匿名四軸上位機使用手冊

匿名四軸上位機使??冊匿名四軸上位機使??冊?錄1、串?功能軟件界?串?功能和串?助?等軟件功能類似，設置也差不多。1.設置接收格式、端?、波特率即可。2.打開基本收碼功能。3.打開串?。4.測試：2、?級收碼?級收碼設置選項卡：1.1-10對應0XA1-0XAA,我們只需要按定義幀設置即可，我這?使?0XA2，選擇2，并打開開關(guān)。2.因為我需要查看的有三個數(shù)據(jù)，pitch，roll，yaw，并為float類型，所以如此設置。3.最后打開?級收碼功能，如果你需要實時查看上傳的數(shù)據(jù)可以打開收碼顯?。4.打開串?。5.測試：3、波形顯?波形顯?功能需要在?級收碼的功能上做修改。波形顯?設置選項卡如下：1.1-20序號對應的是波形序號，也就是說最多能指定顯?20個波形，我們這?有pitch,roll,yaw三個波形，所以設置1，2，3。2.設置第?個波形1，它來源于數(shù)據(jù)幀2的第?位。3.設置第?個波形2，它來源于數(shù)據(jù)幀2的第?位。4.設置第?個波形3，它來源于數(shù)據(jù)幀2的第三位。5.打開數(shù)據(jù)校驗，數(shù)據(jù)顯?。6.打開波形顯?。7.在波形顯?頁?勾上前三個即可：8.打開串?。9.測試：4、飛控狀態(tài)使?到此功能再補充。5、上傳數(shù)據(jù)的單?機程序以下為上傳三個?度的代碼，串?初始化等略過：voidusart1_send_char(u8c){while((USART1->SR&0X40)==0);//等待上?次發(fā)送完畢USART1->DR=c;}//fun:功能字.0XA0~0XAF//data:數(shù)據(jù)緩存區(qū),最多28字節(jié)!!//len:data區(qū)有效數(shù)據(jù)個數(shù)voidusart1_niming_report(u8fun,u8*data,u8len){u8send_buf[32];u8i;if(len>28)return;//最多28字節(jié)數(shù)據(jù)send_buf[len+3]=0;//校驗數(shù)置零send_buf[0]=0X88;//幀頭send_buf[1]=fun;//功能字send_buf[2]=len;//數(shù)據(jù)長度for(i=0;i<len;i++)send_buf[3+i]=data[i];//復制數(shù)據(jù)for(i=0;i<len+3;i++)send_buf[len+3]+=send_buf[i];//計算校驗和for(i=0;i<len+4;i++)usart1_send_char(send_buf[i]);//發(fā)送數(shù)據(jù)到串?1}voidmpu6050_send_data(floatpitch,floatroll,floatyaw){u8tbuf[16];unsignedchar*p;p=(unsignedchar*)&pitch;tbuf[0]=(unsignedchar)(*(p+3));tbuf[1]=(unsignedchar)(*(p+2));tbuf[2]=(unsignedchar)(*(p+1));tbuf[3]=(unsignedchar)(*(p+0));p=(unsignedchar*)&roll;tbuf[4]=(unsignedchar)(*(p+3));tbuf[5]=(unsignedchar)(*(p+2));tbuf[6]=(unsignedchar)(*(p+1));tbuf[7]=(unsignedchar)(*(p+0));p=(unsignedchar*)&yaw;tbuf[8]=(unsignedchar)(*(p+3));tbuf[9]=(unsignedchar)(*(p+2));tbuf[10]=(unsignedchar)(*(p+1));tbuf[11]=(unsignedchar)(*(p+0));usart1_niming_report(0XA2,tbuf,12);//?定義幀,0XA2}注意：最后?個函數(shù)把float拆成四個字節(jié)發(fā)送(由于串?只能?個字節(jié)?個字節(jié)的發(fā)送),?指針獲得float型變量的?地址，然后強制轉(zhuǎn)換為unsignedchar型，地址逐漸加?把float的四個字節(jié)分別發(fā)出即可。6、更多參考另外在個?的??機中使?如下：/**********************************************************************************?件名：main.c*描述：??機*實驗平臺：STM32開發(fā)板*庫版本：ST3.5.0*作者：零**********************************************************************************/#include"stm32f10x.h"#include"pwm_output.h"#include"key.h"#include"delay.h"#include"QDTFT_demo.h"#include"led.h"#include"Lcd_Driver.h"#include"mpu6050.h"#include"inv_mpu.h"#include"inv_mpu_dmp_motion_driver.h"#include"usart.h"#include"delay.h"#include"misc.h"#include"GUI.h"#include"pid_1.h"#include"math.h"#include"control.h"#include"string.h"#include"usmart.h"#include"stm32f10x_usart.h"/************************************************///串?1發(fā)送1個字符//c:要發(fā)送的字符voidusart1_send_char(u8c){while(USART_GetFlagStatus(USART1,USART_FLAG_TC)==RESET);//循環(huán)發(fā)送,直到發(fā)送完畢USART_SendData(USART1,c);}/*//傳送數(shù)據(jù)給匿名四軸上位機軟件(V2.6版本)//fun:功能字.0XA0~0XAF//data:數(shù)據(jù)緩存區(qū),最多28字節(jié)!!