和固定翼不同，沒有飛控，多旋翼無法操控。
直到以下飛控的出現(xiàn)，
Kiss
Lux
CC3D
F3及變種
F4及變種
F7及變種
這些飛控通過多種傳感器和主控芯片，控制著機身多個電機，調(diào)整機身的姿態(tài)。
飛控的選擇，會影響多旋翼的飛行感受。而固件則是飛控的靈魂。
以下放出了F4飛控的程序源代碼，需要的可以自行下載，謝謝。
單片機源程序如下:
- #include "stm32f4xx.h"
- #include "delay.h"
- #include "led.h"
- #include "timer.h"
- #include "pwm_output.h"
- #include "usart.h"
- #include "pwm_in.h"
- #include "MPU6050.h"
- #include "IIC.h"
- #include "imu.h"
- #include "control.h"
- /*------------------------------------------------------------------------------------------*/
- /* global varibles */
- /*------------------------------------------------------------------------------------------*/
- unsigned char tim2flag=0; //定時期2中斷任務執(zhí)行標志
- unsigned char readyflag=0; //任務執(zhí)行標志 0:初始化kp,kd;1:電機執(zhí)行許可；2:執(zhí)行電機執(zhí)行許可和發(fā)送角度信息
- /*------------------------------------------------------------------------------------------*/
- /* function code */
- /*------------------------------------------------------------------------------------------*/
- void TIM2_IRQHandler(void);
- void NVIC_Configuration(void);
- void USART3_IRQHandler(void);
- int main(void)
- {
- float Roll=0;
- float Pitch=0;
- int i=0;
- LED_Init();
- LED1_OFF;
- LED2_OFF;
- LED3_OFF;
- LED4_OFF;
- delay_init(168); //延時初始化 并啟動開機時間。
- NVIC_Configuration();
- usart_x_init(115200);
- Timer2_Init(40,8399);
- pwm_in_init();
-
- TIM5_PWM_Init(); //PWM輸出初始化250hz
- TIM4_PWM_Init(); //50hz
- delay_ms(100);
-
- for(i=0;i<10000;i++) //用以初始化電調(diào)航程的時間
- {
- TIM5_PWM_OUTPUT(pwmout2,pwmout2,pwmout2,pwmout2);
- delay_ms(1);
- }
- delay_ms(100);
- I2C_GPIO_Config();
- delay_ms(100);
- Init_MPU6050();
-
- Acc_Correct();
- Gyro_Correct();
- PID_controllerInit();
- controlmiddleinit(pwmout1,pwmout2,pwmout3,pwmout4); // pwmout1:橫滾 pwmout2:油門
- // pwmout3:俯仰 pwmout4:航向
-
- // printf("\n\rUSARTx test:\n\r");
- delay_ms(500);
- delay_ms(500);
- LED1_OFF;
- LED2_ON;
- LED3_ON;
- LED4_OFF;
-
- while(1)
- {
- if(tim2flag!=0)
- {
- tim2flag=0;
- // READ_MPU6050();
- // MPU6050_TEST();
- IMUdataprepare();
- IMUupdate(GyroFinal.X,GyroFinal.Y,GyroFinal.Z,AccFinal.X,AccFinal.Y,AccFinal.Z);
-
- Roll=(float)atan2(AccFinal.Y,AccFinal.Z)*57.295779513; //X軸角度值
- Pitch=-(float)atan2(AccFinal.X,AccFinal.Z)*57.295779513; //Y軸角度值
-
- // SendData(Q_ANGLE.Pitch*10,Pitch*10,Q_ANGLE.Roll*10,Roll*10);
- SendData(Q_ANGLE.Yaw*10,Q_ANGLE.Pitch*10,Q_ANGLE.Roll*10,0); //配合diIMU上位機，單位度*10 紅 藍 青 黃
- // SendData(0,Pitch*10,0,Roll*10);
- // SendData(0,GyroFinal.X*10,0,GyroFinal.Y*10);
- Getdesireddata(pwmout1,pwmout2,pwmout3,pwmout4);
- // Q_ANGLE.Roll=-Q_ANGLE.Roll;
- PID_CAL();
- TIM5_PWM_OUTPUT(MOTOR1,MOTOR2,MOTOR3,MOTOR4); //MOTOR1 REAR_R 后右電機
- //MOTOR2 FRONT_R 前右電機
- //MOTOR3 REAR_L 后左電機
- //MOTOR4 FRONT_L 前左電機
- // TIM5_PWM_OUTPUT(pwmout2,pwmout2,pwmout2,pwmout2);
- platform_control(Q_ANGLE.Roll,Q_ANGLE.Pitch,0,0);
- TIM4_PWM_OUTPUT(servo_Roll,servo_Pitch);
- // SendData(Q_ANGLE.Roll*10,(&pidRoll)->outP,(&pidRoll)->outD,0);
- // SendData(MOTOR1*10,MOTOR2*10,MOTOR3*10,MOTOR4*10);
- LED1_Tog;
- }
- }
- }
- void NVIC_Configuration(void)
- {
- NVIC_InitTypeDef NVIC_InitStructure;
- NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4); //中斷分組0 先占優(yōu)先級4位。從優(yōu)先級0位
- //Usart1 NVIC 配置
- NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3 ;
- // NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
- NVIC_Init(&NVIC_InitStructure); //根據(jù)NVIC_InitStruct中指定的參數(shù)初始化外設NVIC寄存器USART1
- //TIM2定時中斷設置
- NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; //TIM3中斷
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; //先占優(yōu)先級0級
- // NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; //從優(yōu)先級3級
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
- NVIC_Init(&NVIC_InitStructure); //根據(jù)NVIC_InitStruct中指定的參數(shù)初始化外設NVIC寄存器
-
-
- //中斷分組初始化
- NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //TIM5中斷
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占優(yōu)先級2級
- // NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //從優(yōu)先級0級
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
- NVIC_Init(&NVIC_InitStructure); //根據(jù)NVIC_InitStruct中指定的參數(shù)初始化外設NVIC寄存器
-
- }
- void TIM2_IRQHandler(void) //TIM2中斷
- {
- if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) //檢查指定的TIM中斷發(fā)生與否:TIM 中斷源
- {
- TIM_ClearITPendingBit(TIM2, TIM_IT_Update ); //清除TIMx的中斷待處理位:TIM 中斷源
- }
- // LED4_Tog;
- tim2flag++;
-
- }
- void USART3_IRQHandler(void) //串口1中斷服務程序
- {
- char ch;
- LED1_OFF;
- LED3_ON;
-
- if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET) //接收中斷
- {
- ch =USART_ReceiveData(USART3);//(USART3->DR); //讀取接收到的數(shù)據(jù)
- USART3_SendData(ch);
-
- }
-
- }
所有資料51hei提供下載:
軟件源代碼.zip
(447 KB, 下載次數(shù): 240)
2018-11-26 10:16 上傳
點擊文件名下載附件
基于STM32F4的飛控程序源代碼
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