├── .gitattributes ├── DOC ├── PID_Regulator_Protocol.mht ├── PID_Regulator_Protocol.pdf └── images │ ├── PID_Regulator_UI.png │ └── RM_Logo.png ├── LICENSE ├── PC_UI ├── exe │ ├── PID_Regulator_V1.0.exe │ ├── PID_Regulator_V1.2.exe │ ├── PID_Regulator_V1.21.exe │ └── PID_Regulator_V1.22.exe └── src │ └── PID_Regulator │ ├── PID_Regulator.pro │ ├── PID_Regulator.pro.user │ ├── RM_Logo.ico │ ├── crc.cpp │ ├── crc.h │ ├── image │ ├── NJUST_Logo.ico │ ├── RM_Log.png │ ├── RM_Log_Full.png │ ├── RM_Logo_Full.ico │ └── logo_purple_800x800.png │ ├── main.cpp │ ├── pid_regulator.cpp │ ├── pid_regulator.h │ └── pid_regulator.ui ├── README.md └── STM32_DEMO ├── V1.0 ├── CRC.c ├── CRC.h ├── usart.c └── usart.h └── V1.2 ├── CRC.c ├── CRC.h ├── usart.c └── usart.h /.gitattributes: -------------------------------------------------------------------------------- 1 | # Auto detect text files and perform LF normalization 2 | * text=auto 3 | -------------------------------------------------------------------------------- /DOC/PID_Regulator_Protocol.mht: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jackychen227/PID_Regulator/80aa3789602d16181f5fe85cbe94c8ff96396f2c/DOC/PID_Regulator_Protocol.mht -------------------------------------------------------------------------------- /DOC/PID_Regulator_Protocol.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jackychen227/PID_Regulator/80aa3789602d16181f5fe85cbe94c8ff96396f2c/DOC/PID_Regulator_Protocol.pdf -------------------------------------------------------------------------------- /DOC/images/PID_Regulator_UI.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jackychen227/PID_Regulator/80aa3789602d16181f5fe85cbe94c8ff96396f2c/DOC/images/PID_Regulator_UI.png -------------------------------------------------------------------------------- /DOC/images/RM_Logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jackychen227/PID_Regulator/80aa3789602d16181f5fe85cbe94c8ff96396f2c/DOC/images/RM_Logo.png -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) 2018 {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | PID_Regulator Copyright (C) 2018 Qingwu Chen 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . -------------------------------------------------------------------------------- /PC_UI/exe/PID_Regulator_V1.0.exe: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jackychen227/PID_Regulator/80aa3789602d16181f5fe85cbe94c8ff96396f2c/PC_UI/exe/PID_Regulator_V1.0.exe -------------------------------------------------------------------------------- /PC_UI/exe/PID_Regulator_V1.2.exe: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jackychen227/PID_Regulator/80aa3789602d16181f5fe85cbe94c8ff96396f2c/PC_UI/exe/PID_Regulator_V1.2.exe -------------------------------------------------------------------------------- /PC_UI/exe/PID_Regulator_V1.21.exe: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jackychen227/PID_Regulator/80aa3789602d16181f5fe85cbe94c8ff96396f2c/PC_UI/exe/PID_Regulator_V1.21.exe -------------------------------------------------------------------------------- /PC_UI/exe/PID_Regulator_V1.22.exe: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jackychen227/PID_Regulator/80aa3789602d16181f5fe85cbe94c8ff96396f2c/PC_UI/exe/PID_Regulator_V1.22.exe -------------------------------------------------------------------------------- /PC_UI/src/PID_Regulator/PID_Regulator.pro: -------------------------------------------------------------------------------- 1 | #------------------------------------------------- 2 | # 3 | # Project created by QtCreator 2018-05-24T20:53:45 4 | # 5 | #------------------------------------------------- 6 | 7 | QT += core gui 8 | QT += serialport 9 | RC_ICONS = RM_Logo.ico 10 | 11 | greaterThan(QT_MAJOR_VERSION, 4): QT += widgets 12 | 13 | TARGET = PID_Regulator 14 | TEMPLATE = app 15 | 16 | SOURCES += main.cpp\ 17 | pid_regulator.cpp \ 18 | crc.cpp 19 | 20 | HEADERS += pid_regulator.h \ 21 | crc.h 22 | 23 | FORMS += pid_regulator.ui 24 | -------------------------------------------------------------------------------- /PC_UI/src/PID_Regulator/PID_Regulator.pro.user: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | EnvironmentId 7 | {f7bc70bc-1fde-4209-bdfc-91710a034a82} 8 | 9 | 10 | ProjectExplorer.Project.ActiveTarget 11 | 0 12 | 13 | 14 | ProjectExplorer.Project.EditorSettings 15 | 16 | true 17 | false 18 | true 19 | 20 | Cpp 21 | 22 | CppGlobal 23 | 24 | 25 | 26 | QmlJS 27 | 28 | QmlJSGlobal 29 | 30 | 31 | 2 32 | UTF-8 33 | false 34 | 4 35 | false 36 | 80 37 | true 38 | true 39 | 1 40 | true 41 | false 42 | 0 43 | true 44 | true 45 | 0 46 | 8 47 | true 48 | 1 49 | true 50 | true 51 | true 52 | false 53 | 54 | 55 | 56 | ProjectExplorer.Project.PluginSettings 57 | 58 | 59 | 60 | ProjectExplorer.Project.Target.0 61 | 62 | Desktop Qt 5.6.3 MinGW 32bit 63 | Desktop Qt 5.6.3 MinGW 32bit 64 | qt.563.win32_mingw49_kit 65 | 1 66 | 0 67 | 0 68 | 69 | C:/Users/Lenovo/Documents/build-PID_Regulator-Desktop_Qt_5_6_3_MinGW_32bit-Debug 70 | 71 | 72 | true 73 | qmake 74 | 75 | QtProjectManager.QMakeBuildStep 76 | true 77 | 78 | false 79 | false 80 | false 81 | 82 | 83 | true 84 | Make 85 | 86 | Qt4ProjectManager.MakeStep 87 | 88 | false 89 | 90 | 91 | 92 | 2 93 | 构建 94 | 95 | ProjectExplorer.BuildSteps.Build 96 | 97 | 98 | 99 | true 100 | Make 101 | 102 | Qt4ProjectManager.MakeStep 103 | 104 | true 105 | clean 106 | 107 | 108 | 1 109 | 清理 110 | 111 | ProjectExplorer.BuildSteps.Clean 112 | 113 | 2 114 | false 115 | 116 | Debug 117 | 118 | Qt4ProjectManager.Qt4BuildConfiguration 119 | 2 120 | true 121 | 122 | 123 | G:/PID_Regulator/release 124 | 125 | 126 | true 127 | qmake 128 | 129 | QtProjectManager.QMakeBuildStep 130 | false 131 | 132 | false 133 | false 134 | false 135 | 136 | 137 | true 138 | Make 139 | 140 | Qt4ProjectManager.MakeStep 141 | 142 | false 143 | 144 | 145 | 146 | 2 147 | 构建 148 | 149 | ProjectExplorer.BuildSteps.Build 150 | 151 | 152 | 153 | true 154 | Make 155 | 156 | Qt4ProjectManager.MakeStep 157 | 158 | true 159 | clean 160 | 161 | 162 | 1 163 | 清理 164 | 165 | ProjectExplorer.BuildSteps.Clean 166 | 167 | 2 168 | false 169 | 170 | Release 171 | 172 | Qt4ProjectManager.Qt4BuildConfiguration 173 | 0 174 | true 175 | 176 | 177 | C:/Users/Lenovo/Documents/build-PID_Regulator-Desktop_Qt_5_6_3_MinGW_32bit-Profile 178 | 179 | 180 | true 181 | qmake 182 | 183 | QtProjectManager.QMakeBuildStep 184 | true 185 | 186 | false 187 | true 188 | false 189 | 190 | 191 | true 192 | Make 193 | 194 | Qt4ProjectManager.MakeStep 195 | 196 | false 197 | 198 | 199 | 200 | 2 201 | 构建 202 | 203 | ProjectExplorer.BuildSteps.Build 204 | 205 | 206 | 207 | true 208 | Make 209 | 210 | Qt4ProjectManager.MakeStep 211 | 212 | true 213 | clean 214 | 215 | 216 | 1 217 | 清理 218 | 219 | ProjectExplorer.BuildSteps.Clean 220 | 221 | 2 222 | false 223 | 224 | Profile 225 | 226 | Qt4ProjectManager.Qt4BuildConfiguration 227 | 0 228 | true 229 | 230 | 3 231 | 232 | 233 | 0 234 | 部署 235 | 236 | ProjectExplorer.BuildSteps.Deploy 237 | 238 | 1 239 | 在本地部署 240 | 241 | ProjectExplorer.DefaultDeployConfiguration 242 | 243 | 1 244 | 245 | 246 | false 247 | false 248 | 1000 249 | 250 | true 251 | 252 | false 253 | false 254 | false 255 | false 256 | true 257 | 0.01 258 | 10 259 | true 260 | 1 261 | 25 262 | 263 | 1 264 | true 265 | false 266 | true 267 | valgrind 268 | 269 | 0 270 | 1 271 | 2 272 | 3 273 | 4 274 | 5 275 | 6 276 | 7 277 | 8 278 | 9 279 | 10 280 | 11 281 | 12 282 | 13 283 | 14 284 | 285 | 2 286 | 287 | PID_Regulator 288 | 289 | Qt4ProjectManager.Qt4RunConfiguration:G:/PID_Regulator/src/PID_Regulator/PID_Regulator.pro 290 | true 291 | 292 | PID_Regulator.pro 293 | false 294 | 295 | G:/PID_Regulator/release 296 | 3768 297 | false 298 | true 299 | false 300 | false 301 | true 302 | 303 | 1 304 | 305 | 306 | 307 | ProjectExplorer.Project.TargetCount 308 | 1 309 | 310 | 311 | ProjectExplorer.Project.Updater.FileVersion 312 | 18 313 | 314 | 315 | Version 316 | 18 317 | 318 | 319 | -------------------------------------------------------------------------------- /PC_UI/src/PID_Regulator/RM_Logo.ico: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jackychen227/PID_Regulator/80aa3789602d16181f5fe85cbe94c8ff96396f2c/PC_UI/src/PID_Regulator/RM_Logo.ico -------------------------------------------------------------------------------- /PC_UI/src/PID_Regulator/crc.