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#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "lcd.h"
#include "usart.h"
#include "mpu6050.h"
#include "usmart.h"
#include "inv_mpu.h"
#include "timer.h"
#include "inv_mpu_dmp_motion_driver.h"
//串口1發送1個字符
//c:要發送的字符
void usart1_send_char(u8 c)
{
while(USART_GetFlagStatus(USART1,USART_FLAG_TC)==RESET); //循環發送,直到發送完畢
USART_SendData(USART1,c);
}
//傳送數據給匿名四軸上位機軟件(V2.6版本)
//fun:功能字. 0XA0~0XAF
//data:數據緩存區,最多28字節!!
//len:data區有效數據個數
void usart1_niming_report(u8 fun,u8*data,u8 len)
{
u8 send_buf[32];
u8 i;
if(len>28)return; //最多28字節數據
send_buf[len+3]=0; //校驗數置零
send_buf[0]=0X88; //幀頭
send_buf[1]=fun; //功能字
send_buf[2]=len; //數據長度
for(i=0;i<len;i++)send_buf[3+i]=data[i]; //復制數據
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]); //發送數據到串口1
}
//發送加速度傳感器數據和陀螺儀數據
//aacx,aacy,aacz:x,y,z三個方向上面的加速度值
//gyrox,gyroy,gyroz:x,y,z三個方向上面的陀螺儀值
void mpu6050_send_data(short aacx,short aacy,short aacz,short gyrox,short gyroy,short gyroz)
{
u8 tbuf[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);//自定義幀,0XA1
}
//通過串口1上報結算后的姿態數據給電腦
//aacx,aacy,aacz:x,y,z三個方向上面的加速度值
//gyrox,gyroy,gyroz:x,y,z三個方向上面的陀螺儀值
//roll:橫滾角.單位0.01度。 -18000 -> 18000 對應 -180.00 -> 180.00度
//pitch:俯仰角.單位 0.01度。-9000 - 9000 對應 -90.00 -> 90.00 度
//yaw:航向角.單位為0.1度 0 -> 3600 對應 0 -> 360.0度
void usart1_report_imu(short aacx,short aacy,short aacz,short gyrox,short gyroy,short gyroz,short roll,short pitch,short yaw)
{
u8 tbuf[28];
u8 i;
for(i=0;i<28;i++)tbuf[i]=0;//清0
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;
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);//飛控顯示幀,0XAF
}
struct _pid
{
float Setangle; //定義設定值
float Now_err; //定義當前誤差
float Err_k1; //上一次誤差
float Err_k2; //上上次誤差
float kp,ki,kd; //定義比列，微分，積分常數
}pid;
void pid_init(void)
{
pid.Setangle=20.0;
pid.Now_err=0.0;
pid.Err_k1=0.0;
pid.Err_k2=0.0;
pid.kp=0.05;
pid.ki=0.05;
pid.kd=0.05;
}
float pid_realize(float angle)
{
float ans;
pid.Now_err=pid.Setangle-angle;
ans=pid.kp*(pid.Now_err-pid.Err_k1)+pid.ki*pid.Now_err+pid.kd*(pid.Now_err-2*pid.Err_k1+pid.Err_k2);
pid.Err_k2=pid.Err_k1;
pid.Err_k1=pid.Now_err;
return ans;
}
int main(void)
{
float speed=20;
u8 t=0,report=1; //默認開啟上報
u8 key;
u8 now_speed;
float pitch,roll,yaw; //歐拉角
short aacx,aacy,aacz; //加速度傳感器原始數據
short gyrox,gyroy,gyroz; //陀螺儀原始數據
short temp; //溫度
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //設置NVIC中斷分組2:2位搶占優先級，2位響應優先級
uart_init(115200); //串口初始化為500000
TIM_PWMmotor_Init(100,71999); //電機初始化
delay_init(); //延時初始化
usmart_dev.init(72); //初始化USMART
motordirect(1);
motorenable();
LED_Init(); //初始化與LED連接的硬件接口
KEY_Init(); //初始化按鍵
LCD_Init(); //初始化LCD
pid_init();
MPU_Init(); //初始化MPU6050
POINT_COLOR=RED; //設置字體為紅色
LCD_ShowString(30,50,200,16,16,"ELITE STM32");
LCD_ShowString(30,70,200,16,16,"MPU6050 TEST");
LCD_ShowString(30,90,200,16,16,"ATOM@ALIENTEK");
