STM32F407 步进电机PID位置环速度环串级控制

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#include "bsp_delay.h"
#include "bsp_key.h"
#include "bsp_motor.h"
#include "bsp_usart.h"
#include "bsp_pid.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim8;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */

int16_t g_update_cnt = 0;
uint32_t g_step_timer_pulse_num;	/* 电机运行一步需要定时器的脉冲数 */
dir_typedef dir;
uint32_t pos_current;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM8_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_TIM3_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

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

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM8_Init();
  MX_USART1_UART_Init();
  MX_TIM3_Init();
  /* USER CODE BEGIN 2 */
	
	delay_init(168);
	
	usart_init();
	pid_init();
	
	HAL_GPIO_WritePin(GPIOD, GPIO_PIN_3, GPIO_PIN_RESET);		/* 设置方向 */
	HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_RESET);	/* 使能ENABLE */
	
	uint32_t tick_start_run;	/* 开始运行时刻 */
	uint32_t tick;
	uint8_t buffer_usart_send[16];
	uint8_t i;
	uint16_t sum;
//	uint32_t speed_step_per_second;
	uint8_t run = 0;
	uint32_t velocity_current;
	
//	__IO uint32_t step;
//	__IO uint32_t period;
	
	__HAL_TIM_SET_COUNTER(&htim3, 0);
	__HAL_TIM_CLEAR_FLAG(&htim3, TIM_FLAG_UPDATE);
	__HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);
	HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
	
	
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
		usart_task();
		
		if(KEY1_StateRead()==KEY_DOWN)
    {
			dir = DIR_FORWARD;
			MOTOR_DIR_FORWARD;
			tick_start_run = HAL_GetTick();
			run = 1;
			
			g_step_timer_pulse_num = 65535;
			TIM8->CCR1 = g_step_timer_pulse_num >> 1;
			TIM8->ARR = g_step_timer_pulse_num;
			HAL_TIM_PWM_Start_IT(&htim8, TIM_CHANNEL_1);
    }
		if (KEY2_StateRead() == KEY_DOWN)
		{
			dir = DIR_BACKWARD;
			MOTOR_DIR_REVERSE;
			tick_start_run = HAL_GetTick();
			
			g_step_timer_pulse_num = 300;
			TIM8->CCR1 = g_step_timer_pulse_num >> 1;
			TIM8->ARR = g_step_timer_pulse_num;
			HAL_TIM_PWM_Start_IT(&htim8, TIM_CHANNEL_1);
		}
		
		if (1 == run)
		{
			pid_ctrl(get_pid_pos().target);   
		}
		
		tick = HAL_GetTick();
		
		if (1 == run)
		{
//			speed_step_per_second = TIM_CLK / g_step_timer_pulse_num;
			pos_current = (g_update_cnt * (htim3.Init.Period + 1) + __HAL_TIM_GET_COUNTER(&htim3)) * 1.0 / STEP_ENCODER_CIRCLE * MOTO