90 lines
2.9 KiB
C
90 lines
2.9 KiB
C
#include "stm32f4xx.h" // Device header
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#include "stm32f4xx_conf.h"
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#include "Remote.h"
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#include "IMUTemperatureControl.h"
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#include "LinkCheck.h"
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#include "Warming.h"
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#include "Gimbal.h"
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/*
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*函数简介:闭环控制初始化
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*参数说明:无
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*返回类型:无
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*备注:使用定时器TIM6进行闭环,闭环周期2ms
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*/
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void CloseLoopControl_Init(void)
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{
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6,ENABLE);//开启时钟
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TIM_InternalClockConfig(TIM6);//选择时基单元的时钟(TIM6)
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TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;//配置时基单元（配置参数）
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TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;//配置时钟分频为1分频
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TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;//配置计数器模式为向上计数
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TIM_TimeBaseInitStructure.TIM_Period=500-1;//配置自动重装值ARR
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TIM_TimeBaseInitStructure.TIM_Prescaler=336-1;//配置分频值PSC,默认定时2ms
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TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0;//配置重复计数单元的置为0
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TIM_TimeBaseInit(TIM6,&TIM_TimeBaseInitStructure);//初始化TIM7
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TIM_ClearFlag(TIM6,TIM_FLAG_Update);//清除配置时基单元产生的中断标志位
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TIM_ITConfig(TIM6,TIM_IT_Update,ENABLE);//使能更新中断
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//选择NVIC分组
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NVIC_InitTypeDef NVIC_InitStructure;//配置NVIC（配置参数）
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NVIC_InitStructure.NVIC_IRQChannel=TIM6_DAC_IRQn;//选择中断通道为TIM6
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NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//使能中断通道
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//TIM2的抢占优先级
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NVIC_InitStructure.NVIC_IRQChannelSubPriority=3;//TIM2的响应优先级
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NVIC_Init(&NVIC_InitStructure);//初始化NVIC
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TIM_Cmd(TIM6,ENABLE);//启动定时器
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IMUTemperatureControl_PIDInit();//恒温控制初始化
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Gimbal_Init();//云台初始化
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}
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/*
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*函数简介:TIM6定时器更新中断函数
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*参数说明:无
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*返回类型:无
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*备注:无
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*/
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void TIM6_DAC_IRQHandler(void)
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{
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if(TIM_GetITStatus(TIM6,TIM_IT_Update)==SET)//检测TIM6更新
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{
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TIM_ClearITPendingBit(TIM6,TIM_IT_Update);//清除标志位
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/*===============恒温闭环控制===============*/
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if(IMUTemperatureControl_OpenFlag==1)
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IMUTemperatureControl_TemperatureControl();
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/*===============云台闭环控制===============*/
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if(LinkCheck_Error==0)//CAN设备正常连接
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{
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if(Remote_Status==1)//遥控器连接状态
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{
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Gimbal_MoveControl();//云台运动控制
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if(Remote_StartFlag==2)//遥控器初次连接
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{
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Remote_StartFlag=0;//遥控器启动状态
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Gimbal_CleanPID();//云台PID清理
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}
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}
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else//遥控器未连接状态
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{
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Remote_StartFlag=1;//遥控器准备启动
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Warming_MotorControl();//电机报警状态
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}
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}
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else//CAN设备异常连接
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{
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if(LinkCheck_ErrorID>=0)
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Warming_LinkError();//CAN设备连接错误报警
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Warming_MotorControl();//电机报警状态
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}
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}
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}
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