stm32F103pid调试助手

在STM32F103的PID调试助手中，你可以使用以下代码来实现功能：

首先，你需要在程序初始化部分定义一个初始化函数，对PID参数进行初始化配置。例如，你可以使用以下代码：

void PID_Init(PID_InitDefStruct* p) {
    p->Velcity_Kp = 5;
    p->Velcity_Ki = 0.5;
    p->Velcity_Kd = 0;
    p->Ur = 7100;
    p->PID_is_Enable = 1;
    p->Un = 0;
    p->En_1 = 0;
    p->En_2 = 0;
    p->PWM = 0;
}

接下来，你需要修改串口1的中断函数，并添加一个Usart_SendArray函数，用于PID调试。例如，你可以使用以下代码：

void USART1_IRQHandler(void) {
    uint8_t ucTemp;
    if(USART_GetITStatus(DEBUG_USARTx,USART_IT_RXNE) != RESET) {
        ucTemp = USART_ReceiveData(DEBUG_USARTx);
        protocol_data_recv(&ucTemp, 1);
    }
    USART_ClearITPendingBit(DEBUG_USARTx,USART_IT_RXNE);
}

void Usart_SendArray(USART_TypeDef* USARTx, uint8_t *array,uint8_t num) {
    uint8_t i;
    for( i=0; i<num; i++ ) {
        Usart_SendByte(USARTx, array\[i\]);
    }
    while( USART_GetFlagStatus(USARTx, USART_FLAG_TC) == RESET );
}

最后，你可以根据需要在代码中添加PID调试的相关逻辑。例如，你可以根据输入的GPIO信号来调整左右电机的速度和PWM输出。例如，你可以使用以下代码：

if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_14)==0) {
    left_set_point=left_targetspeed*SPEED_AMPLIF;
    right_set_point=right_targetspeed*SPEED_AMPLIF;
    TIM_SetCompare1(TIM2,0);
    TIM_SetCompare2(TIM2,left_compara);
    TIM_SetCompare3(TIM2,0);
    TIM_SetCompare4(TIM2,right_compara);
} else if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_13)==0) {
    left_set_point=left_targetspeed/2*SPEED_AMPLIF;
    right_set_point=right_targetspeed*SPEED_AMPLIF;
    left_compara=0;
    TIM_SetCompare1(TIM2,0);
    TIM_SetCompare2(TIM2,0);
    TIM_SetCompare3(TIM2,0);
    TIM_SetCompare4(TIM2,right_compara);
} else if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_15)==0) {
    right_set_point=right_targetspeed/2*SPEED_AMPLIF;
    left_set_point=left_targetspeed*SPEED_AMPLIF;
    right_compara=0;
    TIM_SetCompare1(TIM2,0);
    TIM_SetCompare2(TIM2,left_compara);
    TIM_SetCompare3(TIM2,0);
    TIM_SetCompare4(TIM2,0);
}

这样，你就可以使用STM32F103的PID调试助手来进行调试了。
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