修改位置参数

User/application/app.c

@@ -26,9 +26,9 @@ static uint8_t business_inspection(struct flow *fl)
         case WORK_MOTOR_POS:
             ssd1306_clear_buffer();
             ssd1306_f8x16_string(0, 0, " TAR:");
-            ssd1306_f8x16_number(48, 0, work.target_pos, 1);
+            ssd1306_f8x16_number(48, 0, work.target_pos, 0);
             ssd1306_f8x16_string(0, 2, " CUR:");
-            ssd1306_f8x16_number(48, 2, work.encoder_cnt, 1);
+            ssd1306_f8x16_number(48, 2, work.encoder_cnt, 0);
             ssd1306_update_screen();
             break;
         case WORK_MOTOR_SPEED:

User/application/work.c

@@ -1,6 +1,7 @@
 #include "work.h"
 #include "board.h"
 #define OUTPUT_INFORMATION_CYCLE_BASE 100
+#define DISTANCE 1000
 work_t work;
 
 /**
@@ -17,7 +18,7 @@ static void output_information(void)
 
     if (work.type == WORK_MOTOR_POS)
     {
-        rst = snprintf(data, ARRAY_LEN(data), "%f,%d,%f\r\n", work.target_pos, work.encoder_cnt, work.pwm_percent);
+        rst = snprintf(data, ARRAY_LEN(data), "%d,%d,%f\r\n", work.target_pos, work.encoder_cnt, work.pwm_percent);
     }
     else if (work.type == WORK_MOTOR_SPEED)
     {
@@ -81,8 +82,8 @@ static void pwm_map_key_handle(button_id_e id)
 
 static void motot_pos_key_handle(button_id_e id)
 {
-    int8_t min = -100, max = 100;
+    int16_t min = 0, max = DISTANCE;
-    int8_t step = 10;
+    int16_t step = 100;
     switch (id)
     {
     case KEY_ADD:
@@ -98,16 +99,11 @@ static void motot_pos_key_handle(button_id_e id)
         }
         break;
     case KEY_S:
-        work.target_pos = 50;
+        work.target_pos = 500;
         break;
     default:
         break;
     }
-
-    if (work.target_pos == 0)
-    {
-        work.encoder_cnt = 0;
-    }
 }
 
 static void motor_speed_key_handle(button_id_e id)
@@ -134,6 +130,13 @@ void work_key_handle_cb(button_id_e id)
     }
 }
 
+static void work_data_update(void)
+{
+    work.pid.pid_u.fuzzy.set_kp(&work.pid.pid_u.fuzzy, work.pid_params.kp);
+    work.pid.pid_u.fuzzy.set_ki(&work.pid.pid_u.fuzzy, work.pid_params.ki);
+    work.pid.pid_u.fuzzy.set_kd(&work.pid.pid_u.fuzzy, work.pid_params.kd);
+}
+
 void work_process(void)
 {
     switch (work.type)
@@ -154,10 +157,7 @@ void work_process(void)
     {
         output_information();
     }
-
+    work_data_update();
-    work.pid.pid_u.fuzzy.set_kp(&work.pid.pid_u.fuzzy, work.pid_params.kp);
-    work.pid.pid_u.fuzzy.set_ki(&work.pid.pid_u.fuzzy, work.pid_params.ki);
-    work.pid.pid_u.fuzzy.set_kd(&work.pid.pid_u.fuzzy, work.pid_params.kd);
 }
 
 void work_encoder_exti(void)
@@ -178,12 +178,12 @@ void work_init(void)
     PWM_START(PWM_TIM, PWM_CHANNEL);
     PWM_SET_DUTY(PWM_TIM, PWM_CHANNEL, 0);
     work.pwm_feq = PWM_GET_FREQ(PWM_TIM);
-
+    work.pwm_arr = PWM_GET_ARR(PWM_TIM);
     work.type = WORK_MOTOR_POS;
     work.pid_params.kp = 1;
     work.pid_params.ki = 0.01f;
-    work.pid_params.kd = 5;
+    work.pid_params.kd = 10;
-    work.pid_params.dead_zone = 0.5f;
+    work.pid_params.dead_zone = 0.5;
     // PID初始化
 
     {
@@ -196,7 +196,7 @@ void work_init(void)
         work.pid.pid_u.fuzzy.set_kd_enable(&work.pid.pid_u.fuzzy, TRUE);
     }
 
-    work.target_pos = 20;
+    work.target_pos = 500;
     work.timer_cycle = TIM_CYCLE(WORK_TIM);
     return;
 }

User/application/work.h

@@ -19,11 +19,11 @@ typedef struct
 {
     work_e type;
     uint8_t timer_cycle; // 定时器周期
-    uint32_t enter_cnt; // 进入次数
+    uint32_t enter_cnt;  // 进入次数
-    int32_t encoder_cnt;  // 编码器位置
+    int32_t encoder_cnt; // 编码器位置
-    float32 pwm_percent;  // PWM占空比
+    float32 pwm_percent; // PWM占空比
-    uint32_t pwm_feq;     // PWM频率
+    uint32_t pwm_feq;    // PWM频率
-
+    uint16_t pwm_arr;    // PWM自动重装载值
     pid_t pid;
     struct
     {
@@ -33,9 +33,8 @@ typedef struct
         float32 dead_zone;
     } pid_params;
 
-    float32 target_pos;   // 目标位置
+    int32_t target_pos;   // 目标位置
     float32 target_speed; // 目标速度
-
 } work_t;
 extern work_t work;
 