//len:data區(qū)有效數(shù)據(jù)個數(shù)voidusart1_niming_report(u8fun,u8*data,u8len){u8send_buf[32];u8i;if(len>28)return;//最多28字節(jié)數(shù)據(jù)send_buf[len+3]=0;//校驗數(shù)置零send_buf[0]=0X88;//幀頭send_buf[1]=fun;//功能字send_buf[2]=len;//數(shù)據(jù)長度for(i=0;i<len;i++)send_buf[3+i]=data[i];//復制數(shù)據(jù)for(i=0;i<len+3;i++)send_buf[len+3]+=send_buf[i];//計算校驗和for(i=0;i<len+4;i++)usart1_send_char(send_buf[i]);//發(fā)送數(shù)據(jù)到串?1}//if(report)mpu6050_send_data(aacx,aacy,aacz,gyrox,gyroy,gyroz);//??定義幀發(fā)送加速度和陀螺儀原始數(shù)據(jù)//if(report)usart1_report_imu(aacx,aacy,aacz,gyrox,gyroy,gyroz,(int)(roll*100),(int)(pitch*100),(int)(yaw*10));//發(fā)送加速度傳感器數(shù)據(jù)和陀螺儀數(shù)據(jù)//aacx,aacy,aacz:x,y,z三個向上?的加速度值向上?的陀螺儀值//gyrox,gyroy,gyroz:x,y,z三個voidmpu6050_send_data(shortaacx,shortaacy,shortaacz,shortgyrox,shortgyroy,shortgyroz){u8tbuf[12];tbuf[0]=(aacx>>8)&0XFF;tbuf[1]=aacx&0XFF;tbuf[2]=(aacy>>8)&0XFF;tbuf[3]=aacy&0XFF;tbuf[4]=(aacz>>8)&0XFF;tbuf[5]=aacz&0XFF;tbuf[6]=(gyrox>>8)&0XFF;tbuf[7]=gyrox&0XFF;tbuf[8]=(gyroy>>8)&0XFF;tbuf[9]=gyroy&0XFF;tbuf[10]=(gyroz>>8)&0XFF;tbuf[11]=gyroz&0XFF;usart1_niming_report(0XA1,tbuf,12);//?定義幀,0XA1}//通過串?1上報結(jié)算后的姿態(tài)數(shù)據(jù)給電腦//aacx,aacy,aacz:x,y,z三個向上?的加速度值向上?的陀螺儀值//gyrox,gyroy,gyroz:x,y,z三個//roll:橫滾?.單位0.01度。-18000->18000對應-180.00->180.00度//pitch:俯仰?.單位0.01度。-9000-9000對應-90.00->90.00度//yaw:航向?.單位為0.1度0->3600對應0->360.0度voidusart1_report_imu(shortaacx,shortaacy,shortaacz,shortgyrox,shortgyroy,shortgyroz,shortroll,shortpitch,shortyaw){u8tbuf[28];u8i;for(i=0;i<28;i++)tbuf[i]=0;//清0tbuf[0]=(aacx>>8)&0XFF;

tbuf[1]=aacx&0XFF;tbuf[2]=(aacy>>8)&0XFF;tbuf[3]=aacy&0XFF;tbuf[4]=(aacz>>8)&0XFF;tbuf[5]=aacz&0XFF;tbuf[6]=(gyrox>>8)&0XFF;tbuf[7]=gyrox&0XFF;tbuf[8]=(gyroy>>8)&0XFF;tbuf[9]=gyroy&0XFF;tbuf[10]=(gyroz>>8)&0XFF;tbuf[11]=gyroz&0XFF;tbuf[18]=(roll>>8)&0XFF;tbuf[19]=roll&0XFF;tbuf[20]=(pitch>>8)&0XFF;tbuf[21]=pitch&0XFF;tbuf[22]=(yaw>>8)&0XFF;tbuf[23]=yaw&0XFF;usart1_niming_report(0XAF,tbuf,28);//飛控顯?幀,0XAF}************************************************///fun:功能字.0XA0~0XAF//data:數(shù)據(jù)緩存區(qū),最多28字節(jié)!!