基于Arduino的四轴飞行器.doc
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第2章基于Arduino的四轴飞行器
2.3.3模块介绍
1、电机输出模块
(2)相关代码
//主要函数定义
externuint8_tPWM_PIN[8];
voidinitOutput();//初始化函数
voidmixTable();//PID计算
voidwriteMotors();//信号输出到电机
//输出程序
uint8_tPWM_PIN[8]={9,10,11,3,6,5,A2,12};//定义输出接口
voidinitOutput(){
for(uint8_ti=0;i<4;i++){
pinMode(PWM_PIN[i],OUTPUT);
}//初始化,使PWM引脚作为输出引脚
voidmixTable(){
int16_tmaxMotor;//定义最大转速电机编号
uint8_ti;
#definePIDMIX(X,Y,Z)rcCommand[THROTTLE]+axisPID[ROLL]*X+axisPID[PITCH]*Y+YAW_DIRECTION*axisPID[YAW]*Z//PID算法
motor[0]=PIDMIX(-1,+1,-1);
motor[1]=PIDMIX(-1,-1,+1);
motor[2]=PIDMIX(+1,+1,+1);
motor[3]=PIDMIX(+1,-1,-1);//4个电机输出计算(PID)
maxMotor=motor[0];//以下代码限制最大输出油门,防止异常
for(i=1;i<4;i++)
if(motor[i]>maxMotor)maxMotor=motor[i];
for(i=0;i<4;i++){
if(maxMotor>MAXTHROTTLE)//保证当某一个油门达到最大时,陀螺仪仍有良好的信号连接
motor[i]-=maxMotor-MAXTHROTTLE;
motor[i]=constrain(motor[i],conf.minthrottle,
MAXTHROTTLE);
if((rcData[THROTTLE]f.BARO_MODE)
motor[i]=conf.minthrottle;
if(!
f.ARMED)
motor[i]=MINCOMMAND;
}
}
voidwriteMotors(){
OCR1A=motor[0]>>3;//pin9输出电机1号
OCR1B=motor[1]>>3;//pin10输出电机2号
OCR2A=motor[2]>>3;//pin11输出电机3号
OCR2B=motor[3]>>3;//pin3输出电机4号
}
voidwriteAllMotors(int16_tmc){//所有电机输出设定为mc
for(uint8_ti=0;i<4;i++){
motor[i]=mc;
}
writeMotors();
}
/*电调初始化函数,电调初始化完成后注释掉defined重新上传
#ifdefined(ESC_CALIB_CANNOT_FLY)
writeAllMotors(ESC_CALIB_HIGH);
blinkLED(2,20,2);
delay(4000);
writeAllMotors(ESC_CALIB_LOW);
blinkLED(3,20,2);
while
(1){
delay(5000);
blinkLED(4,20,2);
#endif
}
exit;
#endif*/
2、遥控器发送/接收模块
(2)相关代码
//RX.h主要函数定义
#include"Arduino.h"
#defineRC_CHANS8
#definePCINT_PIN_COUNT5
#definePCINT_RX_PORTPORTB
#definePCINT_RX_MASKPCMSK0
#definePCIR_PORT_BIT(1<<0)
#defineRX_PC_INTERRUPTPCINT0_vect
#defineRX_PCINT_PIN_PORTPINB
#defineROLLPIN4//预定义各信道的名称
#defineTHROTTLEPIN3
#definePITCHPIN5
#defineYAWPIN2
#defineAUX1PIN6
#defineAUX2PIN7
#defineAUX3PIN1//保留
#defineAUX4PIN0//保留
#definePCINT_RX_BITS(1<<1),(1<<2),(1<<3),(1<<4),(1<<0)
voidconfigureReceiver();
voidcomputeRC();
uint16_treadRawRC(uint8_tchan);//初始信号读取函数
//接收代码
volatileuint16_trcValue[RC_CHANS]={1502,1502,1502,1502,1502,1502,1502,1502};
staticuint8_trcChannel[RC_CHANS]={ROLLPIN,PITCHPIN,YAWPIN,THROTTLEPIN,AUX1PIN,AUX2PIN,AUX3PIN,AUX4PIN};
staticuint8_tPCInt_RX_Pins[PCINT_PIN_COUNT]={PCINT_RX_BITS};
voidconfigureReceiver(){
for(uint8_ti=0;iPCINT_RX_PORT|=PCInt_RX_Pins[i];
PCINT_RX_MASK|=PCInt_RX_Pins[i];
}
PCICR=PCIR_PORT_BIT;
PCICR|=(1<<0);
#defineRX_PIN_CHECK(pin_pos,rc_value_pos)\
if(mask&PCInt_RX_Pins[pin_pos]){\
if(!
