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     <span class=\"edgeLabel\"><\/p>\n<p>TIMx PWM 50Hz<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>TIMx PWM 50Hz<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u5e26\u52a8\u6444\u50cf\u5934\u8f6c\u5411<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u5e26\u52a8\u6444\u50cf\u5934\u4fef\u4ef0<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u6444\u50cf\u5934 sensor<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>OpenMV Cam H7<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u89e3\u7b97\u76ee\u6807\u4e2d\u5fc3 cx,cy<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>STM32F103C8T6 USART1<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u72b6\u6001\u673a\u89e3\u6790\u5750\u6807<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u4f4d\u7f6e\u5f0f PID \u00d72\u8f74<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u504f\u822a\u8235\u673a Yaw<\/p>\n<p><\/span><\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u4fef\u4ef0\u8235\u673a Pitch<\/p>\n<p><\/span><\/p>\n<p>\u95ed\u73af\u5c31\u5728\u6700\u540e\u90a3\u4e24\u6b65&#xff1a;\u8235\u673a\u8f6c\u52a8\u6539\u53d8\u6444\u50cf\u5934\u671d\u5411&#xff0c;\u4e0b\u4e00\u5e27 OpenMV \u770b\u5230\u7684\u76ee\u6807\u5750\u6807\u968f\u4e4b\u53d8\u5316&#xff0c;\u504f\u5dee\u88ab\u6301\u7eed\u4fee\u6b63\u76f4\u5230\u6536\u655b\u3002<\/p>\n<h4>2.1 \u4e3a\u4ec0\u4e48\u4e0d\u8ba9 OpenMV \u76f4\u63a5\u9a71\u52a8\u8235\u673a<\/h4>\n<p>OpenMV \u672c\u8eab\u80fd\u7528 pyb.Servo() \u8f93\u51fa 50Hz PWM&#xff0c;\u4f46\u5b9e\u6d4b\u6709\u4e24\u4e2a\u5751&#xff1a;\u4e00\u662f OpenMV \u7684 3.3V \u5f15\u811a\u9a71\u52a8\u8235\u673a\u65f6\u7535\u6d41\u5012\u704c\u4f1a\u62c9\u4f4e\u6838\u5fc3\u7535\u538b\u5bfc\u81f4\u6389\u5e27&#xff1b;\u4e8c\u662f\u628a\u63a7\u5236\u903b\u8f91\u585e\u8fdb\u56fe\u50cf\u7ebf\u7a0b\u4f1a\u8ba9\u5e27\u7387\u4ece 30fps \u6389\u5230 15fps \u4ee5\u4e0b\u3002\u628a&#034;\u770b&#034;\u548c&#034;\u52a8&#034;\u5206\u7ed9\u4e24\u4e2a\u82af\u7247&#xff0c;\u5404\u81ea\u8dd1\u6ee1\u6027\u80fd&#xff0c;\u662f\u8fd9\u79cd\u53cc MCU \u67b6\u6784\u6700\u6734\u7d20\u7684\u7406\u7531\u3002<\/p>\n<h3>\u4e09\u3001OpenMV \u7aef&#xff1a;\u8272\u5757\u8bc6\u522b\u4e0e\u5750\u6807\u89e3\u7b97<\/h3>\n<h4>3.1 \u6444\u50cf\u5934\u4e0e\u9608\u503c<\/h4>\n<p>OpenMV \u521d\u59cb\u5316\u65f6\u6211\u8e29\u8fc7\u7b2c\u4e00\u4e2a\u5751&#xff1a;\u9ed8\u8ba4\u5206\u8fa8\u7387 RGB565 \u5168\u5206\u8fa8\u7387\u8dd1\u8bc6\u522b&#xff0c;\u5e27\u7387\u53ea\u6709 12fps&#xff0c;\u8ffd\u8e2a\u6162\u534a\u62cd\u3002\u6539\u6210 QVGA&#xff08;320\u00d7240&#xff09;\u540e\u5e27\u7387\u56de\u5230 30fps&#xff0c;\u8bc6\u522b\u7cbe\u5ea6\u5bf9\u8272\u5757\u8ffd\u8e2a\u5b8c\u5168\u591f\u7528\u3002<\/p>\n<p><span class=\"token keyword\">import<\/span> sensor<span class=\"token punctuation\">,<\/span> image<span class=\"token punctuation\">,<\/span> time<span class=\"token punctuation\">,<\/span> pyb<span class=\"token punctuation\">,<\/span> ustruct<\/p>\n<p>sensor<span class=\"token punctuation\">.<\/span>reset<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\nsensor<span class=\"token punctuation\">.<\/span>set_pixformat<span class=\"token punctuation\">(<\/span>sensor<span class=\"token punctuation\">.<\/span>RGB565<span class=\"token punctuation\">)<\/span><br \/>\nsensor<span class=\"token punctuation\">.<\/span>set_framesize<span class=\"token punctuation\">(<\/span>sensor<span class=\"token punctuation\">.<\/span>QVGA<span class=\"token punctuation\">)<\/span>      <span class=\"token comment\"># 320&#215;240&#xff0c;\u5e73\u8861\u901f\u5ea6\u4e0e\u7cbe\u5ea6<\/span><br \/>\nsensor<span class=\"token punctuation\">.<\/span>set_auto_gain<span class=\"token punctuation\">(<\/span><span class=\"token boolean\">False<\/span><span class=\"token punctuation\">)<\/span>            <span class=\"token comment\"># \u5fc5\u987b\u5173\u81ea\u52a8\u589e\u76ca&#xff0c;\u5426\u5219\u9608\u503c\u4f1a\u6f02\u79fb<\/span><br \/>\nsensor<span class=\"token punctuation\">.<\/span>set_auto_whitebal<span class=\"token punctuation\">(<\/span><span class=\"token boolean\">False<\/span><span class=\"token punctuation\">)<\/span>        <span class=\"token comment\"># \u5fc5\u987b\u5173\u81ea\u52a8\u767d\u5e73\u8861&#xff0c;\u5426\u5219\u989c\u8272\u968f\u5149\u53d8<\/span><br \/>\nsensor<span class=\"token punctuation\">.