LCD_ShowString(30,110,200,16,16,"2015/1/17");
while(mpu_dmp_init())
{
LCD_ShowString(30,130,200,16,16,"MPU6050 Error");
delay_ms(200);
LCD_Fill(30,130,239,130+16,WHITE);
delay_ms(200);
}
LCD_ShowString(30,130,200,16,16,"MPU6050 OK");
LCD_ShowString(30,150,200,16,16,"KEY0:UPLOAD ON/OFF");
POINT_COLOR=BLUE;//設置字體為藍色
LCD_ShowString(30,170,200,16,16,"UPLOAD ON ");
LCD_ShowString(30,200,200,16,16," Temp: . C");
LCD_ShowString(30,220,200,16,16,"Pitch: . C");
LCD_ShowString(30,240,200,16,16," Roll: . C");
LCD_ShowString(30,260,200,16,16," Yaw : . C");
LCD_ShowString(30,280,200,16,16," kp:0. ");
LCD_ShowString(30,300,200,16,16," ki :0. ");
LCD_ShowString(30,320,200,16,16," kd :0. ");
LCD_ShowString(30,340,200,16,16," speed: ");
LCD_ShowString(30,360,200,16,16," setangle: ");
while(1)
{
key=KEY_Scan(0);
// if(key==KEY0_PRES)
// {
// report=!report;
if(report)LCD_ShowString(30,170,200,16,16,"UPLOAD ON ");
else LCD_ShowString(30,170,200,16,16,"UPLOAD OFF");
// }
if(key==KEY0_PRES)
{
pid.kp+=0.03;
}
if(key==KEY1_PRES)
{
pid.ki+=0.03;
}
if(key==WKUP_PRES)
{
pid.kd+=0.03;
}
if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0)
{
temp=MPU_Get_Temperature(); //得到溫度值
MPU_Get_Accelerometer(&aacx,&aacy,&aacz); //得到加速度傳感器數據
MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz); //得到陀螺儀數據
// if(report)mpu6050_send_data(aacx,aacy,aacz,gyrox,gyroy,gyroz);//用自定義幀發送加速度和陀螺儀原始數據
// if(report)usart1_report_imu(aacx,aacy,aacz,gyrox,gyroy,gyroz,(int)(roll*100),(int)(pitch*100),(int)(yaw*10));
if((t%10)==0)
{
if(temp<0)
{
LCD_ShowChar(30+48,200,'-',16,0); //顯示負號
temp=-temp; //轉為正數
}else LCD_ShowChar(30+48,200,' ',16,0); //去掉負號
LCD_ShowNum(30+48+8,200,temp/100,3,16); //顯示整數部分
LCD_ShowNum(30+48+40,200,temp%10,1,16); //顯示小數部分
temp=pitch*10;
if(temp<0)
{
LCD_ShowChar(30+48,220,'-',16,0); //顯示負號
temp=-temp; //轉為正數
}else LCD_ShowChar(30+48,220,' ',16,0); //去掉負號
LCD_ShowNum(30+48+8,220,temp/10,3,16); //顯示整數部分
LCD_ShowNum(30+48+40,220,temp%10,1,16); //顯示小數部分
temp=roll*10;
if(temp<0)
{
LCD_ShowChar(30+48,240,'-',16,0); //顯示負號
temp=-temp; //轉為正數
}else LCD_ShowChar(30+48,240,' ',16,0); //去掉負號
LCD_ShowNum(30+48+8,240,temp/10,3,16); //顯示整數部分
LCD_ShowNum(30+48+40,240,temp%10,1,16); //顯示小數部分
temp=yaw*10;
if(temp<0)
{
LCD_ShowChar(30+48,260,'-',16,0); //顯示負號
temp=-temp; //轉為正數
}else LCD_ShowChar(30+48,260,' ',16,0); //去掉負號
LCD_ShowNum(30+48+8,260,temp/10,3,16); //顯示整數部分
LCD_ShowNum(30+48+40,260,temp%10,1,16); //顯示小數部分
now_speed=speed;
LCD_ShowNum(30+48+8,280,pid.kp*100,3,16);
LCD_ShowNum(30+48+8,300,pid.ki*100,3,16);
LCD_ShowNum(30+48+8,320,pid.kd*100,3,16);
LCD_ShowNum(30+48+8,340,now_speed,3,16);
LCD_ShowNum(30+48+8,360,pid.Setangle,3,16);
t=0;
LED0=!LED0;//LED閃爍
}
}
speed+=pid_realize(pitch);
if(speed>=100) speed=100;
motorspeed(speed);
t++;
}
}

復制代碼

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