STM32F407 倒立摆核心代码

以下是一个基于STM32F407的倒立摆的核心代码，仅供参考：

#include "stm32f4xx.h"
#include "stm32f4xx_conf.h"

/* 定义时钟频率 */
#define SYS_CLK_FREQ 168000000

/* 定义PWM输出通道 */
#define PWM_TIM TIM4
#define PWM_TIM_CH TIM_OC1InitTypeDef TIM_OCInitStruct;
#define PWM_TIM_CH_GPIO GPIOB
#define PWM_TIM_CH_PIN GPIO_Pin_6
#define PWM_TIM_CH_SOURCE GPIO_PinSource6
#define PWM_TIM_CH_AF GPIO_AF_TIM4

/* 定义编码器输入通道 */
#define ENCODER_TIM TIM3
#define ENCODER_TIM_CH1 GPIO_Pin_6
#define ENCODER_TIM_CH2 GPIO_Pin_7
#define ENCODER_TIM_CH_GPIO GPIOC
#define ENCODER_TIM_CH_SOURCE GPIO_PinSource6
#define ENCODER_TIM_CH_AF GPIO_AF_TIM3

/* 定义控制参数 */
#define Kp 1.0f
#define Ki 0.0f
#define Kd 0.0f

/* 定义采样周期 */
#define T 0.001f

/* 定义PID控制器参数 */
float error = 0.0f, error_last = 0.0f, integral = 0.0f, derivative = 0.0f, output = 0.0f;

/* 定义编码器计数器 */
int32_t encoder_count = 0;

/* 初始化PWM输出 */
void init_pwm(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
    TIM_OCInitTypeDef TIM_OCInitStruct;
    GPIO_InitTypeDef GPIO_InitStruct;

    /* 使能GPIOB时钟 */
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

    /* 配置GPIOB.6为PWM输出引脚 */
    GPIO_InitStruct.GPIO_Pin = PWM_TIM_CH_PIN;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStruct.GPIO_Speed = GPIO_High_Speed;
    GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(PWM_TIM_CH_GPIO, &GPIO_InitStruct);

    /* 配置PWM定时器 */
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
    TIM_TimeBaseInitStruct.TIM_Period = 1000;
    TIM_TimeBaseInitStruct.TIM_Prescaler = (SYS_CLK_FREQ / 1000000) - 1;
    TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(PWM_TIM, &TIM_TimeBaseInitStruct);

    /* 配置PWM输出通道 */
    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_OC1Init(PWM_TIM, &TIM_OCInitStruct);

    /* 配置PWM输出GPIO复用映射 */
    GPIO_PinAFConfig(PWM_TIM_CH_GPIO, PWM_TIM_CH_SOURCE, PWM_TIM_CH_AF);

    /* 启动PWM输出 */
    TIM_Cmd(PWM_TIM, ENABLE);
}

/* 初始化编码器输入 */
void init_encoder(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
    GPIO_InitTypeDef GPIO_InitStruct;
    TIM_ICInitTypeDef TIM_ICInitStruct;

    /* 使能GPIOC时钟 */
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);

    /* 配置GPIOC.6和GPIOC.7为编码器输入引脚 */
    GPIO_InitStruct.GPIO_Pin = ENCODER_TIM_CH1 | ENCODER_TIM_CH2;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStruct.GPIO_Speed = GPIO_High_Speed;
    GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(ENCODER_TIM_CH_GPIO, &GPIO_InitStruct);

    /* 配置编码器输入GPIO复用映射 */
    GPIO_PinAFConfig(ENCODER_TIM_CH_GPIO, ENCODER_TIM_CH_SOURCE, ENCODER_TIM_CH_AF);

    /* 配置编码器输入定时器 */
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    TIM_TimeBaseInitStruct.TIM_Period = 0xFFFF;
    TIM_TimeBaseInitStruct.TIM_Prescaler = 0;
    TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(ENCODER_TIM, &TIM_TimeBaseInitStruct);

    /* 配置编码器输入捕获通道 */
    TIM_ICInitStruct.TIM_Channel = TIM_Channel_1;
    TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Rising;
    TIM_ICInitStruct.TIM_ICSelection = TIM_ICSelection_DirectTI;
    TIM_ICInitStruct.TIM_ICPrescaler = TIM_ICPSC_DIV1;
    TIM_ICInitStruct.TIM_ICFilter = 0;
    TIM_ICInit(ENCODER_TIM, &TIM_ICInitStruct);

    TIM_ICInitStruct.TIM_Channel = TIM_Channel_2;
    TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Rising;
    TIM_ICInitStruct.TIM_ICSelection = TIM_ICSelection_DirectTI;
    TIM_ICInitStruct.TIM_ICPrescaler = TIM_ICPSC_DIV1;
    TIM_ICInitStruct.TIM_ICFilter = 0;
    TIM_ICInit(ENCODER_TIM, &TIM_ICInitStruct);

    /* 启动编码器输入 */
    TIM_Cmd(ENCODER_TIM, ENABLE);
}

/* 初始化系统时钟 */
void init_sys_clock(void)
{
    RCC_DeInit();
    RCC_HSEConfig(RCC_HSE_ON);

    while (RCC_WaitForHSEStartUp() != SUCCESS)
    {
    }

    RCC_PLLConfig(RCC_PLLSource_HSE, 8, 336, 2, 7);
    RCC_PLLCmd(ENABLE);

    while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
    {
    }

    FLASH_SetLatency(FLASH_Latency_5);
    FLASH_PrefetchBufferCmd(ENABLE);
    RCC_HCLKConfig(RCC_SYSCLK_Div1);
    RCC_PCLK1Config(RCC_HCLK_Div4);
    RCC_PCLK2Config(RCC_HCLK_Div2);
    RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
}

/* 获取编码器计数器的值 */
int32_t get_encoder_count(void)
{
    return TIM_GetCounter(ENCODER_TIM);
}

/* PID控制器 */
void PID_control(void)
{
    /* 获取当前角度值 */
    float angle = get_encoder_count() * 360.0f / 4096.0f;

    /* 计算误差 */
    error = 0.0f - angle;

    /* 计算积分项 */
    integral += error * T;

    /* 计算微分项 */
    derivative = (error - error_last) / T;

    /* 计算输出 */
    output = Kp * error + Ki * integral + Kd * derivative;

    /* 更新误差 */
    error_last = error;

    /* 输出PWM信号 */
    TIM_SetCompare1(PWM_TIM, (uint32_t)(500 + output));
}

/* 主函数 */
int main(void)
{
    /* 初始化系统时钟 */
    init_sys_clock();

    /* 初始化PWM输出 */
    init_pwm();

    /* 初始化编码器输入 */
    init_encoder();

    /* 循环执行PID控制 */
    while (1)
    {
        PID_control();
        delay(T);
    }

    return 0;
}

这段代码实现了一个基本的倒立摆控制器，通过编码器获取倒立摆的位置信息，通过PID控制器计算控制信号，并通过PWM输出控制电机的转速，使得倒立摆能够保持在竖直位置上方不倒下。需要注意的是，这仅是一个核心代码，具体实现过程需要根据具体的硬件和功能需求进行调整和完善。