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include "crc.h" 3 | /************************************帧头CRC8校验**************************************************************/ 4 | //crc8 generator polynomial:G(x)=x8+x5+x4+1//生成多项式 5 | const unsigned char CRC8_INIT = 0xff; 6 | const unsigned char CRC8_TAB[256] = 7 | { 8 | 0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41, 9 | 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 10 | 0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62, 11 | 0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff, 12 | 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, 13 | 0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a, 14 | 0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24, 15 | 0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, 16 | 0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd, 17 | 0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50, 18 | 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, 19 | 0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73, 20 | 0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b, 21 | 0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 22 | 0xe9, 0xb7, 0x55, 0x0b, 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8, 23 | 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35, 24 | }; 25 | /* 26 | ** Descriptions: CRC8 checksum function 27 | ** Input: Data to check,Stream length, initialized checksum 28 | ** Output: CRC checksum 29 | */ 30 | unsigned char Get_CRC8_Check_Sum(unsigned char *pchMessage,unsigned int dwLength,unsigned char ucCRC8) 31 | { 32 | unsigned char ucIndex; 33 | while (dwLength--)//Stream length 34 | { 35 | ucIndex = ucCRC8^(*pchMessage++);//^位运算:异或 36 | ucCRC8 = CRC8_TAB[ucIndex]; 37 | } 38 | return(ucCRC8);//结果 39 | } 40 | 41 | /* 42 | ** Descriptions: CRC8 Verify function 43 | ** Input: Data to Verify,Stream length = Data + checksum 44 | ** Output: True or False (CRC Verify Result) 45 | */ 46 | 47 | unsigned int Verify_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength) 48 | { 49 | unsigned char ucExpected = 0; 50 | if ((pchMessage == 0) || (dwLength <= 2)) return 0; 51 | ucExpected = Get_CRC8_Check_Sum (pchMessage, dwLength-1, CRC8_INIT); 52 | return ( ucExpected == pchMessage[dwLength-1] ); 53 | } 54 | 55 | /* 56 | ** Descriptions: append CRC8 to the end of data 57 | ** Input: Data to CRC and append,Stream length = Data + checksum 58 | ** Output: True or False (CRC Verify Result) 59 | */ 60 | 61 | void Append_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength) 62 | { 63 | unsigned char ucCRC = 0; 64 | if ((pchMessage == 0) || (dwLength <= 2)) return; 65 | ucCRC = Get_CRC8_Check_Sum ( (unsigned char *)pchMessage, dwLength-1, CRC8_INIT); 66 | pchMessage[dwLength-1] = ucCRC; 67 | } 68 | 69 | 70 | /************************************数据尾CRC16校验**************************************************************/ 71 | uint16_t CRC_INIT = 0xffff; 72 | const uint16_t wCRC_Table[256] = 73 | { 74 | 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 75 | 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 76 | 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 77 | 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 78 | 0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd, 79 | 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, 80 | 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, 81 | 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974, 82 | 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, 83 | 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 84 | 0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, 85 | 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 86 | 0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 87 | 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 88 | 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, 89 | 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, 90 | 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 91 | 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff, 92 | 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 93 | 0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 94 | 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, 95 | 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 96 | 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134, 97 | 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, 98 | 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, 99 | 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb, 100 | 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, 101 | 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 102 | 0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 103 | 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, 104 | 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 105 | 0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78 106 | }; 107 | 108 | /* 109 | ** Descriptions: CRC16 checksum function 110 | ** Input: Data to check,Stream length, initialized checksum 111 | ** Output: CRC checksum 112 | */ 113 | 114 | uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage,uint32_t dwLength,uint16_t wCRC) 115 | { 116 | uint8_t chData; 117 | if (pchMessage == NULL) 118 | { 119 | return 0xFFFF; 120 | } 121 | while(dwLength--) 122 | { 123 | chData = *pchMessage++; 124 | (wCRC) = ((uint16_t)(wCRC) >> 8) ^ wCRC_Table[((uint16_t)(wCRC) ^(uint16_t)(chData)) & 0x00ff]; 125 | } 126 | return wCRC; 127 | } 128 | 129 | /* 130 | ** Descriptions: CRC16 Verify function 131 | ** Input: Data to Verify,Stream length = Data + checksum 132 | ** Output: True or False (CRC Verify Result) 133 | */ 134 | 135 | uint32_t Verify_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength) 136 | { 137 | uint16_t wExpected = 0; 138 | if ((pchMessage == NULL) || (dwLength <= 2)) 139 | { 140 | return CRC_Check_False; 141 | } 142 | wExpected = Get_CRC16_Check_Sum ( pchMessage, dwLength - 2, CRC_INIT); 143 | return ((wExpected & 0xff) == pchMessage[dwLength - 2] && ((wExpected >> 8) & 0xff) 144 | == pchMessage[dwLength - 1]); 145 | } 146 | /* 147 | ** Descriptions: append CRC16 to the end of data 148 | ** Input: Data to CRC and append,Stream length = Data + checksum 149 | ** Output: True or False (CRC Verify Result) 150 | */ 151 | void Append_CRC16_Check_Sum(uint8_t * pchMessage,uint32_t dwLength) 152 | { 153 | uint16_t wCRC = 0; 154 | if ((pchMessage == NULL) || (dwLength <= 2)) 155 | { 156 | return; 157 | } 158 | wCRC = Get_CRC16_Check_Sum ( (unsigned char *)pchMessage, dwLength-2, CRC_INIT ); 159 | pchMessage[dwLength-2] = (unsigned char)(wCRC & 0x00ff); 160 | pchMessage[dwLength-1] = (unsigned char)((wCRC >> 8)& 0x00ff); 161 | } 162 | 163 | 164 | 165 | ////函数功能：生成0－255对应的16CRC校验码，其实就是计算机算法1（比特型算法） 166 | ////gEnpoly为生成多项式 167 | ////注意，低位先传送时，生成多项式应反转(低位与高位互换)。如CRC16-CCITT为0x1021，反转后为0x8408 168 | //void mK_cRctable(unsigned short gEnpoly) 169 | //{ 170 | // unsigned short cRc_16=0; 171 | // unsigned short i,j,k; 172 | // uint16_t cRctable_16[256]; 173 | 174 | // for(i=0,k=0;i<256;i++,k++) 175 | // { 176 | // cRc_16 = i<<8; 177 | // for(j=8;j>0;j--) 178 | // { 179 | // if(cRc_16&0x8000) //反转时cRc_16&0x0001 180 | // cRc_16=(cRc_16<<=1)^gEnpoly; //反转时cRc_16=(cRc_16>>=1)^gEnpoly 181 | // else 182 | // cRc_16<<=1; //反转时cRc_16>>=1 183 | // } 184 | // cRctable_16[k] = cRc_16; 185 | // } 186 | //} 187 | -------------------------------------------------------------------------------- /PC_UI/src/PID_Regulator/crc.h: -------------------------------------------------------------------------------- 1 | #ifndef CRC_H 2 | #define CRC_H 3 | 4 | #define CRC_Check_False 0 5 | #define CRC_Check_True 1 6 | 7 | 8 | unsigned char Get_CRC8_Check_Sum(unsigned char *pchMessage,unsigned int dwLength,unsigned char ucCRC8); 9 | unsigned int Verify_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength); 10 | void Append_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength); 11 | 12 | uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage,uint32_t dwLength,uint16_t wCRC); 13 | uint32_t Verify_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength); 14 | void Append_CRC16_Check_Sum(uint8_t * pchMessage,uint32_t dwLength); 15 | 16 | #endif // CRC_H 17 | 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-------------------------------------------------------------------------------- 1 | #include "pid_regulator.h" 2 | #include 3 | 4 | int main(int argc, char *argv[]) 5 | { 6 | QApplication a(argc, argv); 7 | PID_Regulator w; 8 | w.show(); 9 | 10 | return a.exec(); 11 | } 12 | -------------------------------------------------------------------------------- /PC_UI/src/PID_Regulator/pid_regulator.cpp: -------------------------------------------------------------------------------- 1 | #include "pid_regulator.h" 2 | #include "ui_pid_regulator.h" 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | #include "crc.h" 11 | 12 | PID_Regulator::PID_Regulator(QWidget *parent) : 13 | QWidget(parent), 14 | ui(new Ui::PID_Regulator) 15 | { 16 | ui->setupUi(this); 17 | emit checkAvailablePorts(); 18 | emit setKpValue(); 19 | emit setKiValue(); 20 | emit setKdValue(); 21 | } 22 | 23 | PID_Regulator::~PID_Regulator() 24 | { 25 | delete ui; 26 | } 27 | //非阻塞延时 28 | void PID_Regulator::Delay_MSec(unsigned int msec) 29 | { 30 | QTime _timer = QTime::currentTime().addMSecs(msec); 31 | while(QTime::currentTime() < _timer) 32 | QCoreApplication::processEvents(QEventLoop::AllEvents, 100); 33 | } 34 | //阻塞延时 35 | //void PID_Regulator::Delay_MSec_Suspend(unsigned int msec) 36 | //{ 37 | // QTime _timer = QTime::currentTime(); 38 | // QTime _NowTimer; 39 | // do{ 40 | // _NowTimer = QTime::currentTime(); 41 | // }while(_timer.msecsTo(_NowTimer) <= msec); 42 | //} 43 | 44 | void PID_Regulator::setBaudRate() 45 | { 46 | qDebug() << "comboBox_baudRate->currentText():" << ui->comboBox_baudRate->currentText() << endl; 47 | if(portIsOpen) 48 | { 49 | 50 | if(ui->comboBox_baudRate->currentText() == "115200") 51 | mySerialPort->setBaudRate(QSerialPort::Baud115200); 52 | else if(ui->comboBox_baudRate->currentText() == "57600") 53 | mySerialPort->setBaudRate(QSerialPort::Baud57600); 54 | else if(ui->comboBox_baudRate->currentText() == "38400") 55 | mySerialPort->setBaudRate(QSerialPort::Baud38400); 56 | else if(ui->comboBox_baudRate->currentText() == "19200") 57 | mySerialPort->setBaudRate(QSerialPort::Baud19200); 58 | else if(ui->comboBox_baudRate->currentText() == "9600") 59 | mySerialPort->setBaudRate(QSerialPort::Baud9600); 60 | else if(ui->comboBox_baudRate->currentText() == "4800") 61 | mySerialPort->setBaudRate(QSerialPort::Baud4800); 62 | else if(ui->comboBox_baudRate->currentText() == "2400") 63 | mySerialPort->setBaudRate(QSerialPort::Baud2400); 64 | else if(ui->comboBox_baudRate->currentText() == "1200") 