{"id":138,"date":"2025-05-12T23:59:48","date_gmt":"2025-05-12T15:59:48","guid":{"rendered":"https:\/\/codecraft.xin\/?p=138"},"modified":"2025-05-13T00:01:58","modified_gmt":"2025-05-12T16:01:58","slug":"%e5%9b%9b%e6%97%8b%e7%bf%bc%e6%97%a0%e4%ba%ba%e6%9c%ba%e9%a3%9e%e6%8e%a7%e7%b3%bb%e7%bb%9f%e9%a1%b9%e7%9b%ae","status":"publish","type":"post","link":"https:\/\/codecraft.xin\/?p=138","title":{"rendered":"\u56db\u65cb\u7ffc\u65e0\u4eba\u673a\u98de\u63a7\u7cfb\u7edf\u9879\u76ee"},"content":{"rendered":"\n

\u6574\u4f53\u67b6\u6784<\/h1>\n\n\n\n
\"image-20250504193315689\"\/<\/div><\/figure>\n\n\n\n

\u601d\u8def\u603b\u7ed3(\u98de\u63a7\u677f)\uff1a<\/h1>\n\n\n\n

\u706f\u63a7\u548c\u4e00\u4e9b\u57fa\u7840\u914d\u7f6e<\/h2>\n\n\n\n

1.\u6d4b\u8bd5PWM<\/p>\n\n\n\n

\u5f00\u542f\u56db\u8defPWM\u7684\u901a\u9053\uff0c\u6d4b\u8bd5\u4e00\u4e0b\u662f\u5426\u53ef\u4ee5\u63a7\u5236\u56db\u4e2a\u7535\u673a\u65cb\u8f6c\u548c\u65cb\u8f6c\u901f\u5ea6\u3002<\/p>\n\n\n\n

2.\u5f00\u542f\u65e0\u4eba\u673a\u4e0a\u9762\u7684\u56db\u4e2aLED\u706f\uff0c\u5e76\u4e14\u8bbe\u7f6e\u4e00\u4e2a\u679a\u4e3e\u63a7\u5236LED\u706f\u7684\u56db\u79cd\u72b6\u6001\uff0c\u6bd4\u5982\u5feb\u95ea\uff0c\u6162\u95ea\uff0c\u5e38\u4eae\uff0c\u6d41\u6c34\u7684\uff0c\u5bf9\u89d2\u4eae\uff0c\u8fd9\u4e2a\u81ea\u5b9a\u4e49\u5c31\u884c\u3002\u540e\u7eed\u65e0\u4eba\u673a\u5904\u4e8e\u4ec0\u4e48\u4f4d\u7f6e\u7684\u65f6\u5019\u5c31\u53ef\u4ee5\u540c\u6b65\u8ba9LED\u4e5f\u4eae\u8d77\u6765<\/p>\n\n\n\n

3.\u5f00\u542f\u4e00\u4e0bADC\uff0c\u6d4b\u91cf\u4e0b\u65e0\u4eba\u673a\u7684\u7535\u6c60\u7535\u538b\u662f\u5426\u51c6\u786e\uff0c\u8fd9\u91cc\u662f\u7528\u7684DMA\uff0c\u5f00\u542fDMA\u7684\u65f6\u5019\u5f3a\u5236\u5f00\u542f\u4e86\u4e2d\u65ad\uff0c\u7528\u6570\u7ec4\u8fdb\u884c\u4fdd\u5b58\u6570\u636e\u7684\u65f6\u5019\uff0c\u9700\u8981\u6ce8\u610f\u7684\u662f\u5373\u4f7f\u6211\u4eec\u53ea\u6709\u4e00\u4e2aUint16\u7684\u6570\u636e\uff0c\u4f46\u662f\u9700\u8981\u8bb2\u6570\u7ec4\u7684\u957f\u5ea6\u8bbe\u7f6e\u957f\u4e00\u70b9\u4e0d\u7136\u4f1a\u5361\u6b7b\u3002\u7136\u540e\u8fd9\u91cc\u6709\u7535\u963b\u8fdb\u884c\u4e86\u5206\u538b\uff0c\u6240\u4ee5\u5b9e\u9645\u7684\u7535\u538b\u9700\u8981\u4e58\u4e00\u4e2a2\u3002<\/p>\n\n\n\n

\u51fa\u73b0\u8fd9\u79cd\u60c5\u51b5\u7684\u53ef\u80fd\u539f\u56e0\u662fDMA\u592a\u5feb\u8986\u76d6\u53d8\u91cf\u5bfc\u81f4\u7f13\u51b2\u533a\u6ea2\u51fa<\/p>\n\n\n\n

\u6216\u8005\u662f\u4e2d\u65ad\u89e6\u53d1\u5f97\u592a\u5feb\uff0c\u7136\u540e\u4e00\u76f4\u62a2\u5360cpu\u7684\u8d44\u6e90\uff0c\u8868\u73b0\u51fa\u5361\u6b7b\u7684\u73b0\u8c61<\/p>\n\n\n\n

\u5408\u7406\u8bbe\u7f6e\u7f13\u51b2\u533a\u957f\u5ea6<\/strong> \u5efa\u8bae\u6570\u7ec4\u957f\u5ea6\u81f3\u5c11\u4e3a2\u7684\u5e42\u6b21\uff08\u59824\u30018\uff09\uff0c\u907f\u514d\u5faa\u73af\u6a21\u5f0f\u4e0b\u7684\u8fb9\u754c\u95ee\u9898\u3002<\/p>\n\n\n\n

\u8fd0\u52a8\u4f20\u611f\u5668\u6a21\u5757MPU6050\uff08\u8bfb\u53d6\u548c\u5199\u5165\uff09<\/h2>\n\n\n\n

1.\u901a\u8fc7I2C\u8bfb\u53d6mpu6050\u7684\u516d\u8f74\u6570\u636e\uff0c<\/p>\n\n\n\n

2.\u9700\u8981\u914d\u7f6eMPU6050\u8fd9\u4e2a\u9a71\u52a8\uff0c\u786c\u4ef6\u63a5\u53e3\u5c42\u3002\u4e00\u822c\u5bf9\u4e8eI2C\u8bfb\u53d6\u9a71\u52a8\uff0c\u4e3b\u8981\u662f\u5355\u8bfb\uff0c\u5355\u5199\uff0c\u8fde\u7eed\u8bfb\u53d6\uff0c\u8fde\u7eed\u5199\u5165\uff0cmpu6050\u7684 \u914d\u7f6e\u8fd9\u51e0\u4e2a\u51fd\u6570<\/p>\n\n\n\n

\/**\n * @description: \u8bfb\u53d6\u6307\u5b9a\u5bc4\u5b58\u5668\u4e00\u4e2a\u5b57\u8282\u6570\u636e\n * @param {uint8_t} reg_addr\n * @param {uint8_t} *receive_byte\n * @return {*}\n *\/\nuint8_t Int_MPU6050_ReadByte(uint8_t reg_addr, uint8_t *receive_byte)\n{\n    return HAL_I2C_Mem_Read(&hi2c1, MPU_IIC_ADDR << 1, reg_addr, I2C_MEMADD_SIZE_8BIT, receive_byte, 1, 2000);\n}\n\n\/**\n\u8fd9\u91cc\u9700\u8981\u8bf4\u660e\u7684\u662f\n1.\u5728i2c\u901a\u8baf\u7684\u65f6\u5019\uff0c\u8bbe\u522b\u5730\u5740\u7801\u4e00\u822c\u662f\u4e03\u4f4d\u7684\uff0c\u6700\u540e\u4e00\u4f4d\u6765\u51b3\u5b9a\u662f\u8bfb\u8fd8\u662f\u5199\uff0c\u6240\u4ee5\u8981\u5c06\u5730\u5740\u7801\u653e\u5728\u9ad8\u4f4d\uff0c\u6700\u540e\u4e00\u4f4d\u5728hal\u5e93\u4e2d\u4e0d\u7528\u7ba1\uff0c\u56e0\u4e3a\u5728hal\u5e93\u51fd\u6570\u7684\u5e95\u5c42\u5df2\u7ecf\u505a\u4e86\u76f8\u5e94\u7684\u5904\u7406\uff0c\u81ea\u52a8\u7ed9\u4f60\u51991\u6216\u8005\u51990\u4e86\n\u200b\u6700\u540e\u4e00\u4f4d = 0\u200b \u2192 \u200b\u5199\uff08\u4e3b\u673a\u53d1\u9001\u6570\u636e\uff09\u200b\u200b\n\u200b\u6700\u540e\u4e00\u4f4d = 1\u200b \u2192 \u200b\u8bfb\uff08\u4e3b\u673a\u63a5\u6536\u6570\u636e\uff09\u200b\n2.\u6ce8\u610f\u5bc4\u5b58\u5668\u7684\u5927\u5c0f\uff0c\u5982\u679c\u8bbe\u5907\u7684\u5bc4\u5b58\u5668\u7684\u5927\u5c0f\u4e3a8\uff0c\u90a3\u5728\u53c2\u6570\u4e2d\u5c31\u9009\u62e9I2C_MEMADD_SIZE_8BIT\u5c31\u884c\u4e86\uff0c\u5982\u679c\u4e3a16\u5c31\u9009\u62e916.\n *\/\n<\/code><\/pre>\n\n\n\n
\u8bfb\u5199\u591a\u4e2a<\/p>\n\n\n\n
uint8_t Int_MPU6050_ReadBytes(uint8_t reg_addr, uint8_t *receive_buff, uint8_t size)\n{\n    return HAL_I2C_Mem_Read(&hi2c1, MPU_IIC_ADDR << 1, reg_addr, I2C_MEMADD_SIZE_8BIT, receive_buff, size, 2000);\n}\n<\/code><\/pre>\n\n\n\n
\u5199\u5165\u548c\u8fd9\u4e2a\u7c7b\u4f3c<\/p>\n\n\n\n
3.MPU6050\u7684\u521d\u59cb\u5316\uff08\u91cd\u70b9\uff09<\/p>\n\n\n\n
void Int_MPU6050_Init(void)\n{\n    uint8_t dev_id = 0;\n\n    \/* 2 \u590d\u4f4d -\u300b\u5ef6\u8fdf\u4e00\u4f1a -\u300b \u5524\u9192 *\/\n    Int_MPU6050_WriteByte(MPU_PWR_MGMT1_REG, 0x80);\n    HAL_Delay(300);\n    Int_MPU6050_WriteByte(MPU_PWR_MGMT1_REG, 0x00);\n\n    \/* 3 \u9640\u87ba\u4eea\u91cf\u7a0b +-2000\u00b0\/s, fsr=3 *\/\n    \/\/\u7f6e\u6ee1\u91cf\u7a0b\u51b3\u5b9a\u4e86\u9640\u87ba\u4eea\u80fd\u68c0\u6d4b\u7684\u89d2\u901f\u5ea6\u8303\u56f4\uff0c\u200b\u91cf\u7a0b\u8d8a\u5927\uff0c\u7075\u654f\u5ea6\u8d8a\u4f4e\u200b\uff08\u7cbe\u5ea6\u4e0b\u964d\uff09\uff0c\u200b\u91cf\u7a0b\u8d8a\u5c0f\uff0c\u7075\u654f\u5ea6\u8d8a\u9ad8\u200b\uff08\u7cbe\u5ea6\u63d0\u5347\uff09\u3002\n    Int_MPU6050_WriteByte(MPU_GYRO_CFG_REG, 3 << 3);\n\n    \/* 4 \u52a0\u901f\u5ea6\u91cf\u7a0b *\/\n    Int_MPU6050_WriteByte(MPU_ACCEL_CFG_REG, 0 << 3);\n\n    \/* 5 \u5176\u4ed6\u529f\u80fd\u8bbe\u7f6e\uff08\u53ef\u9009\uff09\uff1aFIFO\u3001\u7b2c\u4e8cIIC\u3001\u4e2d\u65ad *\/\n    Int_MPU6050_WriteByte(MPU_INT_EN_REG, 0x00);    \/\/ \u5173\u95ed\u6240\u6709\u4e2d\u65ad\n    Int_MPU6050_WriteByte(MPU_USER_CTRL_REG, 0x00); \/\/ \u5173\u95ed\u7b2c\u4e8cIIC\n    Int_MPU6050_WriteByte(MPU_FIFO_EN_REG, 0x00);   \/\/ \u5173\u95edFIFO\n\n    \/* 6 \u7cfb\u7edf\u65f6\u949f\u6e90\u3001\u9640\u87ba\u4eea\u91c7\u6837\u7387\u3001\u4f4e\u901a\u6ee4\u6ce2\u7684\u8bbe\u7f6e *\/\n    \/* \u914d\u7f6e\u65f6\u949f\u6e90\u4e4b\u524d\uff0c\u786e\u8ba4\u6b63\u5e38\u5de5\u4f5c\uff0c\u8bfb\u4e00\u4e0bid *\/\n    Int_MPU6050_ReadByte(MPU_DEVICE_ID_REG, &dev_id);\n    if (dev_id == MPU_IIC_ADDR)\n    {\n        \/* 6.1 \u8bbe\u7f6e\u65f6\u949f\u6e90\uff1a\u9640\u87ba\u4eeaX\u8f74\u7684\u65f6\u949f\uff0c\u7cbe\u5ea6\u66f4\u9ad8 *\/\n        Int_MPU6050_WriteByte(MPU_PWR_MGMT1_REG, 0x01);\n        \/* 6.2 \u8bbe\u7f6e\u9640\u87ba\u4eea\u91c7\u6837\u7387\u3001\u4f4e\u901a\u6ee4\u6ce2 *\/\n        Int_MPU6050_SetGyroRate(100);\n        \/* 6.3 \u8ba9\u4e24\u4e2a\u4f20\u611f\u5668\u9000\u51fa\u5f85\u673a\u6a21\u5f0f\uff0c\u8fdb\u5165\u6b63\u5e38\u5de5\u4f5c\u72b6\u6001*\/\n        Int_MPU6050_WriteByte(MPU_PWR_MGMT2_REG, 0x00);\n    }\n}\n<\/code><\/pre>\n\n\n\n
\u65f6\u949f\u6e90\u539f\u672c\u6709\u9ed8\u8ba4\u76848MHZ\u4f46\u662f\u4e0d\u63a8\u8350\uff0c\u624b\u518c\u6709\u8bf4\u5efa\u8bae\u9009\u5176\u4ed6\u7684\u3002<\/strong><\/p>\n\n\n\n
\"image-20250511131311045\"\/<\/div><\/figure>\n\n\n\n
\u8bfb\u53d6\u516d\u8f74\u6570\u636e<\/p>\n\n\n\n
