STM32——PID恒温控制
作者：互联网
元件
stm32f1核心板、L298M模块、led一个、三极管一个、蜂鸣器一个、DHT11一个、LCD1602一个、电阻10欧10K欧、可调电阻10K、加热丝
功能描述
用DHT11检测当前环境温湿度，并将数据显示在LCD1602上，在用设定温度与当前温度相减，通过PID算法计算出当前输出脉宽，并将其加在L298N模块中，使加热丝发热，形成一个闭环，经过一段时间温度稳定在设定值。由于我的初衷是做一个恒温箱孵蛋，所以加了湿度报警。
电路图
DHT11时序图
总体时序图
初始化
信号“0”
信号“1”
PID算法
程序
LedAndBeep.h
#ifndef _LEDANDBEEP_H
#define _LEDANDBEEP_H
#include "sys.h"
#include "dht11.h"
#define led_1 GPIO_SetBits(GPIOB,GPIO_Pin_0)
#define led_0 GPIO_ResetBits(GPIOB,GPIO_Pin_0)
#define beep_1 GPIO_SetBits(GPIOB,GPIO_Pin_1)
#define beep_0 GPIO_ResetBits(GPIOB,GPIO_Pin_1)
void GPIO_init_Alert(void);
void Delay_ms(int k);
void Alert(void);
#endif
LedAndBeep.c
#include "LedAndBeep.h"
#include "PID.h"
void GPIO_init_Alert()
{
GPIO_InitTypeDef Alert_GPIO;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
Alert_GPIO.GPIO_Mode = GPIO_Mode_Out_PP;
Alert_GPIO.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;
Alert_GPIO.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &Alert_GPIO);
led_0;
beep_0;
}
void Alert()
{
if((DHT_Data[0]>70)||(DHT_Data[0]==70)||(DHT_Data[0]<45)||(DHT_Data[0]==45))//湿度不在45~70之间就报警
{
led_1;
if(pid.C10ms<(pid.T/2))//pid.C10ms在中断函数中，蜂鸣器响的时间小于250ms
beep_1;
else
beep_0;
}
else
{
led_0;
beep_0;
}
}
dht11.h
#ifndef __DHT11_H
#define __DHT11_H
#include "sys.h"
extern char DHT_Data[5];
//IO方向设置
#define DHT11_IO_IN() {GPIOB->CRH&=0XFFFF0FFF;GPIOB->CRH|=8<<12;}
#define DHT11_IO_OUT() {GPIOB->CRH&=0XFFFF0FFF;GPIOB->CRH|=3<<12;}
IO操作函数
#define DHT11_DQ_OUT PBout(11) //数据端口 PB11输出
#define DHT11_DQ_IN PBin(11) //数据端口 PB11输入
u8 DHT11_Init(void);//初始化DHT11
u8 DHT11_Read_Data(void);//读取温湿度
u8 DHT11_Read_Byte(void);//读出一个字节
u8 DHT11_Read_Bit(void);//读出一个位
u8 DHT11_Check(void);//检测是否存在DHT11
void DHT11_Rst(void);//复位DHT11
#endif
dht11.c
#include "dht11.h"
#include "delay.h"
#include "PID.h"
char DHT_Data[5]={0}; // DHT_Data[0]、DHT_Data[1]存储湿度数据
//DHT_Data[2]、DHT_Data[3]存储温度数据
void DHT11_Rst(void)
{
DHT11_IO_OUT(); //SET OUTPUT
DHT11_DQ_OUT=0; //拉低DQ
delay_ms(20); //拉低至少18ms
DHT11_DQ_OUT=1; //DQ=1
delay_us(30); //主机拉高20~40us
}
u8 DHT11_Check(void)
{
u8 retry=0;
DHT11_IO_IN();//SET INPUT
while (DHT11_DQ_IN&&retry<100)//DHT11会拉低40~80us
{
retry++;
delay_us(1);
};
if(retry>=100)
return 1;
else
retry=0;
while (!DHT11_DQ_IN&&retry<100)//DHT11拉低后会再次拉高40~80us
{
retry++;
delay_us(1);
}
if(retry>=100)
return 1;
return 0;
}
u8 DHT11_Read_Bit(void)
{
u8 retry=0;
while(DHT11_DQ_IN&&retry<100)//等待变为低电平
{
retry++;
delay_us(1);
}
retry=0;
