{"id":43223,"date":"2025-06-11T08:56:51","date_gmt":"2025-06-11T00:56:51","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/43223.html"},"modified":"2025-06-11T08:56:51","modified_gmt":"2025-06-11T00:56:51","slug":"%e5%9f%ba%e4%ba%8estm32%e7%9a%84%e5%a4%9a%e6%97%8b%e7%bf%bc%e6%97%a0%e4%ba%ba%e6%9c%ba%ef%bc%88multi-rotor-uav-based-on-stm32","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/43223.html","title":{"rendered":"\u57fa\u4e8estm32\u7684\u591a\u65cb\u7ffc\u65e0\u4eba\u673a\uff08Multi-rotor UAV based on stm32)"},"content":{"rendered":"<p>\u7531\u4e8e\u4e00\u76f4\u5728\u8c03\u8bd5\u672c\u9879\u76ee&#xff0c;\u597d\u4e45\u6ca1\u6709\u53d1\u6587\u7ae0&#xff0c;\u6700\u8fd1\u672c\u9879\u76ee\u7684PID\u8c03\u8bd5\u521d\u89c1\u6210\u6548&#xff01;\u5f00\u59cb\u6b63\u6587\u524d\u9996\u5148\u611f\u8c22\u5404\u4f4d\u7c89\u4e1d\u7684\u652f\u6301&#xff0c;\u4ee5\u53ca\u5bf9\u672c\u9879\u76ee\u6280\u672f\u4e0a\u652f\u6301\u7684\u8001\u5e08\u4ee5\u53ca\u5e08\u5144&#xff0c;\u8c22\u8c22\u4f60\u4eec&#xff01;<\/p>\n<p>\u5bf9\u5e94\u6e90\u7801\u53ca\u6587\u4ef6&#xff1a;\u6e90\u7801\u53ca\u6587\u4ef6\u4e0b\u8f7d<\/p>\n<\/p>\n<h4>\u57fa\u4e8estm32\u7684\u591a\u65cb\u7ffc\u65e0\u4eba\u673a<\/h4>\n<ul>\n<li>\u4e00\u3001\u591a\u65cb\u7ffc\u65e0\u4eba\u673a\u98de\u884c\u539f\u7406<\/li>\n<li>\n<ul>\n<li>1.1 \u591a\u65cb\u7ffc\u65e0\u4eba\u673a\u7684\u7ec4\u6210<\/li>\n<li>\n<ul>\n<li>1.1.1 \u7535\u673a<\/li>\n<li>1.1.2 \u7535\u8c03<\/li>\n<li>1.1.3 \u822a\u6a21\u7535\u6c60<\/li>\n<li>1.1.4 \u6b63\u53cd\u6d46<\/li>\n<\/ul>\n<\/li>\n<li>1.2 \u5782\u76f4\u4e0a\u5347\u53ca\u4e0b\u964d<\/li>\n<li>1.3 \u5411\u524d\u98de\u884c\u53ca\u5411\u540e\u98de\u884c<\/li>\n<li>1.4 \u987a\u65f6\u9488\u6539\u53d8\u822a\u5411\u548c\u9006\u65f6\u9488\u6539\u53d8\u822a\u5411<\/li>\n<\/ul>\n<\/li>\n<li>\u4e8c\u3001\u591a\u65cb\u7ffc\u65e0\u4eba\u673a\u98de\u63a7\u7535\u8def\u8bbe\u8ba1<\/li>\n<li>\n<ul>\n<li>2.1 \u7cfb\u7edf\u6846\u67b6\u8bbe\u8ba1<\/li>\n<li>2.2 \u4e3b\u63a7MCU\u6a21\u5757<\/li>\n<li>2.3 \u4e09\u8f74\u52a0\u901f\u9640\u87ba\u4eea\u6a21\u5757<\/li>\n<li>2.4 \u7535\u673a\u9a71\u52a8\u6a21\u5757<\/li>\n<li>2.5 \u65e0\u7ebf\u901a\u4fe1\u6a21\u5757<\/li>\n<li>2.6 \u5347\u538b\u3001\u7a33\u538b\u7535\u8def\u6a21\u5757<\/li>\n<li>2.7 LED\u7535\u8def\u6a21\u5757<\/li>\n<\/ul>\n<\/li>\n<li>\u4e09\u3001\u591a\u65cb\u7ffc\u65e0\u4eba\u673a\u98de\u63a7\u7b97\u6cd5\u8bbe\u8ba1<\/li>\n<li>3.1 \u98de\u884c\u59ff\u6001\u8868\u793a\u6cd5<\/li>\n<li>\n<ul>\n<li>\n<ul>\n<li>3.1.1 \u6b27\u62c9\u89d2<\/li>\n<li>3.1.2 \u56db\u5143\u6570<\/li>\n<li>3.1.3 PID\u63a7\u5236<\/li>\n<\/ul>\n<\/li>\n<li>3.2 \u98de\u63a7\u8f6f\u4ef6\u6846\u67b6\u8bbe\u8ba1<\/li>\n<li>3.3 \u98de\u63a7\u8f6f\u4ef6\u5f00\u53d1<\/li>\n<li>\n<ul>\n<li>3.3.1 \u59ff\u6001\u89e3\u7b97\u4e0ePID\u7b97\u6cd5<\/li>\n<li>3.3.2 \u65e0\u7ebf\u901a\u4fe1\u8f6f\u4ef6\u5f00\u53d1<\/li>\n<li>3.3.3 \u89d2\u5ea6\u73af PID \u548c\u89d2\u901f\u5ea6\u73af PID<\/li>\n<li>3.3.4 \u59ff\u6001\u63a7\u5236\u91cf\u548c\u6cb9\u95e8\u503c\u6574\u5408<\/li>\n<li>3.3.5 4D \u7a7a\u7ffb\u7b97\u6cd5<\/li>\n<\/ul>\n<\/li>\n<li>3.4 \u9650\u5236\u4e8e\u7bc7\u5e45&#xff0c;\u5176\u4ed6\u6a21\u5757\u7684\u7b97\u6cd5\u4e0d\u505a\u8bf4\u660e&#xff08;\u592a\u591a\u4e86\u2026\u2026&#xff09;<\/li>\n<\/ul>\n<\/li>\n<li>\u56db\u3001\u98de\u63a7\u7684\u5236\u4f5c<\/li>\n<li>4.1 PCB\u677f\u56fe<\/li>\n<li>4.2 \u8d34\u7247\u5668\u4ef6\u7684\u710a\u63a5<\/li>\n<li>\n<ul>\n<li>4.3 \u5b9e\u7269\u56fe<\/li>\n<\/ul>\n<\/li>\n<li>\u4e94\u3001\u98de\u63a7\u7a0b\u5e8f\u70e7\u5f55\u53ca\u8c03\u8bd5<\/li>\n<li>\u516d\u3001 \u603b\u7ed3<\/li>\n<\/ul>\n<h2>\u4e00\u3001\u591a\u65cb\u7ffc\u65e0\u4eba\u673a\u98de\u884c\u539f\u7406<\/h2>\n<p>\u56db\u8f74\u98de\u884c\u5668\u57fa\u672c\u539f\u7406\u662f\u901a\u8fc7\u98de\u63a7\u63a7\u5236\u56db\u4e2a\u7535\u673a\u65cb\u8f6c\u5e26\u52a8\u6d46\u53f6\u4ea7\u751f\u5347\u529b&#xff0c;\u5206\u522b\u63a7\u5236\u6bcf\u4e00\u4e2a\u7535\u673a\u548c\u6d46\u53f6\u4ea7\u751f\u4e0d\u540c\u7684\u5347\u529b\u4ece\u800c\u63a7\u5236\u98de\u884c\u5668\u7684\u59ff\u6001\u548c\u4f4d\u7f6e\u3002\u56db\u8f74\u5728\u7a7a\u4e2d\u53ef\u4ee5\u5b9e\u73b0\u516b\u79cd\u8fd0\u52a8&#xff0c;\u5206\u522b\u4e3a\u5782\u76f4\u4e0a\u5347\u3001\u5782\u76f4\u4e0b\u964d\u3001\u5411\u524d\u8fd0\u52a8\u3001\u5411\u540e\u8fd0\u52a8\u3001\u5411\u5de6\u8fd0\u52a8\u3001\u5411\u540e\u8fd0\u52a8\u3001\u987a\u65f6\u9488\u6539\u53d8\u822a\u5411\u3001\u9006\u65f6\u9488\u6539\u53d8\u822a\u5411\u3002<\/p>\n<h3>1.1 \u591a\u65cb\u7ffc\u65e0\u4eba\u673a\u7684\u7ec4\u6210<\/h3>\n<p>\u56db\u8f74\u98de\u884c\u5668\u4e3b\u8981\u662f\u7531\u7535\u673a\u3001\u7535\u8c03\u3001\u7535\u6c60\u3001\u6d46\u53f6\u3001\u673a\u67b6\u3001\u9065\u63a7\u5668\u3001\u98de\u63a7\u7ec4\u6210\u3002\u4e0b\u9762\u4ee5\u6211\u4eec\u56db\u8f74\u53ca\u5e02\u573a\u4e0a\u5e38\u89c1\u7684 DIY \u5927\u56db\u8f74\u6765\u4ecb\u7ecd\u8fd9\u4e9b\u90e8\u4ef6\u3002<\/p>\n<h4>1.1.1 \u7535\u673a<\/h4>\n<p>\u7535\u673a\u6839\u636e\u76ee\u524d\u5e02\u573a\u7684\u4f9b\u7ed9\u4ee5\u53ca\u672c\u9879\u76ee\u7684\u9700\u6c42&#xff0c;\u91c7\u7528\u7684\u662f\u7a7a\u5fc3\u676f\u65e0\u5237\u7535\u673a8520&#xff0c;\u5982\u4e0b\u56fe&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005647-6848d44fad2d5.