接上一篇文章，话不多说直接开始
一、打开我们创建的工程文件，先就建立一个文件夹用来存放我们写的子文件（不建立也行），然后建立pid.h，pid.c存入我们建立的文件夹中，并把它的源文件和头文件添加进去，最后记得编译一下。
二、遥控器部分
先在main.h 中定义一个遥控器接收数据的结构体，参考了官方的定义不过我删了一部分不需要的。
typedef struct{struct{ signed short ch0;signed short ch1;signed short ch2;signed short ch3;unsigned char s1;unsigned char s2;unsigned short sw;}rc;}DBUS;在main函数里初始化和中断使能DMA，注意这里我们是用了串口1来接收数据的
HAL_UART_Receive_DMA(&huart1,dbus_resive,18);//初始化DMA__HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE);//中断使能DMA遥控接收到的数据需要进行拼接一下，如果大家不懂可以参考一下这位大佬下的这篇博客（https://blog.csdn.net/weixin_45850927/article/details/121299686）
uint8_t dbus_resive[18]; //用来储存接收到的数据的数组void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {remoter.rc.ch0 = (dbus_resive[0]| (dbus_resive[1] <> 3) | (dbus_resive[2] <> 6) | (dbus_resive[3] << 2) | (dbus_resive[4] <> 1) | (dbus_resive[5] <> 4)& 0x000C) >> 2; remoter.rc.s2= ((dbus_resive[5] >> 4)& 0x0003); remoter.rc.sw = dbus_resive[16]|(dbus_resive[17]<<8);}经过处理后我们接收到四个通道的数据范围是（-660~660）
三，PID部分（PID其实网上资料有很多，这里就不详细介绍，直接贴代码，我用的是最简单的【笑哭】）
#ifndef __PID_H__#define __PID_H__#include "stdint.h"typedef float fp32;enum PID_MODE{PID_POSITION = 0,PID_DELTA};typedef struct{uint8_t mode;//PID 三参数fp32 Kp;fp32 Ki;fp32 Kd;fp32 max_out;//最大输出fp32 max_iout; //最大积分输出fp32 set;fp32 fdb;fp32 out;fp32 Pout;fp32 Iout;fp32 Dout;fp32 Dbuf[3];//微分项 0最新 1上一次 2上上次fp32 error[3]; //误差项 0最新 1上一次 2上上次} PidTypeDef;fp32 PID_Calc(PidTypeDef *pid,fp32 ref,fp32 set);void PID_init(PidTypeDef *pid,uint8_t mode,const fp32 PID[3],fp32 max_out,fp32 max_iout);#endif#include "pid.h"#include "main.h"#define LimitMax(input, max) \{\if (input > max) \{\input = max;\}\else if (input mode=mode;pid->Kp=PID[0];pid->Ki=PID[1];pid->Kd=PID[2];pid->max_out=max_out;pid->max_iout=max_iout;pid->Dbuf[0]=pid->Dbuf[1]=pid->Dbuf[2]=0.0f;pid->error[0]=pid->error[1]=pid->error[2]=pid->Pout=pid->Iout=pid->Dout=pid->out=0.0f;}fp32 PID_Calc(PidTypeDef *pid, fp32 ref, fp32 set){if (pid == NULL){return 0.0f;}pid->error[2] = pid->error[1];pid->error[1] = pid->error[0];pid->set = set;pid->fdb = ref;pid->error[0] = set - ref;if (pid->mode == PID_POSITION){pid->Pout = pid->Kp * pid->error[0];pid->Iout += pid->Ki * pid->error[0];pid->Dbuf[2] = pid->Dbuf[1];pid->Dbuf[1] = pid->Dbuf[0];pid->Dbuf[0] = (pid->error[0] - pid->error[1]);pid->Dout = pid->Kd * pid->Dbuf[0];LimitMax(pid->Iout, pid->max_iout);pid->out = pid->Pout + pid->Iout + pid->Dout;LimitMax(pid->out, pid->max_out);}else if (pid->mode == PID_DELTA){pid->Pout = pid->Kp * (pid->error[0] - pid->error[1]);pid->Iout = pid->Ki * pid->error[0];pid->Dbuf[2] = pid->Dbuf[1];pid->Dbuf[1] = pid->Dbuf[0];pid->Dbuf[0] = (pid->error[0] - 2.0f * pid->error[1] + pid->error[2]);pid->Dout = pid->Kd * pid->Dbuf[0];pid->out += pid->Pout + pid->Iout + pid->Dout;LimitMax(pid->out, pid->max_out);}return pid->out;}四，电机部分（因为我们只需要简单控个电机，所以就只需要在main.h中定义一些我们需要的就可以了）
typedef enum{CAN_CHASSIS_ALL_ID = 0x200,CAN_AUXILIARY_ALL_ID = 0x1FF,motor1 = 0x201,motor2 = 0x202,motor3 = 0x203,motor4 = 0x204,}can_msg_id;typedef struct {uint16_t angle_value;int16_t speed_rpm;int16_t real_current;uint8_t temperate;int16_t real_angle;}motor_measure_t;五，CAN
CAN基础的配置CUBEMX已经配置好了
配置CAN的过滤器
void can_filter_init(void){CAN_FilterTypeDef can_filter_st;can_filter_st.FilterActivation = ENABLE;can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;can_filter_st.FilterIdHigh = 0x0000;can_filter_st.FilterIdLow = 0x0000;can_filter_st.FilterMaskIdHigh = 0x0000;can_filter_st.FilterMaskIdLow = 0x0000;can_filter_st.FilterBank = 0;can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);}如果不太清楚可以参考一下这位大佬写的（https://blog.csdn.net/weixin_44663976/article/details/126138298）
配置完过滤器就可以开启CAN的使用了（这两步很重要，不要漏了）
HAL_CAN_Start(&hcan1);//启动CAN1HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING);//使能中断写到一个函数里防漏
