无名飞控框架梳理

最新推荐文章于 2021-03-10 20:29:37 发布

JRlipton

最新推荐文章于 2021-03-10 20:29:37 发布

阅读量5.5k

点赞数 3

本文链接：https://blog.csdn.net/wang2012113132/article/details/78855041

版权

打开飞控的main.c文件

首先是HardWave_Init();//飞控板内部资源、相关外设初始化

打开

#include "Headfile.h"
Sensor_Okay_Flag Sensor_Init_Flag;
void HardWave_Init(void)
{
   SystemInit();//时钟初始化
   cycleCounterInit();//系统滴答时钟初始化，程序精准延时
   SysTick_Config(SystemCoreClock / 1000);//SysTick开启系统tick定时器并初始化其中断，1ms
   USART1_Init(115200);//主串口初始化
   OLED_Init();         //显示屏初始化
   Bling_Init();        //指示灯、测试IO初始化
   Key_Init();          //按键初始化
   PPM_Init();          //PPM遥控器接收初始化
   HC_SR04_Init();      //超声波初始化
   PWM_Init();          //PWM初始化—TIM4
/*
   SPI2_Configuration();
   NRF24L01_Init();//
   while(NRF24L01_Check())
  {
    printf("24L01 Check Failed!\r\n");
    printf("Please Check!\r\n");
   delay_ms(100);
  }
  NRF24L01_RX_Mode();
*/
   Sensor_Init_Flag.NRF24L01_Okay=1;
   QuadInit();
/*******************IMU初始化开始*************************/
   delay_ms(2000);
/***********MPU6050初始化***************/
   IIC_GPIO_Config();
   InitMPU6050_GY86();
   delay_ms(500);
   IMU_Calibration();
   Sensor_Init_Flag.MPU6050_Okay=1;
/***********HMC5883初始化***************/
   delay_ms(100);
   QuadInit();
/***********磁力计+气压计初始化***************/
   delay_ms(500);
#ifdef IMU_BOARD_GY86
   HMC5883L_Initial();
   Sensor_Init_Flag.Mag_Okay=1;
   QuadInit();
   Baro_init();
   Read_MS5611_Offset();
   Sensor_Init_Flag.Baro_Okay=1;
#elsedef IMU_BOARD_NC686
   IST8310_Init();
   Sensor_Init_Flag.Mag_Okay=1;
   QuadInit();
   spl0601_init();
   Sensor_Init_Flag.Baro_Okay=1;
   QuadInit();
#elsedef IMU_BOARD_NC683
   IST8310_Init();
   Sensor_Init_Flag.Mag_Okay=1;
   QuadInit();
   FBM320_Init();
   Sensor_Init_Flag.Baro_Okay=1;
   QuadInit();
#endif
/*******************IMU初始化结束*************************/
   Quad_Start_Bling();//LED开机预显示
   delay_ms(500);
   Parameter_Init();//传感器参数初始化
   LCD_CLS();//清屏
   USART2_Init(19200);//串口2、备用
   USART3_Init(115200);//串口3、解析GPS
   Total_PID_Init();//PID控制器初始化
   TIM2_Configuration_Cnt();//TIM2
   Timer4_Configuration();//TIM3
   NVIC_Configuration();//中断优先级设置
}


void NVIC_Configuration(void)
{
  NVIC_InitTypeDef NVIC_InitStructure;					//定义NVIC初始化结构体
  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);			//优先级组别2，具体参见misc.h line80
/*
  //-----NRF24L01数据中断-----//
  NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;			//IRQ中断通道-->NRF24L01,PB12
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;		//抢先式优先级别
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;			//副优先级别
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//使能通道
  NVIC_Init(&NVIC_InitStructure);				       //初始化NVIC
*/
//飞控系统定时器
  NVIC_InitStructure.NVIC_IRQChannel =TIM2_IRQn ;//计数定时器
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

  //超声波
  NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority =1;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority =0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

//PPM接收机
  NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority =1;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority =2;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

//GPS数据接收中断
  NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;//串口中断3
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority=3;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

//串口2、光流模块
  NVIC_InitStructure.NVIC_IRQC