本帖最后由 a452047172 于 2016-4-22 11:29 编辑 电子设计大赛的基本资料，初学者可以看看，资料太大，不能直接上传，做成了百度云链接。
2016-04-22 11:23
整理了一些初级的资料送给初学者，快过年了就不“封印”资料了，需要的直接下载吧。希望多多支持~
2016-01-27 16:50
一、基本资料快速编写：资源数据包_嵌入式_2020\6-STM32固件库代码V3.5版\stm32f10x_stdperiph_lib\STM32
2021-12-16 07:07
智能车源代码光电组(有注解)#include/* common definesand macros */#include/* derivativeinformation */#include"math.h" #include"PWM.h"#include"ATD.h"#include"LQprintp.h"#pragma LINK_INFODERIVATIVE "mc9s12dg256b"unsigned int i =0;unsigned int j =0;unsigned int t =0;byte ad_value[13];uchar data[13];int sum = 0;uchar start_flag =0;uchar num = 0;uchar lw=0;unsigned int per =65530;int SPWM = 0;int L_SPWM = 0;unsigned int SPmax= 1000;int MPWM = 0;ucharcurrent_corrd = 0;static unsignedint mem_num = 0;//***********************PID*******************************static unsignedint Kp=25;static unsignedint Kp2=60;static unsignedint Ki=9;static unsignedint Kd=30;static unsignedint rKp=100;static unsignedint rKp2=60;static unsignedint rKi=0;static unsignedint rKd=60;unsigned short E =5;unsigned char q =1;int Mp = 0;int Mi = 0;int Md = 0;int Mp2 = 0;int P_Speed = 0;int L_u[3];//**********************************************************//***********************舵机PID变量**********************static unsignedint s_sKp=35;//直道PID的P值static unsignedint s_sKp2=0;//直道PID的二阶P值static unsignedint s_sKi=0;//直道PID的I值static unsignedint s_sKd=10; //直道PID的D值//****用于防止PID溢出******unsigned shorts_sE = 5;unsigned char s_sq= 1;//*************************//****分别存放P I D 值*****int s_sMp =0; int s_sMi = 0;int s_sMd = 0;int s_sMp2 = 0;//*************************int sL_u[3]; //存放前3次理论速度与实际速度的差值intlast_corrd[3][10] ={{0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0,0, 0, 0},{0, 0, 0, 0, 0, 0, 0,0, 0, 0}};//*********************************************************//*********************PID调试中断**************************unsigned char cp =0;unsigned char ci =0;unsigned char cd =0;unsigned intsearch_PACN10;unsigned int np =0;unsigned intsp[500];//**********************************************************//*********************存储前20点的数据*********************int L_num[10] ={0, 0, 0, 0, 0, 0, 0, 0, 0, 0};int sum_corrd = 0;int wb = 0; //记录当前状态 黑为0， 白为1；//**********************************************************//********************红外滤波*****************************int corrd[10] ={0, 0, 0, 0, 0, 0, 0, 0, 0, 0};int T_corrd = 0;int is_white = 0;int numb = 0;//**********************************************************//***********************数据统计***************************int corrd_sate[23]= {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,0, 0, 0, 0};int SPWM_sate[15]= {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};int MPWM_sate[11]= {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};ucharcorrd_time[512];ucharSPWM_time[512];ucharMPWM_time[512];ucharPACN_time[512];//**********************************************************voidsetbusclock(void){ CLKSEL=0X00;//disengagePLL to system PLLCTL_PLLON=1; //turn on PLL SYNR=1; REFDV=1;//pllclock=2*osc*(1+SYNR)/(1+REFDV)=32MHz; _asm(nop); //BUS CLOCK=16M _asm(nop); while(!(CRGFLG_LOCK==1)); //when pll is steady ,then use it; CLKSEL_PLLSEL =1; //engage PLL to system; }void Dly_ms(intms){int ii,jj;if (ms E)||((rKi * L_u[0])< -E)) q = 0;else q = 1;MPWM = MPWM + Mp + q * Mi + Md + Mp2;if(MPWM > 1000) MPWM = 1000;if(MPWM < -1000) MPWM = -1000;Set_MPWM(MPWM);}//*******************舵机PID控制函数*************************void s_PID_SPWM() {sL_u[2] = sL_u[1];sL_u[1] = sL_u[0];sL_u[0] = ((current_corrd+last_corrd[0][1]) -(last_corrd[0][2]+last_corrd[0][3]))/2;//*********计算PID值***********if(sL_u[0]-20) {s_sMp = s_sKp * sL_u[0];s_sMi = s_sMi + s_sKi * sL_u[0];s_sMd = s_sKd * (sL_u[0] - 2 * sL_u[1] +sL_u[2]);s_sMp2 = s_sKp2 * (sL_u[0] - sL_u[1]);//*****************************//***********I项溢出防止*******if(((s_sKi * sL_u[0]) > s_sE)||((s_sKi* sL_u[0]) < -s_sE)) s_sq = 0;else s_sq = 1;//*****************************SPWM = SPWM + s_sMp + s_sq * s_sMi + s_sMd+ s_sMp2;//*********PWM溢出防止*********if(SPWM > 70) SPWM = 70;if(SPWM < -70) SPWM = -70;//*****************************} else sL_u[0] = sL_u[1];Set_SPWM(SPWM);}//**********************************************************voidshow_SPWM_data(){ for(j = 0; j < 15; j++) {printp("%10d", SPWM_sate[j]); }}voidshow_MPWM_data(){ for(j = 0; j < 11; j++) {printp("%10d", MPWM_sate[j]); }}voidshow_corrd_data(){ for(j = 0; j < 23; j++) {printp("%6d", corrd_sate[j]); }}voidshow_corrd_time(){ for(j = 0; j < 512; j++) {printp("%c", corrd_time[j]); }}voidshow_SPWM_time(){ for(j = 0; j < 512; j++) {printp("%c", SPWM_time[j]); }}voidshow_MPWM_time(){ for(j = 0; j < 512; j++) {printp("%c", MPWM_time[j]); }}voidshow_PACN_time(){ for(j = 0; j < 512; j++) {printp("%c", PACN_time[j]); }}void main(void) {/* put your own code here */setbusclock();SCI_Init();AD_Init();IOC_Init();Ini_PWM();EnableInterrupts;for(;;) { Dly_ms(10); //*************红外滤波************************* for(j=0; j0) { P_Speed = 20;if(lw == 0) {SPWM = -70;}else {SPWM = 72;} //if(sum_corrd-220)Set_MPWM(0); // else // Set_MPWM(700); } else {P_Speed = 20;if(lw == 0) {SPWM = -70;}else {SPWM = 72;} Set_MPWM(1000); } //Set_MPWM(0); } else { DDRB = 0x00;// printp("%d", current_corrd);// if(PTJ & 0x80) Set_MPWM(0);//elseif(wb == 0) {Set_MPWM(1000);} else { switch(current_corrd){case 2:SPWM = -70;P_Speed = 32;r_PID_MPWM();lw =0;break; case 3:SPWM = -60;P_Speed = 32;r_PID_MPWM();lw =0;break;case 4:SPWM = -50;P_Speed = 32;r_PID_MPWM();lw =0;break; case 5:SPWM = -40;P_Speed = 32;r_PID_MPWM();lw =0;break;case 6:SPWM = -30;P_Speed = 32;r_PID_MPWM();lw =0;break;case 7:SPWM = -25;P_Speed = 32;r_PID_MPWM();lw =0;break;case 8:SPWM = -20;P_Speed = 32;r_PID_MPWM();lw =0;break;case 9:SPWM = -15;P_Speed = 32;s_PID_MPWM();lw =0;break;case 10: SPWM = -10; P_Speed =32;s_PID_MPWM();lw = 0;break;case 11: SPWM = -5; P_Speed =32;s_PID_MPWM();lw = 0;break;case 12: SPWM = 0;P_Speed = 32;s_PID_MPWM();break;case 13: SPWM = 5;P_Speed = 32;s_PID_MPWM();lw = 1;break;case 14: SPWM = 10;P_Speed = 32;s_PID_MPWM();lw = 1;break;case 15: SPWM = 15; P_Speed =32;s_PID_MPWM();lw = 1;break;case 16: SPWM = 20; P_Speed =32;r_PID_MPWM();lw = 1;break;case 17: SPWM = 25; P_Speed =32;r_PID_MPWM();lw = 1;break;case 18: SPWM = 30; P_Speed =32;r_PID_MPWM();lw = 1;break;case 19: SPWM = 40; P_Speed =32;r_PID_MPWM();lw = 1;break; case 20: SPWM = 50; P_Speed =32;r_PID_MPWM();lw = 1;break; case 21: SPWM = 60; P_Speed =32;r_PID_MPWM();lw = 1;break;case 22: SPWM = 70; P_Speed =32;r_PID_MPWM();lw = 1;break; default: break; } //Set_MPWM(500);} } last_corrd[0][3] = last_corrd[0][2]; last_corrd[0][2] = last_corrd[0][1]; last_corrd[0][1] = last_corrd[0][0]; last_corrd[0][0] = current_corrd; corrd_sate[current_corrd]++; SPWM_sate[SPWM/10+7]++; MPWM_sate[MPWM/10]++; corrd_time[t]=current_corrd; SPWM_time[t]=SPWM+70; MPWM_time[t]=(MPWM+1000)/10; s_PID_SPWM(); //Set_SPWM(SPWM); //Set_MPWM(500); search_PACN10 = PACN10; //printp("%10d", search_PACN10); PACN_time[t]=search_PACN10; PACN10 = 0; sum_corrd = 0; sum = 0; start_flag = 0; num = 0;
2015-04-14 08:59
做电子一段时间了，收集了一些电路的基本资料；分享出来共同进步。
2016-08-10 16:21
这是一个stm32教程的合集，都是选自资料帖里受欢迎的教程，方便小伙伴们学习使用学习STM32不得不看的完整教程刘凯stm32教程视频及相关
2018-08-17 14:22
stm32学习资料
2017-07-12 22:47
stm32资料关于PCB板设计
2014-03-01 18:49
费劲收集的，有基本资料和程序
2012-07-30 10:01
关于工装设计的基本资料
2019-12-13 20:26