while(!DHT11_DQ_IN&&retry<100)//等待变高电平
{
retry++;
delay_us(1);
}
delay_us(40);//等待40us
if(DHT11_DQ_IN)return 1;
else return 0;
}
u8 DHT11_Read_Byte(void)
{
u8 i,dat;
dat=0;
for (i=0;i<8;i++)
{
dat<<=1;
dat|=DHT11_Read_Bit();
}
return dat;
}
u8 DHT11_Read_Data(void)
{
u8 i;
DHT11_Rst();
if(DHT11_Check()==0)
{
for(i=0;i<5;i++)//读取40位数据
{
DHT_Data[i]=DHT11_Read_Byte();
}
if((DHT_Data[0]+DHT_Data[1]+DHT_Data[2]+DHT_Data[3])==DHT_Data[4])
{
pid.Pv=DHT_Data[2]+(DHT_Data[3]/10);
return 0;
}
}
else
return 1;
return 0;
}
u8 DHT11_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //使能PG端口时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; //PG11端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化IO口
GPIO_SetBits(GPIOB,GPIO_Pin_11); //PG11 输出高
DHT11_Rst(); //复位DHT11
return DHT11_Check();//等待DHT11的回应
}
LCD1602.h
#ifndef LCD1602_H
#define LCD1602_H
#include "sys.h"
#define BUSY 0x80 //忙标志
#define RS GPIO_Pin_8 //设置PB8为RS
#define RW GPIO_Pin_6 //PB6为RW
#define EN GPIO_Pin_7 //PB7为EN使能
void ReadBusy(void);
void LCD_WRITE_CMD( char CMD );
void LCD_WRITE_StrDATA( char *StrData, char row, char col );
void LCD_WRITE_ByteDATA( char ByteData );
void LCD_INIT(void);
void GPIO_INIT(void);
void WUserImg(char pos,char *ImgInfo);
#endif
LCD1602.c
#include "LCD1602.h"
#include "delay.h"
void GPIO_INIT(void)
{ //GPIO初始化
GPIO_InitTypeDef PB;
GPIO_InitTypeDef PA;
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); //禁用jtag，不然写入程序和程序执行都会受影响
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA, ENABLE );
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOB, ENABLE ); //打开GPIOA~C
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOC, ENABLE );
PB.GPIO_Pin = EN|RW|RS;
PB.GPIO_Mode = GPIO_Mode_Out_PP;
PB.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &PB);
PA.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3|GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7;
PA.GPIO_Mode = GPIO_Mode_Out_PP;
PA.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &PA);
}
void LCD_INIT(void)
{ //初始化
GPIO_INIT();
GPIO_Write( GPIOA, 0x0000 );
GPIO_Write( GPIOB, 0x0000 );
delay_us(500);
LCD_WRITE_CMD( 0x38 );
LCD_WRITE_CMD( 0x0d ); //开启光标和闪烁
LCD_WRITE_CMD( 0x06 );
LCD_WRITE_CMD( 0x01 );
}
void LCD_WRITE_CMD( char CMD )
{
//写入命令函数
ReadBusy();
GPIO_ResetBits( GPIOB, RS );
GPIO_ResetBits( GPIOB, RW );
GPIO_ResetBits( GPIOB, EN );
GPIO_Write( GPIOA, CMD ); //
GPIO_SetBits( GPIOB, EN );
GPIO_ResetBits( GPIOB, EN );
}
void LCD_WRITE_ByteDATA( char ByteData )