//len:data區(qū)有效數(shù)據(jù)個數(shù)voidusart1_niming_report(u8fun,u8*data,u8len){u8send_buf[32];u8i;if(len>28)return;//最多28字節(jié)數(shù)據(jù)send_buf[len+3]=0;//校驗數(shù)置零send_buf[0]=0X88;//幀頭send_buf[1]=fun;//功能字send_buf[2]=len;//數(shù)據(jù)長度for(i=0;i<len;i++)send_buf[3+i]=data[i];//復制數(shù)據(jù)for(i=0;i<len+3;i++)send_buf[len+3]+=send_buf[i];//計算校驗和for(i=0;i<len+4;i++)usart1_send_char(send_buf[i]);//發(fā)送數(shù)據(jù)到串?1}voidmpu6050_send_data(floatpitch,floatroll,floatyaw){u8tbuf[16];unsignedchar*p;p=(unsignedchar*)&pitch;tbuf[0]=(unsignedchar)(*(p+3));tbuf[1]=(unsignedchar)(*(p+2));tbuf[2]=(unsignedchar)(*(p+1));tbuf[3]=(unsignedchar)(*(p+0));p=(unsignedchar*)&roll;tbuf[4]=(unsignedchar)(*(p+3));tbuf[5]=(unsignedchar)(*(p+2));tbuf[6]=(unsignedchar)(*(p+1));tbuf[7]=(unsignedchar)(*(p+0));p=(unsignedchar*)&yaw;tbuf[8]=(unsignedchar)(*(p+3));tbuf[9]=(unsignedchar)(*(p+2));tbuf[10]=(unsignedchar)(*(p+1));tbuf[11]=(unsignedchar)(*(p+0));usart1_niming_report(0XA2,tbuf,12);//?定義幀,0XA2}u16pwm1=2000,pwm2=2000,pwm3=2000,pwm4=2000;/************************************************//**函數(shù)名：main*描述：主函數(shù)*輸?：?*輸出：?*/intmain(void){u8report=1;//默認開啟上報u8res;u8test[20];u8temp_value[20];//存儲陀螺儀的臨時值u8temp_value2[20];//存儲pwm輸出的臨時值u8t=0;u8key;//按鍵值u8key_status=0;//按鍵狀態(tài)u8keystatus=0;//按鍵s4的狀態(tài)值floattemp;floatpitch,roll,yaw;//歐拉?shortaacx,aacy,aacz;//加速度傳感器原始數(shù)據(jù)shortgyrox,gyroy,gyroz;//陀螺儀原始數(shù)據(jù)intMotor1=0;//電機1輸出intMotor2=0;//電機2輸出intMotor3=0;//電機3輸出intMotor4=0;//電機4輸出floatPitch;floatRoll;floatYaw;PIDx_init();PIDy_init();PIDz_init();pitch_init();roll_init();yaw_init();NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//設置NVIC中斷分組2:2位搶占優(yōu)先級，2位響應優(yōu)先級delay_init();

KEY_Init();uart_init(500000);//初始化串?usmart_dev.init(72);//初始化USMARTpwm_init();/*TIM3PWM波輸出初始化，并使能TIM3PWM輸出*/Lcd_Init();LCD_LED_SET;//通過IO控制背光亮Lcd_Clear(GRAY0);delay_ms(1000);MPU_Init();//初始化MPU6050Gui_DrawFont_GBK16(25,30,YELLOW,GRAY0,"Startcheck");while(mpu_dmp_init())Gui_DrawFont_GBK16(16,50,YELLOW,GRAY0,"MPU6050Error");Gui_DrawFont_GBK16(25,50,YELLOW,GRAY0,"MPU6050OK");Lcd_Clear(GRAY0);Gui_DrawFont_GBK16(25,30,YELLOW,GRAY0,"S3->shuju");Gui_DrawFont_GBK16(25,50,BLUE,GRAY0,"S4->PWM");while(1){if(keystatus!=1&&key!