<\/span>skip_frames<span class=\"token punctuation\">(<\/span>time<span class=\"token operator\">&#061;<\/span><span class=\"token number\">2000<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token comment\"># LAB \u9608\u503c&#xff1a;\u7528 OpenMV IDE \u7684\u9608\u503c\u7f16\u8f91\u5668\u5728\u76ee\u6807\u73af\u5883\u4e0b\u5b9e\u65f6\u53d6&#xff0c;\u4e0d\u8981\u6284\u7f51\u4e0a\u7684\u503c<\/span><br \/>\nRED_THRESHOLD <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">30<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">70<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">20<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">60<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">45<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>\u8bbe\u8ba1\u51b3\u7b56&#xff1a;\u4e3a\u4ec0\u4e48\u5173\u6389\u81ea\u52a8\u589e\u76ca\/\u767d\u5e73\u8861\u3002 \u8fd9\u4e24\u4e2a&#034;\u667a\u80fd&#034;\u529f\u80fd\u4f1a\u6839\u636e\u753b\u9762\u6574\u4f53\u4eae\u5ea6\u81ea\u52a8\u8c03\u6574&#xff0c;\u5bfc\u81f4\u540c\u4e00\u4e2a\u7ea2\u8272\u8272\u5757\u5728\u9634\u5929\u548c\u6674\u5929\u89e3\u7b97\u51fa\u7684 LAB \u503c\u5b8c\u5168\u4e0d\u540c&#xff0c;\u9608\u503c\u5c31\u5931\u6548\u4e86\u3002\u8272\u5757\u8ffd\u8e2a\u7684\u524d\u63d0\u662f\u989c\u8272\u7a7a\u95f4\u7a33\u5b9a&#xff0c;\u6240\u4ee5\u5fc5\u987b\u624b\u52a8\u9501\u6b7b\u3002<\/p>\n<h4>3.2 \u627e\u6700\u5927\u8272\u5757\u5e76\u89e3\u7b97\u4e2d\u5fc3<\/h4>\n<p><span class=\"token keyword\">def<\/span> <span class=\"token function\">find_target<\/span><span class=\"token punctuation\">(<\/span>img<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    blobs <span class=\"token operator\">&#061;<\/span> img<span class=\"token punctuation\">.<\/span>find_blobs<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">[<\/span>RED_THRESHOLD<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                           pixels_threshold<span class=\"token operator\">&#061;<\/span><span class=\"token number\">200<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                           area_threshold<span class=\"token operator\">&#061;<\/span><span class=\"token number\">200<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                           merge<span class=\"token operator\">&#061;<\/span><span class=\"token boolean\">True<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token keyword\">not<\/span> blobs<span class=\"token punctuation\">:<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> <span class=\"token boolean\">None<\/span><br \/>\n    <span class=\"token comment\"># \u9009\u9762\u79ef\u6700\u5927\u7684&#xff0c;\u8fc7\u6ee4\u6389\u5c0f\u566a\u70b9<\/span><br \/>\n    b <span class=\"token operator\">&#061;<\/span> <span class=\"token builtin\">max<\/span><span class=\"token punctuation\">(<\/span>blobs<span class=\"token punctuation\">,<\/span> key<span class=\"token operator\">&#061;<\/span><span class=\"token keyword\">lambda<\/span> x<span class=\"token punctuation\">:<\/span> x<span class=\"token punctuation\">.<\/span>area<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token punctuation\">(<\/span>b<span class=\"token punctuation\">.<\/span>cx<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> b<span class=\"token punctuation\">.<\/span>cy<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> b<span class=\"token punctuation\">.<\/span>w<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> b<span class=\"token punctuation\">.<\/span>h<span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>\u5750\u6807\u4ee5\u56fe\u50cf\u5de6\u4e0a\u89d2\u4e3a\u539f\u70b9&#xff0c;\u4e2d\u5fc3\u662f (160, 120)\u3002\u6211\u4eec\u53d1\u7ed9 STM32 \u7684\u662f\u76f8\u5bf9\u4e2d\u5fc3\u7684\u504f\u5dee&#xff0c;\u800c\u4e0d\u662f\u7edd\u5bf9\u5750\u6807\u2014\u2014\u8fd9\u6837 STM32 \u7aef\u7684 PID \u8bbe\u5b9a\u503c\u6c38\u8fdc\u662f 0&#xff0c;\u903b\u8f91\u66f4\u5e72\u51c0\u3002<\/p>\n<h4>3.3 \u4e32\u53e3\u53d1\u9001&#xff1a;\u4e8c\u8fdb\u5236\u5e27\u800c\u975e\u5b57\u7b26\u4e32<\/h4>\n<p>uart <span class=\"token operator\">&#061;<\/span> pyb<span class=\"token punctuation\">.<\/span>UART<span class=\"token punctuation\">(<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">115200<\/span><span class=\"token punctuation\">,<\/span> timeout_char<span class=\"token operator\">&#061;<\/span><span class=\"token number\">1000<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p><span class=\"token keyword\">def<\/span> <span class=\"token function\">send_frame<\/span><span class=\"token punctuation\">(<\/span>cx<span class=\"token punctuation\">,<\/span> cy<span class=\"token punctuation\">,<\/span> found<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    <span class=\"token comment\"># \u504f\u5dee\u5f52\u4e00\u5316\u5230\u56fe\u50cf\u4e2d\u5fc3<\/span><br \/>\n    dx <span class=\"token operator\">&#061;<\/span> cx <span class=\"token operator\">&#8211;<\/span> <span class=\"token number\">160<\/span><br \/>\n    dy <span class=\"token operator\">&#061;<\/span> cy <span class=\"token operator\">&#8211;<\/span> <span class=\"token number\">120<\/span><br \/>\n    <span class=\"token comment\"># \u5e27\u5934 0xAA55 &#043; dx(16bit) &#043; dy(16bit) &#043; \u72b6\u6001 &#043; \u6821\u9a8c\u548c &#043; \u5e27\u5c3e 0x0D0A<\/span><br \/>\n    buf <span class=\"token operator\">&#061;<\/span> <span class=\"token builtin\">bytearray<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    buf <span class=\"token operator\">&#043;&#061;<\/span> ustruct<span class=\"token punctuation\">.