void can1_start(void){can_filter_init();HAL_CAN_Start(&hcan1);//启动CAN1HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING);//使能中断}要让M3508电机转呢就要给电机发送电流
uint8_t chassis_can_send_data[8];//用于接收电机的原始数据CAN_TxHeaderTypeDef chassis_tx_message;/*** @briefsend control current of motor (0x201, 0x202, 0x203, 0x204)* @param[in]motor1: (0x201) 3508 motor control current, range [-16384,16384] * @param[in]motor2: (0x202) 3508 motor control current, range [-16384,16384] * @param[in]motor3: (0x203) 3508 motor control current, range [-16384,16384] * @param[in]motor4: (0x204) 3508 motor control current, range [-16384,16384] * @retval none*/void CAN_cmd_chassis(int16_t M1, int16_t M2, int16_t M3, int16_t M4){uint32_t send_mail_box;chassis_tx_message.StdId=CAN_CHASSIS_ALL_ID;chassis_tx_message.IDE=CAN_ID_STD;chassis_tx_message.RTR=CAN_RTR_DATA;chassis_tx_message.DLC=0x08;chassis_can_send_data[0]=M1>>8;chassis_can_send_data[1]=M1;chassis_can_send_data[2]=M2>>8;chassis_can_send_data[3]=M2;chassis_can_send_data[4]=M3>>8;chassis_can_send_data[5]=M3;chassis_can_send_data[6]=M4>>8;chassis_can_send_data[7]=M4;HAL_CAN_AddTxMessage(&hcan1,&chassis_tx_message,chassis_can_send_data,&send_mail_box);}这个函数几乎每个例程里面都有，笔者也是直接拿过来用
CAN接收到数据后就会产生中断，进入中断回调函数，这个函数是需要我们自己编写的，我们需要在这里处理拼接接收到的数据，然后储存起来
uint8_t rx_data[8]; //用于接收电机原始数据motor_measure_t motor_chassis[4]; //声明一个结构体数组来储存处理后电机的数据//用来拼接电机数据#define get_motor_measure(ptr,data)\{\(ptr)->angle_value=(uint16_t)((data)[0]<speed_rpm=(uint16_t)((data)[2]<real_current=(uint16_t)((data)[4]<temperate=(data)[6];\(ptr)->real_angle=(ptr)->angle_value/8192.0f*360.0f;\}void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan){CAN_RxHeaderTypeDef rx_header;HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &rx_header, rx_data);switch(rx_header.StdId){case motor1:case motor2:case motor3:case motor4:{static uint8_t i = 0;i = rx_header.StdId - motor1;get_motor_measure(&motor_chassis[i],rx_data);break;}default:{break;}}}六、现在我们可以开始写main函数了（直接上代码）
/* USER CODE BEGIN Header *//********************************************************************************* @file : main.c* @brief: Main program body******************************************************************************* @attention** Copyright (c) 2023 STMicroelectronics.* All rights reserved.** This software is licensed under terms that can be found in the LICENSE file* in the root directory of this software component.* If no LICENSE file comes with this software, it is provided AS-IS.********************************************************************************//* USER CODE END Header *//* Includes ------------------------------------------------------------------*/#include "main.h"#include "can.h"#include "dma.h"#include "usart.h"#include "gpio.h"/* Private includes ----------------------------------------------------------*//* USER CODE BEGIN Includes */#include "pid.h" /* USER CODE END Includes *//* Private typedef -----------------------------------------------------------*//* USER CODE BEGIN PTD */#define unit_speed 1000/660.0//这里改最大速度只需要改前面的1000就可以了DBUS remoter;uint8_t dbus_resive[18];/* USER CODE END PTD *//* Private define ------------------------------------------------------------*//* USER CODE BEGIN PD */extern motor_measure_t motor_chassis[4];PidTypeDef motor_pid;fp32 pid_motor[3]={3.0,0.1,0};// 这三个参数也是参考了其他大佬的/* USER CODE END PD *//* Private macro -------------------------------------------------------------*//* USER CODE BEGIN PM *//* USER CODE END PM *//* Private variables ---------------------------------------------------------*//* USER CODE BEGIN PV */void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);void CAN_cmd_chassis(int16_t M1, int16_t M2, int16_t M3, int16_t M4);fp32 PID_Calc(PidTypeDef *pid,fp32 ref,fp32 set);/* USER CODE END PV *//* Private function prototypes -----------------------------------------------*/void SystemClock_Config(void);/* USER CODE BEGIN PFP *//* USER CODE END PFP *//* Private user code ---------------------------------------------------------*//* USER CODE BEGIN 0 *//* USER CODE END 0 *//*** @briefThe application entry point.