stm32f103中while（1）不按照设定的进行循环？

a133760 · 发表于 2017-5-7 12:31:34

我想不通为什么每循环30周期，arhs_contrl_PID()函数会那么不按照规律性的来个50ms突变然后归于正常。详细的看图

a133760 · 发表于 2017-5-7 12:31:35

问题找到了，是24L01的问题。

a133760 · 发表于 2017-5-7 12:33:34

求解求解求解啊，arhs_contrl_PID( )函数里边就是PID的计算和陀螺仪的读取，还有一个遥控停止。其他的没了

a133760 · 发表于 2017-5-7 12:41:11

顶！！

a133760 · 发表于 2017-5-7 12:42:46

快来大神

a133760 · 发表于 2017-5-7 12:45:04

@正点原子

a133760 · 发表于 2017-5-7 12:55:04

[mw_shl_code=c,true]void ahrs_control_PID_moto(void) //1Ø¼ü×Ö￡oo½×Ë ¿ØÖÆ ′®¼&#182

ID μç»ú
{
   if(mpu_dmp_get_data(&Angle.pitch ,&Angle.roll,&Angle.yaw)==0)//íóÂYòÇ×¼±¸oÃáË
      {
         MPU_Get_Accelerometer(&Acc.X ,&Acc.Y ,&Acc.Z );    //μÃμ½μÄ¼óËù¶è
         MPU_Get_Gyroscope(&Gyro.X ,&Gyro.Y ,&Gyro.Z);    //μÃμ½μÄíóÂYòÇ
            MPU_Get_GYRO();                                  //¸üDÂíóÂYòÇ
            contrl_pid(); //PID ctl and pwm
      }

}
/*******************************************************/
[/mw_shl_code]

a133760 · 发表于 2017-5-7 13:01:21

[mw_shl_code=applescript,true]void all_ch()
{
   moto1=(int16_t) (moto1+thr1);
   moto2=(int16_t) (moto2+thr2);
   moto3=(int16_t) (moto3+thr3);
   moto4=(int16_t) (moto4+thr4);
if(moto1>move_Vmin)
moto1=move_Vmin;
if(moto1<move_Vmax)
moto1=move_Vmax;

if(moto2>move_Vmin)
moto2=move_Vmin;
if(moto2<move_Vmax)
moto2=move_Vmax;

if(moto3>move_Vmin)
moto3=move_Vmin;
if(moto3<move_Vmax)
moto3=move_Vmax;

if(moto4>move_Vmin)
moto4=move_Vmin;
if(moto4<move_Vmax)
moto4=move_Vmax;

if(NRF24L01_RxPacket(rxbuf)==1)       //èç1ûÃ»óD½óêüμ½èÎoÎêy¾Y¾íÕaÑùÖ′DD
{
   TIM_SetCompare1(TIM2,moto1);
   TIM_SetCompare2(TIM2,moto2);
   TIM_SetCompare3(TIM2,moto3);
   TIM_SetCompare4(TIM2,moto4);       //ËÄ¸öí¨μà¶Ôó|ËÄ¸öμç»ú
}
   else
   while(1)
   {
   TIM_SetCompare1(TIM2,val);
   TIM_SetCompare2(TIM2,val);
   TIM_SetCompare3(TIM2,val);
   TIM_SetCompare4(TIM2,val);    //ËÄ¸öí¨μà¶Ôó|ËÄ¸öμç»ú
   }
}
void contrl_pid(void)
{
//       float x1,x2,x3;
     moto1=0;
moto2=0;
moto3=0;
moto4=0;
/*shell pitch*/
for(ave_n=0;ave_n<5;ave_n++)
{
pitch.shell_xn=Angle_SET.pitch;
pitch.shell_error=pitch.shell_Set - pitch.shell_xn;
   pitch.shell_Sn +=pitch.shell_error;
   if(pitch.shell_Sn>0.5)
   pitch.shell_Sn=0.4;
   if(pitch.shell_Sn<-0.5)
   pitch.shell_Sn=-0.4;
pitch.shell_out= pitch.shell_kp*pitch.shell_error + pitch.shell_ki*pitch.shell_Sn + pitch.shell_kd*( pitch.shell_error - pitch.shell_error_last );
pitch.shell_error_last=pitch.shell_error; //shell contrl renew data
   /*core pitch*/
   pitch.core_xn=MPU6050_GYRO_LAST.X/65.6;       //?????
pitch.error=pitch.shell_out - pitch.core_xn;
   pitch.core_Sn += pitch.error;
   if(pitch.core_Sn>10)
   pitch.core_Sn=10;//»y·ÖÏT·ù
   if(pitch.core_Sn<-10)
   pitch.core_Sn=-10;//»y·ÖÏT·ù
pitch.core_out=pitch.core_kp*pitch.error + pitch.core_ki*pitch.core_Sn + pitch.core_kd*( pitch.error -  pitch.last_error );
pitch.last_error=pitch.error;
   //Sum+=pitch.core_out;
      //delay_us(100);
   //pitch.core_out=Sum/5.0;