(pin&PCInt_RX_Pins[pin_pos])){ \
dTime=cTime-edgeTime[pin_pos]; \
if(900rcValue[rc_value_pos]=dTime;\
} \
}elseedgeTime[pin_pos]=cTime; \
}
ISR(RX_PC_INTERRUPT){//中断函数用于响应
uint8_tmask;
uint8_tpin;
uint16_tcTime,dTime;
staticuint16_tedgeTime[8];
staticuint8_tPCintLast;
pin=RX_PCINT_PIN_PORT;
mask=pin^PCintLast;
cTime=micros();
sei();
PCintLast=pin;
#if(PCINT_PIN_COUNT>0)
RX_PIN_CHECK(0,2);
#endif
#if(PCINT_PIN_COUNT>1)
RX_PIN_CHECK(1,4);
#endif
#if(PCINT_PIN_COUNT>2)
RX_PIN_CHECK(2,5);
#endif
#if(PCINT_PIN_COUNT>3)
RX_PIN_CHECK(3,6);
#endif
#if(PCINT_PIN_COUNT>4)
RX_PIN_CHECK(4,7);
#endif
#if(PCINT_PIN_COUNT>5)
RX_PIN_CHECK(5,0);
#endif
#if(PCINT_PIN_COUNT>6)
RX_PIN_CHECK(6,1);
#endif
#if(PCINT_PIN_COUNT>7)
RX_PIN_CHECK(7,3);
#endif
ISR(PCINT0_vect){
uint8_tpin;
uint16_tcTime,dTime;
staticuint16_tedgeTime;
pin=PINB;
cTime=micros();
sei();
dTime=cTime-edgeTime;if(900else
edgeTime=cTime;//如果bit2在高电平(PPMpulse上升),存储时间
}
uint16_treadRawRC(uint8_tchan){//读取原始信号
uint16_tdata;
uint8_toldSREG;
oldSREG=SREG;cli();//禁止中断
data=rcValue[rcChannel[chan]];
SREG=oldSREG;
returndata;
}
voidcomputeRC(){//提取遥控器信号,进行数据处理,主要取平均值
staticuint16_trcData4Values[RC_CHANS][4],rcDataMean[RC_CHANS];
staticuint8_trc4ValuesIndex=0;
uint8_tchan,a;
rc4ValuesIndex++;
if(rc4ValuesIndex==4)rc4ValuesIndex=0;
for(chan=0;chanrcData4Values[chan][rc4ValuesIndex]=readRawRC(chan);
rcDataMean[chan]=0;
for(a=0;a<4;a++)rcDataMean[chan]+=rcData4Values[chan][a];
rcDataMean[chan]=(rcDataMean[chan]+2)>>2;
if(rcDataMean[chan]<(uint16_t)rcData[chan]-3)
rcData[chan]=rcDataMean[chan]+2;
if(rcDataMean[chan]>(uint16_t)rcData[chan]+3)
rcData[chan]=rcDataMean[chan]-2;
if(chan<8&&rcSerialCount>0){
rcSerialCount--;
if(rcSerial[chan]>900){rcData[chan]=rcSerial[chan];}
}
}
}
3、传感器读取模块
(2)相关代码
voidACC_getADC();
voidGyro_getADC();
voidinitSensors();
voidi2c_rep_start(uint8_taddress);
voidi2c_write(uint8_tdata);
voidi2c_stop(void);
voidi2c_write(uint8_tdata);
voidi2c_writeReg(uint8_tadd,uint8_treg,uint8_tval);
uint8_ti2c_readReg(uint8_tadd,uint8_treg);
uint8_ti2c_readAck();
uint8_ti2c_readNak();
#defineMPU6050_DLPF_CFG4//设置低频滤波系数为4
voidi2c_BMP085_UT_Start(void);
voidwaitTransmissionI2C();
voidi2c_MS561101BA_UT_Start();
voidDevice_Mag_getADC();
voidBaro_init();//三个初始化函数
voidMag_init();
voidACC_init();
uint8_trawADC[6];
staticuint32_tneutralizeTime=0;
voidi2c_init(void){
TWSR=0;
TWBR=((F_CPU/I2C_SPEED)-16)/2;
TWCR=1<}
voidi2c_rep_start(uint8_taddress){//传感器开始读取
TWCR=(1<waitTransmissionI2C();
TWDR=address;
TWCR=(1<waitTransmissionI2C();
voidi2c_stop(void){//传感器结束读取
TWCR=(1<}
voidi2c_write(uint8_tdata){//
TWDR=data;
TWCR=(1<waitTransmissionI2C();
}
uint8_ti2c_read(uint8_tack){//读取函数
TWCR=(1<(1<0);
waitTransmissionI2C();
uint8_tr=TWDR;
if(!
ack)i2c_stop();
returnr;
}
uint8_ti2c_readAck(){
returni2c_read
(1);
}
uint8_ti2c_readNak(void){
returni2c_read(0);
}
voidwaitTransmissionI2C(){
uint16_tcount=255;
while(!
