stm32f103单片机自制飞控代码
单片机源程序如下:
- 芯片解密#include "sys.h"
- u8 report=0; //芯片解密默认开启上报
- int motor1,motor2,servo1,servo2;
- float Setpitch=0,Setroll=0;
- float pitch,roll,yaw; //芯片解密欧拉角
- short aacx,aacy,aacz; //加速度传感器原始数据
- short gyrox,gyroy,gyroz; //陀螺仪原始数据
- short temp; //温度
- int main(void)
- {
- 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
- Usart_init(); //串口初始化
- delay_init(); //延时初始化 delay_ms(1000);
- BEEP_GPIO_Init();
- Motor_PWM_Init(20000-1, 72-1);
- Servo_PWM_Init(20000-1, 72-1);
- TIM2_Int_Init(100-1,720-1);
- Motor_Unlock(1900,1100);
- BEEP_GPIO_High();
- FrSky_Uart2_Init(100000);
- Adc_Init();
- SPI1_Init();
- SPL06_Init();
- MPU_IIC_Init(); //MPU使用的IIC初始化
- while(MPU_Init())
- {
- printf("mpu error\n");
- delay_ms(200);
- }; //初始化MPU6050
-
- while(mpu_dmp_init())
- {
- printf("mpu dmp error\n");
- delay_ms(200);
- }
- PID_Init();
- BEEP_GPIO_Low();
- while(1)
- {
- int i;
- static float Baro_Buf[20];
- Baro.Org_Alt = SPL06_Get_Altitude();
- //气压原始数据缓存
- for(i=19;i>0;i--)
- {
- Baro_Buf[i]=Baro_Buf[i-1];
- }
- Baro_Buf[0]=Baro.Org_Alt;
- // printf("%f\n",Baro.Org_Alt );
- // delay_ms(100);
- /********测量电池电压********/
-
- Get_Bat_Voltage();
- if(Bat_Voltage<11)
- {
- BEEP_GPIO_High();
- }
- else
- {
- BEEP_GPIO_Low();
- }
- ////// printf("电池电压为 %f \n",Bat_Voltage);
- ///**********陀螺仪数据输出***************/
- if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0)
- {
- // printf("%f,%f,%f\r\n",pitch,roll,yaw);
- temp=MPU_Get_Temperature(); //得到温度值
- 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
- 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));
- }
芯片解密
