课题要求无线通信将单片机B采集到的AD值传输到单片机A进行PID移相控制，但是接收端更新数据很慢，完全满足不了我的控制要求，我的PID调制频率为85KHz。以下是UASRT串口代码以及main函数代码。
USART:
#include "stm32f10x.h" // Device header
#include <stdio.h>
#include <stdarg.h>
uint8_t Serial_TxPacket[4];
uint8_t Serial_RxPacket[4];
uint8_t Serial_RxFlag;
void Serial_Init(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
USART_InitTypeDef USART_InitStructure;
USART_InitStructure.USART_BaudRate = 115200;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_Init(USART3, &USART_InitStructure);
USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_Init(&NVIC_InitStructure);
USART_Cmd(USART3, ENABLE);
}
void Serial_SendByte(uint8_t Byte) //传送单一字节
{
USART_SendData(USART3, Byte);
while (USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
}
void Serial_SendArray(uint8_t *Array,uint16_t Length) //传送一组但需要标识长度单位
{
uint16_t i;
for(i=0;i<Length;i++)
{
Serial_SendByte(Array[i]);
}
}
void Serial_SendString(char *string) //char可替换为uint8_t String表示结束标志位
{
uint8_t i;
for(i=0;string[i] !=0;i++) //string=0时结束
{
Serial_SendByte(string[i]);
}
}
uint32_t Serial_Pow(uint32_t X, uint32_t Y) //返回值为x的y次方
{
uint32_t Result=1;
while (Y--) //循环y次
{
Result *= X; //result累乘y次x 即得x的y次方
}
return Result;
}
void Serial_SendNumber(uint32_t Number, uint8_t Length) //采用拆分数字的方式发送 过程同array
{
uint8_t i;
for(i=0;i<Length;i++)
{
Serial_SendByte(Number/Serial_Pow(10,Length-i-1) % 10 + '0');
}
}
int fputc(int ch, FILE *f)
{
Serial_SendByte(ch);
return ch;
}
void Serial_Printf(char *format, ...)
{
char String[100];
va_list arg;
va_start(arg, format);
vsprintf(String, format, arg);
va_end(arg);
Serial_SendString(String);
}
void Serial_SendPacket(void)
{
Serial_SendByte(0xFF);
Serial_SendArray(Serial_TxPacket, 4);
Serial_SendByte(0xFE);
}
uint8_t Serial_GetRxFlag(void)
{
if (Serial_RxFlag == 1)
{
Serial_RxFlag = 0;
return 1;
}
return 0;
}
void USART3_IRQHandler(void)
{
static uint8_t RxState1 = 0;
static uint8_t pRxPacket1 = 0;
if (USART_GetITStatus(USART3, USART_IT_RXNE) == SET)
{
uint8_t RxData1 = USART_ReceiveData(USART3);
if (RxState1 == 0)
{
if (RxData1 == 0xFF)
{
RxState1 = 1;
pRxPacket1 = 0;
}
}
else if (RxState1 == 1)
{
Serial_RxPacket[pRxPacket1] = RxData1;
pRxPacket1 ++;
if (pRxPacket1 >= 4)
{
RxState1 = 2;
}
}
else if (RxState1 == 2)
{
if (RxData1 == 0xFE)
{
RxState1 = 0;
Serial_RxFlag = 1;
}
}
USART_ClearITPendingBit(USART3, USART_IT_RXNE);
}
}
main:
#include "stm32f10x.h"
//#include "Delay.h"
#include "timer.h" // Device header
#include "PWM.h"
#include "ADC.h"
#include "OLED.h"
#include "Serial.h"
uint16_t AD1;
float Voltage1;
float Voltage2;
float Voltage3;
float RL1;
float I1;
float U1;
int Phase;
//float Kp = 0.00003;
//float Ki = 0.0000000001;
float Kp = 0.00003;
float Ki = 0.00000000001;
float target = 10;
float actual = 0;
float error = 0;
float err_last = 0;
float integral = 0;
float out = 0;
uint16_t received_ad_value1;
uint16_t received_ad_value2;
extern uint16_t pwm_high_1,pwm_high_2;
extern uint16_t pwm_low_1,pwm_low_2;
extern uint8_t Serial_RxFlag;
int main (void)
{
TIM1_PWM_Init();
AD_Init();
Serial_Init();
OLED_Init();
Timer_Init();
while(1)
{
if (Serial_GetRxFlag() == 1)
{
received_ad_value1 = Serial_RxPacket[0] << 8 | Serial_RxPacket[1]; //IADC
received_ad_value2 = Serial_RxPacket[2] << 8 | Serial_RxPacket[3]; //UADC
Voltage1 = (float)AD1*3.3/4095;
Voltage2 = (float)received_ad_value1*3.3/4095;
Voltage3 = (float)received_ad_value2*3.3/4095;
U1 = (Voltage3 * 11);
I1 = (Voltage2 - 1.65) / (0.132);
RL1 = (U1)/(I1);
}
AD1 = AD_Value[0];
OLED_ShowString(1,1,"error:00.00");
OLED_ShowString(2,1,"integral:00.00");
// OLED_ShowString(3,1,"out:00.00");
OLED_ShowString(4,1,"Rx:");
OLED_ShowSignedNum(1,7,error,2);
OLED_ShowNum(1,10,(uint16_t)(error*100)%100,2);
OLED_ShowSignedNum(2,10,integral,2);
OLED_ShowNum(2,13,(uint16_t)(integral*100)%100,2);
// OLED_ShowNum(3,5,out,2);
// OLED_ShowNum(3,8,(uint16_t)(out*100)%100,2);
OLED_ShowHexNum(4, 4, Serial_RxPacket[0], 2);
OLED_ShowHexNum(4, 7, Serial_RxPacket[1], 2);
OLED_ShowHexNum(4, 10, Serial_RxPacket[2], 2);
OLED_ShowHexNum(4, 13, Serial_RxPacket[3], 2);
}
}
void TIM2_IRQHandler(void)
{
if (TIM_GetITStatus(TIM2, TIM_IT_Update) == SET)
{
actual = U1;
error = target - actual;
integral = integral + error;
out = out + Kp*error + Ki*integral;
if(out < 0)
out = 0;
if(out > 90)
out = 90;
err_last = error;
Phase = out * 7 / 18;
pwm_high_1 = 0;
pwm_low_1 = 0+70;
pwm_high_2 = Phase ;
pwm_low_2 = 0+70+Phase;
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
}
}
你串口的接收数据量大概是多少？1秒多少字节？
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