void Int_MPU6050_Get_Gyro(int16_t *gx, int16_t *gy, int16_t *gz)\n{\n    uint8_t buff[6];\n    Int_MPU6050_ReadBytes(MPU_GYRO_XOUTH_REG, buff, 6);\n\n    \/*\n        buff[0]:\u89d2\u901f\u5ea6X\u8f74\u9ad88\u4f4d\n        buff[1]:\u89d2\u901f\u5ea6X\u8f74\u4f4e8\u4f4d\n        buff[2]:\u89d2\u901f\u5ea6Y\u8f74\u9ad88\u4f4d\n        buff[3]:\u89d2\u901f\u5ea6Y\u8f74\u4f4e8\u4f4d\n        buff[4]:\u89d2\u901f\u5ea6Z\u8f74\u9ad88\u4f4d\n        buff[5]:\u89d2\u901f\u5ea6Z\u8f74\u4f4e8\u4f4d\n     *\/\n    *gx = ((short)buff[0] << 8) | buff[1];\n    *gy = ((short)buff[2] << 8) | buff[3];\n    *gz = ((short)buff[4] << 8) | buff[5];\n}\nvoid Int_MPU6050_Get_Accel(int16_t *ax, int16_t *ay, int16_t *az)\n{\n    uint8_t buff[6];\n    Int_MPU6050_ReadBytes(MPU_ACCEL_XOUTH_REG, buff, 6);\n\n    \/*\n        buff[0]:\u52a0\u901f\u5ea6X\u8f74\u9ad88\u4f4d\n        buff[1]:\u52a0\u901f\u5ea6X\u8f74\u4f4e8\u4f4d\n        buff[2]:\u52a0\u901f\u5ea6Y\u8f74\u9ad88\u4f4d\n        buff[3]:\u52a0\u901f\u5ea6Y\u8f74\u4f4e8\u4f4d\n        buff[4]:\u52a0\u901f\u5ea6Z\u8f74\u9ad88\u4f4d\n        buff[5]:\u52a0\u901f\u5ea6Z\u8f74\u4f4e8\u4f4d\n     *\/\n    *ax = ((short)buff[0] << 8) | buff[1];\n    *ay = ((short)buff[2] << 8) | buff[3];\n    *az = ((short)buff[4] << 8) | buff[5];\n}\n<\/code><\/pre>\n\n\n\n
\u8bfb\u53d6\u7684\u65f6\u5019\u9700\u8981\u62fc\u63a5\u4e00\u4e0b\uff0c\u56e0\u4e3a\u6bcf\u4e00\u8f74\u7684\u6570\u636e\u90fd\u662f16\u4f4d\u7684\uff0c\u4f46\u662f\u4e00\u6b21\u53ea\u80fd\u8bfb8\u4f4d\u3002<\/p>\n\n\n\n
\"image-20250511130725791\"\/<\/div><\/figure>\n\n\n\n
\u5bf9\u6570\u636e\u96f6\u70b9\u504f\u79fb\u5904\u7406<\/h2>\n\n\n\n
\u9996\u5148\u9700\u8981\u5224\u65ad\u65e0\u4eba\u673a\u662f\u5426\u5904\u4e8e\u9759\u6b62\uff0c\u7136\u540e\u518d\u6821\u51c6\u6570\u636e\u3002\u5f53\u7136\u8fd9\u91cc\u6709\u4e2a\u524d\u63d0\u4e00\u5b9a\u662f\u8981\u63d0\u524d\u628a\u65e0\u4eba\u673a\u653e\u5728\u5e73\u9762\u4e0a\uff0c\u4e0d\u7136\u5c31\u6ca1\u6709\u610f\u4e49\u3002<\/p>\n\n\n\n
\u5177\u4f53\u7528\u4ee3\u7801\u5b9e\u5148\u601d\u8def\u662f\uff1a\u8bbe\u7f6e30\u6b21\u5916\u5c42\u5faa\u73af\uff0c\u5185\u5c42\u5faa\u73af\u5224\u65ad\u662f\u5426\u7a33\u5b9a\uff0c\u6bcf\u4e00\u6b21\u5224\u65ad\u4e00\u4e0b\u89d2\u901f\u5ea6\u7684\u4e09\u8f74\u7684\u6570\u636e\u548c\u4e0a\u4e00\u6b21\u5dee\u503c\u4e0d\u80fd\u5927\u4e8e\u8bbe\u7f6e\u7684\u9608\u503c-5\u548c5\uff0c\u5982\u679c\u6709\u8d85\u8fc7\u8bf4\u660e\u4e0d\u7a33\u5b9a\uff0c\u7ee7\u7eed\u6267\u884c\u5185\u5c42\u5faa\u73af\uff0c\u5982\u679c\u7a33\u5b9a\u4e0b\u6765\u4e86\uff0c\u5c31\u6267\u884c\u5916\u5c42\u5faa\u73af\uff0c30\u6b21\uff0c\u6700\u540e\u786e\u5b9a\u6700\u540e\u7684\u504f\u5dee\u503c\u3002\u6700\u540e\u518d\u505a356\u6b21\u7684mpu\u53d6\u516d\u8f74\u6570\u636e\uff0c\u524d100\u6b21\u4e0d\u505a\u5904\u7406\uff0c\u540e256\u6b21\u7d2f\u52a0\u518d\u76f8\u9664\uff0c\u51cf\u53bb\u4e4b\u524d\u5f97\u5230\u7684\u504f\u5dee\u503c\uff0c\u5c31\u53ef\u4ee5\u57fa\u672c\u4e0a\u6821\u51c6<\/p>\n\n\n\n
\u5177\u4f53\u51fd\u6570\u5982\u4e0b\uff1a<\/p>\n\n\n\n
\/\/ \u504f\u79fb\u91cf\u8ba1\u7b97\nvoid App_mpu_offsets(void)\n{\n    \/\/ \u5faa\u73af\u8ba1\u6570\u5668\uff0c\u63a7\u5236\u7b49\u5f85\u4f20\u611f\u5668\u9759\u6b62\u7684\u6b21\u6570\uff0c\u517130\u6b21\n    uint8_t gyro_i = 30;\n    \/\/ \u7528\u4e8e\u7d2f\u52a0\u9640\u87ba\u4eea\u548c\u52a0\u901f\u5ea6\u8ba1\u6570\u636e\u7684\u7f13\u51b2\u533a\uff0c\u4f9d\u6b21\u5b58\u50a8gyro_x\u3001gyro_y\u3001gyro_z\u3001accel_x\u3001accel_y\u3001accel_z\u7684\u7d2f\u52a0\u503c\n    uint32_t buff[6] = {0};\n    \/\/ \u5224\u65ad\u4f20\u611f\u5668\u662f\u5426\u5904\u4e8e\u9759\u6b62\u72b6\u6001\u7684\u9608\u503c\uff0c\u53d6\u9640\u87ba\u4eea\u89d2\u901f\u5ea6\u4e24\u6b21\u6d4b\u91cf\u503c\u7684\u5dee\u503c\n    \/\/ \u82e5\u5dee\u503c\u5728 [MIN_GYRO, MAX_GYRO] \u8303\u56f4\u5185\uff0c\u5219\u8ba4\u4e3a\u4f20\u611f\u5668\u9759\u6b62\n    const int8_t MAX_GYRO = 5;\n    const int8_t MIN_GYRO = -5;\n    \/\/ \u5b58\u50a8\u4e0a\u4e00\u6b21\u8bfb\u53d6\u7684\u9640\u87ba\u4eea\u89d2\u901f\u5ea6\u6570\u636e\uff0c\u4f9d\u6b21\u5bf9\u5e94x\u3001y\u3001z\u8f74\n    uint16_t lastgyro[3] = {0};\n    \/\/ \u5b58\u50a8\u5f53\u524d\u548c\u4e0a\u4e00\u6b21\u9640\u87ba\u4eea\u89d2\u901f\u5ea6\u6570\u636e\u7684\u5dee\u503c\uff0c\u4f9d\u6b21\u5bf9\u5e94x\u3001y\u3001z\u8f74\n    int16_t offsetgyro[3] = {0};\n\n    \/\/ \u7b49\u5f85\u4f20\u611f\u5668\u9759\u6b62\uff0c\u5faa\u73af30\u6b21\u786e\u4fdd\u4f20\u611f\u5668\u7a33\u5b9a\n    while (gyro_i--)\n    {\n        do\n        {\n            \/\/ \u5ef6\u65f610\u6beb\u79d2\uff0c\u7ed9\u4f20\u611f\u5668\u8db3\u591f\u65f6\u95f4\u7a33\u5b9a\n            HAL_Delay(10);\n\n            \/\/ \u8ba1\u7b97\u5f53\u524d\u548c\u4e0a\u4e00\u6b21\u9640\u87ba\u4eea\u89d2\u901f\u5ea6\u6570\u636e\u7684\u5dee\u503c\n            offsetgyro[0] = mpu_data.gyro_x - lastgyro[0];\n            offsetgyro[1] = mpu_data.gyro_y - lastgyro[1];\n            offsetgyro[2] = mpu_data.gyro_z - lastgyro[2];\n\n            \/\/ \u66f4\u65b0\u4e0a\u4e00\u6b21\u7684\u9640\u87ba\u4eea\u89d2\u901f\u5ea6\u6570\u636e\n            lastgyro[0] = mpu_data.gyro_x;\n            lastgyro[1] = mpu_data.gyro_y;\n            lastgyro[2] = mpu_data.gyro_z;\n        } while (\n            \/\/ \u53ea\u8981\u6709\u4e00\u4e2a\u8f74\u7684\u5dee\u503c\u8d85\u51fa [MIN_GYRO, MAX_GYRO] \u8303\u56f4\uff0c\u5c31\u7ee7\u7eed\u7b49\u5f85\n            offsetgyro[0] > MAX_GYRO || offsetgyro[0] < MIN_GYRO ||\n            offsetgyro[1] > MAX_GYRO || offsetgyro[1] < MIN_GYRO ||\n            offsetgyro[2] > MAX_GYRO || offsetgyro[2] < MIN_GYRO);\n    }\n\n    \/\/ \u91c7\u96c6\u4f20\u611f\u5668\u6570\u636e\uff0c\u5171\u91c7\u96c6356\u6b21\n    for (uint16_t i = 0; i < 356; i++)\n    {\n        \/\/ \u8c03\u7528\u51fd\u6570\u8bfb\u53d6\u5e76\u5904\u7406\u4f20\u611f\u5668\u6570\u636e\n        App_mpu_data();\n        \/\/ \u4ece\u7b2c100\u6b21\u5f00\u59cb\u7d2f\u52a0\u6570\u636e\uff0c\u524d100\u6b21\u6570\u636e\u7528\u4e8e\u9884\u70ed\n        if (i >= 100)\n        {\n            \/\/ \u7d2f\u52a0\u9640\u87ba\u4eea\u6570\u636e\n            buff[0] += mpu_data.gyro_x;\n            buff[1] += mpu_data.gyro_y;\n            buff[2] += mpu_data.gyro_z;\n            \/\/ \u7d2f\u52a0\u52a0\u901f\u5ea6\u8ba1\u6570\u636e\uff0cz\u8f74\u51cf\u53bb\u91cd\u529b\u52a0\u901f\u5ea6\u5bf9\u5e94\u7684\u6570\u503c\uff0816384\uff09\n            buff[3] += mpu_data.accel_x;\n            buff[4] += mpu_data.accel_y;\n            buff[5] += mpu_data.accel_z - 16384;\n        }\n    }\n\n    \/\/ \u8ba1\u7b97\u96f6\u504f\u503c\uff0c\u5c06\u7d2f\u52a0\u503c\u9664\u4ee5256\uff08\u5373\u53d6\u5e73\u5747\u503c\uff09\n    MPU_offset[0] = buff[0] \/ 256;\n    MPU_offset[1] = buff[1] \/ 256;\n    MPU_offset[2] = buff[2] \/ 256;\n    MPU_offset[3] = buff[3] \/ 256;\n    MPU_offset[4] = buff[4] \/ 256;\n    MPU_offset[5] = buff[5] \/ 256;\n}\n<\/code><\/pre>\n\n\n\n
\u5bf9\u516d\u8f74\u901f\u5ea6\u6ee4\u6ce2\u5904\u7406<\/h2>\n\n\n\n
\u4f7f\u7528\u4e00\u9636\u4f4e\u901a\u6ee4\u6ce2\u5bf9\u89d2\u901f\u5ea6\u6570\u636e\u8fdb\u884c\u6ee4\u6ce2\uff08\u56e0\u4e3a\u89d2\u901f\u5ea6\u7684\u53d8\u5316\u6bd4\u8f83\u5927\uff0c\u7528\u5361\u5c14\u66fc\u6ee4\u6ce2\u4e0d\u592a\u597d\uff0c\u5c31\u7528\u7684\u4f4e\u901a\u6ee4\u6ce2\uff09<\/p>\n\n\n\n
\u4f4e\u901a\u6ee4\u6ce2\u516c\u5f0f\uff1a<\/p>\n\n\n\n
\u8fd9\u6b21\u7684\u503c= 0.85 * \u4e0a\u6b21\u7684\u503c + 0.15 *\u8fd9\u6b21\u7684\u503c;<\/p>\n\n\n\n
