在上面的代码基础上写一个模糊pid控制的程序

好的，以下是基于上述代码的模糊PID控制程序示例：

#include "stm32f10x.h"
#include "stm32f10x_adc.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_tim.h"

#define MAX_PWM 1000 // PWM最大值
#define MIN_PWM 0 // PWM最小值
#define MAX_TEMP 50 // 温度最大值
#define MIN_TEMP 0 // 温度最小值

// 模糊PID参数
float Kp = 0.6;
float Ki = 0.05;
float Kd = 0.1;
float error = 0;
float last_error = 0;
float integral = 0;
float derivative = 0;
float output = 0;

// 温度传感器读取函数
float get_temperature() {
    ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 1, ADC_SampleTime_55Cycles5);
    ADC_SoftwareStartConvCmd(ADC1, ENABLE);
    while (ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC) == RESET);
    uint16_t adc_value = ADC_GetConversionValue(ADC1);
    float voltage = (float)adc_value / 4096 * 3.3;
    float temperature = voltage / 0.01;
    return temperature;
}

// 模糊PID控制函数
float fuzzy_pid(float error) {
    float e1, e2, e3, e4; // 定义模糊集合
    float k1, k2, k3; // 定义模糊规则
    float output = 0;
    
    // 计算模糊集合
    e1 = 1.0 / (1.0 + exp(-2.0 * error));
    e2 = 1.0 / (1.0 + exp(-1.0 * error));
    e3 = 1.0;
    e4 = 1.0 / (1.0 + exp(1.0 * error));
    
    // 计算模糊规则
    k1 = e1 * (-0.5) + e2 * (-0.3) + e3 * 0.1 + e4 * 0.3;
    k2 = e1 * (-0.3) + e2 * (-0.1) + e3 * 0.3 + e4 * 0.5;
    k3 = e1 * (-0.1) + e2 * 0.1 + e3 * 0.5 + e4 * 0.7;
    
    // 计算输出
    output = k1 * MIN_PWM + k2 * 500 + k3 * MAX_PWM;
    
    return output;
}

// PWM输出函数
void set_pwm(uint16_t value) {
    TIM_SetCompare2(TIM3, value);
}

int main(void) {
    // 初始化
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
    TIM_OCInitTypeDef TIM_OCInitStruct;
    ADC_InitTypeDef ADC_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_GPIOC, ENABLE);

    GPIO_StructInit(&GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
    GPIO_Init(GPIOC, &GPIO_InitStructure);

    TIM_TimeBaseInitStruct.TIM_Period = 1000;
    TIM_TimeBaseInitStruct.TIM_Prescaler = 71;
    TIM_TimeBaseInitStruct.TIM_ClockDivision = 0;
    TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStruct);

    TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStruct.TIM_Pulse = 0;
    TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC2Init(TIM3, &TIM_OCInitStruct);

    TIM_Cmd(TIM3, ENABLE);

    ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
    ADC_InitStructure.ADC_ScanConvMode = DISABLE;
    ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
    ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
    ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
    ADC_InitStructure.ADC_NbrOfChannel = 1;
    ADC_Init(ADC1, &ADC_InitStructure);

    ADC_Cmd(ADC1, ENABLE);

    while (1) {
        float temperature = get_temperature();
        error = temperature - 25; // 假设25度为理想温度
        integral += error;
        derivative = error - last_error;
        output = Kp * error + Ki * integral + Kd * derivative;
        last_error = error;

        if (output > MAX_PWM) {
            output = MAX_PWM;
        } else if (output < MIN_PWM) {
            output = MIN_PWM;
        }
        
        // 调用模糊PID函数计算输出
        output = fuzzy_pid(output);

        set_pwm((uint16_t)output);

        if (temperature > MAX_TEMP) {
            set_pwm(MIN_PWM);
        } else if (temperature < MIN_TEMP) {
            set_pwm(MAX_PWM);
        }

        delay_ms(1000); // 1秒延迟
    }
}

需要注意的是，以上代码中的模糊PID控制函数仅为示例，具体实现可能需要根据你的需求进行调整。同时，模糊PID参数也需要根据实际情况进行调整。