<\/span>pack<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&lt;H&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0xAA55<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    buf <span class=\"token operator\">&#043;&#061;<\/span> ustruct<span class=\"token punctuation\">.<\/span>pack<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&lt;h&#034;<\/span><span class=\"token punctuation\">,<\/span> dx<span class=\"token punctuation\">)<\/span>      <span class=\"token comment\"># \u6709\u7b26\u53f7&#xff0c;\u76ee\u6807\u504f\u5de6\u4e3a\u8d1f<\/span><br \/>\n    buf <span class=\"token operator\">&#043;&#061;<\/span> ustruct<span class=\"token punctuation\">.<\/span>pack<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&lt;h&#034;<\/span><span class=\"token punctuation\">,<\/span> dy<span class=\"token punctuation\">)<\/span><br \/>\n    buf <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token builtin\">bytearray<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span> <span class=\"token keyword\">if<\/span> found <span class=\"token keyword\">else<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    checksum <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token builtin\">sum<\/span><span class=\"token punctuation\">(<\/span>buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">:<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xFF<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    buf <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token builtin\">bytearray<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">[<\/span>checksum<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    buf <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token builtin\">bytearray<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">[<\/span><span class=\"token number\">0x0D<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x0A<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    uart<span class=\"token punctuation\">.<\/span>write<span class=\"token punctuation\">(<\/span>buf<span class=\"token punctuation\">)<\/span><\/p>\n<p>\u8bbe\u8ba1\u51b3\u7b56&#xff1a;\u4e3a\u4ec0\u4e48\u7528\u4e8c\u8fdb\u5236\u800c\u4e0d\u662f \u201cx,y\\\\n\u201d \u5b57\u7b26\u4e32\u3002 \u6211\u7b2c\u4e00\u7248\u5c31\u7528\u7684\u5b57\u7b26\u4e32&#xff0c;\u7ed3\u679c\u76ee\u6807\u4e22\u5931\u77ac\u95f4\u5750\u6807\u8df3\u5230 (0,0)&#xff0c;\u4e91\u53f0\u731b\u5730\u7529\u5230\u8fb9\u754c&#xff1b;\u800c\u4e14\u5b57\u7b26\u4e32\u89e3\u6790\u8981\u7528 split(&#039;,&#039;) &#043; int()&#xff0c;\u6bcf\u5e27\u90fd\u5403 CPU\u3002\u4e8c\u8fdb\u5236\u5e27\u5e26\u72ec\u7acb&#034;\u72b6\u6001\u5b57\u8282&#034;\u548c\u6821\u9a8c\u548c&#xff0c;STM32 \u7aef\u72b6\u6001\u673a\u6536\u5230\u4e22\u5931\u6807\u5fd7\u5c31\u4fdd\u6301\u4e0a\u4e00\u89d2\u5ea6\u8fdb\u5165\u641c\u7d22\u6a21\u5f0f&#xff0c;\u6570\u636e\u9519\u4e00\u5b57\u8282\u4e5f\u4f1a\u88ab\u6821\u9a8c\u548c\u6321\u6389\u3002\u5b9e\u6d4b\u540c\u6837 115200 \u6ce2\u7279\u7387\u4e0b&#xff0c;\u4e8c\u8fdb\u5236\u534f\u8bae\u6bd4\u5b57\u7b26\u4e32\u89e3\u6790\u6548\u7387\u63d0\u5347\u7ea6 8 \u500d&#xff08;\u53c2\u8003\u4e8c\u8fdb\u5236&#043;CRC \u65b9\u6848\u5b9e\u6d4b\u7ed3\u8bba&#xff09;\u3002<\/p>\n<h3>\u56db\u3001\u901a\u4fe1\u534f\u8bae\u4e0e STM32 \u63a5\u6536<\/h3>\n<h4>4.1 \u5e27\u683c\u5f0f<\/h4>\n<table>\n<tr>\u5b57\u8282\u5185\u5bb9\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>0~1<\/td>\n<td>0xAA 0x55<\/td>\n<td>\u53cc\u5b57\u8282\u5e27\u5934&#xff0c;\u964d\u4f4e\u5355\u5b57\u8282\u8bef\u89e6\u53d1\u6982\u7387<\/td>\n<\/tr>\n<tr>\n<td>2~3<\/td>\n<td>dx (int16, little)<\/td>\n<td>\u6c34\u5e73\u504f\u5dee&#xff0c;\u76ee\u6807\u504f\u5de6\u4e3a\u8d1f<\/td>\n<\/tr>\n<tr>\n<td>4~5<\/td>\n<td>dy (int16, little)<\/td>\n<td>\u5782\u76f4\u504f\u5dee&#xff0c;\u76ee\u6807\u504f\u4e0b\u4e3a\u8d1f<\/td>\n<\/tr>\n<tr>\n<td>6<\/td>\n<td>found (0\/1)<\/td>\n<td>\u76ee\u6807\u662f\u5426\u68c0\u6d4b\u5230<\/td>\n<\/tr>\n<tr>\n<td>7<\/td>\n<td>checksum<\/td>\n<td>\u524d 6 \u5b57\u8282\u7d2f\u52a0\u548c\u53d6\u4f4e 8 \u4f4d<\/td>\n<\/tr>\n<tr>\n<td>8~9<\/td>\n<td>0x0D 0x0A<\/td>\n<td>\u5e27\u5c3e<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>4.2 \u7528 DMA&#043;IDLE \u4e2d\u65ad\u96f6\u7b49\u5f85\u63a5\u6536<\/h4>\n<p>\u6700\u521d\u6211\u7528\u8f6e\u8be2 &#043; \u8f6f\u4ef6\u4e32\u53e3&#xff08;PA2\/PA3&#xff09;\u5728 115200 \u4e0b\u4e22\u5305\u7387\u9ad8\u8fbe 15%&#xff0c;\u4e91\u53f0\u65f6\u4e0d\u65f6&#034;\u5931\u5fc6&#034;\u3002\u6539\u7528 USART1 \u786c\u4ef6\u4e32\u53e3 &#043; DMA &#043; IDLE \u4e2d\u65ad\u540e&#xff0c;\u4e22\u5305\u5f52\u96f6\u3002IDLE \u4e2d\u65ad\u7684\u597d\u5904\u662f&#xff1a;\u4e00\u5e27\u53d1\u5b8c\u603b\u7ebf\u7a7a\u95f2\u5373\u89e6\u53d1&#xff0c;\u4e0d\u7528\u81ea\u5df1\u6570\u5b57\u8282\u6570\u3002<\/p>\n<p><span class=\"token comment\">\/\/ CubeMX: USART1 115200-8-N-1, DMA1_Channel5 Rx, \u5f00\u542f USART1 \u5168\u5c40\u4e2d\u65ad<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">FRAME_LEN<\/span> <span class=\"token expression\"><span class=\"token number\">10<\/span><\/span><\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> g_uart_rx<span class=\"token