void App_mpu_data(void)\n{\n    \/\/ \u5148\u8bfb\u53d6\u539f\u59cb\u6570\u636e\n    Int_MPU6050_Get_Gyro(&mpu_data.gyro_x, &mpu_data.gyro_y, &mpu_data.gyro_z);\n    Int_MPU6050_Get_Accel(&mpu_data.accel_x, &mpu_data.accel_y, &mpu_data.accel_z);\n    printf(\"=========\u6ee4\u6ce2\u524d\uff1a\\n\");\n    printf(\"%d %d %d\\r\\n\", mpu_data.gyro_x, mpu_data.gyro_y, mpu_data.gyro_z);\n    printf(\"%d %d %d\\r\\n\", mpu_data.accel_x, mpu_data.accel_y, mpu_data.accel_z);\n    \/\/ \u96f6\u504f\u6821\u51c6\n    mpu_data.gyro_x -= MPU_offset[0];\n    mpu_data.gyro_y -= MPU_offset[1];\n    mpu_data.gyro_z -= MPU_offset[2];\n    mpu_data.accel_x -= MPU_offset[3];\n    mpu_data.accel_y -= MPU_offset[4];\n    mpu_data.accel_z -= MPU_offset[5];\n\n    \/\/ \u5bf9\u52a0\u901f\u5ea6\u5361\u5c14\u66fc\u6ee4\u6ce2\n    Common_Filter_KalmanFilter(&kfs[0], mpu_data.accel_x);\n    mpu_data.accel_x = (int16_t)kfs[0].out;\n    Common_Filter_KalmanFilter(&kfs[1], mpu_data.accel_y);\n    mpu_data.accel_y = (int16_t)kfs[1].out;\n    Common_Filter_KalmanFilter(&kfs[2], mpu_data.accel_z);\n    mpu_data.accel_z = (int16_t)kfs[2].out;\n    \/\/ \u5bf9\u89d2\u901f\u5ea6\u4f4e\u901a\u6ee4\u6ce2\u5e94\u7528\u4f4e\u901a\u6ee4\u6ce2\n    static int16_t last_gyro[3];\n    mpu_data.gyro_x = 0.85 * last_gyro[0] + 0.15 * mpu_data.gyro_x;\n    last_gyro[0] = mpu_data.gyro_x;\n    mpu_data.gyro_y = 0.85 * last_gyro[1] + 0.15 * mpu_data.gyro_y;\n    last_gyro[1] = mpu_data.gyro_y;\n    mpu_data.gyro_z = 0.85 * last_gyro[2] + 0.15 * mpu_data.gyro_z;\n    last_gyro[2] = mpu_data.gyro_z;\n    printf(\"=========\u6ee4\u6ce2\u540e\uff1a\\n\");\n    printf(\"%d %d %d\\r\\n\", mpu_data.gyro_x, mpu_data.gyro_y, mpu_data.gyro_z);\n    printf(\"%d%d %d\\r\\n\", mpu_data.accel_x, mpu_data.accel_y, mpu_data.accel_z);\n\n    \/\/ \u8ba1\u7b97\u89d2\u5ea6(\u56db\u5143\u6570)\n}\n<\/code><\/pre>\n\n\n\n
\u4f7f\u7528\u5361\u5c14\u66fc\u6ee4\u6ce2\u5bf9\u52a0\u901f\u5ea6\u8fdb\u884c\u6ee4\u6ce2<\/p>\n\n\n\n
\u5361\u5c14\u66fc\u6ee4\u6ce2\u5177\u4f53\u5b9e\u73b0\u8fc7\u7a0b\u6bd4\u8f83\u590d\u6742\uff0c\u8fd9\u91cc\u79fb\u690d\u7684\u73b0\u6210\u7684\u3002\uff08\u4e0d\u8be6\u7ec6\u4ecb\u7ecd\u4e86\uff09<\/p>\n\n\n\n
\u56db\u5143\u6570\u59ff\u6001\u89e3\u7b97\uff08\u8ba1\u7b97\u89d2\u5ea6\uff09\uff0c\u8fd9\u91cc\u4e5f\u4e0d\u8be6\u7ec6\u8bf4\u4e86\uff0c\u79fb\u690d\u7684\uff0c\u8fd9\u79cd\u7b97\u6cd5\u81ea\u5df1\u5199\u4f1a\u82b1\u5f88\u591a\u65f6\u95f4\u3002<\/p>\n\n\n\n
\u5230\u8fd9\u91cc\u5df2\u7ecf\u53ef\u4ee5\u5f97\u5230\u7a33\u5b9a\u7684\u516d\u8f74\u6570\u636e\u4e86<\/p>\n\n\n\n
SI24RI(2.4G\u901a\u8baf\u6a21\u5757)<\/h2>\n\n\n\n
\u8fd9\u4e2a\u82af\u7247\u9700\u8981\u8bf4\u660e\u4e00\u4e0b\uff0c\u8fd9\u662f\u56fd\u4ea7\u7684\u5b8c\u5168\u76d7\u7248\u632a\u5a01\u7684NRF24L01,\u91cc\u9762\u7684\u5bc4\u5b58\u5668\u548c\u5b9e\u73b0\u65b9\u5f0f\u90fd\u4e00\u6a21\u4e00\u6837\uff0c\u76f4\u63a5\u62ffNRF24L01\u7684\u4f8b\u7a0b\u6765\u505aSI24RI\u4e5f\u662f\u53ef\u4ee5\u7684\u3002<\/p>\n\n\n\n
\u7b80\u8981\u4ecb\u7ecd<\/h3>\n\n\n\n
\u9065\u63a7\u5668\u662f\u901a\u8fc72.4G\u901a\u8baf\u5b9e\u73b0\u7684\u8fdc\u7a0b\u63a7\u5236\u65e0\u4eba\u673a\u7684\u98de\u884c.<\/p>\n\n\n\n
\u6211\u4eec\u4f7f\u7528\u7684\u662f\u56fd\u4ea72.4G\u65e0\u7ebf\u901a\u8baf\u82af\u7247Si24R1.<\/p>\n\n\n\n
Si24R1 \u662f\u7531\u4e2d\u56fd\u516c\u53f8\u8bbe\u8ba1\u548c\u5236\u9020\u7684\u5c04\u9891\u82af\u7247\uff0c\u5176\u8bbe\u8ba1\u7075\u611f\u548c\u529f\u80fd\u7c7b\u4f3c\u4e8e Nordic Semiconductor \u7684 nRF24L01+ \u82af\u7247\u3002Si24R1 \u5177\u6709\u9ad8\u5ea6\u96c6\u6210\u3001\u4f4e\u529f\u8017\u548c\u9ad8\u6570\u636e\u4f20\u8f93\u901f\u7387\u7684\u7279\u70b9\u3002<\/p>\n\n\n\n
\u5de5\u4f5c\u9891\u7387<\/strong>\uff1a2.4GHz ISM \u9891\u6bb5. \u6570\u636e\u4f20\u8f93\u901f\u7387<\/strong>\uff1a\u6700\u9ad8\u53ef\u8fbe 2Mbps. \u652f\u6301\u81ea\u52a8\u91cd\u4f20\u548c\u81ea\u52a8\u786e\u8ba4. \u591a\u8fbe 126*<\/strong>*\u6570\u636e\u4fe1\u9053. <\/strong>\u4f4e\u6210\u672c\u3001\u9ad8\u6027\u80fd\uff1a\u9002\u7528\u4e8e\u5927\u89c4\u6a21\u5e94\u7528. <\/strong>\u4f20\u8f93\u8ddd\u79bb**\uff1a\u89c6\u73af\u5883\u548c\u5929\u7ebf\u8bbe\u8ba1\uff0c\u901a\u5e38\u5728\u51e0\u5341\u7c73\u5230\u6570\u767e\u7c73\u8303\u56f4\u5185.<\/p>\n\n\n\n
Si24R1 \u901a\u8fc7 SPI\u63a5\u53e3\u4e0e\u5fae\u63a7\u5236\u5668\u901a\u4fe1\u3002<\/p>\n\n\n\n
Si24R1 \u662f\u4e00\u6b3e\u9ad8\u6027\u80fd\u3001\u4f4e\u6210\u672c\u7684 2.4GHz \u5c04\u9891\u6536\u53d1\u82af\u7247\uff0c\u9002\u7528\u4e8e\u591a\u79cd\u65e0\u7ebf\u901a\u4fe1\u5e94\u7528\u3002\u5b83\u7684\u4f4e\u529f\u8017\u3001\u9ad8\u6570\u636e\u901f\u7387\u548c\u591a\u901a\u9053\u652f\u6301\uff0c\u4f7f\u5176\u6210\u4e3a\u65e0\u7ebf\u4f20\u611f\u5668\u7f51\u7edc\u3001\u667a\u80fd\u5bb6\u5c45\u3001\u9065\u63a7\u73a9\u5177\u548c\u8ba1\u7b97\u673a\u5916\u8bbe\u7b49\u9886\u57df\u7684\u7406\u60f3\u9009\u62e9\u3002\u901a\u8fc7 SPI \u63a5\u53e3\uff0c\u53ef\u4ee5\u65b9\u4fbf\u5730\u4e0e\u5404\u79cd\u5fae\u63a7\u5236\u5668\u8fdb\u884c\u901a\u4fe1\uff0c\u5b9e\u73b0\u65e0\u7ebf\u6570\u636e\u4f20\u8f93\u3002<\/p>\n\n\n\n
\u63a5\u53e3\u5c42\u914d\u7f6e<\/h3>\n\n\n\n
\u4e3b\u8981\u8fd8\u662f\u90a3\u51e0\u4e2a\u7ecf\u5178\u7684\u8bfb\u53d6\u5199\u5165\u51fd\u6570\uff0c\u521d\u59cb\u5316\u7b49\u3002<\/p>\n\n\n\n
uint8_t Inf_Si24R1_WriteReg(uint8_t reg, uint8_t data)\n{\n    uint8_t status = 0;\n    \/* 1\u3001\u7247\u9009\u9009\u4e2d *\/\n    SI24R1_CS_L;\n    \/* 2\u3001\u5199\u5bc4\u5b58\u5668\u5730\u5740 *\/\n    status = SPI_SwapByte(reg);\n    \/* 3\u3001\u5199\u5165\u6570\u636e *\/\n    SPI_SwapByte(data);\n    \/* 4\u3001\u7247\u9009\u53d6\u6d88 *\/\n    SI24R1_CS_H;\n\n    return status;\n}\n\n\/**\n * @description: \u8bfb\u5bc4\u5b58\u5668\n * @param {uint8_t} reg \u8981\u8bfb\u53d6\u7684\u5bc4\u5b58\u5668\n * @return {*} \u8bfb\u53d6\u5230\u7684\u503c\n *\/\nuint8_t Inf_Si24R1_ReadReg(uint8_t reg)\n{\n    uint8_t res = 0;\n    \/* 1\u3001\u7247\u9009\u9009\u4e2d *\/\n    SI24R1_CS_L;\n    \/* 2\u3001\u5199\u5bc4\u5b58\u5668\u5730\u5740(\u8bfb\u6307\u4ee4) *\/\n    SPI_SwapByte(reg);\n    \/* 3\u3001\u8bfb\u53d6\u6570\u636e\uff08\u5199\u4ec0\u4e48\u65e0\u6240\u8c13\uff09 *\/\n    res = SPI_SwapByte(0);\n    \/* 4\u3001\u7247\u9009\u53d6\u6d88 *\/\n    SI24R1_CS_H;\n\n    return res;\n}\n\n\/**\n * @description: \u5411\u6307\u5b9a\u5bc4\u5b58\u5668\u5199\u591a\u4e2a\u5b57\u8282\n * @param {uint8_t} reg \u5199\u5165\u7684\u5bc4\u5b58\u5668\u5730\u5740\n * @param {uint8_t*} pBuf   \u5199\u5165\u7684\u591a\u4e2a\u5b57\u8282\u6570\u636e\u6307\u9488\n * @param {uint8_t} len \u6570\u636e\u5b57\u8282\u6570\n * @return {*}\n *\/\nuint8_t Inf_Si24R1_WriteBuf(uint8_t reg, uint8_t *pBuf, uint8_t len)\n{\n    uint8_t status = 0;\n    \/* 1\u3001\u7247\u9009\u9009\u4e2d *\/\n    SI24R1_CS_L;\n    \/* 2\u3001\u5199\u5bc4\u5b58\u5668\u5730\u5740 *\/\n    status = SPI_SwapByte(reg);\n    \/* 3\u3001\u5faa\u73af\u5199\u5165\u591a\u4e2a\u5b57\u8282\u6570\u636e *\/\n    for (uint8_t i = 0; i < len; i++)\n    {\n        SPI_SwapByte(*pBuf++);\n    }\n    \/* 4\u3001\u7247\u9009\u53d6\u6d88 *\/\n    SI24R1_CS_H;\n\n    return status;\n}\n\n\/**\n * @description: \u8bfb\u591a\u4e2a\u5b57\u8282\n * @param {uint8_t} reg \u8981\u8bfb\u53d6\u7684\u5bc4\u5b58\u5668\u5730\u5740\n * @param {uint8_t *} pBuf  \u7528\u6765\u63a5\u6536\u7684\u6570\u636e\u7f13\u51b2\u7684\u6307\u9488\n * @param {uint8_t} len \u63a5\u6536\u7684\u5b57\u8282\u6570\n * @return {*}\n *\/\nuint8_t Inf_Si24R1_ReadBuf(uint8_t reg, uint8_t *pBuf, uint8_t len)\n{\n    \/* 1\u3001\u7247\u9009\u9009\u4e2d *\/\n    SI24R1_CS_L;\n    \/* 2\u3001\u5199\u5bc4\u5b58\u5668\u5730\u5740(\u8bfb\u6307\u4ee4) *\/\n    SPI_SwapByte(reg);\n    \/* 3\u3001\u5faa\u73af\u8bfb\u53d6\u591a\u4e2a\u5b57\u8282\u6570\u636e\uff08\u5199\u4ec0\u4e48\u65e0\u6240\u8c13\uff09 *\/\n    for (uint8_t i = 0; i < len; i++)\n    {\n        *pBuf++ = SPI_SwapByte(0);\n        \/\/ printf(\"pBuf[%d]=%2x\\r\\n\",i,pBuf[i]);\n    }\n\n    \/* 4\u3001\u7247\u9009\u53d6\u6d88 *\/\n    SI24R1_CS_H;\n\n    return 0;\n}\n<\/code><\/pre>\n\n\n\n
\u901a\u8baf\u6a21\u5f0f<\/p>\n\n\n\n
\"image-20250511143005601\"\/<\/div><\/figure>\n\n\n\n
