target value
float fdb; // feedback value
float err[2]; // error and last error
float p_out;
float i_out;
float d_out;
float output;
}pid_struct_t;
void pid_init(pid_struct_t *pid,
float kp,
float ki,
float kd,
float i_max,
float out_max);
float pid_calc(pid_struct_t *pid, float ref, float fdb);
#endif
/**
******************************************************************************
* @file stm32f4xx.h
* @author MCD Application Team
* @brief CMSIS STM32F4xx Device Peripheral Access Layer Header File.
*
* The file is the unique include file that the application programmer
* is using in the C source code, usually in main.c. This file contains:
* - Configuration section that allows to select:
* - The STM32F4xx device used in the target application
* - To use or not the peripheral’s drivers in application code(i.e.
* code will be based on direct access to peripheral’s registers
* rather than drivers API), this option is controlled by
* "#define USE_HAL_DRIVER"
*
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f4xx
* @{
*/
#ifndef __STM32F4xx_H
#define __STM32F4xx_H
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
/** @addtogroup Library_configuration_section
* @{
*/
/**
* @brief STM32 Family
*/
#if !defined (STM32F4)
#define STM32F4
#endif /* STM32F4 */
/* Uncomment the line below according to the target STM32 device used in your
application
*/
#if !defined (STM32F405xx) && !defined (STM32F415xx) && !defined (STM32F407xx) && !defined (STM32F417xx) && \
!defined (STM32F427xx) && !defined (STM32F437xx) && !defined (STM32F429xx) && !defined (STM32F439xx) && \
!defined (STM32F401xC) && !defined (STM32F401xE) && !defined (STM32F410Tx) && !defined (STM32F410Cx) && \
!defined (STM32F410Rx) && !defined (STM32F411xE) && !defined (STM32F446xx) && !defined (STM32F469xx) && \
!defined (STM32F479xx) && !defined (STM32F412Cx) && !defined (STM32F412Rx) && !defined (STM32F412Vx) && \
!defined (STM32F412Zx) && !defined (STM32F413xx) && !defined (STM32F423xx)
/* #define STM32F405xx */ /*!< STM32F405RG, STM32F405VG and STM32F405ZG Devices */
/* #define STM32F415xx */ /*!< STM32F415RG, STM32F415VG and STM32F415ZG Devices */
/* #define STM32F407xx */ /*!< STM32F407VG, STM32F407VE, STM32F407ZG, STM32F407ZE, STM32F407IG and STM32F407IE Devices */
/* #define STM32F417xx */ /*!< STM32F417VG, STM32F417VE, STM32F417ZG, STM32F417ZE, STM32F417IG and STM32F417IE Devices */
/* #define STM32F427xx */ /*!< STM32F427VG, STM32F427VI, STM32F427ZG, STM32F427ZI, STM32F427IG and STM32F427II Devices */
/* #define STM32F437xx */ /*!< STM32F437VG, STM32F437VI, STM32F437ZG, STM32F437ZI, STM32F437IG and STM32F437II Devices */
/* #define STM32F429xx */ /*!< STM32F429VG, STM32F429VI, STM32F429ZG, STM32F429ZI, STM32F429BG, STM32F429BI, STM32F429NG,
STM32F439NI, STM32F429IG and STM32F429II Devices */
/* #define STM32F439xx */ /*!< STM32F439VG, STM32F439VI, STM32F439ZG, STM32F439ZI, STM32F439BG, STM32F439BI, STM32F439NG,
STM32F439NI, STM32F439IG and STM32F439II Devices */
/* #define STM32F401xC */ /*!< STM32F401CB, STM32F401CC, STM32F401RB, STM32F401RC, STM32F401VB and STM32F401VC Devices */