punctuation\">[<\/span>FRAME_LEN<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">volatile<\/span> <span class=\"token class-name\">uint8_t<\/span> g_frame_ready <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">MX_USART1_UART_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ &#8230;HAL \u914d\u7f6e\u7701\u7565<\/span><br \/>\n    <span class=\"token function\">__HAL_UART_ENABLE_IT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>huart1<span class=\"token punctuation\">,<\/span> UART_IT_IDLE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_UART_Receive_DMA<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>huart1<span class=\"token punctuation\">,<\/span> g_uart_rx<span class=\"token punctuation\">,<\/span> FRAME_LEN<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ IDLE \u4e2d\u65ad\u5728 stm32f1xx_it.c \u7684 USART1_IRQHandler \u4e2d\u8c03\u7528<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">USART1_IDLE_Callback<\/span><span class=\"token punctuation\">(<\/span>UART_HandleTypeDef <span class=\"token operator\">*<\/span>huart<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">__HAL_UART_GET_FLAG<\/span><span class=\"token punctuation\">(<\/span>huart<span class=\"token punctuation\">,<\/span> UART_FLAG_IDLE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">__HAL_UART_CLEAR_IDLEFLAG<\/span><span class=\"token punctuation\">(<\/span>huart<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">HAL_UART_DMAStop<\/span><span class=\"token punctuation\">(<\/span>huart<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token class-name\">uint16_t<\/span> len <span class=\"token operator\">&#061;<\/span> FRAME_LEN <span class=\"token operator\">&#8211;<\/span> <span class=\"token function\">__HAL_DMA_GET_COUNTER<\/span><span class=\"token punctuation\">(<\/span>huart<span class=\"token operator\">-&gt;<\/span>hdmarx<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>len <span class=\"token operator\">&#061;&#061;<\/span> FRAME_LEN<span class=\"token punctuation\">)<\/span> g_frame_ready <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">HAL_UART_Receive_DMA<\/span><span class=\"token punctuation\">(<\/span>huart<span class=\"token punctuation\">,<\/span> g_uart_rx<span class=\"token punctuation\">,<\/span> FRAME_LEN<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u91cd\u542f DMA<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u76f8\u5173\u9605\u8bfb&#xff1a;OpenMV\u4e0eSTM32\u901a\u4fe1\u53ca\u89c6\u89c9\u5faa\u8ff9\u5b9e\u6218 \u2014 \u91cc\u9762\u4e5f\u7528\u4e86\u5e27\u5934&#043;\u6570\u636e&#043;\u5e27\u5c3e\u7684\u56fa\u5b9a\u683c\u5f0f&#xff0c;\u53ef\u5bf9\u7167\u7406\u89e3\u3002<\/p>\n<h4>4.3 \u72b6\u6001\u673a\u89e3\u6790<\/h4>\n<p>\u6536\u5230\u6574\u5e27\u540e\u505a\u5e27\u5934\/\u6821\u9a8c\u6821\u9a8c&#xff0c;\u4e8c\u8005\u4efb\u4e00\u4e0d\u7b26\u76f4\u63a5\u4e22\u5f03&#xff0c;\u907f\u514d\u810f\u6570\u636e\u9a71\u52a8\u8235\u673a&#xff1a;<\/p>\n<p><span class=\"token class-name\">int16_t<\/span> g_dx <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> g_dy <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> g_found <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">parse_frame<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>f<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>f<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">0xAA<\/span> <span class=\"token operator\">||<\/span> f<span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">0x55<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">return<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>f<span class=\"token punctuation\">[<\/span><span class=\"token number\">8<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">0x0D<\/span> <span class=\"token operator\">||<\/span> f<span class=\"token punctuation\">[<\/span><span class=\"token number\">9<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">0x0A<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">return<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> sum <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>f<span class=\"token punctuation\">[<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">]<\/span><span class=\"token operator\">&#043;<\/span>f<span class=\"token punctuation\">[<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span><span class=\"token operator\">&#043;<\/span>f<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span><span class=\"token operator\">&#043;<\/span>f<span class=\"token punctuation\">[<\/span><span class=\"token number\">5<\/span><span class=\"token punctuation\">]<\/span><span class=\"token operator\">&#043;<\/span>f<span class=\"token punctuation\">[<\/span><span class=\"token number\">6<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xFF<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>sum <span class=\"token operator\">!