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u5176\u8f6c\u901f\u53ef\u8fbe\u523012000~15000\u8f6c\/min&#xff0c;\u5e76\u4e14\u5176\u4ef7\u683c\u8f83\u4f4e&#xff0c;\u6027\u80fd\u8f83\u7a33\u5b9a&#xff0c;\u66f4\u9002\u5408\u672c\u9879\u76ee\u7684\u4f7f\u7528\u3002<\/p>\n<h4>1.1.2 \u7535\u8c03<\/h4>\n<p>\u7535\u8c03\u5373\u4e3a\u7535\u5b50\u8c03\u901f\u5668&#xff0c;\u63a7\u5236\u7535\u673a\u8f6c\u52a8\u3001\u505c\u6b62\u53ca\u8f6c\u901f\u3002\u6709\u5237\u7535\u673a\u7535\u8c03\u901a\u5e38\u53ea\u9700\u8981\u4e00\u4e2a MOS \u7ba1&#xff0c;\u98de\u63a7\u8f93\u51fa PWM \u5373\u53ef\u63a7\u5236\u7535\u673a&#xff0c;\u7535\u8c03\u6240\u91c7\u7528\u7684MOS\u7ba1\u5982\u4e0b\u56fe\u6240\u793a&#xff1a;\u65e0\u5237\u7535\u673a\u7535\u8c03\u6a21\u5757\u5185\u90e8\u901a\u5e38\u7531\u4e00\u4e2a MCU \u548c\u4e09\u76f8\u6865\u7535\u8def\u7ec4\u6210&#xff0c;MCU \u901a\u8fc7\u63a7\u5236\u4e09\u76f8\u6865\u6765\u5b9e\u73b0\u65e0\u5237\u7535\u673a\u6362\u76f8\u3002\u540c\u6837&#xff0c;\u65e0\u5237\u7535\u673a\u7535\u8c03\u6a21\u5757\u4e5f\u53ea\u9700\u98de\u63a7\u8f93\u51fa PWM \u5373\u53ef\u63a7\u5236\u7535\u673a <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005647-6848d44fc9799.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h4>1.1.3 \u822a\u6a21\u7535\u6c60<\/h4>\n<p>\u822a\u6a21\u6240\u7528\u7535\u6c60\u4e3a3.7v\u9502\u7535\u6c60&#xff08;\u53ef\u5145\u7535&#xff09;&#xff0c;\u7531\u4e8e\u53d7\u5230\u591a\u65cb\u7ffc\u65e0\u4eba\u673a\u81ea\u8eab\u52a8\u529b\u7684\u95ee\u9898&#xff0c;\u6545\u91c7\u7528800mh\u9502\u7535\u6c60\u6765\u4f9b\u7535&#xff0c;\u9065\u63a7\u5668\u4e5f\u91c7\u7528800mh\u4f9b\u7535&#xff0c;\u98de\u884c\u65f6\u95f4\u5927\u698220min\u5de6\u53f3\u3002\u7535\u6c60\u5982\u4e0b\u56fe&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005647-6848d44feee3d.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u7535\u6c60\u63d2\u5ea7\u91c7\u7528\u7a7a\u5bf9\u7a7a\u63a5\u5934\u3002 \u7535\u6c60\u5bb9\u91cf mAh&#xff1a;\u9502\u7535\u6c60\u7684\u5bb9\u91cf&#xff0c;\u5982 2000mAh \u7684\u7535\u6c60&#xff0c;\u4ee5 2000mA \u653e\u7535&#xff0c;\u53ef\u6301\u7eed\u653e\u7535 1 \u5c0f\u65f6&#xff1b;\u4ee5 1000mA \u653e\u7535&#xff0c;\u53ef\u6301\u7eed\u653e\u7535 2 \u5c0f\u65f6\u3002 \u7535\u6c60\u8282\u6570&#xff1a;\u7535\u6c60 2S\u30013S\u30014S \u4ee3\u8868\u9502\u7535\u6c60\u8282\u6570\u3002\u9502\u7535\u6c60 1 \u8282\u7684\u6807\u51c6\u7535\u538b\u4e3a 3.7V&#xff0c;3S \u4ee3 \u8868\u6709 3 \u8282 3.7V \u7684\u7535\u6c60\u5728\u91cc\u9762&#xff0c;\u7535\u538b\u4e3a 11.1V\u3002<\/p>\n<h4>1.1.4 \u6b63\u53cd\u6d46<\/h4>\n<p>\u6d46\u6db2\u91c7\u7528\u7684\u662f75mm\u76f4\u5f84\u7684\u6b63\u53cd\u6d46&#xff0c;\u5982\u4e0b\u56fe\u6240\u793a&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005648-6848d45017c1a.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u6d46\u53f6\u65cb\u8f6c\u65f6\u4f1a\u4ea7\u751f\u81ea\u65cb\u529b\u5bfc\u81f4\u56db\u8f74\u81ea\u65cb&#xff0c;\u4e3a\u4e86\u62b5\u6d88\u81ea\u65cb\u529b\u76f8\u9694\u7535\u673a\u7684\u6d46\u53f6\u65cb\u8f6c\u65b9\u5411\u8981\u4e0d\u4e00\u6837&#xff0c;\u4f46\u662f\u6d46\u7684\u98ce\u90fd\u662f\u8981\u5f80\u4e0b\u5439&#xff0c;\u8fd9\u5c31\u51fa\u73b0\u4e86\u6b63\u53cd\u6d46\u7684\u8bf4\u6cd5\u3002\u901a\u5e38\u987a\u65f6\u9488\u8f6c\u7684\u53eb\u6b63\u6d46&#xff0c;\u9006\u65f6\u9488\u8f6c\u7684\u662f\u53cd\u6d46\u3002<\/p>\n<h3>1.2 \u5782\u76f4\u4e0a\u5347\u53ca\u4e0b\u964d<\/h3>\n<p>\u5f53\u56db\u8f74\u98de\u884c\u5728\u7a7a\u4e2d\u81ea\u7a33\u540e&#xff0c;M1\u3001M2\u3001M3\u3001M4 \u56db\u4e2a\u7535\u673a\u540c\u65f6\u8f6c\u901f\u589e\u5927\u6216\u540c\u65f6\u8f6c\u901f\u51cf\u5c0f&#xff0c;\u5373\u53ef\u53d1\u751f\u5782\u76f4\u4e0a\u5347\u8fd0\u52a8\u6216\u5782\u76f4\u4e0b\u964d\u8fd0\u52a8&#xff0c;\u5982\u4e0b\u56fe\u6240\u793a&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005648-6848d450512b2.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>1.3 \u5411\u524d\u98de\u884c\u53ca\u5411\u540e\u98de\u884c<\/h3>\n<p>\u5f53\u56db\u8f74\u98de\u884c\u5728\u7a7a\u4e2d\u81ea\u7a33\u540e&#xff0c;M2\u3001M3 \u8f6c\u901f\u589e\u5927 M1\u3001M4 \u8f6c\u901f\u4e0d\u53d8\u6216\u51cf\u5c0f\u5373\u53ef\u5b9e\u73b0\u5411\u524d\u8fd0\u52a8\u3002\u76f8\u53cd&#xff0c;M2\u3001M3 \u8f6c\u901f\u51cf\u5c0f\u6216\u4e0d\u53d8 M1\u3001M4 \u8f6c\u901f\u589e\u52a0&#xff0c;\u5373\u53ef\u5b9e\u73b0\u5411\u540e\u8fd0\u52a8&#xff0c;\u5982\u4e0b\u56fe\u6240\u793a&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005648-6848d4506e04e.