\u5728\u914d\u7f6eSI24RI\u7684\u65f6\u5019\uff0c\u662f\u7528\u547d\u4ee4\u8fdb\u884c\u914d\u7f6e\uff0c\u5177\u4f53\u547d\u4ee4\u8868\u5982\u4e0b\uff1a<\/p>\n\n\n\n
\"\t\"\/<\/div><\/figure>\n\n\n\n
void Inf_Si24R1_TXMode(void)\n{\n    \/* 1\u3001\u8fdb\u5165\u5f85\u673a\u6a21\u5f0f\uff0cCE=0 *\/\n    SI24R1_EN_L;\n    \/* 2\u3001\u76f8\u5173\u7684\u914d\u7f6e\uff1a\u53d1\u9001\u5730\u5740\u3001\u63a5\u6536\u7ba1\u90530\u5730\u5740\uff08\u4e00\u6837\uff09\u3001ACK\u4f7f\u80fd\u3001\u4f7f\u80fd\u7ba1\u90530\u3001\u529f\u7387\u3001Config\u4e3a\u53d1\u9001\u6a21\u5f0f *\/\n    Inf_Si24R1_WriteBuf(SPI_WRITE_REG + TX_ADDR, TX_ADDRESS, TX_ADR_WIDTH);    \/\/ \u5199\u5165\u53d1\u9001\u5730\u5740\n    Inf_Si24R1_WriteBuf(SPI_WRITE_REG + RX_ADDR_P0, RX_ADDRESS, RX_ADR_WIDTH); \/\/ \u4e3a\u4e86\u5e94\u7b54\u63a5\u6536\u8bbe\u5907\uff0c\u63a5\u6536\u901a\u90530\u5730\u5740\u548c\u53d1\u9001\u5730\u5740\u76f8\n    Inf_Si24R1_WriteReg(SPI_WRITE_REG + EN_AA, 0x01);                          \/\/ \u4f7f\u80fd\u63a5\u6536\u901a\u90530\u81ea\u52a8\u5e94\u7b54\n    Inf_Si24R1_WriteReg(SPI_WRITE_REG + EN_RXADDR, 0x01);                      \/\/ \u4f7f\u80fd\u63a5\u6536\u901a\u90530\n    Inf_Si24R1_WriteReg(SPI_WRITE_REG + SETUP_RETR, 0x0a);                     \/\/ \u81ea\u52a8\u91cd\u53d1\u5ef6\u65f6\u7b49\u5f85250us+86us\uff0c\u81ea\u52a8\u91cd\u53d110\u6b21\n    Inf_Si24R1_WriteReg(SPI_WRITE_REG + RF_CH, CH);                            \/\/ \u9009\u62e9\u5c04\u9891\u901a\u90530x40\n    Inf_Si24R1_WriteReg(SPI_WRITE_REG + RF_SETUP, 0x0f);                       \/\/ \u6570\u636e\u4f20\u8f93\u73872Mbps\uff0c\u53d1\u5c04\u529f\u73877dBm\n    Inf_Si24R1_WriteReg(SPI_WRITE_REG + CONFIG, 0x0e);                         \/\/ CRC\u4f7f\u80fd\uff0c16\u4f4dCRC\u6821\u9a8c\uff0c\u4e0a\u7535\n    \/* 3\u3001\u4f7f\u80fdCE *\/\n    SI24R1_EN_H;\n}\n\n\/**\n * @description: \u63a5\u6536\u6a21\u5f0f\n * @return {*}\n *\/\nvoid Inf_Si24R1_RXMode(void)\n{\n    SI24R1_EN_L;\n    \/*\n        \u4e0e\u53d1\u9001\u7684\u533a\u522b\uff1a\n            1\u3001\u4e0d\u9700\u8981\u8bbe\u7f6e\u53d1\u9001\u5730\u5740\n            2\u3001\u9700\u8981\u8bbe\u7f6e\u63a5\u6536\u901a\u90530\u7684\u8d1f\u8f7d\u957f\u5ea6\n            3\u3001config\u914d\u7f6e\u7684\uff0cbit0=1 \u4e3a\u63a5\u6536\u6a21\u5f0f\n     *\/\n    Inf_Si24R1_WriteBuf(SPI_WRITE_REG + RX_ADDR_P0, RX_ADDRESS, RX_ADR_WIDTH); \/\/ \u63a5\u6536\u8bbe\u5907\u63a5\u6536\u901a\u90530\u4f7f\u7528\u548c\u53d1\u9001\u8bbe\u5907\u76f8\u540c\u7684\u53d1\u9001\u5730\u5740\n    Inf_Si24R1_WriteReg(SPI_WRITE_REG + EN_AA, 0x01);                          \/\/ \u4f7f\u80fd\u63a5\u6536\u901a\u90530\u81ea\u52a8\u5e94\u7b54\n    Inf_Si24R1_WriteReg(SPI_WRITE_REG + EN_RXADDR, 0x01);                      \/\/ \u4f7f\u80fd\u63a5\u6536\u901a\u90530\n    Inf_Si24R1_WriteReg(SPI_WRITE_REG + RF_CH, CH);                            \/\/ \u9009\u62e9\u5c04\u9891\u901a\u90530x40\n    Inf_Si24R1_WriteReg(SPI_WRITE_REG + RX_PW_P0, TX_PLOAD_WIDTH);             \/\/ \u63a5\u6536\u901a\u90530\u9009\u62e9\u548c\u53d1\u9001\u901a\u9053\u76f8\u540c\u6709\u6548\u6570\u636e\u5bbd\u5ea6\n    Inf_Si24R1_WriteReg(SPI_WRITE_REG + RF_SETUP, 0x0f);                       \/\/ \u6570\u636e\u4f20\u8f93\u73872Mbps\uff0c\u53d1\u5c04\u529f\u73877dBm\n    Inf_Si24R1_WriteReg(SPI_WRITE_REG + CONFIG, 0x0f);                         \/\/ CRC\u4f7f\u80fd\uff0c16\u4f4dCRC\u6821\u9a8c\uff0c\u4e0a\u7535\uff0c\u63a5\u6536\u6a21\u5f0f\n    SI24R1_EN_H;                                                               \/\/ \u62c9\u9ad8CE\u542f\u52a8\u63a5\u6536\u8bbe\u5907\n}\n<\/code><\/pre>\n\n\n\n
\u63a5\u6536\u6570\u636e\u5305\uff0c\u548c\u53d1\u9001\u6570\u636e\u5305\u903b\u8f91\uff1a<\/p>\n\n\n\n
uint8_t Inf_Si24R1_TxPacket(uint8_t *txBuf)\n{\n    uint8_t state = 0;\n    \/* 1\u3001\u4f7f\u7528\u5199Tx FIFO\u6307\u4ee4\uff0c\u5c06\u6570\u636e\u53d1\u9001 *\/\n    SI24R1_EN_L;\n    Inf_Si24R1_WriteBuf(WR_TX_PLOAD, txBuf, TX_PLOAD_WIDTH);\n    SI24R1_EN_H; \/\/ \u786e\u4fdd\u8fdb\u5165\u53d1\u5c04\u6a21\u5f0f\n\n    \/* 2\u3001\u5224\u65ad\u53d1\u9001\u5b8c\u6210\uff08\u6216\u8fbe\u5230\u6700\u5927\u91cd\u53d1\u6b21\u6570\uff09\uff1a\u5faa\u73af\u8bfb\u53d6\u72b6\u6001\u5bc4\u5b58\u5668\uff0c\u5e76\u5224\u65adbit4\u3001bit5 *\/\n    while (!(state & (TX_OK | MAX_TX)))\n    {\n        state = Inf_Si24R1_ReadReg(SPI_READ_REG + STATUS);\n    }\n\n    \/* 3\u3001 \u6e05\u7a7a \u63a5\u6536\u6216\u6700\u5927\u91cd\u53d1\u6b21\u6570 \u4e2d\u65ad\u6807\u5fd7\u4f4d *\/\n    Inf_Si24R1_WriteReg(SPI_WRITE_REG + STATUS, state);\n\n    \/* 4\u3001\u8fbe\u5230\u6700\u5927\u91cd\u53d1\u6b21\u6570\uff0c\u5c31\u8981\u4e3b\u52a8\u6e05\u9664Tx FIFO\uff0c\u5426\u5219\u65e0\u6cd5\u7ee7\u7eed\u53d1\u9001 *\/\n    if (state & MAX_TX)\n    {\n        if (state & 0x01) \/\/ bit0: \u5982\u679cTX FIFO\u6ee1\u4e86\uff0c=1\uff0c\u6ca1\u6ee1=0\n        {\n            Inf_Si24R1_WriteReg(FLUSH_TX, 0xff);\n        }\n    }\n\n    \/* 5\u3001\u5982\u679c\u662f\u53d1\u9001\u6210\u529f *\/\n    if (state & TX_OK)\n    {\n        return 0;\n    }\n\n    return 1; \/\/ \u5176\u4ed6\u539f\u56e0\u672a\u6210\u529f\n}\n\n\/**\n * @description: \u63a5\u6536\u4e00\u4e2a\u6570\u636e\u5305\n * @param {uint8_t} *txBuf  \u5b58\u8bfb\u53d6\u7684\u6570\u636e\n * @return {*}  0\uff1a\u6210\u529f\u8bfb\u5230\u6570\u636e\uff1b1\uff1a\u672a\u8bfb\u5230\u6570\u636e\n *\/\nuint8_t Inf_Si24R1_RxPacket(uint8_t *rxBuf)\n{\n    \/* 1\u3001\u8bfb\u72b6\u6001\u5bc4\u5b58\u5668\uff0c\u5224\u65ad\u662f\u5426\u6536\u5230\u6570\u636e\u4e86 *\/\n    uint8_t state = 0;\n    state = Inf_Si24R1_ReadReg(SPI_READ_REG + STATUS);\n\n    \/* 2\u3001 \u6e05\u9664 \u63a5\u6536\u4e2d\u65ad \u6807\u5fd7 *\/\n    Inf_Si24R1_WriteReg(SPI_WRITE_REG + STATUS, state);\n\n    \/* 3\u3001\u5982\u679c\u6536\u5230\u6570\u636e\u4e86\uff0c\u5c31\u5f00\u59cb\u8bfb RX FIFO *\/\n    if (state & RX_OK)\n    {\n        \/* 2.1 \u4ece RX FIFO\u8bfb\u53d6\u6570\u636e\u5230 buff \u91cc *\/\n        Inf_Si24R1_ReadBuf(RD_RX_PLOAD, rxBuf, RX_PLOAD_WIDTH);\n        \n        \/* 2.2 \u6e05\u7a7a RX FIFO *\/\n        Inf_Si24R1_WriteReg(FLUSH_RX, 0xff);\n        connect_flag = 0;\n        \/\/ \u6d4b\u8bd5\u6253\u5370\u7684\u6570\u636e\n        \/\/ for (uint8_t i = 0; i < RX_PLOAD_WIDTH; i++)\n        \/\/ {\n        \/\/     printf(\"receice data:[%d] = %02x\\r\\n\", i, rxBuf[i]);\n        \/\/ }\n        \/* 2.3 \u63a5\u6536\u5230\u6570\u636e\u540e\uff0c\u5bf9\u6807\u5fd7\u4f4d\u7f6e0 *\/\n        connect_flag = 0;\n\n        \/* =============\u6d4b\u8bd5\uff1a\u6253\u5370\u63a5\u6536\u7684\u6570\u636e================= *\/\n        \/\/ for (uint8_t i = 0; i < RX_PLOAD_WIDTH; i++)\n        \/\/ {\n        \/\/     printf(\"receive[%d]=%02x\\r\\n\", i, txBuf[i]);\n        \/\/ }\n        \/* ================================================ *\/\n\n        return 0; \/\/ \u6210\u529f\u63a5\u6536\u6570\u636e\n    }\n\n    return 1; \/\/ \u672a\u63a5\u6536\u5230\u6570\u636e\n}\n<\/code><\/pre>\n\n\n\n
\u8fd9\u91cc\u5b98\u65b9\u6709\u7ed9\u4f8b\u7a0b\uff0c\u76f4\u63a5\u79fb\u690d\u5c31\u884c\u3002<\/p>\n\n\n\n
\u8981\u4f7f\u7528\u7684\u8bdd\u53ea\u9700\u8981\u5728\u4e3b\u51fd\u6570\u91cc\uff0c\u81ea\u68c0\u4e00\u4e0b\uff0c\u5e76\u4e14\u8bbe\u7f6e\u4e3a\u63a5\u6536\u6a21\u5f0f\u5373\u53ef\uff0c\u63a5\u6536\u6570\u636e\u7684\u51fd\u6570\u6682\u65f6\u5199\u5728while\u5faa\u73af\u91cc\uff0c\u540e\u9762\u6dfb\u52a0freeRTOS\u53ef\u4ee5\u5355\u72ec\u5199\u5728\u4efb\u52a1\u91cc\u9762\u3002<\/p>\n\n\n\n
printf(\"2.4g\u5f00\u59cb\u81ea\u68c0\\r\\n\");\nwhile (Inf_Si24R1_Check())\n  {\n    \/* code *\/\n  }\nprintf(\"2.4g\u81ea\u68c0\u6210\u529f\\r\\n\");\nInf_Si24R1_RXMode();\nwhile(1){\n    Inf_Si24R1_RxPacket(rxBuf);\n}\n<\/code><\/pre>\n\n\n\n
\u89e3\u67902.4G\u7684\u6570\u636e\u5305\u534f\u8bae<\/h2>\n\n\n\n
