四軸上位機(jī)和飛控經(jīng)典代碼分享

ID:140725 · 發(fā)表于 2016-10-12 13:20

做四軸飛行器需要考慮到很多很多，其中上位機(jī)設(shè)計和PCB設(shè)計都是需要花費(fèi)大量精力的。

現(xiàn)在已經(jīng)有匿名四軸開發(fā)的開源上位機(jī)程序，集通信，調(diào)試，監(jiān)視，設(shè)置功能于一體。

同時附帶飛控通信協(xié)議，是我一直在用的四軸飛行器上位機(jī)，開發(fā)中省了很大的功夫啊。之前一直在用的2.6版本的，前兩天去官網(wǎng)看到有更新，特地分享給大家

部分源碼：

#include "stm32f10x.h"
#include "BSP.H"
void Nvic_Init(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
/* NVIC_PriorityGroup */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
//串口
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_UART_P;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_UART_S;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//TIM3
NVIC_InitStructure.NVIC_IRQChannel=TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_TIM3_P;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_TIM3_S;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
#ifdef CONTROL_USE_RC
//TIM4 pwm in
NVIC_InitStructure.NVIC_IRQChannel=TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_TIM4_P;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_TIM4_S;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
}
#define EE_6050_ACC_X_OFFSET_ADDR 0
#define EE_6050_ACC_Y_OFFSET_ADDR 1
#define EE_6050_ACC_Z_OFFSET_ADDR 2
#define EE_6050_GYRO_X_OFFSET_ADDR 3
#define EE_6050_GYRO_Y_OFFSET_ADDR 4
#define EE_6050_GYRO_Z_OFFSET_ADDR 5
#define EE_PID_ROL_P 6
#define EE_PID_ROL_I 7
#define EE_PID_ROL_D 8
#define EE_PID_PIT_P 9
#define EE_PID_PIT_I 10
#define EE_PID_PIT_D 11
#define EE_PID_YAW_P 12
#define EE_PID_YAW_I 13
#define EE_PID_YAW_D 14
//ErrorStatus HSEStartUpStatus;
//FLASH_Status FlashStatus;
uint16_t VirtAddVarTab[NumbOfVar] = {0xAA00, 0xAA01, 0xAA02, 0xAA03, 0xAA04, 0xAA05, 0xAA06, 0xAA07, 0xAA08, 0xAA09,
0xAA0A,0xAA0B, 0xAA0C, 0xAA0D, 0xAA0E,};
uint16_t temp;
void EE_INIT(void)
{
EE_Init();
}
void EE_SAVE_ACC_OFFSET(void)
{
EE_WriteVariable(VirtAddVarTab[EE_6050_ACC_X_OFFSET_ADDR], ACC_OFFSET.X);
EE_WriteVariable(VirtAddVarTab[EE_6050_ACC_Y_OFFSET_ADDR], ACC_OFFSET.Y);
EE_WriteVariable(VirtAddVarTab[EE_6050_ACC_Z_OFFSET_ADDR], ACC_OFFSET.Z);
}
void EE_READ_ACC_OFFSET(void)
{
EE_ReadVariable(VirtAddVarTab[EE_6050_ACC_X_OFFSET_ADDR], &ACC_OFFSET.X);
EE_ReadVariable(VirtAddVarTab[EE_6050_ACC_Y_OFFSET_ADDR], &ACC_OFFSET.Y);
EE_ReadVariable(VirtAddVarTab[EE_6050_ACC_Z_OFFSET_ADDR], &ACC_OFFSET.Z);
}
void EE_SAVE_GYRO_OFFSET(void)
{
EE_WriteVariable(VirtAddVarTab[EE_6050_GYRO_X_OFFSET_ADDR], GYRO_OFFSET.X);
EE_WriteVariable(VirtAddVarTab[EE_6050_GYRO_Y_OFFSET_ADDR], GYRO_OFFSET.Y);
EE_WriteVariable(VirtAddVarTab[EE_6050_GYRO_Z_OFFSET_ADDR], GYRO_OFFSET.Z);
}
void EE_READ_GYRO_OFFSET(void)
{
EE_ReadVariable(VirtAddVarTab[EE_6050_GYRO_X_OFFSET_ADDR], &GYRO_OFFSET.X);
EE_ReadVariable(VirtAddVarTab[EE_6050_GYRO_Y_OFFSET_ADDR], &GYRO_OFFSET.Y);
EE_ReadVariable(VirtAddVarTab[EE_6050_GYRO_Z_OFFSET_ADDR], &GYRO_OFFSET.Z);
}
void EE_SAVE_PID(void)
{
u16 _temp;
_temp = PID_ROL.P * 100;
EE_WriteVariable(VirtAddVarTab[EE_PID_ROL_P],_temp);
_temp = PID_ROL.I * 1000;
EE_WriteVariable(VirtAddVarTab[EE_PID_ROL_I],_temp);
_temp = PID_ROL.D * 100;
EE_WriteVariable(VirtAddVarTab[EE_PID_ROL_D],_temp);
_temp = PID_PIT.P * 100;
EE_WriteVariable(VirtAddVarTab[EE_PID_PIT_P],_temp);
_temp = PID_PIT.I * 1000;
EE_WriteVariable(VirtAddVarTab[EE_PID_PIT_I],_temp);
_temp = PID_PIT.D * 100;
EE_WriteVariable(VirtAddVarTab[EE_PID_PIT_D],_temp);
_temp = PID_YAW.P * 100;
EE_WriteVariable(VirtAddVarTab[EE_PID_YAW_P],_temp);
_temp = PID_YAW.I * 1000;
EE_WriteVariable(VirtAddVarTab[EE_PID_YAW_I],_temp);
_temp = PID_YAW.D * 100;
EE_WriteVariable(VirtAddVarTab[EE_PID_YAW_D],_temp);
}
void EE_READ_PID(void)
{
u16 _temp;
EE_ReadVariable(VirtAddVarTab[EE_PID_ROL_P],&_temp);
PID_ROL.P = (float)_temp / 100;
EE_ReadVariable(VirtAddVarTab[EE_PID_ROL_I],&_temp);
PID_ROL.I = (float)_temp / 1000;
EE_ReadVariable(VirtAddVarTab[EE_PID_ROL_D],&_temp);
PID_ROL.D = (float)_temp / 100;
EE_ReadVariable(VirtAddVarTab[EE_PID_PIT_P],&_temp);
PID_PIT.P = (float)_temp / 100;
EE_ReadVariable(VirtAddVarTab[EE_PID_PIT_I],&_temp);
PID_PIT.I = (float)_temp / 1000;
EE_ReadVariable(VirtAddVarTab[EE_PID_PIT_D],&_temp);
PID_PIT.D = (float)_temp / 100;
EE_ReadVariable(VirtAddVarTab[EE_PID_YAW_P],&_temp);
PID_YAW.P = (float)_temp / 100;
EE_ReadVariable(VirtAddVarTab[EE_PID_YAW_I],&_temp);
PID_YAW.I = (float)_temp / 1000;
EE_ReadVariable(VirtAddVarTab[EE_PID_YAW_D],&_temp);
PID_YAW.D = (float)_temp / 100;
}