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u5411\u5de6\u548c\u5411\u53f3\u98de\u884c\u540c\u7406\u53ef\u4ee5\u5b9e\u73b0&#xff0c;\u8fd9\u91cc\u5c31\u4e0d\u505a\u4ecb\u7ecd\u3002<\/p>\n<h3>1.4 \u987a\u65f6\u9488\u6539\u53d8\u822a\u5411\u548c\u9006\u65f6\u9488\u6539\u53d8\u822a\u5411<\/h3>\n<p>\u5f53\u56db\u8f74\u98de\u884c\u5728\u7a7a\u4e2d\u81ea\u7a33\u540e&#xff0c;M1\u3001M3 \u8f6c\u901f\u589e\u5927 M2\u3001M4 \u8f6c\u901f\u4e0d\u53d8\u6216\u51cf\u5c0f\u5373\u53ef\u5b9e\u73b0\u987a\u65f6\u9488\u6539\u53d8\u822a\u5411\u3002M1\u3001M3 \u8f6c\u901f\u51cf\u5c0f\u6216\u4e0d\u53d8 M2\u3001M4 \u8f6c\u901f\u589e\u52a0\u5373\u53ef\u5b9e\u73b0\u9006\u65f6\u9488\u6539\u53d8\u822a\u5411\u3002\u5982\u4e0b\u56fe\u6240\u793a&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005648-6848d4508802b.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h2>\u4e8c\u3001\u591a\u65cb\u7ffc\u65e0\u4eba\u673a\u98de\u63a7\u7535\u8def\u8bbe\u8ba1<\/h2>\n<h3>2.1 \u7cfb\u7edf\u6846\u67b6\u8bbe\u8ba1<\/h3>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005648-6848d450a3a56.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u6839\u636eMinfly\u7684\u7cfb\u7edf\u6846\u67b6\u56fe&#xff0c;\u6765\u8fdb\u884c\u8bbe\u8ba1&#xff0c;\u4e3b\u63a7\u82af\u7247\u91c7\u7528STM32103C8T6&#xff0c;\u4e09\u8f74\u9640\u87ba\u4eea\u91c7\u7528MPU6050\u82af\u7247&#xff0c;\u6536\u53d1\u65e0\u7ebf\u6a21\u5757\u91c7\u7528NRFL2401\u6a21\u5757&#xff08;\u4ebf\u767e\u7279&#xff09;\u7b49\u3002<\/p>\n<h3>2.2 \u4e3b\u63a7MCU\u6a21\u5757<\/h3>\n<p>\u4e3b\u63a7\u91c7\u7528\u7684\u662fSTM32103C8T6\u82af\u7247&#xff0c;\u7535\u8def\u56fe\u5982\u4e0b&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005648-6848d450bf96e.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u4e3b\u63a7 MCU \u4e3a\u56db\u8f74\u98de\u884c\u5668\u7684\u5927\u8111&#xff0c;\u5bf9\u98de\u884c\u5668\u7a33\u5b9a\u98de\u884c\u8d77\u7740\u81f3\u5173\u91cd\u8981\u7684\u4f5c\u7528\u3002\u5b83\u540c\u65f6\u627f\u62c5 \u7740\u591a\u79cd\u8d23\u4efb&#xff0c;\u5305\u62ec&#xff1a;\u4f20\u611f\u5668\u6570\u636e\u8bfb\u53d6\u3001\u6570\u636e\u878d\u5408\u3001PID \u63a7\u5236\u3001\u7535\u673a\u63a7\u5236\u3001\u65e0\u7ebf\u901a\u4fe1\u548c USB \u901a\u4fe1\u7b49\u3002 \u4e3b\u63a7 MCU \u8fde\u63a5\u4e86\u4e00\u4e2a USB \u63a5\u53e3&#xff0c;\u6b64\u63a5\u53e3\u53ef\u4ee5\u7528\u4f5c\u4e0e\u4e0a\u4f4d\u673a\u901a\u4fe1&#xff0c;\u4e5f\u53ef\u4ee5\u7528\u4f5c\u56fa\u4ef6\u5347\u7ea7&#xff0c;\u662f\u4e00\u4e2a\u975e\u5e38\u65b9\u4fbf\u9002\u7528\u7684\u63a5\u53e3\u3002<\/p>\n<h3>2.3 \u4e09\u8f74\u52a0\u901f\u9640\u87ba\u4eea\u6a21\u5757<\/h3>\n<p>\u4e09\u8f74\u52a0\u901f\u9640\u87ba\u4eea\u6a21\u5757\u91c7\u7528\u7684\u662fMPU6050\u82af\u7247\u4f5c\u4e3a\u4e3b\u63a7&#xff0c;MPU6050 IMU \u5728\u5355\u82af\u7247\u4e0a\u96c6\u6210\u4e86\u4e00\u4e2a 3 \u8f74\u52a0\u901f\u5ea6\u8ba1\u548c\u4e00\u4e2a 3 \u8f74\u9640\u87ba\u4eea\u3002\u4ee5\u53ca\u4e00\u4e2a\u53ef\u6269\u5c55\u7684\u6570\u5b57\u8fd0\u52a8\u5904\u7406\u5668 DMP&#xff08;Digital Motion Processor&#xff09;\u3002\u5b83\u4e5f\u88ab\u79f0\u4e3a\u516d\u8f74\u8fd0\u52a8\u8ddf\u8e2a\u8bbe\u5907\u6216 6 DoF \u8bbe\u5907&#xff0c;\u56e0\u4e3a\u5b83\u6709 6 \u4e2a\u8f93\u51fa&#xff0c;\u5373 3 \u4e2a\u52a0\u901f\u5ea6\u8ba1\u8f93\u51fa\u548c 3 \u4e2a\u9640\u87ba\u4eea\u8f93\u51fa\u3002\u4ee5\u5f53\u524d\u5730\u9762\u4e3a\u6c34\u5e73\u9762\u68c0\u6d4bx,y,z\u4e09\u8f74\u65b9\u5411\u4e0a\u7684\u52a0\u901f\u5ea6&#xff0c;\u5e76\u8f6c\u6362\u4e3a\u7535\u4fe1\u53f7\u6765\u8fdb\u884c\u8f93\u51fa\u3002\u540c\u65f6\u8fdb\u884c\u4e09\u8f74\u9640\u87ba\u4eea\u4f20\u611f\u5668\u8fdb\u884c\u4f7f\u7528&#xff0c;\u5f97\u5230\u4e09\u8f74\u65b9\u5411\u4e0a\u7684\u503e\u89d2&#xff0c;\u5373\u59ff\u6001\u89d2\u3002\u5982\u4e0b\u56fe\u6240\u793a&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005648-6848d450e75eb.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> MPU6050\u4e3b\u63a7\u82af\u7247\u7684\u63a7\u5236\u539f\u7406\u5982\u56fe&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005649-6848d45104ce7.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u8bbe\u8ba1\u7535\u8def\u56fe\u5982\u4e0b&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005649-6848d4511897b.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>2.4 \u7535\u673a\u9a71\u52a8\u6a21\u5757<\/h3>\n<p>\u672c\u9879\u76ee\u91c7\u7528\u5fae\u578b\u9ad8\u901f 8520\u7a7a\u5fc3\u676f\u7535\u673a&#xff0c;\u7535\u673a\u8f6c\u901f\u9ad8\u8fbe 15000r\/min&#xff0c;\u80fd\u591f\u4e3a\u98de\u884c\u5668\u63d0\u4f9b\u5145\u6c9b\u7684\u52a8\u529b\u3002\u7535\u673a\u91c7\u7528 NMOS \u7ba1 SI2302&#xff0c;3V \u95e8\u7ea7\u9a71\u52a8\u7535\u538b\u4e0b&#xff0c;\u5bfc\u901a\u7535\u963b\u53ea\u6709\u51e0\u5341\u6beb\u6b27&#xff0c;\u9a71\u52a8\u7535\u6d41\u9ad8\u8fbe 3A&#xff0c;\u8f7b\u677e\u9a71\u52a8 8520\u7a7a\u5fc3\u676f\u7535\u673a&#xff0c;\u4ece\u800c\u5e26\u52a8\u98de\u884c\u5668\u98de\u884c\u3002\u7535\u8def\u8bbe\u8ba1\u5982\u4e0b\u56fe&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005649-6848d4512f02b.