添加ADC采集电压和RGB灯

APP/foc.c

@@ -5,7 +5,7 @@
 #define _constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
 
 
-float	Voltage_PowerSupply =	12;
+const float	Voltage_PowerSupply = 12;
 float 	Pole_Pairs = 14;
 float	Voltage_Limit	= 6.9;
 float	Velocity_Limit = 100;
@@ -17,15 +17,15 @@ FOCTypeDef FOCStruct_Y={0,0,0,0,0,0,0,0,0,0,0,0,0,0};
 
 void PID_Iint(void)
 {
-    FOCStruct_X.ZT_KP = 4;
+    FOCStruct_X.ZT_KP = 3.5;
     FOCStruct_X.ZT_KI = 0;
     FOCStruct_X.ZT_KD = 0.5;
 
     FOCStruct_X.V_KP = 0.1;
-    FOCStruct_X.V_KI = 2;
+    FOCStruct_X.V_KI = 1;
     FOCStruct_X.V_KD = 0;
-//2024/1/2  Y<><59>Ч<EFBFBD><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    FOCStruct_Y.ZT_KP = 2;
+///////////
+    FOCStruct_Y.ZT_KP = 3;
     FOCStruct_Y.ZT_KI = 0;
     FOCStruct_Y.ZT_KD = 0.5;
 

APP/mymain.c

@@ -9,35 +9,40 @@ void mymain()
     HAL_UART_Receive_IT(&huart1, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
     HAL_Delay(2000);
     led_init();
+    adc_init();
     tle5012b_init();
-    Init_ICM42688();
-    imu_rest();
+//    Init_ICM42688();
+//    imu_rest();
     moto_Init();
     PID_Iint();
     setvbuf(stdout, NULL, _IONBF, 0);  //<2F><><EFBFBD><EFBFBD>printfû<66><C3BB>\n<><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
     float x = 0,y=0;
     unsigned int i =0;
     HAL_TIM_Base_Start(&htim5); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
-//    while(i<3300*3)
+//    while(i<2000*1)
 //    {
-//        Angel_closed_loop(motorx,&FOCStruct_X,-0.2);
-//        Angel_closed_loop(motory,&FOCStruct_Y,2.3);
+////        MpuGetData();
+////        GetAngle(&ICM42688,&Angle);
+//        Angel_closed_loop(motorx,&FOCStruct_X,3.0);
+//        Angel_closed_loop(motory,&FOCStruct_Y,2.2);
 //        i++;
 //    }
 //    i=0;
-    LED_ON;
+//    LED_ON;
     while(1)
     {
-        MpuGetData();
-        GetAngle(&ICM42688,&Angle);
-        x = Angle.pitch;
-        y = Angle.roll ;
-        Zitai_closed_loop(motorx,&FOCStruct_X,x);
-        Zitai_closed_loop(motory,&FOCStruct_Y,-y);
-        commander_run();
+//        MpuGetData();
+//        GetAngle(&ICM42688,&Angle);
+//        x = Angle.pitch;
+//        y = Angle.roll;
+//        Zitai_closed_loop(motorx,&FOCStruct_X,x);
+//        Zitai_closed_loop(motory,&FOCStruct_Y,-y);
+//        commander_run();
 //        x = getAngle(motorx);
 //        y = getAngle(motory);
+//        x= get_VCC();
 //        printf("%fY%f\n",x,y);
+//        HAL_Delay(2);
 //        speed_closed_loop(motorx,&FOCStruct_X,_2PI*5);
 //        speed_closed_loop(motory,&FOCStruct_Y,_2PI*2);
 //        printf("b%d\n",b);

APP/mymain.h

@@ -16,6 +16,7 @@
 
 #include "main.h"
 #include "tim.h"
+#include "adc.h"
 #include "usart.h"
 #include "gpio.h"
 #include "tle5012b.h"
@@ -30,6 +31,7 @@
 #include "LED.h"
 #include "Usart1.h"
 #include "LED_RGB.h"
+#include "vcc_adc.h"
 void mymain();
 
 #endif //FOC_N_MYMAIN_H

APP/vcc_adc.c

@@ -0,0 +1,43 @@
+//
+// Created by hu123456 on 2024/3/8.
+//
+
+#include "vcc_adc.h"
+
+void adc_init(void)
+{
+    HAL_ADCEx_Calibration_Start(&hadc1, ADC_CALIB_OFFSET, ADC_SINGLE_ENDED);
+}
+
+uint32_t adc_get_result(void)
+{
+    ADC_ChannelConfTypeDef adc_ch_conf = {0};
+
+    adc_ch_conf.Channel = ADC_CHANNEL_8;
+    adc_ch_conf.Rank = ADC_REGULAR_RANK_1;
+    adc_ch_conf.SamplingTime = ADC_SAMPLETIME_810CYCLES_5;
+    adc_ch_conf.SingleDiff = ADC_SINGLE_ENDED;
+    adc_ch_conf.OffsetNumber = ADC_OFFSET_NONE;
+    adc_ch_conf.Offset = 0;
+    HAL_ADC_ConfigChannel(&hadc1, &adc_ch_conf);
+
+    HAL_ADC_Start(&hadc1);
+    HAL_ADC_PollForConversion(&hadc1, 10);
+    return HAL_ADC_GetValue(&hadc1);
+}
+
+float get_VCC(void)
+{
+    uint32_t temp_val = 0;
+    float vcc;
+    for (uint8_t t = 0; t < 10; t++)
+    {
+        temp_val += adc_get_result();
+        HAL_Delay(5);
+    }
+    vcc = temp_val/10.f/65535.f * 3.3 * 11.f;
+    return vcc;
+}
+
+
+

APP/vcc_adc.h

@@ -0,0 +1,14 @@
+//
+// Created by hu123456 on 2024/3/8.
+//
+
+#ifndef FOC_N_VCC_ADC_H
+#define FOC_N_VCC_ADC_H
+#include "mymain.h"
+
+void adc_init(void);
+uint32_t adc_get_result(void);
+float get_VCC(void);
+
+
+#endif //FOC_N_VCC_ADC_H