{ //写入单个Byte函数
ReadBusy();
GPIO_SetBits( GPIOB, RS );
GPIO_ResetBits( GPIOB, RW );
GPIO_ResetBits( GPIOB, EN );
GPIO_Write( GPIOA, ByteData );
GPIO_SetBits( GPIOB, EN );
GPIO_ResetBits( GPIOB, EN );
}
void LCD_WRITE_StrDATA( char *StrData,char row, char col )
{//写入字符串
char baseAddr = 0x00; //定义256位地址
if ( row )
{
baseAddr = 0xc0;
}else
{
baseAddr = 0x80;
}
baseAddr += col;
while ( *StrData != '\0' )
{
LCD_WRITE_CMD( baseAddr );
LCD_WRITE_ByteDATA( *StrData);
baseAddr++;
StrData++;
}
}
void ReadBusy(void)
{ //读忙函数，读忙之前记得更改引脚的工作方式！！！因为STM32的IO不是准双向IO
GPIO_InitTypeDef p;
GPIO_Write( GPIOA, 0x00ff );
p.GPIO_Pin = GPIO_Pin_7; //选定GPIOA的第七Pin
p.GPIO_Mode = GPIO_Mode_IN_FLOATING; //第七Pin的工作方式为浮空输入模式，用于检测LCD1602的忙状态
p.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init( GPIOA, &p );
GPIO_ResetBits( GPIOB, RS );//RS拉低
GPIO_SetBits( GPIOB, RW );//RW拉高
GPIO_SetBits( GPIOB, EN ); //使能开
while( GPIO_ReadInputDataBit( GPIOA, GPIO_Pin_7 ) ); //读第七Pin状态，如果一直为1则循环等待
GPIO_ResetBits( GPIOB, EN );//使能关
p.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3|GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7; //使GPIOA的状态还原成推挽模式
p.GPIO_Mode = GPIO_Mode_Out_PP;
p.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init( GPIOA, &p );
}
void WUserImg(char pos,char *ImgInfo)
{ //写入用户自定义图像
char cgramAddr; //CGRAM的用户自定义字符位
if( pos <= 1 ) cgramAddr = 0x40; //
if( pos > 1 && pos <= 3 ) cgramAddr = 0x50;
if( pos > 3 && pos <= 5 ) cgramAddr = 0x60;
if( pos > 5 && pos <= 7 ) cgramAddr = 0x70;
LCD_WRITE_CMD( (cgramAddr + (pos%2) * 8) ); //指定字模写入的地址，一般从0x40开始，0x78结束
while( *ImgInfo != '\0' )
{ //循环写入tem数据,即用户取模的数据
LCD_WRITE_ByteDATA( *ImgInfo );
ImgInfo++;
}
}
PID.h
#ifndef PID_H_
#define PID_H_
typedef struct Pid
{
float Sv;//用户设定值
float Pv;
float Kp;
int T; //PID计算周期--采样周期
float Ti;
float Td;
float Ek; //本次偏差
float Ek_1;//上次偏差
float SEk; //历史偏差之和
float Iout;
float Pout;
float Dout;
float OUT0;
float OUT;
int C10ms;
int pwmcycle;//pwm周期
int times;
}PID;
extern PID pid;
void PID_Init(void);
void PID_Calc(void);
#endif
PID.c
#include "PID.h"
PID pid;
void PID_Init()
{
pid.Sv=38;//用户设定温度
pid.Kp=30;
pid.T=500;//PID计算周期
pid.Ti=5000000;//积分时间
pid.Td=1000;//微分时间
pid.pwmcycle=200;//pwm周期200
pid.OUT0=1;
pid.C10ms=0;
}
void PID_Calc() //pid计算
{
float DelEk;
float ti,ki;
float td;
float kd;
float out;
if(pid.C10ms<(pid.T)) //计算周期未到
{
return ;
}
pid.Ek=pid.Sv-pid.Pv; //得到当前的偏差值
pid.Pout=pid.Kp*pid.Ek; //比例输出
pid.SEk+=pid.Ek; //历史偏差总和
DelEk=pid.Ek-pid.Ek_1; //最近两次偏差之差