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>2.5 \u65e0\u7ebf\u901a\u4fe1\u6a21\u5757<\/h3>\n<p>\u65e0\u7ebf\u901a\u4fe1\u6a21\u5757\u6240\u91c7\u7528\u7684\u662fNRF24L01\u6a21\u5757\u6765\u8fdb\u884c\u901a\u4fe1,NRF24L01\u662f\u4e00\u6b3e\u65b0\u578b\u5355\u7247\u5c04\u9891\u6536\u53d1\u5668\u4ef6&#xff0c;\u5de5\u4f5c\u4e0e2.4GHz~2.5GHz ISM\u9891\u6bb5\u3002\u5185\u7f6e\u9891\u7387\u5408\u6210\u5668\u3001\u529f\u7387\u653e\u5927\u5668\u3001\u6676\u4f53\u632f\u8361\u5668\u3001\u8c03\u5236\u5668\u7b49\u529f\u80fd\u6a21\u5757&#xff0c;\u5e76\u878d\u5408\u4e86\u589e\u5f3a\u578bShockBurst\u6280\u672f&#xff0c;\u5176\u4e2d\u8f93\u51fa\u529f\u7387\u548c\u901a\u4fe1\u9891\u9053\u53ef\u901a\u8fc7\u7a0b\u5e8f\u8fdb\u884c\u914d\u7f6e\u3002 nRF24L01\u6709\u5de5\u4f5c\u6a21\u5f0f\u6709\u56db\u79cd&#xff1a;<\/p>\n<ul>\n<li>\u6536\u53d1\u6a21\u5f0f<\/li>\n<li>\u914d\u7f6e\u6a21\u5f0f<\/li>\n<li>\u7a7a\u95f2\u6a21\u5f0f<\/li>\n<li>\u5173\u673a\u6a21\u5f0f \u5982\u56fe\u6240\u793a&#xff08;E01-ML01S&#xff09;&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005649-6848d4516b841.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/li>\n<\/ul>\n<p>\u82af\u7247\u65b9\u6848&#xff1a;nRF24L01P \u5de5\u4f5c\u9891\u7387&#xff1a;2.4~2.525GHz \u53d1\u5c04\u529f\u7387&#xff1a;0dBm \u901a\u4fe1\u8ddd\u79bb&#xff1a;0.1km \u63a5\u53e3\u7c7b\u578b&#xff1a;SPI \u4ea7\u54c1\u91cd\u91cf&#xff1a;0.5\u00b10.1g<\/p>\n<p>\u4ea7\u54c1\u7b80\u4ecb&#xff1a;\u91c7\u7528\u632a\u5a01NorDic\u516c\u53f8\u539f\u88c5\u8fdb\u53e3nRF24L01P\u5c04\u9891\u82af\u7247&#xff0c;\u6536\u53d1 \u4e00\u4f53&#xff1b;\u5168\u8fdb\u53e3\u5de5\u4e1a\u7ea7\u5143\u5668\u4ef6&#xff0c;\u90ae\u7968\u5b54\u8d34\u7247\u578b&#xff0c;\u5185\u7f6ePCB\u677f\u8f7d\u5929\u7ebf&#xff1b;\u4f53\u79ef\u5c0f\u6613\u5d4c\u5165&#xff0c;\u6027\u80fd\u4f18\u5f02&#xff0c;\u6570\u636e\u4f20\u8f93\u5feb&#xff0c;\u9002\u5408\u8fd1\u8ddd\u79bb\u4f20\u8f93\u3002 \u8981\u5b9e\u73b0\u901a\u4fe1\u8fd8\u9700\u8981E01-ML01D\u6a21\u5757\u6765\u5b9e\u73b0\u4ea4\u4e92\u901a\u4fe1,\u6a21\u5757\u7684\u56fe\u7247\u5982\u4e0b&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005649-6848d45180484.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u82af\u7247\u65b9\u6848&#xff1a;nRF24L01P \u5de5\u4f5c\u9891\u7387&#xff1a;2.4~2.525GHz \u53d1\u5c04\u529f\u7387&#xff1a;0dBm \u901a\u4fe1\u8ddd\u79bb&#xff1a;0.1km \u901a\u4fe1\u63a5\u53e3&#xff1a;SPI \u4ea7\u54c1\u91cd\u91cf&#xff1a;0.9\u00b10.1g<\/p>\n<p>\u4ea7\u54c1\u7b80\u4ecb&#xff1a;\u632a\u5a01\u8fdb\u53e3nRF24L01&#043;\u82af\u7247&#xff0c;\u65e5\u672c\u8fdb\u53e3\u963b\u5bb9\u611f&#xff0c;\u7f8e\u56fd\u8fdb\u53e3\u6676\u632f&#xff0c;\u65e0\u94c5\u710a\u63a5\u5de5\u827a&#xff1b; \u76ee\u524d\u5df2\u7ecf\u5927\u91cf\u7528\u4e8e\u7535\u529b\u7ebf&#xff0c;\u54c1\u8d28\u76f8\u5f53\u53ef\u9760&#xff0c;\u4f7f\u7528\u5bff\u547d\u957f\u3002<\/p>\n<p>\u65e0\u7ebf\u901a\u4fe1\u6a21\u5757\u7535\u8def\u56fe\u5982\u4e0b&#xff1a;&#xff08;\u5206\u522b\u4e3a\u63a5\u53d7\u7aef\u548c\u53d1\u9001\u7aef&#xff09; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005649-6848d4519397e.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005649-6848d451a541a.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>2.6 \u5347\u538b\u3001\u7a33\u538b\u7535\u8def\u6a21\u5757<\/h3>\n<p>\u8003\u8651\u672c\u9879\u76ee\u6240\u97008520\u7535\u673a\u4f9b\u7535\u4e3a3.7v&#xff0c;\u800c\u672c\u9879\u76ee\u8fd8\u9700\u89815v\u4f9b\u7535&#xff0c;\u7535\u6c60\u7684\u4f9b\u7535\u4e3a3.7v,\u56e0\u6b64\u9700\u8981\u8bbe\u8ba1\u5347\u538b\u7535\u8def\u6765\u8fdb\u884c\u4ece3.7v\u52305v\u7684\u5347\u538b&#xff0c;\u6839\u636e\u6a21\u62df\u7535\u5b50\u6280\u672f\u4ee5\u53ca\u7535\u8def\u539f\u7406\u81ea\u4e3b\u8bbe\u8ba1\u4e863.7v&#8212;-5v\u7684\u5347\u538b\u7535\u8def\u3002\u4e3b\u63a7\u4e3aDC\u2013DC\u7535\u6e90\u82af\u7247&#xff0c;\u91c7\u7528\u8096\u7279\u57fa\u4e8c\u6781\u7ba1\u6765\u8fdb\u884c\u5916\u90e8\u7a33\u538b&#xff0c;\u5177\u4f53\u7535\u8def\u5982\u4e0b\u56fe\u6240\u793a&#xff1a;&#xff08;\u7bc7\u5e45\u5f71\u54cd\u4e0d\u8fdb\u884c\u8be6\u7ec6\u7684\u8bb2\u89e3&#xff0c;\u611f\u5174\u8da3\u7684\u7c89\u4eec\u53ef\u4ee5\u79c1\u4fe1\u6211\u8ba8\u8bba\u76f8\u5173\u77e5\u8bc6&#xff09; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005649-6848d451b69ff.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u6700\u7ec8\u5f97\u52305v\u7684\u5347\u538b\u7535\u6e90&#xff0c;\u65b9\u4fbf\u9879\u76ee\u5176\u4ed6\u6a21\u5757\u7684\u4f9b\u7535\u3002 \u76f8\u53cd\u53ef\u4ee5\u8bbe\u8ba1\u51fa\u7a33\u538b\u7535\u8def\u4ece5v\u20143.3v\u7684\u964d\u538b\u7535\u8def&#xff0c;\u5177\u4f53\u539f\u7406\u4e0d\u505a\u8bf4\u660e&#xff0c;\u5177\u4f53\u89c1\u4e0b\u56fe\u6240\u793a&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005649-6848d451c86c1.