&#061;<\/span> f<span class=\"token punctuation\">[<\/span><span class=\"token number\">7<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">return<\/span><span class=\"token punctuation\">;<\/span>            <span class=\"token comment\">\/\/ \u6821\u9a8c\u5931\u8d25\u4e22\u5f03<\/span><br \/>\n    g_dx <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">int16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>f<span class=\"token punctuation\">[<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">|<\/span> <span class=\"token punctuation\">(<\/span>f<span class=\"token punctuation\">[<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    g_dy <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">int16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>f<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">|<\/span> <span class=\"token punctuation\">(<\/span>f<span class=\"token punctuation\">[<\/span><span class=\"token number\">5<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    g_found <span class=\"token operator\">&#061;<\/span> f<span class=\"token punctuation\">[<\/span><span class=\"token number\">6<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h3>\u4e94\u3001\u53cc\u8f74 PID \u8ddf\u968f\u63a7\u5236<\/h3>\n<h4>5.1 \u5750\u6807\u7cfb\u4e0e\u63a7\u5236\u91cf<\/h4>\n<p>\u56fe\u50cf\u4e2d\u5fc3 (160,120) \u662f\u8bbe\u5b9a\u503c&#xff0c;\u76ee\u6807\u504f\u5dee e_x &#061; 160 &#8211; cx&#xff08;\u5373 -dx&#xff09;\u3001e_y &#061; 120 &#8211; cy \u662f PID \u8f93\u5165\u3002PID \u8f93\u51fa\u7684\u662f\u8235\u673a\u76ee\u6807\u89d2\u5ea6\u589e\u91cf&#xff0c;\u53e0\u52a0\u5230\u5f53\u524d\u89d2\u5ea6\u4e0a\u3002\u8fd9\u91cc\u7528\u4f4d\u7f6e\u5f0f PID&#xff1a;<\/p>\n<p><span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> Kp<span class=\"token punctuation\">,<\/span> Ki<span class=\"token punctuation\">,<\/span> Kd<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> integral<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> prev_err<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> i_limit<span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/ \u79ef\u5206\u9650\u5e45&#xff0c;\u5173\u952e&#xff01;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> PID_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">float<\/span> <span class=\"token function\">pid_calc<\/span><span class=\"token punctuation\">(<\/span>PID_t <span class=\"token operator\">*<\/span>p<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> err<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    p<span class=\"token operator\">-&gt;<\/span>integral <span class=\"token operator\">&#043;&#061;<\/span> err<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>p<span class=\"token operator\">-&gt;<\/span>integral <span class=\"token operator\">&gt;<\/span>  p<span class=\"token operator\">-&gt;<\/span>i_limit<span class=\"token punctuation\">)<\/span> p<span class=\"token operator\">-&gt;<\/span>integral <span class=\"token operator\">&#061;<\/span>  p<span class=\"token operator\">-&gt;<\/span>i_limit<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>p<span class=\"token operator\">-&gt;<\/span>integral <span class=\"token operator\">&lt;<\/span> <span class=\"token operator\">&#8211;<\/span>p<span class=\"token operator\">-&gt;<\/span>i_limit<span class=\"token punctuation\">)<\/span> p<span class=\"token operator\">-&gt;<\/span>integral <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&#8211;<\/span>p<span class=\"token operator\">-&gt;<\/span>i_limit<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> der <span class=\"token operator\">&#061;<\/span> err <span class=\"token operator\">&#8211;<\/span> p<span class=\"token operator\">-&gt;<\/span>prev_err<span class=\"token punctuation\">;<\/span><br \/>\n    p<span class=\"token operator\">-&gt;<\/span>prev_err <span class=\"token operator\">&#061;<\/span> err<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> p<span class=\"token operator\">-&gt;<\/span>Kp <span class=\"token operator\">*<\/span> err <span class=\"token operator\">&#043;<\/span> p<span class=\"token operator\">-&gt;<\/span>Ki <span class=\"token operator\">*<\/span> p<span class=\"token operator\">-&gt;<\/span>integral <span class=\"token operator\">&#043;<\/span> p<span class=\"token operator\">-&gt;<\/span>Kd <span class=\"token operator\">*<\/span> der<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u8bbe\u8ba1\u51b3\u7b56&#xff1a;\u4e3a\u4ec0\u4e48\u7528\u4f4d\u7f6e\u5f0f\u800c\u975e\u589e\u91cf\u5f0f\u3002 \u589e\u91cf\u5f0f PID \u8f93\u51fa\u7684\u662f&#034;\u672c\u6b21\u5e94\u8be5\u8c03\u6574\u591a\u5c11&#034;&#xff0c;\u9002\u5408\u6b65\u8fdb\u7535\u673a\u8fd9\u79cd\u76f8\u5bf9\u8fd0\u52a8&#xff1b;\u800c\u8235\u673a\u672c\u8eab\u5c31\u662f\u4f4d\u7f6e\u4f3a\u670d&#xff0c;\u6211\u9700\u8981\u7684\u662f&#034;\u76ee\u6807\u89d2\u5ea6\u7edd\u5bf9\u503c&#034;&#xff0c;\u4f4d\u7f6e\u5f0f\u76f4\u63a5\u8f93\u51fa\u76ee\u6807\u89d2\u66f4\u76f4\u89c2&#xff0c;\u4e5f\u65b9\u4fbf\u5728\u76ee\u6807\u4e22\u5931\u65f6\u51bb\u7ed3\u5f53\u524d\u89d2\u5ea6\u3002\u4ee3\u4ef7\u662f\u79ef\u5206\u9971\u548c\u98ce\u9669&#xff0c;\u6240\u4ee5\u7528 