写一段基于32单片机PID算法每隔10次采集值温度进行一次调控的代码

这里提供一个基于 STM32 单片机的 PID 控制代码示例，该示例每隔 10 次采集温度值，进行一次 PID 调控。

#include "stm32f4xx.h"

#define MAX_PWM 1000

float kp = 1.0; // 比例系数
float ki = 0.1; // 积分系数
float kd = 0.01; // 微分系数

float error = 0; // 误差
float last_error = 0; // 上一次误差
float integral = 0; // 积分值
float derivative = 0; // 微分值

float temperature_setpoint = 25; // 目标温度设定值
float temperature_current = 0; // 当前温度值

uint32_t pwm_value = 0; // PWM输出值

void TIM2_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
    {
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
        
        static uint32_t count = 0;
        count++;
        
        if (count >= 10)
        {
            count = 0;
            
            temperature_current = read_temperature();
            
            error = temperature_setpoint - temperature_current;
            integral += error;
            derivative = error - last_error;
            
            pwm_value = (uint32_t)(kp * error + ki * integral + kd * derivative);
            
            if (pwm_value > MAX_PWM)
            {
                pwm_value = MAX_PWM;
            }
            
            update_pwm(pwm_value);
            
            last_error = error;
        }
    }
}

int main(void)
{
    // 初始化定时器
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Period = 9999;
    TIM_TimeBaseStructure.TIM_Prescaler = 8399;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
    
    // 使能定时器更新中断
    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
    
    NVIC_InitTypeDef NVIC_InitStructure;
    NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    
    // 启动定时器
    TIM_Cmd(TIM2, ENABLE);
    
    while (1);
}

在该示例代码中，我们通过 TIM2 定时器的中断来进行每隔 10 次采集和 PID 控制的操作。其中，`read_temperature()` 函数用于读取当前温度值，`update_pwm()` 函数用于更新 PWM 输出值。需要根据实际情况进行相应的修改。