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>2.7 LED\u7535\u8def\u6a21\u5757<\/h3>\n<p>\u6b64\u90e8\u5206\u4e3aLED\u6307\u793a\u706f\u7535\u8def\u8bbe\u8ba1&#xff0c;\u4e3b\u8981\u75313\u4e2aLED\u76f4\u63d2\u5f0f\u706f\u4ee5\u53ca\u4e24\u679aRGB\u8d34\u7247\u706f\u7ec4\u6210&#xff0c;\u5177\u4f53i\u5355\u8def\u5982\u4e0b\u56fe\u6240\u793a&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/06\/20250611005649-6848d451e9bc5.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u540e\u7eed\u903b\u8f91\u529f\u80fd\u5c06\u5728\u7a0b\u5e8f\u4e2d\u8fdb\u884c\u8bbe\u8ba1\u3002<\/p>\n<h2>\u4e09\u3001\u591a\u65cb\u7ffc\u65e0\u4eba\u673a\u98de\u63a7\u7b97\u6cd5\u8bbe\u8ba1<\/h2>\n<h2>3.1 \u98de\u884c\u59ff\u6001\u8868\u793a\u6cd5<\/h2>\n<p>\u98de\u884c\u5668\u59ff\u6001\u6709\u591a\u79cd\u8868\u793a\u65b9\u5f0f&#xff0c;\u5e38\u89c1\u7684\u662f\u56db\u5143\u6570&#xff0c;\u6b27\u62c9\u89d2&#xff0c;\u77e9\u9635\u548c\u8f74\u89d2\u3002\u4ed6\u4eec\u5404\u81ea\u6709\u5176\u81ea\u8eab\u7684\u4f18\u70b9&#xff0c;\u5728\u4e0d\u540c\u7684\u9886\u57df\u4f7f\u7528\u4e0d\u540c\u7684\u8868\u793a\u65b9\u5f0f\u3002\u5728\u56db\u8f74\u98de\u884c\u5668\u4e2d\u4f7f\u7528\u5230\u4e86\u56db\u5143\u6570\u548c\u6b27\u62c9\u89d2\u3002<\/p>\n<h4>3.1.1 \u6b27\u62c9\u89d2<\/h4>\n<p>\u7528\u6765\u786e\u5b9a\u5b9a\u70b9\u8f6c\u52a8\u521a\u4f53\u4f4d\u7f6e\u7684 3 \u4e2a\u4e00\u7ec4\u72ec\u7acb\u89d2\u53c2\u91cf&#xff0c;\u7531\u7ae0\u52a8\u89d2 \u03b8\u3001\u65cb\u8fdb\u89d2&#xff08;\u5373\u8fdb\u52a8\u89d2&#xff09;\u03c8 \u548c\u81ea\u8f6c\u89d2 j \u7ec4\u6210&#xff0c;\u4e3a\u83b1\u6602\u54c8\u5fb7\u00b7\u6b27\u62c9\u9996\u5148\u63d0\u51fa\u800c\u5f97\u540d\u3002\u5bf9\u4e8e\u5728\u4e09\u7ef4\u7a7a\u95f4\u91cc\u7684\u4e00\u4e2a\u53c2\u8003\u7cfb&#xff0c;\u4efb\u4f55\u5750\u6807\u7cfb\u7684\u53d6\u5411&#xff0c;\u90fd\u53ef\u4ee5\u7528\u4e09\u4e2a\u6b27\u62c9\u89d2\u6765\u8868\u73b0\u3002\u53c2\u8003\u7cfb\u53c8\u79f0\u4e3a\u5b9e\u9a8c\u5ba4\u53c2\u8003\u7cfb&#xff0c;\u662f\u9759\u6b62\u4e0d\u52a8\u7684\u3002\u800c\u5750\u6807\u7cfb\u5219\u56fa\u5b9a\u4e8e\u521a\u4f53&#xff0c;\u968f\u7740\u521a\u4f53\u7684\u65cb\u8f6c\u800c\u65cb\u8f6c\u3002 \u5982\u4e0b\u56fe\u6240\u793a&#xff1a; <img decoding=\"async\" src=\"2025-06-11oiud5p1m3f0.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u8bbe\u5b9a xyz-\u8f74\u4e3a\u53c2\u8003\u7cfb\u7684\u53c2\u8003\u8f74\u3002\u79f0 xy-\u5e73\u9762\u4e0e XY-\u5e73\u9762\u7684\u76f8\u4ea4\u4e3a\u4ea4\u70b9 \u7ebf&#xff0c;\u7528\u82f1\u6587\u5b57\u6bcd&#xff08;N&#xff09;\u4ee3\u8868\u3002 zxz \u987a\u89c4\u7684\u6b27\u62c9\u89d2\u53ef\u4ee5\u9759\u6001\u5730\u8fd9\u6837\u5b9a\u4e49&#xff1a; \u03b1 \u662f x-\u8f74\u4e0e\u4ea4\u70b9\u7ebf\u7684\u5939\u89d2&#xff0c;\u03b2 \u662f z-\u8f74\u4e0e Z-\u8f74\u7684\u5939\u89d2&#xff0c;\u03b3 \u662f\u4ea4\u70b9\u7ebf\u4e0e X-\u8f74\u7684\u5939\u89d2\u3002<\/p>\n<h4>3.1.2 \u56db\u5143\u6570<\/h4>\n<p>\u56db\u5143\u6570\u662f\u590d\u6570\u7684\u4e0d\u53ef\u4ea4\u6362\u5ef6\u4f38\u3002\u5982\u628a\u56db\u5143\u6570\u7684\u96c6\u5408\u8003\u8651\u6210\u591a\u7ef4\u5b9e\u6570\u7a7a\u95f4\u7684\u8bdd&#xff0c;\u56db\u5143\u6570\u5c31\u4ee3\u8868\u7740\u4e00\u4e2a\u56db\u7ef4\u7a7a\u95f4&#xff0c;\u76f8\u5bf9\u4e8e\u590d\u6570\u4e3a\u4e8c\u7ef4\u7a7a\u95f4\u3002 \u56db\u5143\u6570\u7684\u8ba1\u7b97&#xff0c;\u56db\u5143\u6570\u53ef\u4ee5\u7406\u89e3\u4e3a\u4e00\u4e2a\u5b9e\u6570\u548c\u4e00\u4e2a\u5411\u91cf\u7684\u7ec4\u5408&#xff0c;\u4e5f\u53ef\u4ee5\u7406\u89e3\u4e3a\u56db\u7ef4\u7684\u5411\u91cf\u3002 <img decoding=\"async\" src=\"2025-06-11qhz4toommhm.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u5176\u4e2d\u7684q\u4e3a\u4e00\u4e2a\u56db\u5143\u6570&#xff0c;\u5176\u6a21\u7684\u957f\u5ea6\u4e3a&#xff1a; <img decoding=\"async\" src=\"2025-06-11mk00wi4mllj.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u5bf9\u56db\u5143\u6570\u8fdb\u884c\u5355\u4f4d\u5316&#xff0c;\u4e0e\u7ebf\u6027\u4ee3\u6570\u4e2d\u7684\u5355\u4f4d\u8bdd\u76f8\u4f3c&#xff0c;\u53ef\u5f97\u5230&#xff1a; <img decoding=\"async\" src=\"2025-06-11a1lcj2appmw.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u518d\u7531\u521b\u9020\u51fa\u6765\u4e00\u4e2a\u53d8\u91cfq\u5173\u4e8e\u65cb\u8f6c\u89d2\u5f97\u5230\u7684\u4e00\u4e2a\u53d8\u91cf&#xff0c;\u5373\u53ef\u8868\u793a\u4e3a&#xff1a; <img decoding=\"async\" src=\"2025-06-11bnh45g3s4rl.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u7531\u4e8e\u201c\u56db\u5143\u6570\u8868\u793a\u201d\u8f6c\u201c\u6b27\u62c9\u89d2\u8868\u793a\u201d\u3002&#xff08;\u8fd9\u4e2a\u5730\u65b9\u8df3\u8fc7\u4e86\u590d\u6742\u7684\u6362\u7b97\u6b65\u9aa4&#xff0c;\u6211\u4e5f\u4e0d\u592a\u7406\u89e3&#xff09; <img decoding=\"async\" src=\"2025-06-111duyk11bhrh.