void PIT_Configuration (void)
{
PIT_InitTypeDef PIT_InitStruct1;
PIT_InitStruct1.PITx = PIT0; //PIT0通道
PIT_InitStruct1.PIT_Interval = 200; //定时周期100MS
PIT_Init(&PIT_InitStruct1);
PIT_ITConfig(PIT0,PIT_IT_TIF,ENABLE);
//NVIC_EnableIRQ(PIT0_IRQn);
}
int main(void)
{
unsigned char i;
unsigned char Send_Count;
uint32_t DMA_Value0 = 0;
uint32_t DMA_Value1 = 0;
PIT_InitTypeDef PIT_InitStruct1;
GPIO_InitTypeDef GPIO_InitStruct1;
FTM_InitTypeDef FTM_InitStruct1;
DMACNT_InitTypeDef DMACNT_InitStruct1;
SystemClockSetup(ClockSource_EX50M,CoreClock_100M);
UART_DebugPortInit(UART0_RX_PA14_TX_PA15,115200);
DisplayCPUInfo();
DelayInit();
OLED_Init();
DMACNT_InitStruct1.DMACNT_Mode = DMACNT_MODE_FALLING; //ÉÏÉýÑؼÆÊý
DMACNT_InitStruct1.DMA_Chl = DMA_CH0; //ʹÓÃͨµÀ 0
DMACNT_InitStruct1.GPIOx = PTC; //PTC5
DMACNT_InitStruct1.GPIO_Pin = GPIO_Pin_5;
DMACNT_Init(&DMACNT_InitStruct1);
GPIO_InitStruct1.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStruct1.GPIO_InitState = Bit_RESET;
GPIO_InitStruct1.GPIO_IRQMode = GPIO_IT_DISABLE;
GPIO_InitStruct1.GPIO_Mode = GPIO_Mode_OPP;
GPIO_InitStruct1.GPIOx = PTB;
GPIO_Init(&GPIO_InitStruct1);
GPIO_InitStruct1.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStruct1.GPIO_InitState = Bit_SET;
GPIO_InitStruct1.GPIOx = PTB;
GPIO_Init(&GPIO_InitStruct1);
PIT_InitStruct1.PITx=PIT2;
PIT_InitStruct1.PIT_Interval=100;
PIT_Init(&PIT_InitStruct1);
NVIC_EnableIRQ(PIT2_IRQn);
PIT_ITConfig(PIT2,PIT_IT_TIF,ENABLE);
PIT_InitStruct1.PITx=PIT0;
PIT_InitStruct1.PIT_Interval=20000;
PIT_Init(&PIT_InitStruct1);
PIT_ITConfig(PIT0,PIT_IT_TIF,ENABLE);
NVIC_EnableIRQ(PIT0_IRQn);
FTM_InitStruct1.Frequency = 800;
FTM_InitStruct1.FTM_Mode = FTM_Mode_EdgeAligned;
// FTM_InitStruct1.InitalDuty = 10000;
FTM_InitStruct1.FTMxMAP = FTM0_CH0_PC1;
FTM_Init(&FTM_InitStruct1);
UART_printf("DMACNT_CH0_Value:%d \n",*Pid_Out);
while(1)
{
// if(key_detect1()){
// Pid_Set += 500;
// }
// if(key_detect3()){
// Pid_Set -= 500;
// }
GPIO_ResetBits(PTB,GPIO_Pin_0);
PidError[2] = Pid_Set - *Pid_Out;
PidOut = Kp * (PidError[2] - PidError[1]);
PidOut += Ki * PidError[2] * Td;
PidOut += Kd * (PidError[2] - 2 * PidError[1] + PidError[0]) / Td;
PidError[0] = PidError[1];
PidError[1] = PidError[2];
PID_FinalOut =PidOut*2;
//
// if(key_detect5()){
// Kd+=0.2;OLED_Clear();
// }
// else if(key_detect6()){
// Kd-=0.2;OLED_Clear();
// }
//
// OLED_Write_String(2,0,"Kp");
// OLED_Write_String(2,2,"Ki");
// OLED_Write_String(2,4,"Kd");
// OLED_Write_Num3(6,0,Kp*10);
// OLED_Write_Num3(6,2,Ki*10);
// OLED_Write_Num3(6,4,Kd*10);
// OLED_Write_Num4(9,6,*Pid_Out-1000);
//
if(PID_FinalOut>10000) PID_FinalOut=10000;
else if(PID_FinalOut<0) PID_FinalOut=0;
FTM_PWM_ChangeDuty(FTM0_CH0_PC1,PID_FinalOut);
}
}
