位置输出

User/application/work.c

@@ -1,8 +1,41 @@
 #include "work.h"
 #include "board.h"
-
+#define OUTPUT_INFORMATION_CYCLE_BASE 100
 work_t work;
 
+/**
+ * @brief 输出信息
+ *
+ * 该函数用于输出一些信息，具体输出内容未实现。
+ */
+static void output_information(void)
+{
+    char data[128];
+    uint8_t len = 0;
+    int32_t rst = 0;
+    osel_memset((uint8_t *)data, 0, ARRAY_LEN(data));
+
+    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);
+    }
+    else if (work.type == WORK_MOTOR_SPEED)
+    {
+    }
+    else
+    {
+        return;
+    }
+
+    if (rst == 0 || rst > ARRAY_LEN(data))
+    {
+        return;
+    }
+
+    len = osel_mstrlen((uint8_t *)data);
+    uart_send((uint8_t *)data, len);
+}
+
 static void pwm_map(void)
 {
     set_motor_pwm(work.pwm_percent);
@@ -117,7 +150,14 @@ void work_process(void)
     default:
         break;
     }
-    return;
+    if (work.enter_cnt++ % (OUTPUT_INFORMATION_CYCLE_BASE / work.timer_cycle) == 0)
+    {
+        output_information();
+    }
+
+    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)
@@ -157,5 +197,6 @@ void work_init(void)
     }
 
     work.target_pos = 20;
+    work.timer_cycle = TIM_CYCLE(WORK_TIM);
     return;
 }

User/application/work.h

@@ -18,6 +18,8 @@ typedef enum
 typedef struct
 {
     work_e type;
+    uint8_t timer_cycle; // 定时器周期
+    uint32_t enter_cnt; // 进入次数
     int32_t encoder_cnt;  // 编码器位置
     float32 pwm_percent;  // PWM占空比
     uint32_t pwm_feq;     // PWM频率

User/system/bsp/tims.h

@@ -11,7 +11,7 @@
  */
 #ifndef __TIMS_H__
 #define __TIMS_H__
-
+#include "lib.h"
 /**
 Timer overflow time calculation formula
 Tout = ((ARR + 1)*(PSC + 1)) / Tclk
@@ -102,4 +102,15 @@ With these calculated values, both ARR and PSC are within the range of 0 to 6553
         }                                               \
     } while (__LINE__ == -1)
 
+/**
+ * @brief 获取定时器周期时间（单位：毫秒）
+ *
+ * 获取指定定时器TIMx的周期时间，以秒为单位。
+ *
+ * @param TIMx 定时器指针，指向需要查询的定时器
+ *
+ * @return 返回定时器周期时间（单位：毫秒）
+ */
+#define TIM_CYCLE(TIMx) ((LL_TIM_GetAutoReload(TIMx) + 1) * 0.1)
+
 #endif ///< __TIMS_H__