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h4>3.1.3 PID\u63a7\u5236<\/h4>\n<p>\u5f53\u4eca\u7684\u95ed\u73af\u81ea\u52a8\u63a7\u5236\u6280\u672f\u90fd\u662f\u57fa\u4e8e\u53cd\u9988\u7684\u6982\u5ff5\u4ee5\u51cf\u5c11\u4e0d\u786e\u5b9a\u6027\u3002\u53cd\u9988\u7406\u8bba\u7684\u8981\u7d20\u5305\u62ec\u4e09\u4e2a\u90e8\u5206&#xff1a;\u6d4b\u91cf\u3001\u6bd4\u8f83\u548c\u6267\u884c\u3002\u6d4b\u91cf\u5173\u952e\u7684\u662f\u88ab\u63a7\u53d8\u91cf\u7684\u5b9e\u9645\u503c&#xff0c;\u4e0e\u671f\u671b\u503c\u76f8\u6bd4\u8f83&#xff0c;\u7528\u8fd9\u4e2a\u504f\u5dee\u6765\u7ea0\u6b63\u7cfb\u7edf\u7684\u54cd\u5e94&#xff0c;\u6267\u884c\u8c03\u8282\u63a7\u5236\u3002\u5728\u5de5\u7a0b\u5b9e\u9645\u4e2d&#xff0c;\u5e94\u7528\u6700\u4e3a\u5e7f\u6cdb\u7684\u8c03\u8282\u5668\u63a7\u5236\u89c4\u5f8b\u4e3a\u6bd4\u4f8b\u3001\u79ef\u5206\u3001\u5fae\u5206\u63a7\u5236&#xff0c;\u7b80\u79f0 PID \u63a7\u5236&#xff0c;\u53c8\u79f0 PID \u8c03\u8282\u3002 PID \u63a7\u5236\u5668&#xff08;\u6bd4\u4f8b-\u79ef\u5206-\u5fae\u5206\u63a7\u5236\u5668&#xff09;\u662f\u4e00\u4e2a\u5728\u5de5\u4e1a\u63a7\u5236\u5e94\u7528\u4e2d\u5e38\u89c1\u7684\u53cd\u9988\u56de\u8def\u90e8\u4ef6&#xff0c;\u7531\u6bd4\u4f8b\u5355\u5143 P\u3001\u79ef\u5206\u5355\u5143 I \u548c\u5fae\u5206\u5355\u5143 D \u7ec4\u6210\u3002PID \u63a7\u5236\u7684\u57fa\u7840\u662f\u6bd4\u4f8b\u63a7\u5236&#xff1b;\u79ef\u5206\u63a7\u5236\u53ef\u6d88\u9664\u7a33\u6001\u8bef\u5dee&#xff0c;\u4f46\u53ef\u80fd\u589e\u52a0\u8d85\u8c03&#xff1b;\u5fae\u5206\u63a7\u5236\u53ef\u52a0\u5feb\u5927\u60ef\u6027\u7cfb\u7edf\u54cd\u5e94\u901f\u5ea6\u4ee5\u53ca\u51cf\u5f31\u8d85\u8c03\u8d8b\u52bf\u3002\u5982\u4e0b\u56fe\u6240\u793a&#xff1a; <img decoding=\"async\" src=\"2025-06-112zjukzh0501.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>3.2 \u98de\u63a7\u8f6f\u4ef6\u6846\u67b6\u8bbe\u8ba1<\/h3>\n<p>\u4e3b\u8981\u7a0b\u5e8f\u8bbe\u8ba1\u6846\u56fe\u53c2\u8003\u4e86Minfly\u7684\u8bbe\u8ba1\u6846\u56fe&#xff1a; <img decoding=\"async\" src=\"2025-06-11namlpjaqc2i.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u4e3b\u8981\u4efb\u52a1\u5173\u7cfb\u5982\u4e0b&#xff1a; <img decoding=\"async\" src=\"2025-06-11vez3yvrqbwb.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u8bf4\u660e&#xff1a;\u6b64\u5904\u4e0d\u5305\u542bAPP\u8bbe\u8ba1\u3002 radiolinkTask&#xff1a;\u65e0\u7ebf\u901a\u4fe1\u4efb\u52a1\u3002\u8be5\u4efb\u52a1\u4e3b\u8981\u8d1f\u8d23\u63a5\u6536\u4ece NRF51822 \u53d1\u9001&#xff08;\u4e32\u53e3\u65b9\u5f0f&#xff09;\u8fc7\u6765\u7684\u6570\u636e&#xff0c;\u7136\u540e\u5bf9\u6570\u636e\u8fdb\u884c\u6253\u5305\u548c\u6821\u9a8c&#xff0c;\u6253\u5305\u6210 ATKP \u683c\u5f0f\u5e76\u6821\u9a8c\u65e0\u8bef\u540e\u53d1\u9001\u5230atkpRxAnlTask \u7684\u63a5\u6536\u961f\u5217\u91cc&#xff0c;\u540c\u65f6\u56de\u4f20\u4e00\u5e27\u6570\u636e\u7ed9 NRF51822\u3002<\/p>\n<p>usblinkRxTask&#xff1a;USB \u901a\u4fe1\u63a5\u6536\u4efb\u52a1\u3002\u8be5\u4efb\u52a1\u4e3b\u8981\u8d1f\u8d23\u63a5\u6536\u4e0a\u4f4d\u673a\u53d1\u4e0b\u6765&#xff08;USB \u865a\u62df\u4e32\u53e3\u65b9\u5f0f&#xff09;\u7684\u6570\u636e&#xff0c;\u7136\u540e\u5bf9\u6570\u636e\u8fdb\u884c\u6253\u5305\u548c\u6821\u9a8c&#xff0c;\u6253\u5305\u6210 ATKP \u683c\u5f0f\u5e76\u6821\u9a8c\u65e0\u8bef\u540e\u53d1\u9001\u5230atkpRxAnlTask \u7684\u63a5\u6536\u961f\u5217\u91cc\u3002<\/p>\n<p>atkpRxAnlTask&#xff1a;ATKP \u6570\u636e\u5305\u63a5\u6536\u5904\u7406\u4efb\u52a1\u3002\u8be5\u4efb\u52a1\u4e3b\u8981\u662f\u5904\u7406\u9065\u63a7\u5668\u548c\u4e0a\u4f4d\u673a\u53d1\u4e0b\u6765\u7684\u6570\u636e\u5305&#xff0c;\u89e3\u6790\u5230\u7684\u63a7\u5236\u6307\u4ee4\u5219\u53d1\u9001\u5230 stabilizerTask \u4e2d\u53bb\u3002 stabilizerTask&#xff1a;\u56db\u8f74\u5e73\u8861\u63a7\u5236\u4efb\u52a1\u3002\u8be5\u4efb\u52a1\u8fd0\u884c\u7684\u5185\u5bb9\u6bd4\u8f83\u591a&#xff0c;\u4e5f\u662f\u6bd4\u8f83\u5173\u952e\u7684\u5185\u5bb9\u3002\u5305\u62ec\u4f20\u611f\u5668\u6570\u636e\u8bfb\u53d6&#xff0c;\u6570\u636e\u878d\u5408&#xff0c;\u83b7\u53d6\u63a7\u5236\u6570\u636e&#xff0c;\u7a7a\u7ffb\u68c0\u6d4b&#xff0c;\u5f02\u5e38\u68c0\u6d4b&#xff0c;PID \u63a7\u5236&#xff0c;PWM\u8f93\u51fa\u63a7\u5236\u7b49\u3002<\/p>\n<p>wifilinkTask&#xff1a;\u624b\u673a\u63a7\u5236\u4efb\u52a1\u3002\u8be5\u4efb\u52a1\u4e3b\u8981\u662f\u63a5\u6536 WiFi \u6444\u50cf\u5934\u6a21\u5757\u7684\u4e32\u53e3\u6570\u636e&#xff0c;\u7136\u540e\u6309\u7167 WiFi \u6444\u50cf\u5934\u6a21\u5757\u901a\u8baf\u534f\u8bae\u89e3\u6790\u6210\u5bf9\u5e94\u7684\u63a7\u5236\u6307\u4ee4&#xff0c;\u5e76\u5c06\u63a7\u5236\u6307\u4ee4\u53d1\u9001\u5230 stabilizerTask\u3002<\/p>\n<p>atkpTxTask&#xff1a;ATKP \u6570\u636e\u5305\u53d1\u9001\u4efb\u52a1\u3002\u8be5\u4efb\u52a1\u4e3b\u8981\u662f\u83b7\u53d6 stabilizerTask \u4e2d\u7684\u4f20\u611f\u5668\u6570\u636e\u3001\u59ff\u6001\u6570\u636e\u3001\u7535\u673a PWM \u8f93\u51fa\u6570\u636e\u7b49\u6570\u636e\u4ee5\u5b9a\u5468\u671f\u53d1\u9001\u7ed9 