65 | mySerialPort->setBaudRate(QSerialPort::Baud1200); 66 | } 67 | } 68 | 69 | void PID_Regulator::setParity() 70 | { 71 | qDebug() << "ui->comboBox_parity->currentText():" << ui->comboBox_parity->currentText() << endl; 72 | if (portIsOpen) 73 | { 74 | if (ui->comboBox_parity->currentText() == QString::fromLocal8Bit("无校验")) 75 | mySerialPort->setParity(QSerialPort::NoParity); 76 | else if (ui->comboBox_parity->currentText() == QString::fromLocal8Bit("奇校验")) 77 | mySerialPort->setParity(QSerialPort::OddParity); 78 | else if (ui->comboBox_parity->currentText() == QString::fromLocal8Bit("偶校验")) 79 | mySerialPort->setParity(QSerialPort::EvenParity); 80 | } 81 | } 82 | 83 | void PID_Regulator::setDataBits() 84 | { 85 | if (portIsOpen) 86 | { 87 | if (ui->comboBox_wordLength->currentText() == "8") 88 | mySerialPort->setDataBits(QSerialPort::Data8); 89 | else if (ui->comboBox_wordLength->currentText() == "7") 90 | mySerialPort->setDataBits(QSerialPort::Data7); 91 | else if (ui->comboBox_wordLength->currentText() == "6") 92 | mySerialPort->setDataBits(QSerialPort::Data6); 93 | else if (ui->comboBox_wordLength->currentText() == "5") 94 | mySerialPort->setDataBits(QSerialPort::Data5); 95 | } 96 | } 97 | 98 | void PID_Regulator::setStopBits() 99 | { 100 | if (portIsOpen) 101 | { 102 | if (ui->comboBox_stopBits->currentText() == "1") 103 | mySerialPort->setStopBits(QSerialPort::OneStop); 104 | else if (ui->comboBox_stopBits->currentText() == "1.5") 105 | mySerialPort->setStopBits(QSerialPort::OneAndHalfStop); 106 | else if (ui->comboBox_stopBits->currentText() == "2") 107 | mySerialPort->setStopBits(QSerialPort::TwoStop); 108 | } 109 | } 110 | 111 | void PID_Regulator::setFlowCtrl() 112 | { 113 | if (portIsOpen) 114 | { 115 | if (ui->comboBox_flowCtl->currentText() == "off") 116 | mySerialPort->setFlowControl(QSerialPort::NoFlowControl); 117 | else if (ui->comboBox_flowCtl->currentText() == "hardware") 118 | mySerialPort->setFlowControl(QSerialPort::HardwareControl); 119 | else if (ui->comboBox_flowCtl->currentText() == "xonxoff") 120 | mySerialPort->setFlowControl(QSerialPort::SoftwareControl); 121 | } 122 | } 123 | 124 | void PID_Regulator::checkAvailablePorts() 125 | { 126 | foreach (const QSerialPortInfo &Info, QSerialPortInfo::availablePorts()) 127 | { 128 | // qDebug() << Info.portName() << endl; 129 | QSerialPort availablePort; 130 | availablePort.setPortName(Info.portName()); 131 | qDebug() << "availablePort.portName():" <comboBox_portName->setItemText(0, Info.portName()); 137 | ui->comboBox_portName->setCurrentIndex(0); 138 | availablePort.close(); 139 | } 140 | } 141 | } 142 | 143 | void PID_Regulator::serialSwitch() 144 | { 145 | emit checkAvailablePorts(); 146 | static bool checked = true; 147 | qDebug() << checked << endl; 148 | if (checked == true) 149 | { 150 | 151 | checked = false; 152 | mySerialPort = new QSerialPort(this); 153 | QString tempStr = ui->comboBox_portName->currentText(); 154 | mySerialPort->setPortName(tempStr); 155 | if (mySerialPort->open(QIODevice::ReadWrite)) 156 | { 157 | portIsOpen = true; 158 | emit setBaudRate(); 159 | emit setParity(); 160 | emit setDataBits(); 161 | emit setStopBits(); 162 | emit setFlowCtrl(); 163 | ui->pushButton_serialSwitch->setText(QString::fromLocal8Bit("Close")); 164 | ui->textBrowser_log->append(QTime::currentTime().toString()+" Open the serial port successfully!"); 165 | connect(mySerialPort, SIGNAL(readyRead()), this, SLOT(readMyCom())); 166 | } 167 | else 168 | { 169 | ui->pushButton_serialSwitch->setChecked(false); 170 | QMessageBox::warning(this,\ 171 | QString::fromLocal8Bit("Warning"),\ 172 | QString::fromLocal8Bit("No serial USB detected!"), 173 | QMessageBox::Cancel); 174 | } 175 | } 176 | else 177 | { 178 | checked = true; 179 | portIsOpen = false; 180 | if (mySerialPort->isOpen()) 181 | { 182 | mySerialPort->close(); 183 | ui->textBrowser_log->append(QTime::currentTime().toString()+" Close the serial port successfully!"); 184 | } 185 | ui->pushButton_serialSwitch->setText(QString::fromLocal8Bit("Open")); 186 | } 187 | } 188 | 189 | typedef struct{ 190 | unsigned char motor_ID; 191 | unsigned char PID_Mode;//增量式：1；位置式：0 192 | union{ 193 | unsigned char tempChar[4]; 194 | float tempFloat; 195 | }Kp_value; 196 | union{ 197 | unsigned char tempChar[4]; 198 | float tempFloat; 199 | }Ki_value; 200 | union{ 201 | unsigned char tempChar[4]; 202 | float tempFloat; 203 | }Kd_value; 204 | union{ 205 | unsigned char tempChar[4]; 206 | float tempFloat; 207 | }P_out_max; 208 | union{ 209 | unsigned char tempChar[4]; 210 | float tempFloat; 211 | }I_out_max; 212 | union{ 213 | unsigned char tempChar[4]; 214 | float tempFloat; 215 | }D_out_max; 216 | union{ 217 | unsigned char tempChar[4]; 218 | float tempFloat; 219 | }PID_out_max; 220 | }PID_struct; 221 | 222 | typedef struct{ 223 | unsigned char SOF; 224 | unsigned char Data_Length; 225 | unsigned char seq; 226 | unsigned char crc8; 227 | unsigned char cmd_ID; 228 | PID_struct PID; 229 | union{ 230 | unsigned char tempChar[2]; 231 | int tempInt; 232 | }crc16; 233 | }MsgsFrame_struct; 234 | MsgsFrame_struct query; 235 | MsgsFrame_struct set; 236 | QByteArray serialReceiveMsgs; 237 | void PID_Regulator::readMyCom() 238 | { 239 | QByteArray temp = mySerialPort->readAll(); 240 | if(!temp.isEmpty()) 241 | { 242 | serialReceiveMsgs.append(temp); 243 | if(serialReceiveMsgs.length() == 37) 244 | { 245 | unsigned char * receiveData = (unsigned char *)serialReceiveMsgs.data(); 246 | qDebug() << "serialReceiveMsgs.length()" << serialReceiveMsgs.length() << endl; 247 | serialReceiveMsgs.clear(); 248 | if(Verify_CRC8_Check_Sum(receiveData,4)) 249 | { 250 | qDebug() << "CRC8_Check_OK" << endl; 251 | if(Verify_CRC16_Check_Sum(receiveData,serialReceiveMsgs.length())) 252 | { 253 | qDebug() << "CRC16_Check_OK" << endl; 254 | } 255 | query.SOF = *receiveData++; 256 | query.Data_Length = *receiveData++; 257 | query.seq = *receiveData++; 258 | query.crc8 = *receiveData++; 259 | query.cmd_ID = *receiveData++; 260 | qDebug() << "SOF_query" << query.SOF << endl; 261 | qDebug() << "Data_Length_query" << query.Data_Length << endl; 262 | 263 | query.PID.motor_ID = *receiveData++; 264 | query.PID.PID_Mode = *receiveData++; 265 | qDebug() << "motor_ID_query" << query.PID.motor_ID << endl; 266 | qDebug() << "PID_Mode_query" << query.PID.PID_Mode << endl; 267 | int i=0; 268 | for(i=0;i<4;i++) query.PID.Kp_value.tempChar[i] = *receiveData++; 269 | for(i=0;i<4;i++) query.PID.Ki_value.tempChar[i] = *receiveData++; 270 | for(i=0;i<4;i++) query.PID.Kd_value.tempChar[i] = *receiveData++; 271 | for(i=0;i<4;i++) query.PID.P_out_max.tempChar[i] = *receiveData++; 272 | for(i=0;i<4;i++) query.PID.I_out_max.tempChar[i] = *receiveData++; 273 | for(i=0;i<4;i++) query.PID.D_out_max.tempChar[i] = *receiveData++; 274 | for(i=0;i<4;i++) query.PID.PID_out_max.tempChar[i] = *receiveData++; 275 | 276 | for(i=0;i<2;i++) query.crc16.tempChar[i] = *receiveData++; 277 | 278 | ui->comboBox_motor_ID->setCurrentIndex(query.PID.motor_ID); 279 | ui->comboBox_PID_Mode->setCurrentIndex(query.PID.PID_Mode); 280 | ui->lineEdit_KpValue->setText(QString("%1").arg(query.PID.Kp_value.tempFloat)); 281 | ui->lineEdit_KiValue->setText(QString("%1").arg(query.PID.Ki_value.tempFloat)); 282 | ui->lineEdit_KdValue->setText(QString("%1").arg(query.PID.Kd_value.tempFloat)); 283 | ui->lineEdit_Pout_MAX->setText(QString("%1").arg(query.PID.P_out_max.tempFloat)); 284 | ui->lineEdit_Iout_MAX->setText(QString("%1").arg(query.PID.I_out_max.tempFloat)); 285 | ui->lineEdit_Dout_MAX->setText(QString("%1").arg(query.PID.D_out_max.tempFloat)); 286 | ui->lineEdit_PIDout_MAX->setText(QString("%1").arg(query.PID.PID_out_max.tempFloat)); 287 | 288 | ui->textBrowser_log->append(QTime::currentTime().toString() + "PID参数如下："); 289 | ui->textBrowser_log->append("motor_ID: "+QString("%1").arg(query.PID.motor_ID)); 290 | query.PID.PID_Mode == 1 ? ui->textBrowser_log->append("PID_Mode:增量式")\ 291 | :ui->textBrowser_log->append("PID_Mode:位置式"); 292 | ui->textBrowser_log->append("Kp_value = "+QString("%1").arg(query.PID.Kp_value.tempFloat)); 293 | ui->textBrowser_log->append("Ki_value = "+QString("%1").arg(query.PID.Ki_value.tempFloat)); 294 | ui->textBrowser_log->append("Kd_value = "+QString("%1").arg(query.PID.Kd_value.tempFloat)); 295 | ui->textBrowser_log->append("P_out_max = "+QString("%1").arg(query.PID.P_out_max.tempFloat)); 296 | ui->textBrowser_log->append("I_out_max = "+QString("%1").arg(query.PID.I_out_max.tempFloat)); 297 | ui->textBrowser_log->append("D_out_max = "+QString("%1").arg(query.PID.D_out_max.tempFloat)); 298 | ui->textBrowser_log->append("PID_out_max = "+QString("%1").arg(query.PID.PID_out_max.tempFloat)); 299 | } 300 | 301 | } 302 | } 303 | 304 | } 305 | 306 | void PID_Regulator::setKpValue() 307 | { 308 | QString tempStr; 309 | float tempNum1, tempNum2; 310 | tempStr = ui->lineEdit_KpScale->text(); 311 | tempNum1 = tempStr.toULong(); 312 | tempNum2 = ui->horizontalSlider_Kp->value(); 313 | tempNum1 *= tempNum2; 314 | tempStr = QString("%1").arg(tempNum1/10000); 315 | ui->lineEdit_KpValue->setText(tempStr); 316 | } 317 | 318 | void PID_Regulator::setKiValue() 319 | { 320 | QString tempStr; 321 | float tempNum1, tempNum2; 322 | tempStr = ui->lineEdit_KiScale->text(); 323 | tempNum1 = tempStr.toULong(); 324 | tempNum2 = ui->horizontalSlider_Ki->value(); 325 | tempNum1 *= tempNum2; 326 | tempStr = QString("%1").arg(tempNum1/10000); 327 | ui->lineEdit_KiValue->setText(tempStr); 328 | } 329 | 330 | void PID_Regulator::setKdValue() 331 | { 332 | QString tempStr; 333 | float tempNum1, tempNum2; 