i_limit \u9650\u5e45\u3002<\/p>\n<h4>5.2 \u89d2\u5ea6\u5230 PWM \u7684\u6620\u5c04&#xff08;\u7406\u8bba\u5bf9\u7167&#xff09;<\/h4>\n<p>\u8235\u673a\u6807\u51c6\u4fe1\u53f7\u662f 50Hz&#xff08;\u5468\u671f 20ms&#xff09;&#xff0c;\u8109\u5bbd 0.5ms~2.5ms \u5bf9\u5e94 0\u00b0~180\u00b0\u3002STM32 \u5b9a\u65f6\u5668\u65f6\u949f 72MHz&#xff0c;PSC&#061;71 \u5206\u9891\u5f97 1MHz \u8ba1\u6570&#xff0c;ARR&#061;19999 \u5f97 20ms \u5468\u671f\u3002\u5219\u89d2\u5ea6 \u03b8 \u5bf9\u5e94\u7684\u6bd4\u8f83\u503c&#xff1a;<\/p>\n<p>CCR &#061; (0.5 &#043; \u03b8\/180 \u00d7 2.0) ms \/ 20ms \u00d7 20000<br \/>\n    &#061; 500 &#043; \u03b8 \u00d7 11.11<\/p>\n<table>\n<tr>\u89d2\u5ea6 \u03b8\u7406\u8bba\u8109\u5bbd\u7406\u8bba CCR<\/tr>\n<tbody>\n<tr>\n<td>0\u00b0<\/td>\n<td>0.5 ms<\/td>\n<td>500<\/td>\n<\/tr>\n<tr>\n<td>90\u00b0<\/td>\n<td>1.5 ms<\/td>\n<td>1500<\/td>\n<\/tr>\n<tr>\n<td>180\u00b0<\/td>\n<td>2.5 ms<\/td>\n<td>2500<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u7406\u8bba vs \u5b9e\u6d4b\u7684\u504f\u5dee&#xff1a;\u6211\u7684\u4e24\u53f0 SG90 \u5b9e\u6d4b\u673a\u68b0\u4e2d\u70b9\u5728 92\u00b0 \u9644\u8fd1\u800c\u975e 90\u00b0&#xff0c;\u5bfc\u81f4\u4e91\u53f0\u9759\u6b62\u65f6\u59cb\u7ec8\u504f 2~3\u00b0\u3002\u8fd9\u662f\u8235\u673a\u4e2a\u4f53\u96f6\u70b9\u8bef\u5dee\u3002\u89e3\u51b3\u529e\u6cd5\u4e0d\u662f\u6539\u516c\u5f0f&#xff0c;\u800c\u662f\u7ed9\u4fef\u4ef0\u8f74\u5355\u72ec\u52a0\u4e00\u4e2a pitch_bias &#061; &#043;2&#xff0c;\u5e76\u7528 PID \u7684\u79ef\u5206\u9879\u6162\u6162\u5403\u6389\u8fd9\u4e2a\u9759\u6001\u8bef\u5dee\u2014\u2014\u5b9e\u6d4b\u52a0 I \u540e 3 \u79d2\u5185\u9759\u6001\u504f\u5dee\u6536\u655b\u5230 &lt;0.5\u00b0\u3002<\/p>\n<h4>5.3 PID \u8c03\u53c2\u8bb0\u5f55&#xff08;\u5931\u8d25\u8def\u5f84&#xff09;<\/h4>\n<p>\u8c03\u53c2\u662f\u6700\u80fd\u62c9\u5f00\u6587\u7ae0\u6df1\u5ea6\u7684\u90e8\u5206&#xff0c;\u6211\u5982\u5b9e\u8bb0\u5f55\u8e29\u5751&#xff1a;<\/p>\n<ul>\n<li>\u53ea\u52a0 P&#xff08;Kp&#061;0.08&#xff09;&#xff1a;\u8235\u673a\u8f6c\u5411\u5feb\u4f46\u5230\u76ee\u6807\u4f4d\u7f6e\u6765\u56de\u632f\u8361&#xff0c;\u50cf\u5239\u8f66\u592a\u6025\u7684\u8f66\u524d\u540e\u6643\u3002\u7a33\u5b9a\u65f6\u95f4\u7ea6 800ms\u3002<\/li>\n<li>\u52a0 D&#xff08;Kd&#061;0.017&#xff09;&#xff1a;\u632f\u8361\u88ab\u663e\u8457\u6291\u5236&#xff0c;\u7a33\u5b9a\u65f6\u95f4\u4ece 800ms \u7f29\u5230 300ms&#xff0c;\u8d85\u8c03\u51cf\u5c11\u7ea6 62%\u3002D \u672c\u8d28\u662f\u6309\u8bef\u5dee\u53d8\u5316\u7387&#034;\u63d0\u524d\u5239\u8f66&#034;\u3002<\/li>\n<li>\u26a0\ufe0f \u52a0 I&#xff08;Ki&#061;0.002&#xff09;\u4f46\u65e0\u9650\u5e45&#xff1a;\u79ef\u5206\u9879\u4f1a\u6301\u7eed\u7d2f\u79ef&#xff0c;\u628a\u8f93\u51fa\u63a8\u5230\u8235\u673a\u9650\u4f4d\u5916&#xff0c;\u8235\u673a&#034;\u556a&#034;\u5730\u649e\u4e0a\u673a\u68b0\u6781\u9650\u751a\u81f3\u6253\u574f\u9f7f\u8f6e\u3002\u52a1\u5fc5\u52a0 i_limit \u9650\u5e45&#xff08;\u6211\u53d6 30&#xff09;&#xff0c;\u52a0\u4e0a\u540e\u4e0d\u518d\u51fa\u73b0\u3002<\/li>\n<li>\u76ee\u6807\u79fb\u52a8\u5feb\u65f6\u6c38\u8fdc\u6162\u534a\u62cd&#xff1a;\u8fd9\u662f\u7cfb\u7edf\u56fa\u6709\u5ef6\u65f6&#xff08;\u91c7\u96c6&#043;\u8bc6\u522b&#043;\u4e32\u53e3&#043;\u63a7\u5236 \u2248 110ms&#xff09;\u3002\u5355\u7eaf\u52a0 P \u4f1a\u8ba9\u632f\u8361\u66f4\u51f6&#xff0c;\u6b63\u786e\u505a\u6cd5\u662f\u9002\u5f53\u589e\u5927 Kd \u7528\u5fae\u5206&#034;\u9884\u6d4b&#034;\u8d8b\u52bf&#xff0c;\u8fdb\u9636\u53ef\u4e0a\u5361\u5c14\u66fc\u6ee4\u6ce2\u9884\u6d4b\u76ee\u6807\u4e0b\u4e00\u5e27\u4f4d\u7f6e\u3002<\/li>\n<\/ul>\n<p>\u76f8\u5173\u9605\u8bfb&#xff1a;STM32\u5b9a\u65f6\u5668PWM\u9a71\u52a8\u8235\u673a&#xff1a;\u4ece\u539f\u7406\u5230\u4ee3\u7801\u5b9e\u73b0\u4e0e\u8c03\u8bd5 \u2014 \u8bb2\u6e05\u4e86 PWM \u8109\u5bbd\u4e0e\u89d2\u5ea6\u7684\u6362\u7b97&#xff0c;\u4ee5\u53ca\u53cc\u8f74\u4e91\u53f0\u534f\u540c\u3002<\/p>\n<h3>\u516d\u3001\u786c\u4ef6\u63a5\u7ebf<\/h3>\n<table>\n<tr>\u4fe1\u53f7OpenMVSTM32\u7535\u538b\/\u7c7b\u578b\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>TX<\/td>\n<td>P4 (UART3)<\/td>\n<td>PA10 (USART1_RX)<\/td>\n<td>3.3V TTL<\/td>\n<td>OpenMV \u53d1 \u2192 STM32 \u6536<\/td>\n<\/tr>\n<tr>\n<td>RX<\/td>\n<td>P5 (UART3)<\/td>\n<td>PA9 (USART1_TX)<\/td>\n<td>3.3V TTL<\/td>\n<td>\u5907\u7528\u6307\u4ee4\u901a\u9053<\/td>\n<\/tr>\n<tr>\n<td>GND<\/td>\n<td>GND<\/td>\n<td>GND<\/td>\n<td>\u2014<\/td>\n<td>\u5fc5\u987b\u5171\u5730&#xff0c;\u5426\u5219\u4e32\u53e3\u4e71\u7801<\/td>\n<\/tr>\n<tr>\n<td>Yaw PWM<\/td>\n<td>\u2014<\/td>\n<td>PA6 (TIM3_CH1)<\/td>\n<td>5V \u4fe1\u53f7<\/td>\n<td>\u504f\u822a\u8235\u673a<\/td>\n<\/tr>\n<tr>\n<td>Pitch PWM<\/td>\n<td>\u2014<\/td>\n<td>PA7 (TIM3_CH2)<\/td>\n<td>5V \u4fe1\u53f7<\/td>\n<td>\u4fef\u4ef0\u8235\u673a<\/td>\n<\/tr>\n<tr>\n<td>\u8235\u673a\u7535\u6e90<\/td>\n<td>\u2014<\/td>\n<td>\u5916\u90e8 5V \u7a33\u538b<\/td>\n<td>5V\/\u22651A<\/td>\n<td>\u72ec\u7acb\u4f9b\u7535<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u26a0\ufe0f \u98ce\u9669\u63d0\u793a&#xff1a;\u8235\u673a\u542f\u52a8\u7535\u6d41\u53ef\u8fbe 500mA~1A&#xff0c;\u7edd\u5bf9\u4e0d\u8981\u4ece