radiolinkTask \u548c usblinkTxTask&#xff0c;\u7531\u8fd9\u4e24\u4e2a\u4efb\u52a1\u5206\u522b\u53d1\u9001\u98de\u9065\u63a7\u5668\u548c\u4e0a\u4f4d\u673a\u3002<\/p>\n<p>usblinkRxTask&#xff1a;USB \u901a\u4fe1\u53d1\u9001\u4efb\u52a1\u3002\u8be5\u4efb\u52a1\u4e3b\u8981\u8d1f\u8d23\u53d1\u9001atkpTxTask \u53d1\u9001\u8fc7\u6765\u7684\u6570\u636e\u5305&#xff0c;\u8fd9\u4e9b\u6570\u636e\u5305\u4e3b\u8981\u662f\u4f20\u611f\u5668\u6570\u636e\u3001\u59ff\u6001\u6570\u636e\u7b49\u3002<\/p>\n<h3>3.3 \u98de\u63a7\u8f6f\u4ef6\u5f00\u53d1<\/h3>\n<h4>3.3.1 \u59ff\u6001\u89e3\u7b97\u4e0ePID\u7b97\u6cd5<\/h4>\n<p>\u7b97\u6cd5\u6d41\u7a0b\u56fe\u5982\u4e0b&#xff1a; <img decoding=\"async\" src=\"2025-06-11u3pzblnfcji.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u5173\u4e8e\u59ff\u6001\u89e3\u7b97&#xff0c;\u91c7\u7528\u4e92\u8865\u6ee4\u6ce2\u7b97\u6cd5\u8fdb\u884c\u59ff\u6001\u89e3\u7b97&#xff0c;\u66f4\u65b0\u5468\u671f 500Hz\u3002MCU \u901a\u8fc7IIC(\u6a21\u62df IIC)\u8bfb\u53d6\u52a0\u901f\u8ba1\u548c\u9640\u87ba\u4eea\u6570\u636e\u5bc4\u5b58\u5668&#xff0c;\u7136\u540e\u5bf9\u52a0\u901f\u8ba1\u6570\u636e IIR \u4f4e\u901a\u6ee4\u6ce2&#xff0c;\u5bf9\u9640\u87ba\u4eea\u6570\u636e\u52a0\u504f\u7f6e\u8c03\u6574&#xff0c;\u7136\u540e\u5bf9\u52a0\u8ba1\u6570\u636e\u548c\u9640\u87ba\u6570\u636e\u8fdb\u884c\u878d\u5408&#xff0c;\u8f93\u51fa\u59ff\u6001\u6570\u636e&#xff08;roll\/pitch\/yaw&#xff09;\u3002 \u89d2\u5ea6\u73af PID \u63a7\u5236\u5668&#xff0c;\u66f4\u65b0\u5468\u671f 500Hz&#xff0c;Z \u8f74\u9ad8\u5ea6 PID \u63a7\u5236\u5668&#xff0c;\u66f4\u65b0\u5468\u671f 250Hz\u3002\u5f97\u5230\u5b9e\u9645\u6cb9\u95e8\u503c\u548c\u59ff\u6001\u63a7\u5236\u91cf\u6570\u636e&#xff0c;\u6211\u4eec\u5c31\u53ef\u4ee5\u628a\u6cb9\u95e8\u503c\u548c\u59ff\u6001\u63a7\u5236\u91cf\u6570\u636e\u6574\u5408&#xff0c;\u6574\u5408\u5468\u671f 1000Hz&#xff0c;\u7136\u540e\u901a\u8fc7\u63a7\u5236 PWM \u63a7\u5236\u7535\u673a&#xff0c;\u4ece\u800c\u63a7\u5236\u56db\u8f74\u3002 \u76ee\u524d\u5e38\u89c1\u7684\u98de\u63a7\u7cfb\u7edf\u4e2d\u53ea\u4f7f\u7528\u4e00\u4e2a\u59ff\u6001\u4f20\u611f\u5668\u82af\u7247&#xff0c;\u8fd9\u4e2a\u82af\u7247\u96c6\u6210\u4e86\u52a0\u901f\u5ea6\u8ba1\u3001\u9640\u87ba\u4eea\u4ee5\u53ca\u78c1\u4f20\u611f\u5668\u3002MPU6050\u7b97\u6cd5\u4e3b\u8981\u4ee3\u7801\u5982\u4e0b&#xff1a;<\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;mpu6050.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;iic.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;systick.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;acc_cal.h&#034;<\/span><\/span><\/p>\n<p>S16_XYZ accRaw <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span>                  <span class=\"token comment\">\/\/\u52a0\u901f\u5ea6\u8ba1\u539f\u59cb\u6570\u636e<\/span><br \/>\nS16_XYZ gyroRaw <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span>                 <span class=\"token comment\">\/\/\u9640\u87ba\u4eea\u539f\u59cb\u6570\u636e<\/span><br \/>\nSI_F_XYZ accButterworthData <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u52a0\u901f\u5ea6\u8ba1\u5df4\u7279\u6c83\u65af\u4f4e\u901a\u6ee4\u6ce2\u540e\u7684\u6570\u636e<\/span><br \/>\nSI_F_XYZ gyroButterworthData <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u9640\u87ba\u4eea\u5df4\u7279\u6c83\u65af\u4f4e\u901a\u6ee4\u6ce2\u540e\u7684\u6570\u636e<\/span><\/p>\n<p>SI_F_XYZ acc_att_lpf <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\nSI_F_XYZ acc_fix_lpf <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>SI_F_XYZ acc_1_lpf <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\nSI_F_XYZ acc_butter_lpf <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>SI_F_XYZ gyro_lpf <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\nSI_F_XYZ gyro_offset <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u9640\u87ba\u4eea\u96f6\u504f\u6570\u636e<\/span><\/p>\n<p>_Mpu6050_data Mpu <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/mpu\u521d\u59cb\u5316<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">mpu6050_init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token function\">IIC_Write_One_Byte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xD0<\/span><span class=\"token punctuation\">,<\/span>PWR_MGMT_1<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x80<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">delay_ms<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">100<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">IIC_Write_One_Byte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xD0<\/span><span class=\"token punctuation\">,<\/span>PWR_MGMT_1<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u5524\u9192mpu<\/span><\/p>\n<p>    <span class=\"token comment\">\/* when DLPF is disabled( DLPF_CFG&#061;0 or 7),\u9640\u87ba\u4eea\u8f93\u51fa\u9891\u7387 &#061; 8kHz;<br \/>\n       when DLPFis enabled,\u9640\u87ba\u4eea\u8f93\u51fa\u9891\u7387 &#061; 1KHz<br \/>\n       fs(\u91c7\u6837\u9891\u7387) &#061; \u9640\u87ba\u4eea\u8f93\u51fa\u9891\u7387 \/ (1 &#043; SMPLRT_DIV)*\/<\/span><\/p>\n<p><span class=\"token function\">IIC_Write_One_Byte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xD0<\/span><span class=\"token punctuation\">,<\/span>SMPLRT_DIV<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/sample rate.  