\u5728\u9065\u63a7\u677f\u90a3\u8fb9\u4f1a\u4f20\u8f93\u5f88\u591a\u6570\u636e\uff0c\u800c\u4e14\u662f\u6309\u7167\u4e00\u5b9a\u7684\u6570\u636e\u683c\u5f0f\uff0c\u8fd9\u91cc\u91c7\u53d6\u7684\u6570\u636e\u683c\u5f0f\u5982\u4e0b\uff0c\u57282.4G\u6570\u636e\u5305\u91cc\u6700\u591a\u4f20\u8f93\u7684\u6570\u636e\u4e3a32\u4e2a\u5b57\u8282\u3002<\/p>\n\n\n\n
\u5206\u4e3a<\/p>\n\n\n\n
\t\u5e27\u5934\t\t\uff1a16\u5b57\u8282 0xAAAF\n\t\u529f\u80fd\u5b57\t\t:8\u5b57\u8282  0x03\n    \u957f\u5ea6\t\t: \u957f\u5ea6\t\u603b\u517128\u4e2a\u5b57\u8282\n    \u6570\u636e\t\t\uff1a10\u4e2a\u6570\u636e  20\u4e2a\u5b57\u8282\n    \u6821\u9a8c\u548c\t\t\uff1a1\u4e2a32\u4f4d\t4\u4e2a\u5b57\u8282\n<\/code><\/pre>\n\n\n\n
\u7136\u540e\u53ea\u9700\u8981\u5bf9\u9065\u63a7\u677f\u4f20\u8fc7\u6765\u7684\u6570\u636e\u8fdb\u884c\u89e3\u6790\u5373\u53ef\u3002<\/p>\n\n\n\n
\u5177\u4f53\u89e3\u6790\uff0c\u90a3\u80af\u5b9a\u662f\u5148\u5224\u65ad\u5e27\u5934\u662f\u4e0d\u662f\u76f8\u540c\uff0c\u5982\u679c\u76f8\u540c\u518d\u4e00\u4e2a\u4e00\u4e2a\u5c06\u6570\u636e\u89e3\u6790\u51fa\u6765\uff0c\u5b58\u5165\u7ed3\u6784\u4f53\u3002\u7136\u540e\u518d\u603b\u4f53\u628a\u63a5\u6536\u5230\u7684\u6570\u636e\u8fdb\u884c\u7d2f\u52a0\uff0c\u770b\u770b\u4e0e\u6821\u9a8c\u548c\u662f\u5426\u76f8\u7b49\uff0c\u5982\u679c\u4e0d\u76f8\u7b49\u5c31\u820d\u5f03\u3002<\/p>\n\n\n\n
\/**\n * @brief \u68c0\u67e5\u5e76\u5904\u7406\u63a5\u6536\u5230\u7684\u9065\u63a7\u6570\u636e\uff0c\u540c\u65f6\u66f4\u65b0\u8fde\u63a5\u6807\u5fd7\u3002\n * \n * \u8be5\u51fd\u6570\u9996\u5148\u66f4\u65b0\u8fde\u63a5\u6807\u5fd7\uff0c\u63a5\u7740\u5bf9\u63a5\u6536\u7684\u6570\u636e\u8fdb\u884c\u5e27\u5934\u6821\u9a8c\u548c\u6821\u9a8c\u548c\u6821\u9a8c\u3002\n * \u82e5\u6821\u9a8c\u901a\u8fc7\u4e14\u6570\u636e\u7c7b\u578b\u4e3a 0x03\uff0c\u5219\u63d0\u53d6\u9065\u63a7\u6570\u636e\u548c\u8f85\u52a9\u901a\u9053\u6570\u636e\u3002\n * \u6700\u540e\u5bf9\u8fde\u63a5\u6807\u5fd7\u8fdb\u884c\u8303\u56f4\u9650\u5236\u3002\n * \n * @param data \u6307\u5411\u63a5\u6536\u5230\u7684\u9065\u63a7\u6570\u636e\u7f13\u51b2\u533a\u7684\u6307\u9488\u3002\n * @param len \u63a5\u6536\u5230\u7684\u6570\u636e\u957f\u5ea6\u3002\n *\/\nvoid App_Flight_Remote_check(uint8_t *data, uint8_t len)\n{\n    \/\/ \u8fde\u63a5\u6807\u5fd7\u52a01\uff0c\u7528\u4e8e\u8bb0\u5f55\u4e0e\u9065\u63a7\u5668\u7684\u8fde\u63a5\u72b6\u6001\n    connect_flag++;\n    \/\/ \u5f53\u8fde\u63a5\u6807\u5fd7\u9996\u6b21\u53d8\u4e3a1\u65f6\uff0c\u53ef\u5728\u6b64\u6dfb\u52a0\u521d\u59cb\u5316\u4ee3\u7801\n    if (connect_flag == 1)\n    {\n        \/* code *\/\n    }\n\n    \/\/ \u521d\u59cb\u5316\u53d8\u91cf\uff0c\u7528\u4e8e\u5b58\u50a8\u63a5\u6536\u5230\u7684\u6821\u9a8c\u548c\u548c\u8ba1\u7b97\u5f97\u5230\u7684\u6821\u9a8c\u548c\n    uint32_t init_sum = 0;\n    uint32_t flight_sum = 0;\n    \/\/ \u5e27\u5934\u6821\u9a8c\uff0c\u5224\u65ad\u6570\u636e\u7684\u524d\u4e24\u4e2a\u5b57\u8282\u662f\u5426\u4e3a 0XAA \u548c 0XAF\n    if (!((*data == 0XAA) && (*(data + 1) == 0XAF)))\n    {\n        \/\/ \u5e27\u5934\u4e0d\u6b63\u786e\uff0c\u8bf4\u660e\u6570\u636e\u53ef\u80fd\u635f\u574f\u6216\u975e\u9884\u671f\uff0c\u76f4\u63a5\u8fd4\u56de\n        return;\n    }\n    \/\/ \u63d0\u53d6\u6570\u636e\u672b\u5c3e\u76844\u5b57\u8282\u6821\u9a8c\u548c\n    init_sum = *(data + len - 4) << 24 | *(data + len - 3) << 16 | *(data + len - 2) << 8 | *(data + len - 1);\n    \/\/ \u8ba1\u7b97\u6570\u636e\uff08\u9664\u6821\u9a8c\u548c\u90e8\u5206\uff09\u7684\u7d2f\u52a0\u548c\n    for (uint8_t i = 0; i < len - 4; i++)\n    {\n        flight_sum += data[i];\n    }\n    \/\/ \u6bd4\u8f83\u8ba1\u7b97\u5f97\u5230\u7684\u6821\u9a8c\u548c\u4e0e\u63a5\u6536\u5230\u7684\u6821\u9a8c\u548c\n    if (flight_sum != init_sum)\n    {\n        \/\/ \u6821\u9a8c\u548c\u4e0d\u4e00\u81f4\uff0c\u8bf4\u660e\u6570\u636e\u53ef\u80fd\u5728\u4f20\u8f93\u8fc7\u7a0b\u4e2d\u635f\u574f\uff0c\u4e22\u5f03\u8be5\u6570\u636e\n        return;\n    }\n    \/\/ \u5224\u65ad\u6570\u636e\u7c7b\u578b\u662f\u5426\u4e3a 0x03\n    if (data[2] == 0x03)\n    {\n        \/\/ \u4ece\u7d22\u5f154\u5f00\u59cb\u63d0\u53d6\u9065\u63a7\u6570\u636e\n        checkdata.THR = data[4] << 8 | data[5];  \/\/ \u6cb9\u95e8\u6570\u636e\n        checkdata.YAW = data[6] << 8 | data[7];  \/\/ \u504f\u822a\u6570\u636e\n        checkdata.ROL = data[8] << 8 | data[9];  \/\/ \u6a2a\u6eda\u6570\u636e\n        checkdata.PIT = data[10] << 8 | data[11]; \/\/ \u4fef\u4ef0\u6570\u636e\n\n        \/\/ \u63d0\u53d6\u8f85\u52a9\u901a\u9053\u7684\u6570\u636e\n        checkdata.AUX1 = data[12] << 8 | data[13];\n        checkdata.AUX2 = data[14] << 8 | data[15];\n        checkdata.AUX3 = data[16] << 8 | data[17];\n        checkdata.AUX4 = data[18] << 8 | data[19];\n        checkdata.AUX5 = data[20] << 8 | data[21];\n        checkdata.AUX6 = data[22] << 8 | data[23];\n        \/\/ \u4ee5\u4e0b\u6ce8\u91ca\u7684\u4ee3\u7801\u7528\u4e8e\u8c03\u8bd5\uff0c\u53ef\u6253\u5370\u63d0\u53d6\u7684\u6570\u636e\n        \/\/ printf(\"thr = %d\\r\\n\", checkdata.THR);\n        \/\/ printf(\"pit = %d\\r\\n\", checkdata.PIT);\n        \/\/ printf(\"rol = %d\\r\\n\", checkdata.ROL);\n        \/\/ printf(\"yaw = %d\\r\\n\", checkdata.YAW);\n        \/\/ printf(\"aux1 = %d\\r\\n\", checkdata.AUX1);\n        \/\/ printf(\"aux2 = %d\\r\\n\", checkdata.AUX2);\n        \/\/ printf(\"aux3 = %d\\r\\n\", checkdata.AUX3);\n        \/\/ printf(\"aux4 = %d\\r\\n\", checkdata.AUX4);\n        \/\/ printf(\"aux5 = %d\\r\\n\", checkdata.AUX5);\n        \/\/ printf(\"aux6 = %d\\r\\n\", checkdata.AUX6);\n    }\n    \/\/ \u9650\u5236\u8fde\u63a5\u6807\u5fd7\u7684\u8303\u56f4\uff0c\u9632\u6b62\u5176\u503c\u8fc7\u5927\n    if (connect_flag > 500)\n    {\n        connect_flag = 1;\n    }\n<\/code><\/pre>\n\n\n\n
\u8bbe\u8ba1\u89e3\u9501\u65e0\u4eba\u673a\u52a8\u4f5c<\/h2>\n\n\n\n
\u5982\u679c\u65e0\u4eba\u673a\u8fd9\u8fb9\u4e00\u8fde\u63a5\uff0c\u76f4\u63a5\u80fd\u591f\u6cb9\u95e8\u5f00\u7535\u673a\uff0c\u4f1a\u5f88\u5371\u9669\uff0c\u6240\u4ee5\u6211\u4eec\u9700\u8981\u4e00\u4e2a\u89e3\u9501\u52a8\u4f5c\uff0c\u9632\u6b62\u8bef\u89e6\u3002<\/p>\n\n\n\n
\u8fd9\u91cc\u8bbe\u8ba1\u7684\u89e3\u9501\u52a8\u4f5c\u4e3a\uff1a<\/p>\n\n\n\n
1.\u6cb9\u95e8\u6700\u4f4e-\u300b\n2.\u6cb9\u95e8\u6700\u9ad8-\u300b\n3.\u6cb9\u95e8\u6700\u4f4e-\u300b\n<\/code><\/pre>\n\n\n\n
\u8fd9\u91cc\u76f4\u63a5\u4f7f\u7528\u7684\u72b6\u6001\u673a\uff0c\u8bbe\u7f6e\u51e0\u4e2a\u72b6\u6001<\/p>\n\n\n\n
#define WAITING_1 1\n#define WAITING_2 2\n#define WAITING_3 3\n#define WAITING_4 4\n#define PROCESS 5\n#define WARNING 6\n#define EXIT 7\n<\/code><\/pre>\n\n\n\n
\u7136\u540e\u5b9e\u73b0\u7684\u601d\u8def\u662f\uff1a<\/p>\n\n\n\n