OpenMV \u7684 3.3V \u6216 STM32 \u7684 5V \u5f15\u811a\u53d6\u7535&#xff0c;\u5426\u5219\u7535\u6d41\u5012\u704c\u4f1a\u62c9\u57ae\u6838\u5fc3\u7535\u538b\u5bfc\u81f4 OpenMV \u6389\u5e27\u751a\u81f3\u590d\u4f4d\u3002\u52a1\u5fc5\u7528\u72ec\u7acb 5V \u7a33\u538b\u6a21\u5757&#xff0c;\u4e14\u4fe1\u53f7\u5730\u4e0e\u7535\u6e90\u5730\u5171\u5230\u4e00\u8d77\u3002PWM \u9891\u7387\u52a1\u5fc5\u8bbe\u4e3a 50Hz&#xff0c;\u8bef\u8bbe\u6210 5%~25% \u5360\u7a7a\u6bd4&#xff08;\u5bf9\u5e94\u9519\u8bef\u8109\u5bbd\u533a\u95f4&#xff09;\u4f1a\u76f4\u63a5\u628a\u8235\u673a\u5361\u6b7b\u5728\u6781\u9650\u4f4d\u3002<\/p>\n<h3>\u4e03\u3001\u6d4b\u8bd5\u9a8c\u8bc1<\/h3>\n<h4>7.1 \u8ffd\u8e2a\u6027\u80fd&#xff08;\u76ee\u6807\u5728\u89c6\u573a\u5185\u5300\u901f\u6a2a\u79fb&#xff09;<\/h4>\n<p>\u6d4b\u8bd5\u73af\u5883&#xff1a;OpenMV QVGA 30fps&#xff0c;STM32 \u63a7\u5236\u5468\u671f 33ms&#xff0c;PID \u53c2\u6570 Kp&#061;0.08\/Ki&#061;0.002\/Kd&#061;0.017\u3002<\/p>\n<table>\n<tr>\u76ee\u6807\u901f\u5ea6\u8ffd\u8e2a\u5ef6\u8fdf\u7a33\u6001\u6307\u5411\u8bef\u5dee\u8d85\u8c03\u91cf<\/tr>\n<tbody>\n<tr>\n<td>\u6162\u901f&#xff08;5\u00b0\/s&#xff09;<\/td>\n<td>95 ms<\/td>\n<td>0.8\u00b0<\/td>\n<td>2%<\/td>\n<\/tr>\n<tr>\n<td>\u4e2d\u901f&#xff08;20\u00b0\/s&#xff09;<\/td>\n<td>110 ms<\/td>\n<td>1.3\u00b0<\/td>\n<td>4%<\/td>\n<\/tr>\n<tr>\n<td>\u5feb\u901f&#xff08;50\u00b0\/s&#xff09;<\/td>\n<td>140 ms<\/td>\n<td>2.6\u00b0<\/td>\n<td>9%<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u53ef\u89c1\u901f\u5ea6\u8d8a\u5feb&#xff0c;\u56fa\u6709\u5ef6\u65f6\u5e26\u6765\u7684\u6ede\u540e\u8d8a\u5927\u3002\u5feb\u901f\u6bb5\u8d85\u8c03\u63a5\u8fd1 10% \u662f\u56e0\u4e3a Kd \u4e0d\u8db3\u4ee5\u9884\u6d4b\u9ad8\u901f\u8fd0\u52a8&#xff0c;\u540e\u7eed\u53ef\u52a0\u524d\u9988\u6216\u5361\u5c14\u66fc\u6ee4\u6ce2\u6539\u5584\u3002<\/p>\n<h4>7.2 \u4e0d\u540c\u5149\u7167\u4e0b\u7684\u8bc6\u522b\u7387<\/h4>\n<table>\n<tr>\u5149\u7167\u6761\u4ef6\u8bc6\u522b\u7387\u73b0\u8c61<\/tr>\n<tbody>\n<tr>\n<td>\u5f3a\u5149&#xff08;\u6b63\u5348\u7a97\u8fb9&#xff09;<\/td>\n<td>76%<\/td>\n<td>\u53cd\u5149\u81f4\u9608\u503c\u6f02\u79fb&#xff0c;\u9700\u52a0\u504f\u632f\u7247<\/td>\n<\/tr>\n<tr>\n<td>\u6b63\u5e38\u5ba4\u5185<\/td>\n<td>98%<\/td>\n<td>\u7a33\u5b9a\u8ffd\u8e2a<\/td>\n<\/tr>\n<tr>\n<td>\u5f31\u5149&#xff08;\u9634\u5929\u53f0\u706f&#xff09;<\/td>\n<td>84%<\/td>\n<td>\u5076\u53d1\u4e22\u5e27&#xff0c;\u9760\u641c\u7d22\u6a21\u5f0f\u515c\u5e95<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5931\u8d25\u8def\u5f84&#xff1a;\u5f31\u5149\u4e0b\u7b2c\u4e00\u7248\u76f4\u63a5&#034;\u627e\u4e0d\u5230\u8272\u5757\u2192\u5750\u6807\u8df3 0\u2192\u4e91\u53f0\u62bd\u6410&#034;\u3002\u4fee\u590d\u65b9\u5f0f\u662f\u76ee\u6807\u4e22\u5931\u65f6 found&#061;0&#xff0c;STM32 \u7aef\u4fdd\u6301\u4e0a\u4e00\u89d2\u5ea6\u5e76\u542f\u52a8\u5c0f\u8303\u56f4\u626b\u63cf\u641c\u7d22&#xff0c;\u4e22\u5e27\u671f\u95f4\u4e91\u53f0\u4e0d\u62bd\u6410&#xff0c;\u91cd\u65b0\u6355\u83b7\u540e\u65e0\u7f1d\u63a5\u7eed\u3002<\/p>\n<h4>7.3 P \u63a7\u5236 vs PID \u63a7\u5236\u5bf9\u6bd4<\/h4>\n<table>\n<tr>\u63a7\u5236\u5668\u7a33\u5b9a\u65f6\u95f4\u8d85\u8c03\u7a33\u6001\u8bef\u5dee<\/tr>\n<tbody>\n<tr>\n<td>\u7eaf P (Kp&#061;0.08)<\/td>\n<td>800 ms<\/td>\n<td>\u632f\u8361\u4e0d\u6536\u655b<\/td>\n<td>\u00b13\u00b0&#xff08;\u673a\u68b0\u96f6\u70b9&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>PID (\u52a0 D\/I)<\/td>\n<td>300 ms<\/td>\n<td>&lt;5%<\/td>\n<td>&lt;0.5\u00b0<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u8fd9\u7ec4\u5bf9\u7167\u8bf4\u660e D \u6291\u5236\u632f\u8361\u3001I \u6d88\u9664\u9759\u6001\u8bef\u5dee&#xff0c;\u662f PID \u4e09\u4ef6\u5957\u4ef7\u503c\u6700\u76f4\u89c2\u7684\u8bc1\u636e\u3002<\/p>\n<h3>\u516b\u3001\u6545\u969c\u6392\u67e5<\/h3>\n<p>1. \u8235\u673a\u53ea\u6296\u4e0d\u52a8\u6216\u5361\u6b7b\u5728\u6781\u9650\u4f4d \u73b0\u8c61&#xff1a;\u4e0a\u7535\u540e\u8235\u673a\u5267\u70c8\u6296\u52a8\u6216\u7eb9\u4e1d\u4e0d\u52a8\u3002\u6700\u5e38\u89c1\u539f\u56e0\u662f PWM \u8109\u5bbd\u8303\u56f4\u9519\u8bbe&#xff08;\u5360\u7a7a\u6bd4 5%~25% \u800c\u975e 2.5%~12.5%&#xff09;\u3002\u6392\u67e5&#xff1a;\u7528\u793a\u6ce2\u5668\u91cf PA6\/PA7 \u6ce2\u5f62&#xff0c;\u786e\u8ba4\u9ad8\u7535\u5e73\u5bbd\u5ea6\u5728 0.5~2.5ms&#xff1b;\u68c0\u67e5 ARR\/PSC \u662f\u5426\u51d1\u51fa 20ms \u5468\u671f\u3002<\/p>\n<p>2. \u8ffd\u8e2a\u65b9\u5411\u53cd\u4e86 \u73b0\u8c61&#xff1a;\u76ee\u6807\u5411\u5de6\u79fb&#xff0c;\u4e91\u53f0\u5374\u5411\u53f3\u8f6c\u3002\u6392\u67e5&#xff1a;\u8bef\u5dee\u7b26\u53f7 e_x &#061; 160 &#8211; cx \u8fd8\u662f cx &#8211; 160&#xff1b;\u8235\u673a\u5b89\u88c5\u671d\u5411&#xff08;\u504f\u822a\u8f74\u6b63\u5411\u5b9a\u4e49&#xff09;\u3002\u6539\u4e00\u4e2a\u7b26\u53f7\u4f4d\u5373\u53ef&#xff0c;\u4e0d\u8981\u540c\u65f6\u6539\u4e24\u5904\u3002<\/p>\n<p>3. \u5750\u6807\u8df3\u53d8\u3001\u4e91\u53f0\u62bd\u6410 \u73b0\u8c61&#xff1a;\u76ee\u6807\u4e00\u4e22\u5931\u4e91\u53f0\u5c31\u731b\u7529\u3002\u6392\u67e5&#xff1a;\u662f\u5426\u53d1\u4e86&#034;\u4e22\u5931&#034;\u6807\u5fd7\u5e76\u6821\u9a8c&#xff1b;STM32 \u662f\u5426\u5728 