Incomplete integration of their own debugging, if error and areas for improvement, you can contact me, exchange
STM32F103 above code is implemented.
At the same time I think there is a very comprehensive article describes the PID
Directly on the bar code
？？
Link: https: //pan.baidu.com/s/1UedJ089BnLxLj7QLiQqLaA
extraction code: goac