\/**\n * @brief \u5b9e\u73b0\u65e0\u4eba\u673a\u89e3\u9501\u903b\u8f91\uff0c\u901a\u8fc7\u7279\u5b9a\u7684\u6cb9\u95e8\u64cd\u4f5c\u5e8f\u5217\u5b8c\u6210\u89e3\u9501\u548c\u9501\u5b9a\u3002\n * \n * \u89e3\u9501\u6d41\u7a0b\u9700\u8981\u4f9d\u6b21\u6ee1\u8db3\u6cb9\u95e8\u6700\u4f4e\u3001\u6cb9\u95e8\u6700\u9ad8\u4fdd\u6301\u4e00\u6bb5\u65f6\u95f4\u3001\u6cb9\u95e8\u518d\u6b21\u6700\u4f4e\u7684\u6761\u4ef6\u3002\n * \u89e3\u9501\u6210\u529f\u540e\uff0c\u53ef\u901a\u8fc7\u5c06\u6cb9\u95e8\u4fdd\u6301\u5728\u6700\u4f4e\u4e00\u6bb5\u65f6\u95f4\u6765\u91cd\u65b0\u9501\u5b9a\u3002\n *\/\nvoid App_Fly_Unlock(void)\n{\n    \/\/ \u89e3\u9501\u72b6\u6001\u673a\uff0c\u521d\u59cb\u72b6\u6001\u4e3a WAITING_1\uff0c\u7b49\u5f85\u6cb9\u95e8\u6700\u4f4e\n    static uint8_t status = WAITING_1;\n    \/\/ \u65f6\u95f4\u8ba1\u6570\u5668\uff0c\u7528\u4e8e\u8bb0\u5f55\u5728\u7279\u5b9a\u72b6\u6001\u4e0b\u7684\u6301\u7eed\u65f6\u95f4\n    static uint16_t time_count = 0;\n\n    \/\/ \u5982\u679c\u72b6\u6001\u4e3a WARNING\uff0c\u5c06\u72b6\u6001\u5207\u6362\u4e3a EXIT\n    if (status == WARNING)\n    {\n        status = EXIT;\n    }\n\n    \/\/ \u6839\u636e\u5f53\u524d\u72b6\u6001\u6267\u884c\u4e0d\u540c\u7684\u64cd\u4f5c\n    switch (status)\n    {\n    case WAITING_1:               \/\/ \u9636\u6bb51\uff1a\u5224\u65ad\u6cb9\u95e8\u662f\u5426\u6700\u4f4e\n        if (checkdata.THR < 1030) \/\/ \u6cb9\u95e8\u503c\u5c0f\u4e8e1030\u8ba4\u4e3a\u6cb9\u95e8\u6700\u4f4e\uff0c\u4e0d\u7528\u5361\u592a\u6b7b\n        {\n            printf(\"==========\u8fdb\u5165\u9636\u6bb5\u4e00\\r\\n\");\n            status = WAITING_2; \/\/ \u6ee1\u8db3\u6761\u4ef6\uff0c\u51c6\u5907\u8fdb\u5165\u9636\u6bb52\n        }\n        break;\n\n    case WAITING_2:               \/\/ \u9636\u6bb52\uff1a\u5224\u65ad\u6cb9\u95e8\u662f\u5426\u6700\u9ad8\n        if (checkdata.THR > 1960) \/\/ \u6cb9\u95e8\u503c\u5927\u4e8e1960\u8ba4\u4e3a\u6cb9\u95e8\u6700\u9ad8\n        {\n            printf(\"==========\u8fdb\u5165\u9636\u6bb5\u4e8c\\r\\n\");\n            time_count++; \/\/ \u8ba1\u6570\u5668\u52a01\n            if (time_count > 50)\n            {\n                status = WAITING_3; \/\/ \u6cb9\u95e8\u6700\u9ad8\u72b6\u6001\u6301\u7eed\u8d85\u8fc750\u4e2a\u8ba1\u6570\u5468\u671f\uff0c\u8fdb\u5165\u9636\u6bb53\n                time_count = 0;     \/\/ \u8ba1\u6570\u5668\u6e05\u96f6\n            }\n        }\n        break;\n\n    case WAITING_3:               \/\/ \u9636\u6bb53\uff1a\u5224\u65ad\u6cb9\u95e8\u662f\u5426\u518d\u6b21\u6700\u4f4e\n        if (checkdata.THR < 1010) \/\/ \u6cb9\u95e8\u503c\u5c0f\u4e8e1010\u8ba4\u4e3a\u6cb9\u95e8\u6700\u4f4e\n        {\n            printf(\"==========\u8fdb\u5165\u9636\u6bb5\u4e09\\r\\n\");\n            status = WAITING_4; \/\/ \u6ee1\u8db3\u6761\u4ef6\uff0c\u8fdb\u5165\u9636\u6bb54\n        }\n        break;\n\n    case WAITING_4: \/\/ \u9636\u6bb54\uff1a\u89e3\u9501\u5b8c\u6210\n        flag_unlock = 1; \/\/ \u89e3\u9501\u6807\u5fd7\u7f6e1\uff0c\u8868\u793a\u89e3\u9501\u5b8c\u6210\n        status = PROCESS;\n        printf(\"==========\u8fdb\u5165\u9636\u6bb5\u56db\\r\\n\");\n        break;\n\n    case PROCESS: \/\/ \u9636\u6bb55\uff1a\u89e3\u9501\u540e\u7684\u8fd0\u884c\u72b6\u6001\n        printf(\"==========\u8fdb\u5165\u9636\u6bb5\u4e94\\r\\n\");\n        time_count++; \/\/ \u8ba1\u6570\u5668\u52a01\n        if (checkdata.THR < 1010) \/\/ \u6cb9\u95e8\u503c\u5c0f\u4e8e1010\n        {\n            if (time_count > 1000)\n            {\n                status = WAITING_1; \/\/ \u6cb9\u95e8\u6700\u4f4e\u72b6\u6001\u6301\u7eed\u8d85\u8fc71000\u4e2a\u8ba1\u6570\u5468\u671f\uff0c\u91cd\u65b0\u8fdb\u5165\u7b49\u5f85\u89e3\u9501\u72b6\u6001\n                flag_unlock = 0;    \/\/ \u89e3\u9501\u6807\u5fd7\u7f6e0\uff0c\u8868\u793a\u9501\u5b9a\n                time_count = 0;     \/\/ \u8ba1\u6570\u5668\u6e05\u96f6\n            }\n        }\n        if (!flag_unlock)\n        {\n            status = EXIT; \/\/ \u89e3\u9501\u6807\u5fd7\u4e3a0\uff0c\u8fdb\u5165\u9000\u51fa\u6a21\u5f0f\n        }\n        break;\n\n    case EXIT: \/\/ \u9000\u51fa\u6a21\u5f0f\n        printf(\"==========\u9000\u51fa\u6a21\u5f0f==========\\r\\n\");\n        flag_unlock = 0; \/\/ \u89e3\u9501\u6807\u5fd7\u7f6e0\uff0c\u8868\u793a\u9501\u5b9a\n        status = WAITING_1; \/\/ \u72b6\u6001\u91cd\u7f6e\u4e3a\u521d\u59cb\u7b49\u5f85\u72b6\u6001\n        time_count = 0; \/\/ \u8ba1\u6570\u5668\u6e05\u96f6\n        break;\n\n    default: \/\/ \u9ed8\u8ba4\u60c5\u51b5\uff0c\u72b6\u6001\u91cd\u7f6e\u4e3a\u521d\u59cb\u7b49\u5f85\u72b6\u6001\n        status = WAITING_1;\n        break;\n    }\n}\n<\/code><\/pre>\n\n\n\n
\u901a\u8fc7\u4e00\u4e2aswitch\u9009\u62e9\u5224\u65ad\u8bed\u53e5\u5b9e\u73b0\uff0c\u7136\u540e\u5177\u4f53\u7684\u903b\u8f91\uff0c\u4ee3\u7801\u5df2\u7ecf\u5199\u5f97\u5f88\u660e\u767d\u4e86\u3002<\/p>\n\n\n\n
\u72b6\u60011\uff1a\u6cb9\u95e8\u503c<1030<\/p>\n\n\n\n
\u72b6\u60012\uff1a\u6cb9\u95e8\u503c\u5927\u4e8e1960\u8ba4\u4e3a\u6cb9\u95e8\u6700\u9ad8\uff0c\u5e76\u4e14\u8981\u6301\u7eed\u4e00\u5b9a\u7684\u65f6\u95f4\uff0c\u8fd9\u91cc\u7684\u6301\u7eed\u65f6\u95f4\u6ca1\u6709\u4f7f\u7528\u5ef6\u65f6\u51fd\u6570\uff0c\u4f7f\u7528\u7684\u662fcount++\u6765\u5b9e\u73b0\uff0c\u7528\u4e00\u4e2astatic\u53d8\u91cf\u7ef4\u6301\u751f\u547d\u5468\u671f\uff0c\u7136\u540e\u5728while\u5faa\u73af\u91cc\uff0c\u5982\u679c\u8bbe\u7f6e\u5ef6\u8fdf4ms\uff0c\u90a3\u4e48\u771f\u5b9e\u7684\u65f6\u95f4\u5c31\u662f 4*\u5224\u65ad\u7684\u6807\u5fd7\u4f4d<\/p>\n\n\n\n
\u72b6\u60013\uff1a\u5224\u65ad\u6cb9\u95e8\u662f\u5426\u518d\u6b21\u6700\u4f4e<\/p>\n\n\n\n
\u72b6\u60014\uff1a\u8ba9\u89e3\u9501\u7684\u4e00\u4e2a\u6807\u5fd7\u4f4d\u7f6e1<\/p>\n\n\n\n
\u72b6\u60015\uff1a\uff08\u9700\u8981\u8003\u8651\u5047\u5982\uff0c\u7528\u6237\u5df2\u7ecf\u5f88\u4e45\u6ca1\u64cd\u4f5c\u4e86\uff0c\u8fd9\u4e2a\u65f6\u5019\u7684\u64cd\u4f5c\u53d8\u5316\uff09\u5728\u8fd9\u4e2a\u5730\u65b9\u5df2\u7ecf\u89e3\u9501\u4e86\uff0c\u4f46\u662f\u5982\u679c\u957f\u65f6\u95f4\u6ca1\u64cd\u4f5c\u4e86\uff0c\u4f1a\u8df3\u8f6c\u5230EXIT\u6807\u5fd7\u4f4d\uff0c\u76f8\u5f53\u4e8e\u5df2\u7ecf\u9000\u51fa\u4e86<\/p>\n\n\n\n
EXIT\uff1a\u9000\u51fa\uff0c\u91cd\u7f6e\u6807\u5fd7\u4f4d\uff0c\u8df3\u8f6c\u72b6\u60011\uff08\u521d\u59cb\u72b6\u6001\uff09<\/p>\n\n\n\n
\u8fd9\u4e2a\u5730\u65b9\u7684\u903b\u8f91\u5224\u65ad\u53ef\u4ee5\u7075\u6d3b\u4fee\u6539\uff0c\u6839\u636e\u81ea\u5df1\u7684\u559c\u597d\uff0c\u7136\u540e\u524d\u9762\u6211\u4eec\u8bbe\u8ba1\u4e86\u706f\u63a7\u7cfb\u7edf\uff0c\u8fd9\u4e2a\u65f6\u5019\u5c31\u53ef\u4ee5\u628a\u4e0d\u540c\u7c7b\u578b\u95ea\u70c1\u65b9\u5f0f\u653e\u5728\u4e0d\u540c\u7684\u72b6\u6001\u4e0a\u3002<\/p>\n\n\n\n
\u5904\u7406\u65e0\u4eba\u673a\u5931\u8054\u7684\u95ee\u9898<\/h2>\n\n\n\n
\u65e0\u4eba\u673a\u5982\u679c\u5728\u63a7\u5236\u7684\u8fc7\u7a0b\u4e2d\uff0c\u7a81\u7136\u88ab\u5176\u4ed6\u7684\u4fe1\u9053\u51b2\u7a81\u6253\u65ad\uff0c\u6216\u8005\u98de\u592a\u8fdc\u4e86\u30022.4G\u8fde\u4e0d\u4e0a\u4e86\uff0c\u8fd9\u4e2a\u65f6\u5019\u5c31\u9700\u8981\u5904\u7406\u5931\u8054\u95ee\u9898\u3002<\/p>\n\n\n\n
\u6211\u8fd9\u91cc\u5904\u7406\u7684\u601d\u8def\u662f\uff1a\u7ed9\u4e00\u4e2a\u5168\u5c40\u53d8\u91cf\u6807\u5fd7\u4f4dconnect_flag\uff0c\u7136\u540e\u5982\u662f\u662f\u89e3\u9501\u72b6\u6001\u7684\u8bdd\u5c31\u4e00\u76f4\u4e3a1\uff0c\u5982\u679c\u4e00\u4f46\u63a5\u6536\u4e0d\u5230\u6570\u636e\uff0c\u6301\u7eed\u4e00\u6bb5\u65f6\u95f4\uff0c\u5c31\u5224\u65ad\u4e3a\u5931\u8054\uff0c\u5e76\u5c06\u5f53\u524d\u72b6\u6001\u7f6e\u4e3a\u5371\u9669\uff0c\u5e76\u4e14\u7f13\u6162\u51cf\u5c11\u7535\u673a\u8f6c\u901f\uff0c\u76f4\u5230\u505c\u6b62\uff0c\u7535\u673a\u8f6c\u901f\u90fd\u4e3a0\u540e\uff0c\u5c31\u5c06\u72b6\u6001\u7f6e\u4e3a1\uff08\u521d\u59cb\u72b6\u6001\uff09\uff1a<\/p>\n\n\n\n
void App_Flight_Rc_Aalysis(void)\n{\n    \/\/ \u9759\u6001\u53d8\u91cf\uff0c\u7528\u4e8e\u8bb0\u5f55\u6cb9\u95e8\u51cf\u5c11\u7684\u8ba1\u6570\n    static uint16_t thr_count = 0;\n    \/\/ \u5224\u65ad\u8fde\u63a5\u6807\u5fd7\u662f\u5426\u4e3a 1\n    if (connect_flag == 1)\n    {\n        \/* \u6267\u884c\u89e3\u9501\u6307\u4ee4*\/\n        App_Fly_Unlock();\n    }\n    else\n    {\n        \/\/ \u8fde\u63a5\u6807\u5fd7\u52a0 1 \u5e76\u5224\u65ad\u662f\u5426\u8d85\u8fc7 300\uff0c\u8d85\u8fc7\u5219\u8ba4\u4e3a\u5931\u8054\n        if (connect_flag++ > 300)\n        {\n            \/* code *\/\n\n            \/\/ \u8fdb\u5165\u5931\u8054\u72b6\u6001\n            \/\/ \u5c06 24G \u6a21\u5757\u8bbe\u7f6e\u4e3a\u63a5\u6536\u6a21\u5f0f\n            Inf_Si24R1_RXMode();\n\n            \/\/ \u9664\u4e86\u6cb9\u95e8\uff0c\u5c06\u4fef\u4ef0\u3001\u504f\u822a\u3001\u6a2a\u6eda\u901a\u9053\u6570\u636e\u5f52\u4e2d\n            checkdata.PIT = 1500;\n            checkdata.YAW = 1500;\n            checkdata.ROL = 1500;\n            \/\/  \u8fdb\u5165\u7d27\u6025\u72b6\u6001\uff0c\u5c1d\u8bd5\u91cd\u8fde 2.4G \u6a21\u5757\uff0c\u76f4\u5230\u8fde\u63a5\u6210\u529f\n            while (Inf_Si24R1_Check())\n            {\n                \/* code *\/\n            }\n            \/\/ \u82e5\u539f\u5148\u6cb9\u95e8\u5f88\u4f4e\uff08\u5c0f\u4e8e 1200\uff09\uff0c\u76f4\u63a5\u5c06\u6cb9\u95e8\u503c\u8bbe\u4e3a 1000\n            if (checkdata.THR < 1200)\n            {\n                checkdata.THR = 1000;\n            }\n            else\n            { \n                \/\/ \u82e5\u539f\u5148\u6cb9\u95e8\u4e0d\u7b97\u4f4e\uff0c\u6bcf 100 \u4e2a\u8ba1\u6570\u5468\u671f\u51cf\u5c11 50 \u7684\u6cb9\u95e8\u503c\n                if ((thr_count++ > 100))\n                {\n                    checkdata.THR -= 50;\n                    \/\/ \u8ba1\u6570\u6e05\u96f6\uff0c\u51c6\u5907\u4e0b\u4e00\u6b21\u8ba1\u65f6\n                    thr_count = 0;\n                }\n            }\n            \/\/ \u8c03\u7528 Limit \u51fd\u6570\u5c06\u6cb9\u95e8\u503c\u9650\u5236\u5728 1000 \u5230 2000 \u4e4b\u95f4\n            Limit(checkdata.THR, 1000, 2000);\n        }\n    }\n}\n<\/code><\/pre>\n\n\n\n
