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Aircraft.h
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#ifndef AIRCRAFT_H_
#define AIRCRAFT_H_
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
// define configs，宏定义设置
//#define USING_CONTROLLER PID控制层写好后反注释这个
//#define _DEBUG_MPU6050 // 调试MPU6050
// 调试电机和初始化电机要一起注释/反注释
//#define _DEBUG_MOTOR // 调试电机
//#define _DEBUG_USART // 调试USART
//#define _DEBUG_WITH_LCD // 在调试的时候使用LCD进行打印
//#define _DEBUG_STICK // 调试遥控器的杆子（测PWM范围的时候用的）
/* 应用层和控制层宏定义 */
#define RECEIVE_TICK 30 // 30，就是15mS一次
#define CONTROL_FREQ 114// 控制器调度频率，单位Hz
/* 确定三个 PID 要不要使用, 以及设定初值的宏定义 */
#ifdef PID_PITCH
#define PID_PITCH_KP 0.33//3.3
#define PID_PITCH_KI 0.0
#define PID_PITCH_KD 0.1//1.0
#endif
#ifdef PID_ROLL
#define PID_ROLL_KP 0.33//3.3
#define PID_ROLL_KI 0.0
#define PID_ROLL_KD 0.1//1.0
#endif
#ifdef PID_YAW
#define PID_YAW_KP 0.33
#define PID_YAW_KI 0.0
#define PID_YAW_KD 0.1
#endif
#ifndef PID_PITCH
#define PID_PITCH_KP 0.0
#define PID_PITCH_KI 0.0
#define PID_PITCH_KD 0.0
#endif
#ifndef PID_ROLL
#define PID_ROLL_KP 0.0
#define PID_ROLL_KI 0.0
#define PID_ROLL_KD 0.0
#endif
#ifndef PID_YAW
#define PID_YAW_KP 0.0
#define PID_YAW_KI 0.0
#define PID_YAW_KD 0.0
#endif
#define MAX_I_ABS 0.01 // 积分限幅，0.025/500*200 == 0.01
/* 底层宏定义 */
#define DELAY_1S 40000000
#define PWM_FREQ 50
// 信号接收定时器，引脚
#define THROTTLE_TIM 2
#define PITCH_TIM 3
#define YAW_TIM 4
#define ROLL_TIM 5
#define SCH_TIM 8
#define THROTTLE_PIN PB3
#define PITCH_PIN PC7
#define YAW_PIN PD13
#define ROLL_PIN PA1
/*
四个电机的设置
2 1
\ /
X
/ \
3 4
*/
#define MOTOR1_PWM_TIM 9
#define MOTOR2_PWM_TIM 9
#define MOTOR3_PWM_TIM 11
#define MOTOR4_PWM_TIM 10
#define MOTOR1_PWM_CH 1
#define MOTOR1_PWM_PIN PA2
#define MOTOR2_PWM_CH 2
#define MOTOR2_PWM_PIN PA3
#define MOTOR3_PWM_CH 1
#define MOTOR3_PWM_PIN PB9
#define MOTOR4_PWM_CH 1
#define MOTOR4_PWM_PIN PB8
#define RXBUFFLE_SIZE 200
/* 这个宏定义很多文件都用到了，不要随便改！！！ */
#define SCHEDULER_TICK 0.0005 // 调度器时间间隔，单位S
void adjust_p(uint8_t value);
void adjust_i(uint8_t value);
void adjust_d(uint8_t value);
void Aircraft_Init(void);
void Controller_Init(void);
void Receiver_Init(void);
void TIM2_IRQHandler(void);
void TIM3_IRQHandler(void);
void TIM4_IRQHandler(void);
void TIM5_IRQHandler(void);
void TIM8_UP_TIM13_IRQHandler(void);
void UART4_IRQHandler(void);
void USART_Routine(void);
#ifdef __cplusplus
}
#endif
#endif