(TWCR&(1<count--;
if(count==0){
TWCR=0;
neutralizeTime=micros();
i2c_errors_count++;
break;
}
}
}
size_ti2c_read_to_buf(uint8_tadd,void*buf,size_tsize){
i2c_rep_start((add<<1)|1);//I2Creaddirection
size_tbytes_read=0;
uint8_t*b=(uint8_t*)buf;
while(size--){
*b++=i2c_read(size>0);
bytes_read++;
}
returnbytes_read;
}
size_ti2c_read_reg_to_buf(uint8_tadd,uint8_treg,void*buf,size_tsize){
i2c_rep_start(add<<1);
i2c_write(reg);
returni2c_read_to_buf(add,buf,size);
}
voidswap_endianness(void*buf,size_tsize){
uint8_ttray;
uint8_t*from;
uint8_t*to;
for(from=(uint8_t*)buf,to=&from[size-1];fromtray=*from;
*from=*to;
*to=tray;
}
}
voidi2c_getSixRawADC(uint8_tadd,uint8_treg){
i2c_read_reg_to_buf(add,reg,&rawADC,6);
}
voidi2c_writeReg(uint8_tadd,uint8_treg,uint8_tval){
i2c_rep_start(add<<1);
i2c_write(reg);
i2c_write(val);
i2c_stop();
}//完整写入执行函数
uint8_ti2c_readReg(uint8_tadd,uint8_treg){
uint8_tval;
i2c_read_reg_to_buf(add,reg,&val,1);
returnval;
}//完整读取执行函数
voidGYRO_Common(){
staticint16_tpreviousGyroADC[3]={0,0,0};
staticint32_tg[3];
uint8_taxis,tilt=0;
if(calibratingG>0){
for(axis=0;axis<3;axis++){
if(calibratingG==512){
g[axis]=0;
}
g[axis]+=imu.gyroADC[axis];
imu.gyroADC[axis]=0;
gyroZero[axis]=0;
if(calibratingG==1){
gyroZero[axis]=(g[axis]+256)>>9;
blinkLED(10,15,1);
}
}
calibratingG--;
}
for(axis=0;axis<3;axis++){
imu.gyroADC[axis]-=gyroZero[axis];
imu.gyroADC[axis]=constrain(imu.gyroADC[axis],previousGyroADC[axis]-800,previousGyroADC[axis]+800);
previousGyroADC[axis]=imu.gyroADC[axis];
}
voidACC_Common(){//获得加速度数值
staticint32_ta[3];
if(calibratingA>0){
for(uint8_taxis=0;axis<3;axis++){
if(calibratingA==512)a[axis]=0;
a[axis]+=imu.accADC[axis];
imu.accADC[axis]=0;
global_conf.accZero[axis]=0;
}
if(calibratingA==1){
global_conf.accZero[ROLL]=(a[ROLL]+256)>>9;
global_conf.accZero[PITCH]=(a[PITCH]+256)>>9;
global_conf.accZero[YAW]=((a[YAW]+256)>>9)-ACC_1G;
conf.angleTrim[ROLL]=0;
conf.angleTrim[PITCH]=0;
writeGlobalSet
(1);
}
calibratingA--;
}
imu.accADC[ROLL]-=global_conf.accZero[ROLL];
imu.accADC[PITCH]-=global_conf.accZero[PITCH];
imu.accADC[YAW]-=global_conf.accZero[YAW];
}
4、姿态计算函数相关代码
//姿态算法IUM.h文件
#defineBARO_TAB_SIZE21
voidcomputeIMU();
//IUM.cpp
voidgetEstimatedAttitude();
voidcomputeIMU(){//姿态计算函数
uint8_taxis;
staticint16_tgyroADCprevious[3]={0,0,0};
int16_tgyroADCp[3];
int16_tgyroADCinter[3];
staticuint32_ttimeInterleave=0;
ACC_getADC();
getEstimatedAttitude();
Gyro_getADC();
for(axis=0;axis<3;axis++)
gyroADCp[axis]=imu.gyroADC[axis];
timeInterleave=micros();
annexCode();
uint8_tt=0;