stm32 pid根据温度传感器额温度，控制制冷片，用hal库

使用HAL库实现STM32 PID控制器需要进行以下步骤：

1. 配置温度传感器的引脚和通道，读取传感器的模拟值，并将其转换为温度值。

2. 配置制冷片的引脚和通道，控制制冷片开关以实现温度的控制。

3. 根据当前的温度值和设定的目标温度值计算出PID控制器的输出值。

4. 使用输出值来控制制冷片的开关，使得温度能够稳定地接近目标温度。

下面是一个简单的示例代码，可以根据实际情况进行修改：

#include "main.h"
#include "stm32f4xx_hal.h"

#define KP 1.5f  // 比例系数
#define KI 0.2f  // 积分系数
#define KD 0.1f  // 微分系数
#define T 0.1f   // 控制周期（单位：秒）

float target_temp = 25.0f;  // 目标温度
float current_temp = 0.0f; // 当前温度
float last_error = 0.0f;   // 上一次误差
float integral = 0.0f;     // 积分项

ADC_HandleTypeDef hadc1;
TIM_HandleTypeDef htim2;

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);
static void MX_ADC1_Init(void);

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_TIM2_Init();
  MX_ADC1_Init();
  HAL_TIM_Base_Start_IT(&htim2);
  HAL_ADC_Start(&hadc1);

  while (1)
  {
    HAL_ADC_PollForConversion(&hadc1, 100);
    uint16_t adc_value = HAL_ADC_GetValue(&hadc1);
    float voltage = adc_value * 3.3f / 4096.0f;
    current_temp = (voltage - 0.76f) / 0.0025f;

    float error = target_temp - current_temp;
    integral += error * T;
    float derivative = (error - last_error) / T;
    float output = KP * error + KI * integral + KD * derivative;

    if (output > 0.0f)
    {
      HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_RESET);
      HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_SET);
    }
    else
    {
      HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_RESET);
      HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_SET);
    }

    last_error = error;
    HAL_Delay(T * 1000);
  }
}

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
                              | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_ADC1_Init(void)
{
  ADC_ChannelConfTypeDef sConfig = {0};

  __HAL_RCC_ADC1_CLK_ENABLE();
  hadc1.Instance = ADC1;
  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
  hadc1.Init.ScanConvMode = DISABLE;
  hadc1.Init.ContinuousConvMode = ENABLE;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc1.Init.NbrOfConversion = 1;
  hadc1.Init.DMAContinuousRequests = DISABLE;
  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
  if (HAL_ADC_Init(&hadc1) != HAL_OK)
  {
    Error_Handler();
  }
  sConfig.Channel = ADC_CHANNEL_16;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_480CYCLES;
  sConfig.SingleDiff = ADC_SINGLE_ENDED;
  sConfig.OffsetNumber = ADC_OFFSET_NONE;
  sConfig.Offset = 0;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_TIM2_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  __HAL_RCC_TIM2_CLK_ENABLE();
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 8399;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 999;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  __HAL_RCC_GPIOB_CLK_ENABLE();
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7|GPIO_PIN_14, GPIO_PIN_RESET);
  GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_14;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}

这个例子中，我们使用了ADC1的第16个通道来读取温度传感器的模拟值，使用TIM2来定时计算PID控制器的输出值，并使用GPIOB的第7个和第14个引脚来控制制冷片的开关。注意，这个例子中只是给出了一个简单的PID控制器的实现，实际使用中还需要进行更多的调试和优化。