ti=pid.T/pid.Ti;
ki=ti*pid.Kp;
pid.Iout=ki*pid.SEk*pid.Kp; //积分输出
td=pid.Td/pid.T;
kd=pid.Kp*td;
pid.Dout=kd*DelEk; //微分输出
out= pid.Pout+ pid.Iout+ pid.Dout;
if(out>pid.pwmcycle)
{
pid.OUT=pid.pwmcycle;
}
else if(out<=0)
{
pid.OUT=pid.OUT0;
}
else
{
pid.OUT=out;
}
pid.Ek_1=pid.Ek; //更新偏差
pid.C10ms=0;
}
PWMOUT.h
#ifndef PWMOUT_H
#define PWMOUT_H
#include "sys.h"
#define PWMOUT_1 GPIO_SetBits(GPIOB,GPIO_Pin_4)
#define PWMOUT_0 GPIO_ResetBits(GPIOB,GPIO_Pin_4)
void Time_init(void);
void PWM_OUT(void);
void TimePwm_init(int arr,int psc);
#endif
PWMOUT.c
#include "PWMOUT.h"
#include "PID.h"
#include "LedAndBeep.h"
void Time_init(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// 自动装载的计数值 1ms
TIM_TimeBaseStructure.TIM_Period = 1000; // 10KHz
TIM_TimeBaseStructure.TIM_Prescaler = (72 - 1); // 1MHz
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
TIM_Cmd(TIM2,ENABLE);
}
void TIM2_IRQHandler(void)
{
if(TIM_GetITStatus(TIM2,TIM_IT_Update))
{
pid.C10ms++;
Alert();
TIM_ClearITPendingBit(TIM2, TIM_IT_Update); //清除中断标志
}
}
void TimePwm_init(int arr,int psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; //TIM_CH2
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
TIM_TimeBaseStructure.TIM_Period = arr;
TIM_TimeBaseStructure.TIM_Prescaler =psc;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_Cmd(TIM3, ENABLE);
}
main.c
#include "LCD1602.h"
#include "dht11.h"
#include "LedAndBeep.h"
#include "PID.h"
#include "PWMOUT.h"
#include "delay.h"
#include <string.h>
#include <stdio.h>
unsigned int num=0;
void situation()
{
char hum[5]={0},temp[5]={0},PWM[10]={0},arr[5]={0x20,0x20,0x20,0x20,0x20};
sprintf(hum,"%d.%d",DHT_Data[0],DHT_Data[1]);
sprintf(temp,"%d.%d",DHT_Data[2],DHT_Data[3]);
//显示湿度
LCD_WRITE_StrDATA( hum,0,5 );
LCD_WRITE_StrDATA("%",0,9 );
//显示温度
LCD_WRITE_StrDATA( temp,0,11);
LCD_WRITE_StrDATA("C",0,15 );
//显示pid.out
LCD_WRITE_StrDATA("pid.out:",1,0);
sprintf(PWM,"%f",pid.OUT);
PWM[6]='\0';
LCD_WRITE_StrDATA(PWM,1,9);
}
int main()
{
GPIO_init_Alert();
Time_init();
DHT11_Init();
PID_Init();
LCD_INIT();
LCD_WRITE_CMD( 0x80 );
LCD_WRITE_CMD(0x0C);
LCD_WRITE_StrDATA( "situ:",0,0 );
TimePwm_init(399,35999);
while(1)
{
while(DHT11_Read_Data());
PID_Calc();
num=(((pid.OUT*400)/pid.pwmcycle)-1);
TIM_SetCompare2(TIM3,num);
situation();
}
}
工程此处下载
链接：https://pan.baidu.com/s/1cMzrPxOLoRH08F9JMwMEfQ
提取码：m6f1
标签：GPIOB,Pin,PID,void,pid,STM32,TIM,GPIO,恒温 来源： https://blog.csdn.net/weixin_44690490/article/details/113087363