334 | tempStr = ui->lineEdit_KdScale->text(); 335 | tempNum1 = tempStr.toULong(); 336 | tempNum2 = ui->horizontalSlider_Kd->value(); 337 | tempNum1 *= tempNum2; 338 | tempStr = QString("%1").arg(tempNum1/10000); 339 | ui->lineEdit_KdValue->setText(tempStr); 340 | } 341 | 342 | void PID_Regulator::setKpSliderValue() 343 | { 344 | QString tempStr; 345 | float tempNum1, tempNum2; 346 | tempStr = ui->lineEdit_KpScale->text(); 347 | tempNum1 = tempStr.toULong(); 348 | tempStr = ui->lineEdit_KpValue->text(); 349 | tempNum2 = tempStr.toFloat(); 350 | tempNum2 = tempNum2*10000/tempNum1; 351 | ui->horizontalSlider_Kp->setValue((int)tempNum2); 352 | } 353 | 354 | void PID_Regulator::setKiSliderValue() 355 | { 356 | QString tempStr; 357 | float tempNum1, tempNum2; 358 | tempStr = ui->lineEdit_KiScale->text(); 359 | tempNum1 = tempStr.toULong(); 360 | tempStr = ui->lineEdit_KiValue->text(); 361 | tempNum2 = tempStr.toFloat(); 362 | tempNum2 = tempNum2*10000/tempNum1; 363 | ui->horizontalSlider_Ki->setValue((int)tempNum2); 364 | } 365 | 366 | void PID_Regulator::setKdSliderValue() 367 | { 368 | QString tempStr; 369 | float tempNum1, tempNum2; 370 | tempStr = ui->lineEdit_KdScale->text(); 371 | tempNum1 = tempStr.toULong(); 372 | tempStr = ui->lineEdit_KdValue->text(); 373 | tempNum2 = tempStr.toFloat(); 374 | tempNum2 = tempNum2*10000/tempNum1; 375 | ui->horizontalSlider_Kd->setValue((int)tempNum2); 376 | } 377 | 378 | union{ 379 | char byte[4]; 380 | float floatValue; 381 | }uF2C; 382 | #define SOF 0xA5 383 | #define DATA_LENGTH_SET_PID_PATAMS 30 384 | #define CMD_ID_SET_PID_PATAMS 0x01 385 | 386 | #define DATA_LENGTH_QUERY_PID_PATAMS 1 387 | #define CMD_ID_QUERY_PID_PATAMS 0x00 388 | void PID_Regulator::setPIDParams() 389 | { 390 | QByteArray sendData; 391 | //帧开头 392 | unsigned char j = 0; 393 | sendData[j++] = SOF; 394 | sendData[j++] = DATA_LENGTH_SET_PID_PATAMS; 395 | static unsigned char seq = 0; 396 | sendData[j++] = seq; 397 | seq++; 398 | //crc8 399 | unsigned char * tempData = (unsigned char *)sendData.data(); 400 | unsigned char crc8 = Get_CRC8_Check_Sum(tempData,j,0xff); 401 | qDebug() << "crc8" << crc8 << endl; 402 | for(int i = 0; icomboBox_motor_ID->currentText(); 412 | sendData[j++] = motorID.toUShort(); 413 | //PID_Mode 414 | char pidMode = ui->comboBox_PID_Mode->currentIndex(); 415 | sendData[j++] = pidMode; 416 | 417 | QString tempStr; 418 | for(int i=0;i<4;i++) 419 | { 420 | uF2C.byte[i] = i; 421 | } 422 | qDebug() << "iiiii" << uF2C.floatValue << endl; 423 | 424 | //KpValue 425 | tempStr = ui->lineEdit_KpValue->text(); 426 | float KpValue = tempStr.toFloat(); 427 | uF2C.floatValue = KpValue; 428 | for(int i=0;i<4;i++) sendData[j++] = uF2C.byte[i]; 429 | qDebug() << "lineEdit_KpValue" << uF2C.floatValue << endl; 430 | //KiValue 431 | tempStr = ui->lineEdit_KiValue->text(); 432 | float KiValue = tempStr.toFloat(); 433 | uF2C.floatValue = KiValue; 434 | for(int i=0;i<4;i++) sendData[j++] = uF2C.byte[i]; 435 | qDebug() << "lineEdit_KiValue" << uF2C.floatValue << endl; 436 | //KdValue 437 | tempStr = ui->lineEdit_KdValue->text(); 438 | float KdValue = tempStr.toFloat(); 439 | uF2C.floatValue = KdValue; 440 | for(int i=0;i<4;i++) sendData[j++] = uF2C.byte[i]; 441 | qDebug() << "lineEdit_KdValue" << uF2C.floatValue << endl; 442 | //Pout_MAX 443 | tempStr = ui->lineEdit_Pout_MAX->text(); 444 | float Pout_MAX = tempStr.toFloat(); 445 | uF2C.floatValue = Pout_MAX; 446 | for(int i=0;i<4;i++) sendData[j++] = uF2C.byte[i]; 447 | qDebug() << "Pout_MAX" << uF2C.floatValue << endl; 448 | //Iout_MAX 449 | tempStr = ui->lineEdit_Iout_MAX->text(); 450 | float Iout_MAX = tempStr.toFloat(); 451 | uF2C.floatValue = Iout_MAX; 452 | for(int i=0;i<4;i++) sendData[j++] = uF2C.byte[i]; 453 | qDebug() << "Iout_MAX" << uF2C.floatValue << endl; 454 | //Dout_MAX 455 | tempStr = ui->lineEdit_Dout_MAX->text(); 456 | float Dout_MAX = tempStr.toFloat(); 457 | uF2C.floatValue = Dout_MAX; 458 | for(int i=0;i<4;i++) sendData[j++] = uF2C.byte[i]; 459 | qDebug() << "Dout_MAX" << uF2C.floatValue << endl; 460 | //PID_out_max 461 | tempStr = ui->lineEdit_PIDout_MAX->text(); 462 | float PIDout_MAX = tempStr.toFloat(); 463 | uF2C.floatValue = PIDout_MAX; 464 | for(int i=0;i<4;i++) sendData[j++] = uF2C.byte[i]; 465 | qDebug() << "PIDout_MAX" << uF2C.floatValue << endl; 466 | //crc16 467 | qDebug() << "jj" << j << endl; 468 | qDebug() << "sendData.length()" << sendData.length() << endl; 469 | 470 | unsigned char * ttempData = (unsigned char *)sendData.data(); 471 | uint16_t crc16 = Get_CRC16_Check_Sum(ttempData,j,0xffff); 472 | qDebug() << "crc16" << crc16 << endl; 473 | char crc16_L = crc16&0xff; 474 | char crc16_H = (crc16>>8)&0xff; 475 | // qDebug() << "crc16_L" << crc16_L << endl; 476 | // qDebug() << "crc16_H" << crc16_H << endl; 477 | sendData[j++] = crc16_L; 478 | sendData[j] = crc16_H; 479 | 480 | qDebug() << "sendData.length()" << sendData.length() << endl; 481 | qDebug() << "jj" << j << endl; 482 | qDebug() << "sendData" << sendData << endl; 483 | if(portIsOpen == true) 484 | { 485 | // ui->textBrowser_log->append("Sending the PID params!"); 486 | ui->textBrowser_log->append(QTime::currentTime().toString()+" 正在设置PID参数..."); 487 | unsigned char i = 3; 488 | while(i) 489 | { 490 | i--; 491 | mySerialPort->write(sendData); 492 | // Delay_MSec(2); 493 | } 494 | // mySerialPort->write(sendData); 495 | } 496 | } 497 | 498 | void PID_Regulator::queryPIDParams() 499 | { 500 | QByteArray sendData; 501 | //帧开头 502 | unsigned char j = 0; 503 | sendData[j++] = SOF; 504 | // qDebug() << "j" << j << endl; 505 | sendData[j++] = DATA_LENGTH_QUERY_PID_PATAMS; 506 | // qDebug() << "j" << j << endl; 507 | static unsigned char seq = 0; 508 | sendData[j++] = seq; 509 | seq++; 510 | //crc8 511 | unsigned char * tempData = (unsigned char *)sendData.data(); 512 | unsigned char crc8 = Get_CRC8_Check_Sum(tempData,j,0xff);//TODO 513 | qDebug() << "crc8" << crc8 << endl; 514 | for(int i = 0; icomboBox_motor_ID->currentText(); 524 | sendData[j++] = motorID.toUShort(); 525 | 526 | //crc16 527 | unsigned char * ttempData = (unsigned char *)sendData.data(); 528 | uint16_t crc16 = Get_CRC16_Check_Sum(ttempData,j,0xffff); 529 | qDebug() << "crc16" << crc16 << endl; 530 | char crc16_H = (crc16>>8)&0x00ff; 531 | char crc16_L = crc16&0x00ff; 532 | sendData[j++] = crc16_L; 533 | sendData[j] = crc16_H; 534 | 535 | qDebug() << "sendData.length()" << sendData.length() << endl; 536 | qDebug() << "sendData" << sendData << endl; 537 | 538 | if(portIsOpen == true) 539 | { 540 | // ui->textBrowser_log->append("Querying the PID params!"); 541 | // ui->textBrowser_log->append(QTime::currentTime().toString()); 542 | ui->textBrowser_log->append(QTime::currentTime().toString()+" 正在查询板载PID参数..."); 543 | unsigned char i = 3; 544 | while(i) 545 | { 546 | i--; 547 | mySerialPort->write(sendData); 548 | // Delay_MSec(2); 549 | } 550 | // mySerialPort->write(sendData); 551 | } 552 | } 553 | -------------------------------------------------------------------------------- /PC_UI/src/PID_Regulator/pid_regulator.h: -------------------------------------------------------------------------------- 1 | #ifndef PID_REGULATOR_H 2 | #define PID_REGULATOR_H 3 | 4 | #include 5 | #include "pid_regulator.h" 6 | #include "ui_pid_regulator.h" 7 | class SerialPortSetting; 8 | class QSerialPort; 9 | 10 | namespace Ui { 11 | class PID_Regulator; 12 | } 13 | 14 | class PID_Regulator : public QWidget 15 | { 16 | Q_OBJECT 17 | 18 | public: 19 | explicit PID_Regulator(QWidget *parent = 0); 20 | ~PID_Regulator(); 21 | void Delay_MSec(unsigned int msec); 22 | // void Delay_MSec_Suspend(unsigned int msec); 23 | 24 | private: 25 | Ui::PID_Regulator *ui; 26 | bool portIsOpen = false; 27 | QSerialPort* mySerialPort; 28 | public slots: 29 | void setBaudRate(); 30 | void setParity(); 31 | void setDataBits(); 32 | void setStopBits(); 33 | void setFlowCtrl(); 34 | void checkAvailablePorts(); 35 | 36 | void serialSwitch(); 37 | void queryPIDParams(); 38 | void setPIDParams(); 39 | void readMyCom(); 40 | 41 | void setKpValue(); 42 | void setKiValue(); 43 | void setKdValue(); 44 | void setKpSliderValue(); 45 | void setKiSliderValue(); 46 | void setKdSliderValue(); 47 | }; 48 | 49 | #endif // PID_REGULATOR_H 50 | -------------------------------------------------------------------------------- /PC_UI/src/PID_Regulator/pid_regulator.ui: -------------------------------------------------------------------------------- 1 | 2 | 3 | PID_Regulator 4 | 5 | 6 | 7 | 0 8 | 0 9 | 550 10 | 581 11 | 12 | 13 | 14 | PID_Regulator 15 | 16 | 17 | 18 | RM_Logo.icoRM_Logo.ico 19 | 20 | 21 | 1.000000000000000 22 | 23 | 24 | 25 | 26 | 10 27 | 20 28 | 151 29 | 221 30 | 31 | 32 | 33 | 串口设置 34 | 35 | 36 | 37 | 38 | 11 39 | 20 40 | 133 41 | 195 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 串口号 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 75 59 | 0 60 | 61 | 62 | 63 | 64 | COM0 65 | 66 | 67 | 68 | 69 | COM1 70 | 71 | 72 | 73 | 74 | COM2 75 | 76 | 77 | 78 | 79 | COM3 80 | 81 | 82 | 83 | 84 | COM4 85 | 86 | 87 | 88 | 89 | COM5 90 | 91 | 92 | 93 | 94 | COM6 95 | 96 | 97 | 98 | 99 | COM7 100 | 101 | 102 | 103 | 104 | COM8 105 | 106 | 107 | 108 | 109 | COM9 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 波特率 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 75 130 | 0 131 | 132 | 133 | 134 | 135 | 115200 136 | 137 | 138 | 139 | 140 | 57600 141 | 142 | 143 | 144 | 145 | 38400 146 | 147 | 148 | 149 | 150 | 19200 151 | 152 | 153 | 154 | 155 | 9600 156 | 157 | 158 | 159 | 160 | 4800 161 | 162 | 163 | 164 | 165 | 2400 166 | 167 | 168 | 169 | 170 | 1200 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 停止位 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 75 191 | 0 192 | 193 | 194 | 195 | 196 | 1 197 | 198 | 199 | 200 | 201 | 1.5 202 | 203 | 204 | 205 | 206 | 2 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 数据位 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 75 227 | 0 228 | 229 | 230 | 231 | 232 | 8 233 | 234 | 235 | 236 | 237 | 7 238 | 239 | 240 | 241 | 242 | 6 243 | 244 | 245 | 246 | 247 | 5 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 259 | 奇偶校验 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 75 268 | 0 269 | 270 | 271 | 272 | 273 | 无 274 | 275 | 276 | 277 | 278 | 奇校验 279 | 280 | 281 | 282 | 283 | 偶校验 284 | 285 | 286 | 287 | 288 | 289 | 290 | 291 | 292 | 293 | 294 | 295 | 流控制 296 | 297 | 298 | 299 | 300 | 301 | 302 | 303 | 75 304 | 0 305 | 306 | 307 | 308 | 309 | OFF 310 | 311 | 312 | 313 | 314 | ON 315 | 316 | 317 | 318 | 319 | 320 | 321 | 322 | 323 | 324 | 325 | 326 | 串口操作 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 70 335 | 0 336 | 337 | 338 | 339 | Open 340 | 341 | 342 | 343 | 344 | 345 | 346 | 347 | 348 | 349 | 350 | 351 | 170 352 | 20 353 | 371 354 | 221 355 | 356 | 357 | 358 | 359 | 16777215 360 | 16777215 361 | 362 | 363 | 364 | 日志 365 | 366 | 367 | 368 | 369 | 10 370 | 20 371 | 351 372 | 191 373 | 374 | 375 | 376 | 377 | 378 | 379 | 380 | 16777215 381 | 16777215 382 | 383 | 384 | 385 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 386 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 387 | p, li { white-space: pre-wrap; } 388 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 389 | <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; font-weight:600;">PID_Regulator V1.2</span></p> 390 | <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;"><br /></p> 391 | <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;">南京理工大学</span></p> 392 | <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;">Alliance战队</span></p> 393 | <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;">我来！我见！我征服！</span></p> 394 | <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;">作者：chenqingwu@njust.edu.cn</span></p> 395 | <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> 396 | 397 | 398 | 399 | 400 | 401 | 402 | 403 | 404 | 清除 405 | 406 | 407 | 408 | 409 | 410 | 411 | true 412 | 413 | 414 | 查询板载PID参数 415 | 416 | 417 | 418 | 419 | 420 | 421 | 设置PID参数 422 | 423 | 424 | 425 | 426 | 427 | 428 | 429 | 430 | 431 | 432 | 433 | 10 434 | 250 435 | 531 436 | 321 437 | 438 | 439 | 440 | PID Dynamic Reconfigure 441 | 442 | 443 | 444 | 445 | 10 446 | 60 447 | 511 448 | 81 449 | 450 | 451 | 452 | Proportion 453 | 454 | 455 | 456 | 457 | 10 458 | 20 459 | 498 460 | 56 461 | 462 | 463 | 464 | 465 | 466 | 467 | 468 | 469 | 470 | 30 471 | 0 472 | 473 | 474 | 475 | 476 | 30 477 | 16777215 478 | 479 | 480 | 481 | -1.0 482 | 483 | 484 | 485 | 486 | 487 | 488 | 489 | 0 490 | 0 491 | 492 | 493 | 494 | 495 | 400 496 | 0 497 | 498 | 499 | 500 | -10000 501 | 502 | 503 | 10000 504 | 505 | 506 | Qt::Horizontal 507 | 508 | 509 | 510 | 511 | 512 | 513 | 514 | 30 515 | 0 516 | 517 | 518 | 519 | 520 | 30 521 | 16777215 522 | 523 | 524 | 525 | 1.0 526 | 527 | 528 | 529 | 530 | 531 | 532 | 533 | 534 | 535 | 536 | 537 | 538 | 539 | 0 540 | 0 541 | 542 | 543 | 544 | 545 | 55 546 | 0 547 | 548 | 549 | 550 | 551 | 55 552 | 16777215 553 | 554 | 555 | 556 | Kp Scale 557 | 558 | 559 | 560 | 561 | 562 | 563 | 564 | 0 565 | 0 566 | 567 | 568 | 569 | 570 | 80 571 | 0 572 | 573 | 574 | 575 | 576 | 80 577 | 16777215 578 | 579 | 580 | 581 | 100 582 | 583 | 584 | 585 | 586 | 587 | 588 | 589 | 590 | 591 | 592 | 593 | 55 594 | 0 595 | 596 | 597 | 598 | 599 | 55 600 | 16777215 601 | 602 | 603 | 604 | Pout MAX 605 | 606 | 607 | 608 | 609 | 610 | 611 | 612 | 80 613 | 0 614 | 615 | 616 | 617 | 618 | 80 619 | 16777215 620 | 621 | 622 | 623 | 0 624 | 625 | 626 | 627 | 628 | 629 | 630 | 631 | 632 | 633 | 634 | 635 | 55 636 | 0 637 | 638 | 639 | 640 | 641 | 55 642 | 16777215 643 | 644 | 645 | 646 | Kp Value 647 | 648 | 649 | 650 | 651 | 652 | 653 | 654 | 133 655 | 0 656 | 657 | 658 | 659 | 660 | 16777215 661 | 16777215 662 | 663 | 664 | 665 | 666 | 667 | 668 | 669 | 670 | 671 | 672 | 673 | 674 | 675 | 676 | 10 677 | 230 678 | 511 679 | 81 680 | 681 | 682 | 683 | Derivative 684 | 685 | 686 | 687 | 688 | 10 689 | 20 690 | 498 691 | 56 692 | 693 | 694 | 695 | 696 | 697 | 698 | 699 | 700 | 701 | 30 702 | 0 703 | 704 | 705 | 706 | 707 | 30 708 | 16777215 709 | 710 | 711 | 712 | -1.0 713 | 714 | 715 | 716 | 717 | 718 | 719 | 720 | 0 721 | 0 722 | 723 | 724 | 725 | 726 | 350 727 | 0 728 | 729 | 730 | 731 | -10000 732 | 733 | 734 | 10000 735 | 736 | 737 | Qt::Horizontal 738 | 739 | 740 | 741 | 742 | 743 | 744 | 745 | 30 746 | 0 747 | 748 | 749 | 750 | 751 | 30 752 | 16777215 753 | 754 | 755 | 756 | 1.0 757 | 758 | 759 | 760 | 761 | 762 | 763 | 764 | 765 | 766 | 767 | 768 | 769 | 770 | 55 771 | 0 772 | 773 | 774 | 775 | 776 | 55 777 | 16777215 778 | 779 | 780 | 781 | Kd Scale 782 | 783 | 784 | 785 | 786 | 787 | 788 | 789 | 80 790 | 0 791 | 792 | 793 | 794 | 795 | 80 796 | 16777215 797 | 798 | 799 | 800 | 100 801 | 802 | 803 | 804 | 805 | 806 | 807 | 808 | 809 | 810 | 811 | 812 | 55 813 | 0 814 | 815 | 816 | 817 | 818 | 55 819 | 16777215 820 | 821 | 822 | 823 | Dout MAX 824 | 825 | 826 | 827 | 828 | 829 | 830 | 831 | 80 832 | 0 833 | 834 | 835 | 836 | 837 | 80 838 | 16777215 839 | 840 | 841 | 842 | 0 843 | 844 | 845 | 846 | 847 | 848 | 849 | 850 | 851 | 852 | 853 | 854 | 55 855 | 0 856 | 857 | 858 | 859 | 860 | 55 861 | 16777215 862 | 863 | 864 | 865 | Kd Value 866 | 867 | 868 | 869 | 870 | 871 | 872 | 873 | 874 | 875 | 876 | 877 | 878 | 879 | 880 | 881 | 882 | 20 883 | 30 884 | 498 885 | 24 886 | 887 | 888 | 889 | 890 | 891 | 892 | 893 | 894 | 895 | 40 896 | 0 897 | 898 | 899 | 900 | PID Mode 901 | 902 | 903 | 904 | 905 | 906 | 907 | 908 | 50 909 | 0 910 | 911 | 912 | 913 | 914 | 位置式 915 | 916 | 917 | 918 | 919 | 增量式 920 | 921 | 922 | 923 | 924 | 925 | 926 | 927 | 928 | 929 | 930 | 931 | 932 | 50 933 | 0 934 | 935 | 936 | 937 | Motor ID 938 | 939 | 940 | 941 | 942 | 943 | 944 | 945 | 30 946 | 0 947 | 948 | 949 | 950 | 951 | 0 952 | 953 | 954 | 955 | 956 | 1 957 | 958 | 959 | 960 | 961 | 2 962 | 963 | 964 | 965 | 966 | 3 967 | 968 | 969 | 970 | 971 | 4 972 | 973 | 974 | 975 | 976 | 5 977 | 978 | 979 | 980 | 981 | 6 982 | 983 | 984 | 985 | 986 | 7 987 | 988 | 989 | 990 | 991 | 8 992 | 993 | 994 | 995 | 996 | 9 997 | 998 | 999 | 1000 | 1001 | 1002 | 1003 | 1004 | 1005 | 1006 | 1007 | 1008 | 1009 | 70 1010 | 0 1011 | 1012 | 1013 | 1014 | 1015 | 70 1016 | 16777215 1017 | 1018 | 1019 | 1020 | PIDout MAX 1021 | 1022 | 1023 | 1024 | 1025 | 1026 | 1027 | 1028 | 100 1029 | 0 1030 | 1031 | 1032 | 1033 | 1034 | 16777215 1035 | 16777215 1036 | 1037 | 1038 | 1039 | 0 1040 | 1041 | 1042 | 1043 | 1044 | 1045 | 1046 | 1047 | 1048 | 1049 | 1050 | 10 1051 | 150 1052 | 511 1053 | 80 1054 | 1055 | 1056 | 1057 | Intergral 1058 | 1059 | 1060 | 1061 | 1062 | 10 1063 | 20 1064 | 498 1065 | 56 1066 | 1067 | 1068 | 1069 | 1070 | 1071 | 1072 | 1073 | 1074 | 1075 | 30 1076 | 0 1077 | 1078 | 1079 | 1080 | 1081 | 30 1082 | 16777215 1083 | 1084 | 1085 | 1086 | -1.0 1087 | 1088 | 1089 | 1090 | 1091 | 1092 | 1093 | 1094 | 0 1095 | 0 1096 | 1097 | 1098 | 1099 | 1100 | 350 1101 | 0 1102 | 1103 | 1104 | 1105 | -10000 1106 | 1107 | 1108 | 10000 1109 | 1110 | 1111 | Qt::Horizontal 1112 | 1113 | 1114 | 1115 | 1116 | 1117 | 1118 | 1119 | 30 1120 | 0 1121 | 1122 | 1123 | 1124 | 1125 | 30 1126 | 16777215 1127 | 1128 | 1129 | 1130 | 1.0 1131 | 1132 | 1133 | 1134 | 1135 | 1136 | 1137 | 1138 | 1139 | 1140 | 1141 | 1142 | 1143 | 1144 | 55 1145 | 0 1146 | 1147 | 1148 | 1149 | 1150 | 55 1151 | 16777215 1152 | 1153 | 1154 | 1155 | Ki Scale 1156 | 1157 | 1158 | 1159 | 1160 | 1161 | 1162 | 1163 | 80 1164 | 0 1165 | 1166 | 1167 | 1168 | 1169 | 80 1170 | 16777215 1171 | 1172 | 1173 | 1174 | 100 1175 | 1176 | 1177 | 1178 | 1179 | 1180 | 1181 | 1182 | 1183 | 1184 | 1185 | 1186 | 55 1187 | 0 1188 | 1189 | 1190 | 1191 | 1192 | 55 1193 | 16777215 1194 | 1195 | 1196 | 1197 | Iout MAX 1198 | 1199 | 1200 | 1201 | 1202 | 1203 | 1204 | 1205 | 80 1206 | 0 1207 | 1208 | 1209 | 1210 | 1211 | 80 1212 | 16777215 1213 | 1214 | 1215 | 1216 | 0 1217 | 1218 | 1219 | 1220 | 1221 | 1222 | 1223 | 1224 | 1225 | 1226 | 1227 | 1228 | 55 1229 | 0 1230 | 1231 | 1232 | 1233 | 1234 | 55 1235 | 16777215 1236 | 1237 | 1238 | 1239 | Ki Value 1240 | 1241 | 1242 | 1243 | 1244 | 1245 | 1246 | 1247 | 1248 | 1249 | 1250 | 1251 | 1252 | 1253 | layoutWidget_5 1254 | groupBox_5 1255 | groupBox_7 1256 | groupBox_6 1257 | 1258 | groupBox_2 1259 | groupBox 1260 | groupBox_3 1261 | 1262 | 1263 | 1264 | 1265 | 1266 | comboBox_baudRate 1267 | currentTextChanged(QString) 1268 | PID_Regulator 1269 | setBaudRate() 1270 | 1271 | 1272 | 102 1273 | 90 1274 | 1275 | 1276 | 184 1277 | 90 1278 | 1279 | 1280 | 1281 | 1282 | comboBox_stopBits 1283 | currentTextChanged(QString) 1284 | PID_Regulator 1285 | setStopBits() 1286 | 1287 | 1288 | 118 1289 | 118 1290 | 1291 | 1292 | 191 1293 | 118 1294 | 1295 | 1296 | 1297 | 1298 | comboBox_wordLength 1299 | currentTextChanged(QString) 1300 | PID_Regulator 1301 | setDataBits() 1302 | 1303 | 1304 | 135 1305 | 148 1306 | 1307 | 1308 | 189 1309 | 146 1310 | 1311 | 1312 | 1313 | 1314 | comboBox_parity 1315 | currentTextChanged(QString) 1316 | PID_Regulator 1317 | setParity() 1318 | 1319 | 1320 | 133 1321 | 173 1322 | 1323 | 1324 | 189 1325 | 175 1326 | 1327 | 1328 | 1329 | 1330 | comboBox_flowCtl 1331 | editTextChanged(QString) 1332 | PID_Regulator 1333 | setFlowCtrl() 1334 | 1335 | 1336 | 121 1337 | 203 1338 | 1339 | 1340 | 189 1341 | 202 1342 | 1343 | 1344 | 1345 | 1346 | pushButton_serialSwitch 1347 | clicked() 1348 | PID_Regulator 1349 | serialSwitch() 1350 | 1351 | 1352 | 119 1353 | 224 1354 | 1355 | 1356 | 187 1357 | 230 1358 | 1359 | 1360 | 1361 | 1362 | horizontalSlider_Kp 1363 | valueChanged(int) 1364 | PID_Regulator 1365 | setKpValue() 1366 | 1367 | 1368 | 481 1369 | 379 1370 | 1371 | 1372 | 586 1373 | 376 1374 | 1375 | 1376 | 1377 | 1378 | lineEdit_KpScale 1379 | textChanged(QString) 1380 | PID_Regulator 1381 | setKpValue() 1382 | 1383 | 1384 | 151 1385 | 410 1386 | 1387 | 1388 | 17 1389 | 406 1390 | 1391 | 1392 | 1393 | 1394 | horizontalSlider_Ki 1395 | valueChanged(int) 1396 | PID_Regulator 1397 | setKiValue() 1398 | 1399 | 1400 | 456 1401 | 468 1402 | 1403 | 1404 | 582 1405 | 464 1406 | 1407 | 1408 | 1409 | 1410 | lineEdit_KiScale 1411 | textChanged(QString) 1412 | PID_Regulator 1413 | setKiValue() 1414 | 1415 | 1416 | 141 1417 | 500 1418 | 1419 | 1420 | 12 1421 | 499 1422 | 1423 | 1424 | 1425 | 1426 | horizontalSlider_Kd 1427 | valueChanged(int) 1428 | PID_Regulator 1429 | setKdValue() 1430 | 1431 | 1432 | 462 1433 | 546 1434 | 1435 | 1436 | 587 1437 | 545 1438 | 1439 | 1440 | 1441 | 1442 | lineEdit_KdScale 1443 | textChanged(QString) 1444 | PID_Regulator 1445 | setKdValue() 1446 | 1447 | 1448 | 145 1449 | 580 1450 | 1451 | 1452 | 14 1453 | 576 1454 | 1455 | 1456 | 1457 | 1458 | lineEdit_KdValue 1459 | textChanged(QString) 1460 | PID_Regulator 1461 | setKdSliderValue() 1462 | 1463 | 1464 | 512 1465 | 581 1466 | 1467 | 1468 | 591 1469 | 580 1470 | 1471 | 1472 | 1473 | 1474 | lineEdit_KiValue 1475 | textChanged(QString) 1476 | PID_Regulator 1477 | setKiSliderValue() 1478 | 1479 | 1480 | 492 1481 | 499 1482 | 1483 | 1484 | 596 1485 | 500 1486 | 1487 | 1488 | 1489 | 1490 | lineEdit_KpValue 1491 | textChanged(QString) 1492 | PID_Regulator 1493 | setKpSliderValue() 1494 | 1495 | 1496 | 478 1497 | 411 1498 | 1499 | 1500 | 586 1501 | 412 1502 | 1503 | 1504 | 1505 | 1506 | pushButton_setPIDParams 1507 | clicked() 1508 | PID_Regulator 1509 | setPIDParams() 1510 | 1511 | 1512 | 262 1513 | 264 1514 | 1515 | 1516 | 189 1517 | 263 1518 | 1519 | 1520 | 1521 | 1522 | pushButton_queryBoardPID 1523 | clicked() 1524 | PID_Regulator 1525 | queryPIDParams() 1526 | 1527 | 1528 | 427 1529 | 261 1530 | 1531 | 1532 | 516 1533 | 260 1534 | 1535 | 1536 | 1537 | 1538 | pushButton_clear 1539 | clicked() 1540 | textBrowser_log 1541 | clear() 1542 | 1543 | 1544 | 237 1545 | 217 1546 | 1547 | 1548 | 355 1549 | 119 1550 | 1551 | 1552 | 1553 | 1554 | 1555 | setBaudRate() 1556 | setStopBits() 1557 | setParity() 1558 | setDataBits() 1559 | setFlowCtrl() 1560 | serialSwitch() 1561 | setKpValue() 1562 | setKiValue() 1563 | setKdValue() 1564 | setKdSliderValue() 1565 | setKpSliderValue() 1566 | setKiSliderValue() 1567 | setPIDParams() 1568 | queryPIDParams() 1569 | 1570 | 1571 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # PID_Regulator 2 | 3 | PID_Regulator是一个旨在为[RoboMaster机甲大师](https://www.robomaster.com/zh-CN)参赛队员提供能够进行PID实时无线调参的解决方案，由[南京理工大学Alliance战队](https://mp.weixin.qq.com/s/pjrncS_X0_DEQYoD6yQVOw)提供技术支持。 4 | # 概述 5 | PID_Regulator主要包含以下三个部分的内容： 6 | 7 | - PC端上位机 8 | - 蓝牙无线串口传输 9 | - 以STM32为开发平台的下位机DEMO 10 | 11 | 功能实现 12 | 13 | - V1.0 根据协议能够实现PID实时无线调参功能 14 | - V1.2 修复一些bug,与STM32通信demo测试通过 15 | 16 | TODO 17 | 18 | - PID曲线显示 19 | ## PC端上位机 20 | 21 | 22 | 23 | ### 开发环境 24 | - Windows 10 25 | - Qt Creator 4.0.3 Based on Qt 5.6.1(MSVC 2013, 32 bit) 26 | ### 操作说明 27 | - 硬件连接好PC和下位机 28 | - 打开PID_Regulator.exe，打开串口即可进行数据传输 29 | - 通过“串口设置”一栏可进行串口参数设置及操作 30 | - 通过“PID Dynamic Reconfigure”一栏可进行PID参数设置 31 | - 通过“日志”一栏可查看相关操作日志并进行PID参数设置与查询板载PID参数 32 | - 剩余的操作请自行摸索 33 | ### 通信协议 34 | 参考[PID_Regulator_Protocol.pdf](https://github.com/jackychen227/PID_Regulator/blob/master/DOC/PID_Regulator_Protocol.pdf) 35 | ## STM32_DEMO 36 | - 蓝牙串口通信 37 | - 根据指定好的通信协议进行信息传输、解码与打包 38 | - 参考[RoboMaster/RoboRTS-Firmware](https://github.com/RoboMaster/RoboRTS-Firmware)进行PID的参数结构体设计 39 | ## 蓝牙无线串口传输 40 | ### 硬件 41 | #### 有线方案 42 | - [USB转TTL CH340模块](https://s.taobao.com/search?q=USB%E8%BD%ACTTL+CH340%E6%A8%A1%E5%9D%97&imgfile=&js=1&stats_click=search_radio_all%3A1&initiative_id=staobaoz_20180527&ie=utf8) 43 | #### 无线方案 44 | - [无线蓝牙模块](https://s.taobao.com/search?q=%E6%97%A0%E7%BA%BF%E8%93%9D%E7%89%99%E6%A8%A1%E5%9D%97&imgfile=&commend=all&ssid=s5-e&search_type=item&sourceId=tb.index&spm=a21bo.2017.201856-taobao-item.1&ie=utf8&initiative_id=tbindexz_20170306) 45 | - [绿联 USB蓝牙适配器4.0版接收器](https://item.jd.com/11078472771.html)(PC若自带蓝牙硬件支持则不用） 46 | 47 | ### 软硬件部署 48 | 初始化车载无线蓝牙串口之后，蓝牙模块与PC端蓝牙配对，之后可用正常的串口发送读取相关函数进行数据的无线传输，详细说明（TODO） 49 | 50 | # 版权申明 51 | NJUST Alliance. All rights reserved. 52 | 53 | # Bless for NJUST Alliance! 54 | # Veni! Vedi! Vici! 55 | 56 | -------------------------------------------------------------------------------- /STM32_DEMO/V1.0/CRC.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jackychen227/PID_Regulator/80aa3789602d16181f5fe85cbe94c8ff96396f2c/STM32_DEMO/V1.0/CRC.c -------------------------------------------------------------------------------- /STM32_DEMO/V1.0/CRC.h: -------------------------------------------------------------------------------- 1 | #ifndef __CRC_H 2 | #define __CRC_H 3 | #include "main.h" 4 | 5 | #define CRC_Check_False 0 6 | #define CRC_Check_True 1 7 | 8 | 9 | unsigned char Get_CRC8_Check_Sum(unsigned char *pchMessage,unsigned int dwLength,unsigned char ucCRC8); 10 | unsigned int Verify_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength); 11 | void Append_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength); 12 | 13 | uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage,uint32_t dwLength,uint16_t wCRC); 14 | uint32_t Verify_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength); 15 | void Append_CRC16_Check_Sum(uint8_t * pchMessage,uint32_t dwLength); 16 | 17 | #endif 18 | 19 | -------------------------------------------------------------------------------- /STM32_DEMO/V1.0/usart.c: -------------------------------------------------------------------------------- 1 | #define __USART_GLOBALS 2 | #include "usart.h" 3 | 4 | 5 | #define USART3_Waiting 0 6 | #define USART3_Receiving 1 7 | #define USART3_Success 2 8 | #define USART3_Failed 3 9 | u8 USART3_state = USART3_Waiting;//接收状态标记 10 | int8_t USART3_Rx_index=0; 11 | int8_t USART3_Tx_index=0; 12 | u16 RxLength = 8; 13 | u8 UsartRx_Info[USART_Rx_LEN]; 14 | u8 UsartTx_Info[USART_Tx_LEN]; 15 | 16 | 17 | 18 | void PID_ParamsSet(MsgsFrame_struct *pidSet); 19 | void PID_ParamsUpload(char motor_ID); 20 | void PID_Regulator_Decode(void); 21 | 22 | void USART3_InitConfig(void) 23 | { 24 | GPIO_InitTypeDef GPIO_InitStruct; 25 | USART_InitTypeDef USART_InitStruct; 26 | NVIC_InitTypeDef NVIC_InitStruct; 27 | 28 | /*enabe clocks*/ 29 | RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD,ENABLE); 30 | RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3,ENABLE); 31 | 32 | /*open the alternative function*/ 33 | GPIO_PinAFConfig(GPIOD,GPIO_PinSource8,GPIO_AF_USART3); 34 | GPIO_PinAFConfig(GPIOD,GPIO_PinSource9,GPIO_AF_USART3); 35 | 36 | /*Configure PD8,PD9 as GPIO_InitStruct1 input*/ 37 | GPIO_InitStruct.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9; 38 | GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF; 39 | GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz; 40 | GPIO_InitStruct.GPIO_OType = GPIO_OType_PP; 41 | GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL; 42 | GPIO_Init(GPIOD,&GPIO_InitStruct); 43 | 44 | USART_InitStruct.USART_BaudRate = 115200; 45 | USART_InitStruct.USART_WordLength = USART_WordLength_8b; 46 | USART_InitStruct.USART_StopBits = USART_StopBits_1; 47 | USART_InitStruct.USART_Parity = USART_Parity_No; 48 | USART_InitStruct.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; 49 | USART_InitStruct.USART_HardwareFlowControl = USART_HardwareFlowControl_None; 50 | USART_Init(USART3,&USART_InitStruct); 51 | 52 | USART_Cmd(USART3,ENABLE); 53 | USART_ITConfig(USART3,USART_IT_RXNE,ENABLE); 54 | // USART_ITConfig(USART3,USART_IT_TC,ENABLE ); 55 | 56 | NVIC_InitStruct.NVIC_IRQChannel = USART3_IRQn; 57 | NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 0; 58 | NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0; 59 | NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE ; 60 | NVIC_Init(&NVIC_InitStruct); 61 | } 62 | 63 | 64 | void PID_ParamsSet(MsgsFrame_struct *pidSet) 65 | { 66 | unsigned char index = pidSet->PID.motor_ID; 67 | Motor_PID[index].pid_mode = pidSet->PID.PID_Mode; 68 | Motor_PID[index].p = pidSet->PID.Kp_value.tempFloat; 69 | Motor_PID[index].i = pidSet->PID.Ki_value.tempFloat; 70 | Motor_PID[index].d = pidSet->PID.Kd_value.tempFloat; 71 | 72 | Motor_PID[index].max_out = pidSet->PID.PID_out_max.tempFloat; 73 | } 74 | 75 | #define QUERY_CMD_ID 0X10 76 | #define SET_CMD_ID 0X01 77 | #define UPLOAD_PARAMS_CMD_ID 0x10 78 | #define DATA_LENGTH_UPLOAD_PID_PATAMS 30 79 | void PID_ParamsUpload(char motor_ID) 80 | { 81 | // if ( (PID_Regulator_Msg.cmd_ID == QUERY_CMD_ID) || (PID_Regulator_Msg.cmd_ID == SET_CMD_ID)) 82 | // { 83 | // 84 | // } 85 | unsigned char i=0,j=0; 86 | static unsigned char seq = 0; 87 | u8 usart_tx[200]; 88 | u8 crc8; 89 | uint16_t crc16; 90 | MsgsFrame_struct tempMsgs; 91 | 92 | tempMsgs.SOF = 0xA5; 93 | tempMsgs.Data_Length = DATA_LENGTH_UPLOAD_PID_PATAMS; 94 | tempMsgs.seq = seq; 95 | seq++; 96 | //tempMsgs.crc8 = 0;// 97 | tempMsgs.cmd_ID = UPLOAD_PARAMS_CMD_ID; 98 | tempMsgs.PID.motor_ID = motor_ID; 99 | tempMsgs.PID.Kp_value.tempFloat = Motor_PID[motor_ID].p; 100 | tempMsgs.PID.Ki_value.tempFloat = Motor_PID[motor_ID].i; 101 | tempMsgs.PID.Kd_value.tempFloat = Motor_PID[motor_ID].d; 102 | tempMsgs.PID.P_out_max.tempFloat = 111;//TODO 103 | tempMsgs.PID.I_out_max.tempFloat = 111;//TODO 104 | tempMsgs.PID.D_out_max.tempFloat = 111;//TODO 105 | tempMsgs.PID.PID_out_max.tempFloat = Motor_PID[motor_ID].max_out; 106 | 107 | usart_tx[i] = tempMsgs.SOF; 108 | usart_tx[i++] = tempMsgs.Data_Length; 109 | usart_tx[i++] = tempMsgs.seq; 110 | 111 | crc8 = Get_CRC8_Check_Sum(usart_tx,i,0xff); 112 | usart_tx[i++] = crc8; 113 | usart_tx[i++] = tempMsgs.cmd_ID; 114 | usart_tx[i++] = tempMsgs.PID.motor_ID; 115 | for(j=0;j<4;j++) usart_tx[i++] = tempMsgs.PID.Kp_value.tempChar[j]; 116 | for(j=0;j<4;j++) usart_tx[i++] = tempMsgs.PID.Ki_value.tempChar[j]; 117 | for(j=0;j<4;j++) usart_tx[i++] = tempMsgs.PID.Kd_value.tempChar[j]; 118 | for(j=0;j<4;j++) usart_tx[i++] = tempMsgs.PID.P_out_max.tempChar[j]; 119 | for(j=0;j<4;j++) usart_tx[i++] = tempMsgs.PID.I_out_max.tempChar[j]; 120 | for(j=0;j<4;j++) usart_tx[i++] = tempMsgs.PID.D_out_max.tempChar[j]; 121 | for(j=0;j<4;j++) usart_tx[i++] = tempMsgs.PID.PID_out_max.tempChar[j]; 122 | 123 | crc16 = Get_CRC16_Check_Sum(usart_tx,i,0xff); 124 | usart_tx[i++] = crc16&0x00ff; 125 | usart_tx[i++] = (crc16>>8)&0x00ff; 126 | 127 | for (j=0;j下位机，查询板载PID参数 143 | { 144 | PID_Regulator_Msg.PID.motor_ID = UsartRx_Info[i++]; 145 | 146 | for(j=0;j<2;j++) PID_Regulator_Msg.crc16.tempChar[j] = UsartRx_Info[i++]; 147 | } 148 | else if ( PID_Regulator_Msg.cmd_ID == 0x01)//上位机->下位机，PID参数设置 149 | { 150 | PID_Regulator_Msg.PID.motor_ID = UsartRx_Info[i++]; 151 | PID_Regulator_Msg.PID.PID_Mode = UsartRx_Info[i++]; 152 | for(j=0;j<4;j++) PID_Regulator_Msg.PID.Kp_value.tempChar[j] = UsartRx_Info[i++]; 153 | for(j=0;j<4;j++) PID_Regulator_Msg.PID.Ki_value.tempChar[j] = UsartRx_Info[i++]; 154 | for(j=0;j<4;j++) PID_Regulator_Msg.PID.Kd_value.tempChar[j] = UsartRx_Info[i++]; 155 | for(j=0;j<4;j++) PID_Regulator_Msg.PID.P_out_max.tempChar[j] = UsartRx_Info[i++]; 156 | for(j=0;j<4;j++) PID_Regulator_Msg.PID.I_out_max.tempChar[j] = UsartRx_Info[i++]; 157 | for(j=0;j<4;j++) PID_Regulator_Msg.PID.D_out_max.tempChar[j] = UsartRx_Info[i++]; 158 | for(j=0;j<4;j++) PID_Regulator_Msg.PID.PID_out_max.tempChar[j] = UsartRx_Info[i++]; 159 | 160 | for(j=0;j<2;j++) PID_Regulator_Msg.crc16.tempChar[j] = UsartRx_Info[i++]; 161 | 162 | //参数赋值、存储操作 163 | PID_ParamsSet(&PID_Regulator_Msg); 164 | } 165 | } 166 | //串口接收上位机信息 167 | void USART3_IRQHandler(void) 168 | { 169 | u8 Res = 0; 170 | if(USART_GetITStatus(USART3, USART_IT_RXNE|USART_IT_ORE_RX) != RESET) //接收中断 171 | { 172 | Res =USART_ReceiveData(USART3);// //读取接收到的数据 173 | if( (USART3_state == USART3_Waiting)&&(Res == 0xA5) ) 174 | { 175 | USART3_state = USART3_Receiving; 176 | USART3_Rx_index = 0; //接收数组的计数器 177 | UsartRx_Info[USART3_Rx_index] = Res; 178 | USART3_Rx_index++; 179 | } 180 | else if( USART3_state == USART3_Receiving ) 181 | { 182 | if( USART3_Rx_index == 1 )//Data Length 183 | { 184 | UsartRx_Info[USART3_Rx_index] = Res; 185 | USART3_Rx_index++; 186 | RxLength = Res; 187 | } 188 | else if( USART3_Rx_index == 2 )//Seq 189 | { 190 | UsartRx_Info[USART3_Rx_index] = Res; 191 | USART3_Rx_index++; 192 | } 193 | else if( USART3_Rx_index == 3 ) 194 | { 195 | if ( Verify_CRC8_Check_Sum(UsartRx_Info,4)) ; 196 | else //CRC校验错误，重新等待读取 197 | { 198 | RxLength=8 ; 199 | USART3_Rx_index = 0; 200 | USART3_state = USART3_Waiting; 201 | } 202 | } 203 | else if (USART3_Rx_index < RxLength) 204 | { 205 | UsartRx_Info[USART3_Rx_index]=Res ; 206 | USART3_Rx_index++; 207 | if (USART3_Rx_index == RxLength) //接收完成 ，结束了 208 | { 209 | //首先进行crc校验应该 210 | if (Verify_CRC16_Check_Sum(UsartRx_Info, RxLength )) PID_Regulator_Decode(); 211 | RxLength=8 ; 212 | USART3_Rx_index = 0; 213 | USART3_state = USART3_Waiting; 214 | } 215 | } 216 | 217 | } 218 | USART_ClearFlag(USART3,USART_IT_RXNE|USART_IT_ORE_RX); 219 | } 220 | PID_ParamsUpload(PID_Regulator_Msg.PID.motor_ID); 221 | } 222 | -------------------------------------------------------------------------------- /STM32_DEMO/V1.0/usart.h: -------------------------------------------------------------------------------- 1 | #ifndef __USART_H 2 | #define __USART_H 3 | #include "main.h" 4 | 5 | #define USART_Rx_LEN 200 //定义最大接收字节数 200 6 | #define USART_Tx_LEN 200 7 | 8 | #ifdef __USART_GLOBALS 9 | #define __USART_EXT 10 | #else 11 | #define __USART_EXT extern 12 | #endif 13 | 14 | typedef struct{ 15 | unsigned char motor_ID; 16 | unsigned char PID_Mode;//增量式：1；位置式：0 17 | union{ 18 | unsigned char tempChar[4]; 19 | float tempFloat; 20 | }Kp_value; 21 | union{ 22 | unsigned char tempChar[4]; 23 | float tempFloat; 24 | }Ki_value; 25 | union{ 26 | unsigned char tempChar[4]; 27 | float tempFloat; 28 | }Kd_value; 29 | union{ 30 | unsigned char tempChar[4]; 31 | uint32_t tempFloat; 32 | }P_out_max; 33 | union{ 34 | unsigned char tempChar[4]; 35 | uint32_t tempFloat; 36 | }I_out_max; 37 | union{ 38 | unsigned char tempChar[4]; 39 | uint32_t tempFloat; 40 | }D_out_max; 41 | union{ 42 | unsigned char tempChar[4]; 43 | uint32_t tempFloat; 44 | }PID_out_max; 45 | }PID_struct; 46 | 47 | typedef struct{ 48 | unsigned char SOF; 49 | unsigned char Data_Length; 50 | unsigned char seq; 51 | unsigned char crc8; 52 | unsigned char cmd_ID; 53 | PID_struct PID; 54 | union{ 55 | unsigned char tempChar[2]; 56 | int tempInt; 57 | }crc16; 58 | }MsgsFrame_struct; 59 | 60 | typedef struct pid_t 61 | { 62 | float p; 63 | float i; 64 | float d; 65 | 66 | float set; 67 | float get; 68 | float err[3]; 69 | 70 | float pout; 71 | float iout; 72 | float dout; 73 | float out; 74 | 75 | float input_max_err; //input max err; 76 | float output_deadband; //output deadband; 77 | 78 | uint32_t pid_mode; 79 | uint32_t max_out; 80 | uint32_t integral_limit; 81 | 82 | void (*f_param_init)(struct pid_t *pid, 83 | uint32_t pid_mode, 84 | uint32_t max_output, 85 | uint32_t inte_limit, 86 | float p, 87 | float i, 88 | float d); 89 | void (*f_pid_reset)(struct pid_t *pid, float p, float i, float d); 90 | 91 | } pid_t; 92 | 93 | 94 | __USART_EXT pid_t Motor_PID[10]; 95 | __USART_EXT MsgsFrame_struct PID_Regulator_Msg; 96 | void USART3_InitConfig(void); 97 | 98 | #endif 99 | -------------------------------------------------------------------------------- /STM32_DEMO/V1.2/CRC.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jackychen227/PID_Regulator/80aa3789602d16181f5fe85cbe94c8ff96396f2c/STM32_DEMO/V1.2/CRC.c -------------------------------------------------------------------------------- /STM32_DEMO/V1.2/CRC.h: -------------------------------------------------------------------------------- 1 | #ifndef __CRC_H 2 | #define __CRC_H 3 | #include "main.h" 4 | 5 | #define CRC_Check_False 0 6 | #define CRC_Check_True 1 7 | 8 | 9 | unsigned char Get_CRC8_Check_Sum(unsigned char *pchMessage,unsigned int dwLength,unsigned char ucCRC8); 10 | unsigned int Verify_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength); 11 | void Append_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength); 12 | 13 | uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage,uint32_t dwLength,uint16_t wCRC); 14 | uint32_t Verify_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength); 15 | void Append_CRC16_Check_Sum(uint8_t * pchMessage,uint32_t dwLength); 16 | 17 | #endif 18 | 19 | -------------------------------------------------------------------------------- /STM32_DEMO/V1.2/usart.c: -------------------------------------------------------------------------------- 1 | #define __USART6_GLOBALS 2 | 3 | #include "usart.h" 4 | 5 | #define USART6_Waiting 0 6 | #define USART6_Receiving 1 7 | #define USART6_Success 2 8 | #define USART6_Failed 3 9 | 10 | u8 USART6_state = USART6_Waiting;//接收状态标记 11 | u8 USART6_Rx_index=0; 12 | u8 USART6_Tx_index=0; 13 | unsigned char Usart6Rx_Info[USART_Rx_LEN]; 14 | unsigned char Usart6Tx_Info[USART_Tx_LEN]; 15 | 16 | /** 17 | * @brief 重定义fputc函数（禁用半主机模式） 18 | * @param 19 | * @retval 20 | */ 21 | 22 | #if 1 23 | #pragma import(__use_no_semihosting) 24 | //标准库需要的支持函数 25 | struct __FILE 26 | { 27 | int handle; 28 | }; 29 | 30 | FILE __stdout; 31 | //定义_sys_exit()以避免使用半主机模式 32 | _sys_exit(int x) 33 | { 34 | x = x; 35 | } 36 | //重定义fputc函数 37 | // 发送数据 38 | int fputc(int ch, FILE *f) 39 | { 40 | while (USART_GetFlagStatus(USART6,USART_FLAG_TC) == RESET); 41 | USART_SendData(USART6, (uint8_t)ch); 42 | return (ch); 43 | } 44 | #endif 45 | 46 | /** 47 | * @brief 初始化USART6 48 | * @param void 49 | * @retval void 50 | * @notes USART6_TX-->PG14 USART6_RX-->PG9---->YOLO信息接收 USART6_TX---->串口打印 51 | */ 52 | void USART6_InitConfig(void) 53 | { 54 | GPIO_InitTypeDef GPIO_InitStruct; 55 | USART_InitTypeDef USART_InitStruct; 56 | NVIC_InitTypeDef NVIC_InitStruct; 57 | 58 | /*enabe clocks*/ 59 | RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOG,ENABLE); 60 | RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART6,ENABLE); 61 | 62 | /*open the alternative function*/ 63 | GPIO_PinAFConfig(GPIOG,GPIO_PinSource9,GPIO_AF_USART6); 64 | GPIO_PinAFConfig(GPIOG,GPIO_PinSource14,GPIO_AF_USART6); 65 | 66 | /*Configure PB10,PB11 as GPIO_InitStruct1 input*/ 67 | GPIO_InitStruct.GPIO_Pin = GPIO_Pin_9|GPIO_Pin_14; 68 | GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF; 69 | GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz; 70 | GPIO_InitStruct.GPIO_OType = GPIO_OType_PP; 71 | GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL; 72 | GPIO_Init(GPIOG,&GPIO_InitStruct); 73 | 74 | USART_InitStruct.USART_BaudRate = 115200; 75 | USART_InitStruct.USART_WordLength = USART_WordLength_8b; 76 | USART_InitStruct.USART_StopBits = USART_StopBits_1; 77 | USART_InitStruct.USART_Parity = USART_Parity_No; 78 | USART_InitStruct.