      moto1=moto1 + pitch.core_out;
      moto2=moto2 + pitch.core_out;
   moto3=moto3 - pitch.core_out;
      moto4=moto4 - pitch.core_out;

    /*shell roll*/
roll.shell_xn=Angle_SET.roll;
roll.shell_error=roll.shell_Set - roll.shell_xn;
   roll.shell_Sn  +=roll.shell_error;
   if(roll.shell_Sn>2)
   roll.shell_Sn=2;
   if(roll.shell_Sn<-2)
   roll.shell_Sn=-2;
roll.shell_out=roll.shell_kp*roll.shell_error + roll.shell_ki*roll.shell_Sn + roll.shell_kd*( roll.shell_error - roll.shell_error_last );
roll.shell_error_last=roll.shell_error;//renew data
/*core roll*/

      roll.core_xn=MPU6050_GYRO_LAST.Y /65.6;       //????? ?00?s
roll.error = roll.shell_out - roll.core_xn;
roll.core_Sn+=roll.error;
if(roll.core_Sn>10)
roll.core_Sn=10;//»y·ÖÏT·ù
if(roll.core_Sn<-10)
roll.core_Sn=-10;//»y·ÖÏT·ù
roll.core_out=roll.core_kp*roll.error + roll.core_ki * roll.core_Sn + roll.core_kd*(roll.error - roll.last_error);
roll.last_error=roll.error;

   moto1=moto1 + roll.core_out;
      moto2=moto2 - roll.core_out;
   moto3=moto3 - roll.core_out;
      moto4=moto4 + roll.core_out;

      /*shell yaw*/
yaw.shell_xn=Angle_SET.yaw;
yaw.shell_error=yaw.shell_Set - yaw.shell_xn;
   yaw.shell_Sn  += yaw.shell_error;
   if(yaw.shell_Sn>0.5)
   yaw.shell_Sn=0.4;
   if(yaw.shell_Sn<-0.5)
yaw.shell_Sn=-0.4;
yaw.shell_out=yaw.shell_kp*yaw.shell_error + yaw.shell_ki*yaw.shell_Sn + yaw.shell_kd*( yaw.shell_error - yaw.shell_error_last );
yaw.shell_error_last=yaw.shell_error;
      /*core yaw*/
   yaw.core_xn=MPU6050_GYRO_LAST.Z /65.6;
yaw.error = yaw.shell_out - yaw.core_xn;
yaw.core_Sn+=yaw.error;
if(yaw.core_Sn>10)
yaw.core_Sn=10;
if(yaw.core_Sn<-10)
yaw.core_Sn=-10;//»y·ÖÏT·ù    //»y·ÖÏT·ù
yaw.core_out=yaw.core_kp*yaw.error + yaw.core_ki * yaw.core_Sn + yaw.core_kd*(yaw.error - yaw.last_error);
yaw.last_error=yaw.error;

moto1=moto1 + yaw.core_out;
      moto2=moto2 - yaw.core_out;
   moto3=moto3 + yaw.core_out;
      moto4=moto4 - yaw.core_out;
delay_us(200);
}
   moto1=moto1/5.0;
   moto2=moto2/5.0;
   moto3=moto3/5.0;
   moto4=moto4/5.0;
all_ch();
}[/mw_shl_code]

a133760 · 发表于 2017-5-7 13:03:48

代码也上去了，来个大神指导指导我

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stm32f103中while（1）不按照设定的进行循环？

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