无名飞控初始化剩下的

最新推荐文章于 2020-11-07 23:07:57 发布

JRlipton

最新推荐文章于 2020-11-07 23:07:57 发布

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CC 4.0 BY-SA版权

本文链接：https://blog.youkuaiyun.com/wang2012113132/article/details/78903530

先看串口2，3初始化

USART2_Init(19200);//串口2、备用
USART3_Init(115200);//串口3、解析GPS

串口2初始化定义

void USART2_Init(unsigned long bound)
{

	GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;

	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO
                               |RCC_APB2Periph_GPIOA , ENABLE);//串口2


	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);//串口2 低速


	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
//	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);


	USART_InitStructure.USART_BaudRate = bound;//
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;//8bits
	USART_InitStructure.USART_StopBits = USART_StopBits_1;//stop bit is 1
	USART_InitStructure.USART_Parity = USART_Parity_No;//no parity
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//no Hardware Flow Control
	USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;//enable tx and rx
	USART_Init(USART2, &USART_InitStructure);//

	USART_ITConfig(USART2,USART_IT_RXNE,ENABLE);//rx interrupt is enable
	USART_Cmd(USART2, ENABLE);


        //USART2_Send((unsigned char *)Buffer,2);
        UART2_Send(0xAA);
}

USART3_Init类似

接下来是pid初始化

首先是：

Total_PID_Init();//PID控制器初始化

void Total_PID_Init(void)
{
 PID_Init(&Total_Controler.Pitch_Angle_Control,Pitch_Angle_Controler);
 PID_Init(&Total_Controler.Pitch_Gyro_Control,Pitch_Gyro_Controler);
 PID_Init(&Total_Controler.Roll_Angle_Control,Roll_Angle_Controler);
 PID_Init(&Total_Controler.Roll_Gyro_Control,Roll_Gyro_Controler);
 PID_Init(&Total_Controler.Yaw_Angle_Control,Yaw_Angle_Controler);
 PID_Init(&Total_Controler.Yaw_Gyro_Control,Yaw_Gyro_Controler);
 PID_Init(&Total_Controler.High_Position_Control,High_Position_Controler);
 PID_Init(&Total_Controler.High_Speed_Control,High_Speed_Controler);
 PID_Init(&Total_Controler.Longitude_Position_Control,Longitude_Position_Controler);
 PID_Init(&Total_Controler.Longitude_Speed_Control,Longitude_Speed_Controler);
 P