\u65e0\u4eba\u673a\u7684\u7535\u673a\u65cb\u8f6c<\/h2>\n\n\n\n
\u7528\u4e00\u4e2a\u7ed3\u6784\u4f53\u53bb\u5b58\u50a8\uff0c\u5c06\u63a5\u6536\u5e76\u89e3\u6790\u5230\u7684\u9065\u611f\u6570\u636e\u7528\u6765\u63a7\u5236PWM<\/p>\n\n\n\n
PID\u63a7\u5236<\/h2>\n\n\n\n
\u8bbe\u8ba1PID\u7b97\u6cd5\uff0c\u5148\u5224\u65adP\u7684\u6781\u6027\uff0cI\u7684\u6781\u6027\uff0cD\u7684\u6781\u6027\uff0c\u7136\u540e\u6162\u6162\u8c03\u53c2\u6570\u5c31\u884c\u4e86<\/p>\n\n\n\n
\u601d\u8def\u603b\u7ed3(\u9065\u63a7\u677f):<\/h1>\n\n\n\n
ADC\u8bfb\u53d6\u9065\u611f\u7684\u6570\u503c(yaw,roll,pitch,throttle)\uff08\u5e76\u6821\u51c6\uff09<\/h2>\n\n\n\n
\u7528\u7ed3\u6784\u4f53\u5b58\u50a84\u4e2a\u6570\u503c\uff0c\u7136\u540e\u76f4\u63a5\u5f00DMA\u8bfb\u53d6ADC\u7684\u6570\u503c\uff0c\u6253\u5370\u6d4b\u8bd5\uff0c\u8fd9\u91cc\u4f1a\u53d1\u73b0\u6781\u6027\u4e0d\u5bf9\uff0c\u6309\u7167\u6211\u4eec\u7684\u60f3\u6cd5\uff0c\u5f80\u4e0a\u5e94\u8be5\u662f\u589e\u52a0\uff0c\u5f80\u4e0b\u662f\u51cf\u5c11\uff0c\u5f80\u5de6\u662f\u51cf\u5c11\uff0c\u5f80\u53f3\u662f\u589e\u52a0\uff0c\u6781\u6027\u90fd\u662f\u53cd\u7684\uff0c\u8fd9\u4e2a\u65f6\u5019\u5c31\u9700\u8981\u8c03\u6574\u6781\u6027\u4e86\uff0c\u7136\u540e\u4ed6\u7684\u6700\u5927\u503c\u662f4095\uff0812\u4f4d\uff09\uff0c\u6700\u5c0f\u662f0\uff0c\u56e0\u4e3a\u6211\u4eec\u8981\u901a\u8fc7\u9065\u611f\u7684\u6570\u503c\u6765\u63a7\u5236\u7535\u673a\u7684\u7f18\u6545\uff0c\u5728\u7535\u673a\u91ccpwm\u7684\u81ea\u52a8\u91cd\u88c5\u8f7d\u6570\u503c\u662f1000\uff0c\u6240\u4ee5\u5c06ADC\u7684\u6570\u503c\u9650\u5236\u57281000\uff0c\u800c\u4e14\u4e0d\u60f3\u6709\u8d1f\u6570\u4ea7\u751f\uff0c\u5c31\u5c06\u8303\u56f4\u9650\u5236\u57281000-2000\u3002<\/p>\n\n\n\n
void App_Remote_Stick_Scan(void)\n{\n    \/\/ printf(\"6\uff08\u5de6\u8fb9\u7684\u5de6\u53f3\uff09 = %u\\r\\n\",adc_buf[0]);\n    \/\/ printf(\"1\uff08\u5de6\u8fb9\u7684\u4e0a\u4e0b\uff09 = %u\\r\\n\",adc_buf[1]);\n    \/\/ printf(\"3\uff08\u53f3\u8fb9\u7684\u5de6\u53f3\uff09 = %u\\r\\n\",adc_buf[2]);\n    \/\/ printf(\"2\uff08\u53f3\u8fb9\u7684\u4e0a\u4e0b\uff09 = %u\\r\\n\",adc_buf[3]);\n    RemoteData.YAW = 2000 - (uint16_t)(0.25 * adc_buf[0]) - offsets.YAW_offset;\n    RemoteData.THR = 2000 - (uint16_t)(0.25 * adc_buf[1]) - offsets.THR_offset;\n    RemoteData.ROL = 2000 - (uint16_t)(0.25 * adc_buf[2]) - offsets.ROL_offset;\n    RemoteData.PIT = 2000 - (uint16_t)(0.25 * adc_buf[3]) - offsets.PIT_offset;\n    App_Window_Skip(&RemoteData);\n\n    \/\/ \u4e2d\u70b9\u6821\u51c6\uff1a\u6cb9\u95e8\u6700\u4f4e\u6821\u51c6\uff0c\u5176\u4ed6\u4e2d\u95f4\u6821\u51c6\n    App_Remote_Mid_Offset(&RemoteData);\n    App_Remote_Mid_Limit(&RemoteData);\n    App_Remote_Limit(&RemoteData);\n}\n\/\/\u4e0a\u9762\u8fd9\u4e09\u4e2a\u51fd\u6570\u662f\u540e\u7eed\u8981\u8fdb\u884c\u7684\u5904\u7406\uff0c\u6211\u9a6c\u4e0a\u8bf4\u660e\n<\/code><\/pre>\n\n\n\n
\u6ed1\u52a8\u4e32\u53e3\u6ee4\u6ce2\uff08adc\u503c\uff09<\/h2>\n\n\n\n
\"image-20250512231737163\"\/<\/div><\/figure>\n\n\n\n
\u8fd9\u91cc\u7a97\u53e3\u5927\u5c0f\u53d610\uff0c\u6bcf\u6b21\u79fb\u52a8\u4e00\u6b21\uff0c\u53d6\u4e0b\u4e00\u4e2a\u7684\u503c\uff0c\u4e22\u6389\u7b2c\u4e00\u4e2a\u7684\u503c\uff0c\u7136\u540e\u7d2f\u52a0\u548c\uff0c\u518d\u6c42\u5e73\u5747\u3002<\/p>\n\n\n\n
\/**\n * @brief \u6ed1\u52a8\u7a97\u53e3\u6ee4\u6ce2\u51fd\u6570\uff0c\u5bf9\u9065\u63a7\u5668\u6570\u636e\u8fdb\u884c\u6ee4\u6ce2\u5904\u7406\n * \n * \u8be5\u51fd\u6570\u4f7f\u7528\u6ed1\u52a8\u7a97\u53e3\u6ee4\u6ce2\u7b97\u6cd5\uff0c\u5bf9\u9065\u63a7\u5668\u7684\u4fef\u4ef0\uff08PIT\uff09\u3001\u6a2a\u6eda\uff08ROL\uff09\u3001\u6cb9\u95e8\uff08THR\uff09\u548c\u504f\u822a\uff08YAW\uff09\u6570\u636e\u8fdb\u884c\u6ee4\u6ce2\u3002\n * \u5b83\u7ef4\u62a4\u4e00\u4e2a\u957f\u5ea6\u4e3a Filter_Num \u7684\u7a97\u53e3\uff0c\u4e0d\u65ad\u66f4\u65b0\u7a97\u53e3\u5185\u7684\u6570\u636e\u5e76\u8ba1\u7b97\u5e73\u5747\u503c\uff0c\u4ee5\u51cf\u5c11\u6570\u636e\u7684\u6ce2\u52a8\u3002\n * \n * @param pRemoteData \u6307\u5411 Remote_Data_t \u7ed3\u6784\u4f53\u7684\u6307\u9488\uff0c\u5305\u542b\u9065\u63a7\u5668\u7684\u539f\u59cb\u6570\u636e\n *\/\nvoid App_Window_Skip(Remote_Data_t *pRemoteData)\n{\n    \/\/ 1.\u4e22\u6389\u65e7\u6570\u636e\n    \/\/ \u9759\u6001\u53d8\u91cf count \u7528\u4e8e\u8bb0\u5f55\u5f53\u524d\u8981\u66ff\u6362\u7684\u65e7\u6570\u636e\u7684\u7d22\u5f15\uff0c\u521d\u59cb\u503c\u4e3a 0\n    static uint16_t count = 0;\n\n    \/\/ \u5904\u7406\u4fef\u4ef0\uff08PIT\uff09\u6570\u636e\n    \/\/ \u4ece\u6ee4\u6ce2\u5668\u7684\u603b\u548c\u4e2d\u51cf\u53bb\u65e7\u6570\u636e\n    filter_pitch.sum -= filter_pitch.old[count];\n    \/\/ \u5c06\u5f53\u524d\u7684\u4fef\u4ef0\u6570\u636e\u5b58\u5165\u65e7\u6570\u636e\u6570\u7ec4\n    filter_pitch.old[count] = pRemoteData->PIT;\n    \/\/ \u5c06\u65b0\u6570\u636e\u7d2f\u52a0\u5230\u6ee4\u6ce2\u5668\u7684\u603b\u548c\u4e2d\n    filter_pitch.sum += filter_pitch.old[count];\n    \/\/ \u8ba1\u7b97\u6ee4\u6ce2\u540e\u7684\u4fef\u4ef0\u6570\u636e\uff0c\u5373\u7a97\u53e3\u5185\u6570\u636e\u7684\u5e73\u5747\u503c\n    pRemoteData->PIT = filter_pitch.sum \/ Filter_Num;\n\n    \/\/ \u5904\u7406\u6a2a\u6eda\uff08ROL\uff09\u6570\u636e\n    \/\/ \u4ece\u6ee4\u6ce2\u5668\u7684\u603b\u548c\u4e2d\u51cf\u53bb\u65e7\u6570\u636e\n    filter_roll.sum -= filter_roll.old[count];\n    \/\/ \u5c06\u5f53\u524d\u7684\u6a2a\u6eda\u6570\u636e\u5b58\u5165\u65e7\u6570\u636e\u6570\u7ec4\n    filter_roll.old[count] = pRemoteData->ROL;\n    \/\/ \u5c06\u65b0\u6570\u636e\u7d2f\u52a0\u5230\u6ee4\u6ce2\u5668\u7684\u603b\u548c\u4e2d\n    filter_roll.sum += filter_roll.old[count];\n    \/\/ \u8ba1\u7b97\u6ee4\u6ce2\u540e\u7684\u6a2a\u6eda\u6570\u636e\uff0c\u5373\u7a97\u53e3\u5185\u6570\u636e\u7684\u5e73\u5747\u503c\n    pRemoteData->ROL = filter_roll.sum \/ Filter_Num;\n\n    \/\/ \u5904\u7406\u6cb9\u95e8\uff08THR\uff09\u6570\u636e\n    \/\/ \u4ece\u6ee4\u6ce2\u5668\u7684\u603b\u548c\u4e2d\u51cf\u53bb\u65e7\u6570\u636e\n    filter_throttle.sum -= filter_throttle.old[count];\n    \/\/ \u5c06\u5f53\u524d\u7684\u6cb9\u95e8\u6570\u636e\u5b58\u5165\u65e7\u6570\u636e\u6570\u7ec4\n    filter_throttle.old[count] = pRemoteData->THR;\n    \/\/ \u5c06\u65b0\u6570\u636e\u7d2f\u52a0\u5230\u6ee4\u6ce2\u5668\u7684\u603b\u548c\u4e2d\n    filter_throttle.sum += filter_throttle.old[count];\n    \/\/ \u8ba1\u7b97\u6ee4\u6ce2\u540e\u7684\u6cb9\u95e8\u6570\u636e\uff0c\u5373\u7a97\u53e3\u5185\u6570\u636e\u7684\u5e73\u5747\u503c\n    pRemoteData->THR = filter_throttle.sum \/ Filter_Num;\n\n    \/\/ \u5904\u7406\u504f\u822a\uff08YAW\uff09\u6570\u636e\n    \/\/ \u4ece\u6ee4\u6ce2\u5668\u7684\u603b\u548c\u4e2d\u51cf\u53bb\u65e7\u6570\u636e\n    filter_yaw.sum -= filter_yaw.old[count];\n    \/\/ \u5c06\u5f53\u524d\u7684\u504f\u822a\u6570\u636e\u5b58\u5165\u65e7\u6570\u636e\u6570\u7ec4\n    filter_yaw.old[count] = pRemoteData->YAW;\n    \/\/ \u5c06\u65b0\u6570\u636e\u7d2f\u52a0\u5230\u6ee4\u6ce2\u5668\u7684\u603b\u548c\u4e2d\n    filter_yaw.sum += filter_yaw.old[count];\n    \/\/ \u8ba1\u7b97\u6ee4\u6ce2\u540e\u7684\u504f\u822a\u6570\u636e\uff0c\u5373\u7a97\u53e3\u5185\u6570\u636e\u7684\u5e73\u5747\u503c\n    pRemoteData->YAW = filter_yaw.sum \/ Filter_Num;\n\n    \/\/ \u7d22\u5f15\u9012\u589e\n    count++;\n    \/\/ \u5f53\u7d22\u5f15\u8fbe\u5230\u7a97\u53e3\u957f\u5ea6\uff0810\uff09\u65f6\uff0c\u91cd\u7f6e\u7d22\u5f15\u4e3a 0\uff0c\u5b9e\u73b0\u5faa\u73af\u66f4\u65b0\n    if (count >= 10)\n    {\n        count = 0;\n    }\n}\n<\/code><\/pre>\n\n\n\n