User/board/ssd1306_oled.c

@@ -673,49 +673,49 @@ void ssd1306_f8x16_number(uint8_t x, uint8_t y, float32 num, uint8_t dot_num)
     if (num >= 10000)
     {
         ch[i++] = num / 10000 + 48;
-        ch[i++] = (uint8_t)(num) % 10000 / 1000 + 48;
+        ch[i++] = (int32_t)(num) % 10000 / 1000 + 48;
-        ch[i++] = (uint8_t)(num) % 1000 / 100 + 48;
+        ch[i++] = (int32_t)(num) % 1000 / 100 + 48;
-        ch[i++] = (uint8_t)(num) % 100 / 10 + 48;
+        ch[i++] = (int32_t)(num) % 100 / 10 + 48;
-        ch[i++] = (uint8_t)(num) % 10 + 48;
+        ch[i++] = (int32_t)(num) % 10 + 48;
     }
     else if (num >= 1000)
     {
-        ch[i++] = (uint8_t)(num) % 10000 / 1000 + 48;
+        ch[i++] = (int32_t)(num) % 10000 / 1000 + 48;
-        ch[i++] = (uint8_t)(num) % 1000 / 100 + 48;
+        ch[i++] = (int32_t)(num) % 1000 / 100 + 48;
-        ch[i++] = (uint8_t)(num) % 100 / 10 + 48;
+        ch[i++] = (int32_t)(num) % 100 / 10 + 48;
-        ch[i++] = (uint8_t)(num) % 10 + 48;
+        ch[i++] = (int32_t)(num) % 10 + 48;
     }
     else if (num >= 100)
     {
-        ch[i++] = (uint8_t)(num) % 1000 / 100 + 48;
+        ch[i++] = (int32_t)(num) % 1000 / 100 + 48;
-        ch[i++] = (uint8_t)(num) % 100 / 10 + 48;
+        ch[i++] = (int32_t)(num) % 100 / 10 + 48;
-        ch[i++] = (uint8_t)(num) % 10 + 48;
+        ch[i++] = (int32_t)(num) % 10 + 48;
     }
     else if (num >= 10)
     {
-        ch[i++] = (uint8_t)(num) % 100 / 10 + 48;
+        ch[i++] = (int32_t)(num) % 100 / 10 + 48;
-        ch[i++] = (uint8_t)(num) % 10 + 48;
+        ch[i++] = (int32_t)(num) % 10 + 48;
     }
     else if (num >= 0)
     {
-        ch[i++] = (uint8_t)(num) % 10 + 48;
+        ch[i++] = (int32_t)(num) % 10 + 48;
     }
     if (dot_num > 0 && i < 7)
     {
         ch[i++] = '.';
-        num = num - (uint8_t)num;
+        num = num - (int32_t)num;
 
         if (dot_num == 1 && i < 8)
         {
             num = num * 10;
-            ch[i++] = (uint8_t)(num + 0.5) % 10 + 48;
+            ch[i++] = (int32_t)(num + 0.5) % 10 + 48;
         }
         if (dot_num >= 2 && i < 8)
         {
             num = num * 100;
-            ch[i++] = (uint8_t)num % 100 / 10 + 48;
+            ch[i++] = (int32_t)num % 100 / 10 + 48;
             if (i < 8)
-                ch[i++] = (uint8_t)(num + 0.5) % 10 + 48;
+                ch[i++] = (int32_t)(num + 0.5) % 10 + 48;
         }
     }
 

User/system/bsp/pwms.h

@@ -39,6 +39,9 @@
         LL_TIM_CC_DisableChannel(TIMx, CHx); \
     } while (__LINE__ == -1)
 
+#define PWM_GET_ARR(TIMx) LL_TIM_GetAutoReload(TIMx)
+#define PWM_GET_PSC(TIMx) LL_TIM_GetPrescaler(TIMx)
+
 /**
  * @brief  Sets the PWM frequency
  * @param  TIMx: TIM instance
@@ -87,4 +90,30 @@ static inline uint32_t PWM_GET_FREQ(TIM_TypeDef *TIMx)
     return SystemCoreClock / (LL_TIM_GetPrescaler(TIMx) + 1) / (LL_TIM_GetAutoReload(TIMx) + 1);
 }
 
+/**
+ * @brief 获取指定通道的PWM比较值
+ *
+ * 根据给定的定时器指针和通道编号，获取该通道的PWM比较值。
+ *
+ * @param TIMx 定时器指针，指向一个TIM_TypeDef结构体
+ * @param CHx 通道编号，取值范围为LL_TIM_CHANNEL_CH1到LL_TIM_CHANNEL_CH4
+ *
+ * @return 返回一个uint16_t类型的值，表示指定通道的PWM比较值。如果通道编号无效，则返回0。
+ */
+static inline uint16_t PWM_GET_COMPARE(TIM_TypeDef *TIMx, uint32_t CHx)
+{
+    switch (CHx)
+    {
+    case LL_TIM_CHANNEL_CH1:
+        return LL_TIM_OC_GetCompareCH1(TIMx);
+    case LL_TIM_CHANNEL_CH2:
+        return LL_TIM_OC_GetCompareCH2(TIMx);
+    case LL_TIM_CHANNEL_CH3:
+        return LL_TIM_OC_GetCompareCH3(TIMx);
+    case LL_TIM_CHANNEL_CH4:
+        return LL_TIM_OC_GetCompareCH4(TIMx);
+    default:
+        return 0;
+    }
+}
 #endif ///< __PWMS_H__