* @retval int*/int main(void){/* USER CODE BEGIN 1 */signed int set_speed;/* USER CODE END 1 *//* MCU Configuration--------------------------------------------------------*//* Reset of all peripherals, Initializes the Flash interface and the Systick. */HAL_Init();/* USER CODE BEGIN Init *//* USER CODE END Init *//* Configure the system clock */SystemClock_Config();/* USER CODE BEGIN SysInit *//* USER CODE END SysInit *//* Initialize all configured peripherals */MX_GPIO_Init();MX_DMA_Init();MX_CAN1_Init();MX_USART1_UART_Init();MX_USART6_UART_Init();/* USER CODE BEGIN 2 */HAL_UART_Receive_DMA(&huart1,dbus_resive,18);//初始化DMA__HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE);//IDLE 中断使能can1_start();PID_init(&motor_pid,PID_POSITION,pid_motor,16000,16000);//PID初始化/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while (1){/* USER CODE END WHILE */set_speed = remoter.rc.ch1 * unit_speed; PID_Calc(&motor_pid,motor_chassis[1].speed_rpm,set_speed);CAN_cmd_chassis(motor_pid.out,motor_pid.out,motor_pid.out,motor_pid.out);HAL_Delay(10);/* USER CODE BEGIN 3 */}/* USER CODE END 3 */}/*** @brief System Clock Configuration* @retval None*/void SystemClock_Config(void){RCC_OscInitTypeDef RCC_OscInitStruct = {0};RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};/** Configure the main internal regulator output voltage*/__HAL_RCC_PWR_CLK_ENABLE();__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);/** Initializes the RCC Oscillators according to the specified parameters* in the RCC_OscInitTypeDef structure.*/RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;RCC_OscInitStruct.HSEState = RCC_HSE_ON;RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;RCC_OscInitStruct.PLL.PLLM = 6;RCC_OscInitStruct.PLL.PLLN = 168;RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;RCC_OscInitStruct.PLL.PLLQ = 4;if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK){Error_Handler();}/** Initializes the CPU, AHB and APB buses clocks*/RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK){Error_Handler();}}/* USER CODE BEGIN 4 */void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {remoter.rc.ch0 = (dbus_resive[0]| (dbus_resive[1] <> 3) | (dbus_resive[2] <> 6) | (dbus_resive[3] << 2) | (dbus_resive[4] <> 1) | (dbus_resive[5] <> 4)& 0x000C) >> 2; remoter.rc.s2= ((dbus_resive[5] >> 4)& 0x0003); remoter.rc.sw = dbus_resive[16]|(dbus_resive[17]<<8);}/* USER CODE END 4 *//*** @briefThis function is executed in case of error occurrence.* @retval None*/void Error_Handler(void){/* USER CODE BEGIN Error_Handler_Debug *//* User can add his own implementation to report the HAL error return state */__disable_irq();while (1){}/* USER CODE END Error_Handler_Debug */}#ifdefUSE_FULL_ASSERT/*** @briefReports the name of the source file and the source line number* where the assert_param error has occurred.* @paramfile: pointer to the source file name* @paramline: assert_param error line source number* @retval None*/void assert_failed(uint8_t *file, uint32_t line){/* USER CODE BEGIN 6 *//* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) *//* USER CODE END 6 */}#endif /* USE_FULL_ASSERT */七，仿真
测试一下我们的代码
八，
到这功能就算完成啦。要完全看懂这些的也是需要有一定相关知识基础的，这篇主要写的就是怎么用这些函数，至于为什么要这么写或者说为什么要这么用就没有详细说，如果大家想学习的可以去网上搜，相关的资料有很多，有些地方笔者也为大家贴出来了。如果大家需要什么相关资料也可找笔者要哦，祝大家生活愉快。
“且将新火试新茶，诗酒趁年华”
————-苏轼