\u5728\u6cb9\u95e8\u548c\u504f\u822a\u7684\u63a7\u5236\u624b\u67c4\u4e0a\uff0c\u6cb9\u95e8\u4e0d\u80fd\u81ea\u52a8\u56de\u6b63\uff0c\u5176\u4ed6\u4e09\u4e2a\u90fd\u53ef\u4ee5\u81ea\u52a8\u56de\u6b63\uff0c\u4e3a\u4e86\u8ba9\u64cd\u4f5c\u66f4\u52a0\u7cbe\u786e\uff0c\u9700\u8981\u505a\u6cb9\u95e8\u6821\u51c6\uff0c\u4e2d\u70b9\u9650\u5e45\uff0c\u6700\u5927\u5c0f\u9650\u5236\u5e45\u5ea6(\u957f\u6309\u6309\u952e\u6821\u51c6)<\/p>\n\n\n\n
\/\/\u6821\u51c6\uff0c\u83b7\u5f97\u504f\u5dee\u503c\nvoid App_Remote_Mid_Offset(Remote_Data_t *RemoteData)\n{\n    static uint16_t keycount = 0;\n    static uint32_t sum_thr = 0;\n    static uint32_t sum_pit = 0;\n    static uint32_t sum_rol = 0;\n    static uint32_t sum_yaw = 0;\n    static uint32_t count = 0;\n    if (!LEFT_TOP)\n    {\n        keycount++;\n        if (keycount >= 20)\n        {\n            if (count == 0)\n            {\n                offsets.PIT_offset = 0;\n                offsets.ROL_offset = 0;\n                offsets.YAW_offset = 0;\n                offsets.THR_offset = 0;\n                sum_thr = 0;\n                sum_pit = 0;\n                sum_rol = 0;\n                sum_yaw = 0;\n                count = 1;\n            }\n            else\n            {\n                count++;\n                sum_thr += RemoteData->THR;\n                sum_pit += RemoteData->PIT;\n                sum_rol += RemoteData->ROL;\n                sum_yaw += RemoteData->YAW;\n            }\n            if (count == 51)\n            {\n                count--;\n                offsets.THR_offset = sum_thr \/ count - 1000;\n                offsets.PIT_offset = sum_pit \/ count - 1500;\n                offsets.ROL_offset = sum_rol \/ count - 1500;\n                offsets.YAW_offset = sum_yaw \/ count - 1500;\n                count = 0;\n                keycount = 0;\n            }\n        }\n    }\n}\n<\/code><\/pre>\n\n\n\n
\/\/ \u9065\u611f\u9650\u5236\u5e45\u5ea6\nvoid App_Remote_Limit(Remote_Data_t *RemoteData)\n{\n    if (RemoteData->THR > 2000)\n    {\n        RemoteData->THR = 2000;\n    }\n    else if (RemoteData->THR < 1000)\n    {\n        RemoteData->THR = 1000;\n    }\n    if (RemoteData->PIT > 2000)\n    {\n        RemoteData->PIT = 2000;\n    }\n    else if (RemoteData->PIT < 1000)\n    {\n        RemoteData->PIT = 1000;\n    }\n    if (RemoteData->YAW > 2000)\n    {\n        RemoteData->YAW = 2000;\n    }\n    else if (RemoteData->YAW < 1000)\n    {\n        RemoteData->YAW = 1000;\n    }\n    if (RemoteData->ROL > 2000)\n    {\n        RemoteData->ROL = 2000;\n    }\n    else if (RemoteData->ROL < 1000)\n    {\n        RemoteData->ROL = 1000;\n    }\n}\n<\/code><\/pre>\n\n\n\n
void App_Remote_Mid_Limit(Remote_Data_t *RemoteData)\n{\n    if (RemoteData->THR > 1450 && RemoteData->THR < 1550)\n    {\n        RemoteData->THR = 1500;\n    }\n    if (RemoteData->YAW > 1480 && RemoteData->YAW < 1520)\n    {\n        RemoteData->YAW = 1500;\n    }\n    if (RemoteData->PIT > 1480 && RemoteData->PIT < 1520)\n    {\n        RemoteData->PIT = 1500;\n    }\n    if (RemoteData->ROL > 1480 && RemoteData->ROL < 1520)\n    {\n        RemoteData->ROL = 1500;\n    }\n}\n<\/code><\/pre>\n\n\n\n
\u901a\u8baf\u6a21\u5757<\/h2>\n\n\n\n
\/\/\u548c\u98de\u63a7\u677f\u4e0a\u7684SI24R1\u4fdd\u6301\u4e00\u81f4\n\/\/\u53ea\u9700\u8981\u5728\u4e3b\u51fd\u6570\u91cc\uff0c\u6539\u4e3a\u53d1\u9001\u6a21\u5f0f\uff0c\u5c31\u884c\n\u8fd9\u91cc\u5c31\u4e0d\u8be6\u7ec6\u8bf4\uff0c\u6ce8\u610f\u901a\u9053\u4ec0\u4e48\u7684\u90fd\u8981\u5bf9\u5e94\n<\/code><\/pre>\n\n\n\n
\u53d1\u9001\u6570\u636e(\u81ea\u5b9a\u4e49\u534f\u8bae)<\/h2>\n\n\n\n
\u8fd9\u91cc\u5c31\u8ddf\u5728\u98de\u63a7\u677f\u89e3\u6790\u7684\u6570\u636e\u5e94\u8be5\u8981\u4fdd\u6301\u4e00\u81f4<\/p>\n\n\n\n
\t\u5e27\u5934\t\t\uff1a16\u5b57\u8282 0xAAAF\n\t\u529f\u80fd\u5b57\t\t:8\u5b57\u8282  0x03\n    \u957f\u5ea6\t\t: \u957f\u5ea6\t\u603b\u517128\u4e2a\u5b57\u8282\n    \u6570\u636e\t\t\uff1a10\u4e2a\u6570\u636e  20\u4e2a\u5b57\u8282\n    \u6821\u9a8c\u548c\t\t\uff1a1\u4e2a32\u4f4d\t4\u4e2a\u5b57\u8282\n<\/code><\/pre>\n\n\n\n
void App_Remote_RemoteData(uint8_t *data)\n{\n    uint8_t index = 0;\n    uint32_t checksum = 0;\n    \/\/ \u6795\u5934\n    data[index++] = 0xAA;\n    data[index++] = 0xAF;\n    \/\/ \u529f\u80fd\u5b57\n    data[index++] = 0x03;\n    \/\/ \u957f\u5ea6\n    data[index++] = 0x0;\n\n    \/\/ \u6570\u636e\n    data[index++] = (uint8_t)(RemoteData.THR >> 8);\n    data[index++] = (uint8_t)RemoteData.THR;\n    data[index++] = (uint8_t)(RemoteData.YAW >> 8);\n    data[index++] = (uint8_t)(RemoteData.YAW);\n    data[index++] = (uint8_t)(RemoteData.ROL >> 8);\n    data[index++] = (uint8_t)(RemoteData.ROL);\n    data[index++] = (uint8_t)(RemoteData.PIT >> 8);\n    data[index++] = (uint8_t)(RemoteData.PIT);\n    \/\/ AUX1-6\u8f85\u52a9\u901a\u9053\n    data[index++] = 0x0;\n    data[index++] = 0x0;\n    data[index++] = 0x0;\n    data[index++] = 0x0;\n    data[index++] = 0x0;\n    data[index++] = 0x0;\n    data[index++] = 0x0;\n    data[index++] = 0x0;\n    data[index++] = 0x0;\n    data[index++] = 0x0;\n    data[index++] = 0x0;\n    data[index++] = 0x0;\n    \/\/ \u91cd\u65b0\u8ba1\u7b97\u957f\u5ea6\n    data[3] = index - 8;\n    \/\/ \u6821\u9a8c\u548c\n    for (uint8_t i = 0; i < index; i++)\n    {\n        checksum += data[i];\n    }\n    data[index++] = (uint8_t)(checksum >> 24);\n    data[index++] = (uint8_t)(checksum >> 16);\n    data[index++] = (uint8_t)(checksum >> 8);\n    data[index++] = (uint8_t)(checksum);\n}\n<\/code><\/pre>\n\n\n\n
\u6700\u540e\u5c31\u53ea\u9700\u8981\u628a\u8fd9\u4e9b\u51fd\u6570\u653e\u5230\u4efb\u52a1\u4e2d\u5c31\u53ef\u4ee5\u4e86\u3002<\/p>\n\n\n\n
OLED<\/h2>\n\n\n\n
\u8fd9\u4e2a\u5c31\u4e0d\u7528\u5199\u4e86\u5427\uff0c\u79fb\u690d\u5c31\u884c\uff0c\u770b\u81ea\u5df1\u60f3\u8981\u663e\u793a\u4ec0\u4e48<\/p>\n\n\n\n
\u4efb\u52a1\u67b6\u6784(\u98de\u63a7\uff0c\u9065\u63a7)<\/h1>\n\n\n\n
\"image-20250512233023355\"\/<\/div><\/figure>\n\n\n\n
\u6700\u540e\u2014\u2014\u8e29\u7684\u5751<\/h1>\n\n\n\n
1.\u7b2c\u4e00\u4e2a\u5c31\u662f\u6211\u8bf4\u7684ADC\u4f7f\u7528DMA\u7ed3\u679c\u5361\u6b7b\u4e86\uff0c\u89e3\u51b3\u529e\u6cd5\u5c31\u662f\u628a\u6570\u7ec4\u7ed9\u589e\u957f\u4e86<\/p>\n\n\n\n
2.\u5728\u914d\u7f6e\u521d\u59cb\u5316MPU6050\u7684\u65f6\u5019\uff0c\u7535\u6e901\u5bc4\u5b58\u5668\u914d\u7f6e\u540e\uff0c\u8fdb\u5165\u7761\u7720\u4e86\uff0c\u9700\u8981\u5524\u9192\u9700\u8981\u65f6\u95f4\uff0c\u4f46\u662f\u6ca1\u6709\u5ef6\u8fdf\uff0c\u6240\u4ee5I2C\u4e00\u76f4\u8bfb\u53d6\u4e0d\u5230\u6570\u636e<\/p>\n\n\n\n
3.\u901a\u8baf\u914d\u7f6e\u5b8c\u4e86\u540e\uff0c\u8fdb\u884c\u6d4b\u8bd5\uff0c\u6ca1\u6709\u6e05\u9664\u6807\u5fd7\u4f4d\uff0c\u6240\u4ee5\u76f4\u63a5\u5361\u6b7b\u4e86\uff0c\u8fd9\u5757\u82af\u7247\u6bcf\u6b21\u89e6\u53d1\u4e86\u4e2d\u65ad\u90fd\u9700\u8981\u89e6\u53d1\u6807\u5fd7\u4f4d\u3002<\/p>\n\n\n\n
        \/* 2.2 \u6e05\u7a7a RX FIFO *\/\n        Inf_Si24R1_WriteReg(FLUSH_RX, 0xff);\n<\/code><\/pre>\n\n\n\n
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