匿名四轴上位机使用手册

匿名四轴上位机使⽤⼿册匿名四轴上位机使⽤⼿册⽬录1、串⼝功能软件界⾯串⼝功能和串⼝助⼿等软件功能类似，设置也差不多。1.设置接收格式、端⼝、波特率即可。2.打开基本收码功能。3.打开串⼝。4.测试：2、⾼级收码⾼级收码设置选项卡：1.1-10对应0XA1-0XAA,我们只需要按定义帧设置即可，我这⾥使⽤0XA2，选择2，并打开开关。2.因为我需要查看的有三个数据，pitch，roll，yaw，并为float类型，所以如此设置。3.最后打开⾼级收码功能，如果你需要实时查看上传的数据可以打开收码显⽰。4.打开串⼝。5.测试：3、波形显⽰波形显⽰功能需要在⾼级收码的功能上做修改。波形显⽰设置选项卡如下：1.1-20序号对应的是波形序号，也就是说最多能指定显⽰20个波形，我们这⾥有pitch,roll,yaw三个波形，所以设置1，2，3。2.设置第⼀个波形1，它来源于数据帧2的第⼀位。3.设置第⼀个波形2，它来源于数据帧2的第⼆位。4.设置第⼀个波形3，它来源于数据帧2的第三位。5.打开数据校验，数据显⽰。6.打开波形显⽰。7.在波形显⽰页⾯勾上前三个即可：8.打开串⼝。9.测试：4、飞控状态使⽤到此功能再补充。5、上传数据的单⽚机程序以下为上传三个⾓度的代码，串⼝初始化等略过：voidusart1_send_char(u8c){while((USART1->SR&0X40)==0);//等待上⼀次发送完毕USART1->DR=c;}//fun:功能字.0XA0~0XAF//data:数据缓存区,最多28字节!!//len:data区有效数据个数voidusart1_niming_report(u8fun,u8*data,u8len){u8send_buf[32];u8i;if(len>28)return;//最多28字节数据send_buf[len+3]=0;//校验数置零send_buf[0]=0X88;//帧头send_buf[1]=fun;//功能字send_buf[2]=len;//数据长度for(i=0;i<len;i++)send_buf[3+i]=data[i];//复制数据for(i=0;i<len+3;i++)send_buf[len+3]+=send_buf[i];//计算校验和for(i=0;i<len+4;i++)usart1_send_char(send_buf[i]);//发送数据到串⼝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);//⾃定义帧,0XA2}注意：最后⼀个函数把float拆成四个字节发送(由于串⼝只能⼀个字节⼀个字节的发送),⽤指针获得float型变量的⾸地址，然后强制转换为unsignedchar型，地址逐渐加⼤把float的四个字节分别发出即可。6、更多参考另外在个⼈的⽆⼈机中使⽤如下：/**********************************************************************************⽂件名：main.c*描述：⽆⼈机*实验平台：STM32开发板*库版本：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"/************************************************///串⼝1发送1个字符//c:要发送的字符voidusart1_send_char(u8c){while(USART_GetFlagStatus(USART1,USART_FLAG_TC)==RESET);//循环发送,直到发送完毕USART_SendData(USART1,c);}/*//传送数据给匿名四轴上位机软件(V2.6版本)//fun:功能字.0XA0~0XAF//data:数据缓存区,最多28字节!!//len:data区有效数据个数voidusart1_niming_report(u8fun,u8*data,u8len){u8send_buf[32];u8i;if(len>28)return;//最多28字节数据send_buf[len+3]=0;//校验数置零send_buf[0]=0X88;//帧头send_buf[1]=fun;//功能字send_buf[2]=len;//数据长度for(i=0;i<len;i++)send_buf[3+i]=data[i];//复制数据for(i=0;i<len+3;i++)send_buf[len+3]+=send_buf[i];//计算校验和for(i=0;i<len+4;i++)usart1_send_char(send_buf[i]);//发送数据到串⼝1}//if(report)mpu6050_send_data(aacx,aacy,aacz,gyrox,gyroy,gyroz);//⽤⾃定义帧发送加速度和陀螺仪原始数据//if(report)usart1_report_imu(aacx,aacy,aacz,gyrox,gyroy,gyroz,(int)(roll*100),(int)(pitch*100),(int)(yaw*10));//发送加速度传感器数据和陀螺仪数据//aacx,aacy,aacz:x,y,z三个向上⾯的加速度值向上⾯的陀螺仪值//gyrox,gyroy,gyroz:x,y,z三个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);//⾃定义帧,0XA1}//通过串⼝1上报结算后的姿态数据给电脑//aacx,aacy,aacz:x,y,z三个向上⾯的加速度值向上⾯的陀螺仪值//gyrox,gyroy,gyroz:x,y,z三个//roll:横滚⾓.单位0.01度。-18000->18000对应-180.00->180.00度//pitch:俯仰⾓.单位0.01度。-9000-9000对应-90.00->90.00度//yaw:航向⾓.单位为0.1度0->3600对应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);//飞控显⽰帧,0XAF}************************************************///fun:功能字.0XA0~0XAF//data:数据缓存区,最多28字节!!//len:data区有效数据个数voidusart1_niming_report(u8fun,u8*data,u8len){u8send_buf[32];u8i;if(len>28)return;//最多28字节数据send_buf[len+3]=0;//校验数置零send_buf[0]=0X88;//帧头send_buf[1]=fun;//功能字send_buf[2]=len;//数据长度for(i=0;i<len;i++)send_buf[3+i]=data[i];//复制数据for(i=0;i<len+3;i++)send_buf[len+3]+=send_buf[i];//计算校验和for(i=0;i<len+4;i++)usart1_send_char(send_buf[i]);//发送数据到串⼝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);//⾃定义帧,0XA2}u16pwm1=2000,pwm2=2000,pwm3=2000,pwm4=2000;/************************************************//**函数名：main*描述：主函数*输⼊：⽆*输出：⽆*/intmain(void){u8report=1;//默认开启上报u8res;u8test[20];u8temp_value[20];//存储陀螺仪的临时值u8temp_value2[20];//存储pwm输出的临时值u8t=0;u8key;//按键值u8key_status=0;//按键状态u8keystatus=0;//按键s4的状态值floattemp;floatpitch,roll,yaw;//欧拉⾓shortaacx,aacy,aacz;//加速度传感器原始数据shortgyrox,gyroy,gyroz;//陀螺仪原始数据intMotor1=0;//电机1输出intMotor2=0;//电机2输出intMotor3=0;//电机3输出intMotor4=0;//电机4输出floatPitch;floatRoll;floatYaw;PIDx_init();PIDy_init();PIDz_init();pitch_init();roll_init();yaw_init();NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置NVIC中断分组2:2位抢占优先级，2位响应优先级delay_init();

KEY_Init();uart_init(500000);//初始化串⼝usmart_dev.init(72);//初始化USMARTpwm_init();/*TIM3PWM波输出初始化，并使能TIM3PWM输出*/Lcd_Init();LCD_LED_SET;//通过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);//得到键值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;//有没有更新值，有更新新的值就会继续往下执⾏if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0){/*MPU_Get_Accelerometer(&aacx,&aacy,&aacz);//得到加速度传感器数据MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz);//得到陀螺仪数据*/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);//⽤⾃定义帧发送加速度和陀螺仪原始数据//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);//得到加速度传感器数据//MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz);//得到陀螺仪数据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)