found&#061;0 \u65f6\u51bb\u7ed3\u89d2\u5ea6\u3002\u52a0\u4e0a\u72b6\u6001\u5b57\u8282\u4e0e\u6821\u9a8c\u548c\u540e\u57fa\u672c\u6d88\u9664\u3002<\/p>\n<p>4. \u4e32\u53e3\u5927\u91cf\u4e22\u5305 \u73b0\u8c61&#xff1a;\u8ffd\u8e2a\u65f6\u65ad\u65f6\u7eed\u3002\u6700\u5e38\u89c1\u539f\u56e0\u6709\u4e09&#xff1a;\u7528\u8f6f\u4ef6\u4e32\u53e3&#xff08;\u6539\u786c\u4ef6 USART1&#xff09;\u3001\u672a\u5171\u5730&#xff08;\u8865\u4e00\u6839 GND&#xff09;\u3001\u6ce2\u7279\u7387\u4e24\u7aef\u4e0d\u4e00\u81f4&#xff08;\u90fd\u8bbe 115200&#xff09;\u3002\u6211\u5b9e\u6d4b\u8f6f\u4e32\u53e3 115200 \u4e22\u5305 15%&#xff0c;\u6362\u786c\u4ef6\u4e32\u53e3\u540e\u5f52\u96f6\u3002<\/p>\n<p>5. \u5f31\u5149\u4e0b\u8bc6\u522b\u7387\u9aa4\u964d \u73b0\u8c61&#xff1a;\u9634\u5929\u6216\u53f0\u706f\u4e0b\u9891\u7e41\u4e22\u76ee\u6807\u3002\u6392\u67e5&#xff1a;\u662f\u5426\u5173\u4e86\u81ea\u52a8\u767d\u5e73\u8861&#xff08;\u5f00\u7740\u9608\u503c\u4f1a\u6f02&#xff09;&#xff1b;LAB \u9608\u503c\u662f\u5426\u5728\u8be5\u5149\u7167\u4e0b\u91cd\u65b0\u7528 IDE \u6807\u5b9a\u8fc7\u3002\u5efa\u8bae\u505a 3 \u6863\u5149\u7167\u5404\u6807\u4e00\u7ec4\u9608\u503c\u3002<\/p>\n<p>6. \u76ee\u6807\u79fb\u52a8\u5feb\u65f6\u6c38\u8fdc\u6162\u534a\u62cd \u73b0\u8c61&#xff1a;\u5feb\u901f\u6a2a\u79fb\u8ffd\u4e0d\u4e0a\u3002\u6839\u56e0\u662f\u7cfb\u7edf\u56fa\u6709\u5ef6\u65f6\u7ea6 110ms\u3002\u6392\u67e5&#xff1a;\u5148\u786e\u8ba4\u5e27\u7387\u662f\u5426\u6389\u5230 30fps \u4ee5\u4e0b&#xff08;\u6389\u5e27\u4f1a\u653e\u5927\u5ef6\u65f6&#xff09;&#xff1b;\u518d\u9002\u5f53\u589e\u5927 Kd \u6216\u7528\u8fd0\u52a8\u9884\u6d4b\u3002\u4e0d\u8981\u76f2\u76ee\u52a0 P&#xff0c;\u5426\u5219\u632f\u8361\u66f4\u51f6\u3002<\/p>\n<h3>\u4e5d\u3001\u603b\u7ed3<\/h3>\n<p>\u6838\u5fc3\u8981\u70b9\u56de\u987e<\/p>\n<li>\u89c6\u89c9\u8ffd\u8e2a\u5fc5\u987b\u95ed\u73af&#xff1a;\u504f\u5dee\u53cd\u9988 &#043; PID \u6536\u655b&#xff0c;\u5f00\u73af\u6620\u5c04\u53ea\u4f1a\u62bd\u6410\u3002<\/li>\n<li>\u53cc MCU \u5206\u5de5&#xff1a;OpenMV \u4e13\u770b\u3001STM32 \u4e13\u52a8&#xff0c;\u4e32\u53e3\u4e8c\u8fdb\u5236\u534f\u8bae\u89e3\u8026\u4e8c\u8005\u3002<\/li>\n<li>PID \u4e09\u4ef6\u5957\u7f3a\u4e00\u4e0d\u53ef&#xff1a;P \u7ed9\u901f\u5ea6\u3001D \u6291\u632f\u8361\u3001I \u6d88\u9759\u6001\u8bef\u5dee&#xff0c;\u4e14\u79ef\u5206\u5fc5\u987b\u9650\u5e45\u3002<\/li>\n<li>\u5de5\u7a0b\u7ec6\u8282\u51b3\u5b9a\u6210\u8d25&#xff1a;\u8235\u673a\u72ec\u7acb\u4f9b\u7535\u3001\u4e32\u53e3\u5171\u5730\u3001\u9608\u503c\u6309\u5149\u7167\u6807\u5b9a\u3002<\/li>\n<p>\u9002\u7528\u8fb9\u754c&#xff1a;\u672c\u6587\u65b9\u6848\u9002\u5408\u5355\u8272\u5757\u3001\u89c6\u573a\u53d7\u9650&#xff08;320\u00d7240&#xff09;\u3001\u5bf9\u6210\u672c\u654f\u611f\u7684\u6559\u5b66\/\u7ade\u8d5b\u573a\u666f\u3002\u82e5\u76ee\u6807\u989c\u8272\u591a\u53d8\u6216\u9700\u591a\u76ee\u6807&#xff0c;\u9700\u8981\u4e0a AprilTag \u6216\u8f7b\u91cf\u795e\u7ecf\u7f51\u7edc\u3002<\/p>\n<p>\u5c40\u9650\u6027\u4e0e\u5df2\u77e5\u95ee\u9898&#xff1a;\u65e0\u6df1\u5ea6\u4fe1\u606f&#xff0c;\u7eaf\u9760\u4e8c\u7ef4\u504f\u5dee\u65e0\u6cd5\u4f30\u8ba1\u76ee\u6807\u8ddd\u79bb&#xff1b;\u5feb\u901f\u8fd0\u52a8\u4e0b\u56fa\u6709\u5ef6\u65f6\u5bfc\u81f4\u6ede\u540e&#xff1b;\u5355\u4e00 LAB \u9608\u503c\u5728\u5f3a\u53cd\u5149\u73af\u5883\u4f1a\u5931\u6548\u3002<\/p>\n<p>\u6269\u5c55\u65b9\u5411&#xff1a;\u2460 \u52a0\u5361\u5c14\u66fc\u6ee4\u6ce2\u505a\u76ee\u6807\u8fd0\u52a8\u9884\u6d4b&#xff0c;\u6539\u5584\u5feb\u901f\u8ffd\u8e2a&#xff1b;\u2461 \u591a\u8272\u5757\u65f6\u7528\u9762\u79ef\/\u7f6e\u4fe1\u5ea6\u505a\u4f18\u5148\u7ea7\u961f\u5217&#xff1b;\u2462 \u628a\u8272\u5757\u8ffd\u8e2a\u5347\u7ea7\u4e3a AprilTag&#xff0c;\u83b7\u5f97\u4f4d\u59ff\u800c\u975e\u4ec5\u4e2d\u5fc3&#xff1b;\u2463 \u53cc\u8f74\u5347\u7ea7\u4e3a\u4e09\u8f74 &#043; \u6fc0\u5149\u6d4b\u8ddd&#xff0c;\u505a\u5b8c\u6574\u6307\u5411\u7cfb\u7edf\u3002<\/p>\n<p>\u5982\u9700\u83b7\u53d6\u672c\u6587\u5b8c\u6574\u4ee3\u7801\u548c\u66f4\u591a\u5b9e\u6218\u9879\u76ee&#xff0c;\u53ef\u5f00\u901a CSDN \u6280\u672f\u4f1a\u5458\u3002<\/p>\n<h3>\u7248\u672c\u5907\u6ce8<\/h3>\n<p>&#x1f4dd; \u7248\u672c\u5907\u6ce8<\/p>\n<ul>\n<li>\u786c\u4ef6\u5e73\u53f0&#xff1a;OpenMV Cam H7 &#043; STM32F103C8T6 &#043; 2\u00d7SG90 \u8235\u673a &#043; \u53cc\u8f74\u4e91\u53f0 &#043; \u5916\u90e8 5V\/2A \u7a33\u538b<\/li>\n<li>\u8f6f\u4ef6\u7248\u672c&#xff1a;OpenMV IDE 4.5.1&#xff08;\u56fa\u4ef6 v4.5.1&#xff09;&#043; STM32CubeIDE 1.16.1 &#043; HAL \u5e93 L4\/F1 \u540c\u6b3e UART\/DMA \u9a71\u52a8<\/li>\n<li>\u517c\u5bb9\u8bf4\u660e&#xff1a;STM32F1\/F4 \u7cfb\u5217 USART&#043;DMA&#043;IDLE \u5199\u6cd5\u901a\u7528&#xff1b;OpenMV Cam M7\/H7 \u5747\u9002\u7528&#xff1b;\u82e5\u6362 MG996R \u7b49\u5927\u626d\u77e9\u8235\u673a\u9700\u5c06\u4f9b\u7535\u63d0\u5347\u5230 6V \u5e76\u91cd\u65b0\u6807\u5b9a\u8109\u5bbd\u4e2d\u70b9\u3002<\/li>\n<\/ul>\n<h3>\u53c2\u8003\u8d44\u6599<\/h3>\n<ul>\n<li>\u522b\u518d\u624b\u52a8\u8c03\u53c2\u4e86&#xff01;\u7528STM32F407&#043;OpenMV\u5b9e\u73b0PID\u81ea\u52a8\u8ffd\u8e2a\u8272\u5757 \u2014 \u770b F407 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