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; 79 | USART_InitStruct.USART_HardwareFlowControl = USART_HardwareFlowControl_None; 80 | USART_Init(USART6,&USART_InitStruct); 81 | 82 | USART_Cmd(USART6,ENABLE); 83 | USART_ITConfig(USART6,USART_IT_RXNE,ENABLE); 84 | 85 | NVIC_InitStruct.NVIC_IRQChannel = USART6_IRQn; 86 | NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 3; 87 | NVIC_InitStruct.NVIC_IRQChannelSubPriority = 3; 88 | NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE ; 89 | NVIC_Init(&NVIC_InitStruct); 90 | } 91 | 92 | u16 rxLength = 8; 93 | #define QUERY_CMD_ID 0X10 94 | #define SET_CMD_ID 0X01 95 | #define UPLOAD_PARAMS_CMD_ID 0x10 96 | #define DATA_LENGTH_UPLOAD_PID_PATAMS 30 97 | void PID_ParamsSet(MsgsFrame_struct *pidSet); 98 | void PID_ParamsUpload(char motor_ID); 99 | void PID_Regulator_Decode(void); 100 | 101 | void PID_ParamsSet(MsgsFrame_struct *pidSet) 102 | { 103 | unsigned char index = pidSet->PID.motor_ID; 104 | Motor_PID[index].pid_mode = pidSet->PID.PID_Mode; 105 | Motor_PID[index].p = pidSet->PID.Kp_value.tempFloat; 106 | Motor_PID[index].i = pidSet->PID.Ki_value.tempFloat; 107 | Motor_PID[index].d = pidSet->PID.Kd_value.tempFloat; 108 | 109 | Motor_PID[index].P_out_max = pidSet->PID.P_out_max.tempFloat; 110 | Motor_PID[index].I_out_max = pidSet->PID.I_out_max.tempFloat; 111 | Motor_PID[index].D_out_max = pidSet->PID.D_out_max.tempFloat; 112 | Motor_PID[index].PID_out_max = pidSet->PID.PID_out_max.tempFloat; 113 | 114 | Motor_PID[index].max_out = pidSet->PID.PID_out_max.tempFloat; 115 | } 116 | 117 | void PID_ParamsUpload(char motor_ID) 118 | { 119 | // if ( (PID_Regulator_Msg.cmd_ID == QUERY_CMD_ID) || (PID_Regulator_Msg.cmd_ID == SET_CMD_ID)) 120 | // { 121 | // 122 | // } 123 | unsigned char i=0,j=0; 124 | static unsigned char seq = 0; 125 | u8 usart_tx[200]; 126 | u8 crc8; 127 | uint16_t crc16; 128 | MsgsFrame_struct tempMsgs; 129 | 130 | tempMsgs.SOF = 0xA5; 131 | tempMsgs.Data_Length = DATA_LENGTH_UPLOAD_PID_PATAMS; 132 | tempMsgs.seq = seq; 133 | seq++; 134 | //tempMsgs.crc8 = 0;// 135 | tempMsgs.cmd_ID = UPLOAD_PARAMS_CMD_ID; 136 | tempMsgs.PID.motor_ID = motor_ID; 137 | tempMsgs.PID.PID_Mode = Motor_PID[motor_ID].pid_mode; 138 | tempMsgs.PID.Kp_value.tempFloat = Motor_PID[motor_ID].p; 139 | tempMsgs.PID.Ki_value.tempFloat = Motor_PID[motor_ID].i; 140 | tempMsgs.PID.Kd_value.tempFloat = Motor_PID[motor_ID].d; 141 | tempMsgs.PID.P_out_max.tempFloat = Motor_PID[motor_ID].P_out_max;//TODO 142 | tempMsgs.PID.I_out_max.tempFloat = Motor_PID[motor_ID].I_out_max;//TODO 143 | tempMsgs.PID.D_out_max.tempFloat = Motor_PID[motor_ID].D_out_max;//TODO 144 | tempMsgs.PID.PID_out_max.tempFloat = Motor_PID[motor_ID].PID_out_max; 145 | tempMsgs.PID.PID_out_max.tempFloat = Motor_PID[motor_ID].max_out; 146 | 147 | usart_tx[i++] = tempMsgs.SOF; 148 | usart_tx[i++] = tempMsgs.Data_Length; 149 | usart_tx[i++] = tempMsgs.seq; 150 | 151 | crc8 = Get_CRC8_Check_Sum(usart_tx,i,0xff); 152 | usart_tx[i++] = crc8; 153 | usart_tx[i++] = tempMsgs.cmd_ID; 154 | usart_tx[i++] = tempMsgs.PID.motor_ID; 155 | usart_tx[i++] = tempMsgs.PID.PID_Mode; 156 | for(j=0;j<4;j++) usart_tx[i++] = tempMsgs.PID.Kp_value.tempChar[j]; 157 | for(j=0;j<4;j++) usart_tx[i++] = tempMsgs.PID.Ki_value.tempChar[j]; 158 | for(j=0;j<4;j++) usart_tx[i++] = tempMsgs.PID.Kd_value.tempChar[j]; 159 | for(j=0;j<4;j++) usart_tx[i++] = tempMsgs.PID.P_out_max.tempChar[j]; 160 | for(j=0;j<4;j++) usart_tx[i++] = tempMsgs.PID.I_out_max.tempChar[j]; 161 | for(j=0;j<4;j++) usart_tx[i++] = tempMsgs.PID.D_out_max.tempChar[j]; 162 | for(j=0;j<4;j++) usart_tx[i++] = tempMsgs.PID.PID_out_max.tempChar[j]; 163 | 164 | crc16 = Get_CRC16_Check_Sum(usart_tx,i,0xffff); 165 | usart_tx[i++] = crc16&0xff; 166 | usart_tx[i++] = (crc16>>8)&0xff; 167 | 168 | for (j=0;j下位机，查询板载PID参数 184 | { 185 | PID_Regulator_Msg.PID.motor_ID = Usart6Rx_Info[i++]; 186 | 187 | for(j=0;j<2;j++) PID_Regulator_Msg.crc16.tempChar[j] = Usart6Rx_Info[i++]; 188 | } 189 | else if ( PID_Regulator_Msg.cmd_ID == 0x01)//上位机->下位机，PID参数设置 190 | { 191 | PID_Regulator_Msg.PID.motor_ID = Usart6Rx_Info[i++]; 192 | PID_Regulator_Msg.PID.PID_Mode = Usart6Rx_Info[i++]; 193 | for(j=0;j<4;j++) PID_Regulator_Msg.PID.Kp_value.tempChar[j] = Usart6Rx_Info[i++]; 194 | for(j=0;j<4;j++) PID_Regulator_Msg.PID.Ki_value.tempChar[j] = Usart6Rx_Info[i++]; 195 | for(j=0;j<4;j++) PID_Regulator_Msg.PID.Kd_value.tempChar[j] = Usart6Rx_Info[i++]; 196 | for(j=0;j<4;j++) PID_Regulator_Msg.PID.P_out_max.tempChar[j] = Usart6Rx_Info[i++]; 197 | for(j=0;j<4;j++) PID_Regulator_Msg.PID.I_out_max.tempChar[j] = Usart6Rx_Info[i++]; 198 | for(j=0;j<4;j++) PID_Regulator_Msg.PID.D_out_max.tempChar[j] = Usart6Rx_Info[i++]; 199 | for(j=0;j<4;j++) PID_Regulator_Msg.PID.PID_out_max.tempChar[j] = Usart6Rx_Info[i++]; 200 | 201 | for(j=0;j<2;j++) PID_Regulator_Msg.crc16.tempChar[j] = Usart6Rx_Info[i++]; 202 | 203 | //参数赋值、存储操作 204 | PID_ParamsSet(&PID_Regulator_Msg); 205 | } 206 | } 207 | 208 | static uint8_t upload_flag=0; 209 | //串口接收上位机信息 210 | void USART6_IRQHandler(void) 211 | { 212 | u8 Res = 0; 213 | if(USART_GetITStatus(USART6, USART_IT_RXNE|USART_IT_ORE_RX) != RESET) //接收中断 214 | { 215 | Res =USART_ReceiveData(USART6);// //读取接收到的数据 216 | if( (USART6_state == USART6_Waiting)&&(Res == 0xA5) ) 217 | { 218 | USART6_state = USART6_Receiving; 219 | USART6_Rx_index = 0; //接收数组的计数器 220 | Usart6Rx_Info[USART6_Rx_index] = Res; 221 | USART6_Rx_index++; 222 | } 223 | else if( USART6_state == USART6_Receiving ) 224 | { 225 | if( USART6_Rx_index == 1 )//Data Length 226 | { 227 | Usart6Rx_Info[USART6_Rx_index] = Res; 228 | USART6_Rx_index++; 229 | rxLength = Res+7; 230 | } 231 | else if( USART6_Rx_index == 2 )//Seq 232 | { 233 | Usart6Rx_Info[USART6_Rx_index] = Res; 234 | USART6_Rx_index++; 235 | } 236 | else if( USART6_Rx_index == 3 ) 237 | { 238 | Usart6Rx_Info[USART6_Rx_index] = Res; 239 | USART6_Rx_index++; 240 | if ( Verify_CRC8_Check_Sum(Usart6Rx_Info,4)) 241 | { 242 | NULL ; 243 | } 244 | else //CRC校验错误，重新等待读取 245 | { 246 | rxLength=8 ; 247 | USART6_Rx_index = 0; 248 | USART6_state = USART6_Waiting; 249 | } 250 | } 251 | else if (USART6_Rx_index < rxLength) 252 | { 253 | Usart6Rx_Info[USART6_Rx_index]=Res ; 254 | USART6_Rx_index++; 255 | if (USART6_Rx_index == rxLength) //接收完成 ，结束了 256 | { 257 | //首先进行crc校验应该 258 | if (Verify_CRC16_Check_Sum(Usart6Rx_Info, rxLength )) 259 | { 260 | PID_Regulator_Decode(); 261 | upload_flag = 1; 262 | } 263 | rxLength=8 ; 264 | USART6_Rx_index = 0; 265 | USART6_state = USART6_Waiting; 266 | } 267 | } 268 | } 269 | USART_ClearFlag(USART6,USART_IT_RXNE|USART_IT_ORE_RX); 270 | } 271 | 272 | if(upload_flag) 273 | { 274 | PID_ParamsUpload(PID_Regulator_Msg.PID.motor_ID); 275 | upload_flag=0; 276 | } 277 | } 278 | -------------------------------------------------------------------------------- /STM32_DEMO/V1.2/usart.h: -------------------------------------------------------------------------------- 1 | #ifndef __USART6_H 2 | #define __USART6_H 3 | #include "stm32f4xx.h" 4 | 5 | #define USART_Rx_LEN 200 //定义最大接收字节数 200 6 | #define USART_Tx_LEN 200 7 | 8 | #ifdef __USART6_GLOBALS 9 | #define __USART6_EXT 10 | #else 11 | #define __USART6_EXT extern 12 | #endif 13 | 14 | typedef struct{ 15 | unsigned char motor_ID; 16 | unsigned char PID_Mode;//增量式：1；位置式：0 17 | union{ 18 | unsigned char tempChar[4]; 19 | float tempFloat; 20 | }Kp_value; 21 | union{ 22 | unsigned char tempChar[4]; 23 | float tempFloat; 24 | }Ki_value; 25 | union{ 26 | unsigned char tempChar[4]; 27 | float tempFloat; 28 | }Kd_value; 29 | union{ 30 | unsigned char tempChar[4]; 31 | float tempFloat; 32 | }P_out_max; 33 | union{ 34 | unsigned char tempChar[4]; 35 | float tempFloat; 36 | }I_out_max; 37 | union{ 38 | unsigned char tempChar[4]; 39 | float tempFloat; 40 | }D_out_max; 41 | union{ 42 | unsigned char tempChar[4]; 43 | float tempFloat; 44 | }PID_out_max; 45 | }PID_struct; 46 | 47 | typedef struct{ 48 | unsigned char SOF; 49 | unsigned char Data_Length; 50 | unsigned char seq; 51 | unsigned char crc8; 52 | unsigned char cmd_ID; 53 | PID_struct PID; 54 | union{ 55 | unsigned char tempChar[2]; 56 | int tempInt; 57 | }crc16; 58 | }MsgsFrame_struct; 59 | 60 | typedef struct pid_t 61 | { 62 | float p; 63 | float i; 64 | float d; 65 | 66 | float set; 67 | float get; 68 | float err[3]; 69 | 70 | float pout; 71 | float iout; 72 | float dout; 73 | float out; 74 | 75 | float input_max_err; //input max err; 76 | float output_deadband; //output deadband; 77 | 78 | uint32_t pid_mode; 79 | uint32_t max_out; 80 | uint32_t integral_limit; 81 | 82 | float P_out_max, I_out_max, D_out_max,PID_out_max; 83 | void (*f_param_init)(struct pid_t *pid, 84 | uint32_t pid_mode, 85 | uint32_t max_output, 86 | uint32_t inte_limit, 87 | float p, 88 | float i, 89 | float d); 90 | void (*f_pid_reset)(struct pid_t *pid, float p, float i, float d); 91 | 92 | } pid_t; 93 | 94 | #define CHASSIS_MOTOR_MOTOR_LF 1 95 | #define CHASSIS_MOTOR_MOTOR_RF 2 96 | #define CHASSIS_MOTOR_MOTOR_RB 3 97 | #define CHASSIS_MOTOR_MOTOR_LB 4 98 | #define YAW_MOTOR_ID 5 99 | #define PITCH_MOTOR_ID 6 100 | 101 | __USART6_EXT pid_t Motor_PID[10]; 102 | __USART6_EXT MsgsFrame_struct PID_Regulator_Msg; 103 | void USART6_InitConfig(void); 104 | void PID_ParamsUpload(char motor_ID); 105 | 106 | #endif --------------------------------------------------------------------------------