/* #define STM32F401xE */ /*!< STM32F401CD, STM32F401RD, STM32F401VD, STM32F401CE, STM32F401RE and STM32F401VE Devices */
/* #define STM32F410Tx */ /*!< STM32F410T8 and STM32F410TB Devices */
/* #define STM32F410Cx */ /*!< STM32F410C8 and STM32F410CB Devices */
/* #define STM32F410Rx */ /*!< STM32F410R8 and STM32F410RB Devices */
/* #define STM32F411xE */ /*!< STM32F411CC, STM32F411RC, STM32F411VC, STM32F411CE, STM32F411RE and STM32F411VE Devices */
/* #define STM32F446xx */ /*!< STM32F446MC, STM32F446ME, STM32F446RC, STM32F446RE, STM32F446VC, STM32F446VE, STM32F446ZC,
and STM32F446ZE Devices */
/* #define STM32F469xx */ /*!< STM32F469AI, STM32F469II, STM32F469BI, STM32F469NI, STM32F469AG, STM32F469IG, STM32F469BG,
STM32F469NG, STM32F469AE, STM32F469IE, STM32F469BE and STM32F469NE Devices */
/* #define STM32F479xx */ /*!< STM32F479AI, STM32F479II, STM32F479BI, STM32F479NI, STM32F479AG, STM32F479IG, STM32F479BG
and STM32F479NG Devices */
/* #define STM32F412Cx */ /*!< STM32F412CEU and STM32F412CGU Devices */
/* #define STM32F412Zx */ /*!< STM32F412ZET, STM32F412ZGT, STM32F412ZEJ and STM32F412ZGJ Devices */
/* #define STM32F412Vx */ /*!< STM32F412VET, STM32F412VGT, STM32F412VEH and STM32F412VGH Devices */
/* #define STM32F412Rx */ /*!< STM32F412RET, STM32F412RGT, STM32F412REY and STM32F412RGY Devices */
/* #define STM32F413xx */ /*!< STM32F413CH, STM32F413MH, STM32F413RH, STM32F413VH, STM32F413ZH, STM32F413CG, STM32F413MG,
STM32F413RG, STM32F413VG and STM32F413ZG Devices */
/* #define STM32F423xx */ /*!< STM32F423CH, STM32F423RH, STM32F423VH and STM32F423ZH Devices */
#endif
/* Tip: To avoid modifying this file each time you need to switch between these
devices, you can define the device in your toolchain compiler preprocessor.
*/
#if !defined (USE_HAL_DRIVER)
/**
* @brief Comment the line below if you will not use the peripherals drivers.
In this case, these drivers will not be included and the application code will
be based on direct access to peripherals registers
*/
/*#define USE_HAL_DRIVER */
#endif /* USE_HAL_DRIVER */
/**
* @brief CMSIS version number V2.6.2
*/
#define __STM32F4xx_CMSIS_VERSION_MAIN (0x02U) /*!< [31:24] main version */
#define __STM32F4xx_CMSIS_VERSION_SUB1 (0x06U) /*!< [23:16] sub1 version */
#define __STM32F4xx_CMSIS_VERSION_SUB2 (0x02U) /*!< [15:8] sub2 version */
#define __STM32F4xx_CMSIS_VERSION_RC (0x00U) /*!< [7:0] release candidate */
#define __STM32F4xx_CMSIS_VERSION ((__STM32F4xx_CMSIS_VERSION_MAIN << 24)\
|(__STM32F4xx_CMSIS_VERSION_SUB1 << 16)\
|(__STM32F4xx_CMSIS_VERSION_SUB2 << 8 )\
|(__STM32F4xx_CMSIS_VERSION))
/**
* @}
*/
/** @addtogroup Device_Included
* @{
*/
#if defined(STM32F405xx)
#include "stm32f405xx.h"
#elif defined(STM32F415xx)
#include "stm32f415xx.h"
#elif defined(STM32F407xx)
#include "stm32f407xx.h"
#elif defined(STM32F417xx)
#include "stm32f417xx.h"
#elif defined(STM32F427xx)
#include "stm32f427xx.h"
#elif defined(STM32F437xx)
#include "stm32f437xx.h"
#elif defined(STM32F429xx)
#include "stm32f429xx.h"
#elif defined(STM32F439xx)