=2)key=KEY_Scan(0);//得到鍵值if(key){switch(key){caseKEY0_PRES://{Lcd_Clear(GRAY0);Gui_DrawFont_GBK16(25,30,YELLOW,GRAY0,"M1:");Gui_DrawFont_GBK16(25,50,BLUE,GRAY0,"M2:");Gui_DrawFont_GBK16(25,70,RED,GRAY0,"M3:");Gui_DrawFont_GBK16(25,90,BLUE,GRAY0,"M4:");while(1){key=KEY_Scan(1);if(key)switch(key){caseKEY1_PRES:key_status=1;break;}if(key_status==1)break;//有沒有更新值，有更新新的值就會繼續(xù)往下執(zhí)?if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0){/*MPU_Get_Accelerometer(&aacx,&aacy,&aacz);//得到加速度傳感器數(shù)據(jù)MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz);//得到陀螺儀數(shù)據(jù)*/Pitch=PIDx_out_realize(pitch);Roll=PIDy_out_realize(roll);Yaw=PIDz_out_realize(yaw);//Pitch+=PIDx_inner_realize(pitch);//Roll+=PIDy_inner_realize(roll);//Yaw+=PIDz_inner_realize(yaw);//Motor1=(int)(2200-Pitch+Roll-Yaw);//Motor2=(int)(2200+Pitch+Roll+Yaw);//Motor3=(int)(2200+Pitch-Roll-Yaw);//Motor4=(int)(2200-Pitch-Roll+Yaw);Motor1=(int)(2500+Pitch-Roll);Motor2=(int)(2500+Pitch+Roll);Motor3=(int)(2500-Pitch+Roll);Motor4=(int)(2500-Pitch-Roll);//TIM_SetCompare1(TIM3,Motor4);////TIM_SetCompare2(TIM3,Motor1);////TIM_SetCompare3(TIM3,Motor2);////TIM_SetCompare4(TIM3,Motor3);//if(t%1==0){sprintf(temp_value2,"%4d",Motor4);Gui_DrawFont_GBK16(50,30,BLUE,GRAY0,temp_value2);sprintf(temp_value2,"%4d",Motor1);Gui_DrawFont_GBK16(50,50,BLUE,GRAY0,temp_value2);sprintf(temp_value2,"%4d",Motor2);Gui_DrawFont_GBK16(50,70,BLUE,GRAY0,temp_value2);sprintf(temp_value2,"%4d",Motor3);Gui_DrawFont_GBK16(50,90,BLUE,GRAY0,temp_value2);if(report)mpu6050_send_data(pitch,roll,yaw);//??定義幀發(fā)送加速度和陀螺儀原始數(shù)據(jù)//if(report)usart1_report_imu(aacx,aacy,aacz,gyrox,gyroy,gyroz,(int)(roll*100),(int)(pitch*100),(int)(yaw*10));}}t++;}key_status=0;}caseKEY1_PRES://{keystatus=0;Lcd_Clear(GRAY0);Gui_DrawFont_GBK16(25,50,BLUE,GRAY0,"Pitch:.C");Gui_DrawFont_GBK16(25,70,RED,GRAY0,"Roll:.C");Gui_DrawFont_GBK16(25,90,BLUE,GRAY0,"Yaw:.C");while(1){key=KEY_Scan(0);if(key)switch(key){caseKEY0_PRES:key_status=1;break;}if(key_status==1)break;if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0)

{//MPU_Get_Accelerometer(&aacx,&aacy,&aacz);//得到加速度傳感器數(shù)據(jù)//MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz);//得到陀螺儀數(shù)據(jù)Pitch=PIDx_out_realize(pitch);Roll=PIDy_out_realize(roll);Yaw=PIDz_out_realize(yaw);//Pitch+=PIDx_inner_realize(pitch);//Roll+=PIDy_inner_realize(roll);//Yaw+=PIDz_inner_realize(yaw);//Motor1=(int)(2200-Pitch+Roll-Yaw);//Motor2=(int)(2200+Pitch+Roll+Yaw);//Motor3=(int)(2200+Pitch-Roll-Yaw);//Motor4=(int)(2200-Pitch-Roll+Yaw);Motor1=(int)(2500+Pitch-Roll);Motor2=(int)(2500+Pitch+Roll);Motor3=(int)(2500-Pitch+Roll);Motor4=(int)(2500-Pitch-Roll);//TIM_SetCompare1(TIM3,Motor4);////TIM_SetCompare2(TIM3,Motor1);////TIM_SetCompare3(TIM3,Motor2);////TIM_SetCompare4(TIM3,Motor3);//temp=pitch;if(temp<0)