Fsample&#061; 1Khz\/(&lt;this value&gt;&#043;1) &#061; 1000Hz<\/span><br \/>\n<span class=\"token function\">IIC_Write_One_Byte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xD0<\/span><span class=\"token punctuation\">,<\/span>MPU_CONFIG<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x03<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>              <span class=\"token comment\">\/\/\u5185\u90e8\u4f4e\u901a  acc:44hzgyro:42hz<\/span><br \/>\n<span class=\"token function\">IIC_Write_One_Byte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xD0<\/span><span class=\"token punctuation\">,<\/span>GYRO_CONFIG<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x18<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>    <span class=\"token comment\">\/\/ gyro scale  &#xff1a;&#043;-2000deg\/s<\/span><br \/>\n<span class=\"token function\">IIC_Write_One_Byte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xD0<\/span><span class=\"token punctuation\">,<\/span>ACCEL_CONFIG<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/ Accel scale &#xff1a;&#043;-8g (65536\/16&#061;4096 LSB\/g)       <\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/\u4e24\u5b57\u8282\u6570\u636e\u5408\u6210<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">int<\/span> <span class=\"token function\">GetData<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">unsigned<\/span> <span class=\"token keyword\">char<\/span> REG_Address<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token keyword\">unsigned<\/span> <span class=\"token keyword\">char<\/span> H<span class=\"token punctuation\">,<\/span>L<span class=\"token punctuation\">;<\/span><br \/>\nH <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">IIC_Read_One_Byte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xD0<\/span><span class=\"token punctuation\">,<\/span>REG_Address<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nL <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">IIC_Read_One_Byte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xD0<\/span><span class=\"token punctuation\">,<\/span>REG_Address<span class=\"token operator\">&#043;<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">return<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span>H<span class=\"token operator\">&lt;&lt;<\/span><span class=\"token number\">8<\/span><span class=\"token punctuation\">)<\/span><span class=\"token operator\">&#043;<\/span>L<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/get id<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> <span class=\"token function\">get_mpu_id<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    u8 mpu_id<span class=\"token punctuation\">;<\/span><br \/>\n    mpu_id <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">IIC_Read_One_Byte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xD0<\/span><span class=\"token punctuation\">,<\/span>WHO_AM_I<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> mpu_id<\/p>\n<p><span class=\"token comment\">\/\/\u8bfb\u53d6\u9640\u87ba\u4eea\u4e09\u8f74\u6570\u636e\u91cf<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">GetGyroRaw<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    gyroRaw<span class=\"token punctuation\">.<\/span>x <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">GetData<\/span><span class=\"token punctuation\">(<\/span>GYRO_XOUT_H<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#8211;<\/span> gyro_offset<span class=\"token punctuation\">.<\/span>x<span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u539f\u59cb\u6570\u636e<\/span><br \/>\n    gyroRaw<span class=\"token punctuation\">.<\/span>y <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">GetData<\/span><span class=\"token punctuation\">(<\/span>GYRO_YOUT_H<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#8211;<\/span> gyro_offset<span class=\"token punctuation\">.<\/span>y<span class=\"token punctuation\">;<\/span><br \/>\n    gyroRaw<span class=\"token punctuation\">.<\/span>z <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">GetData<\/span><span class=\"token punctuation\">(<\/span>GYRO_ZOUT_H<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#8211;<\/span> gyro_offset<span class=\"token punctuation\">.<\/span>z<span class=\"token punctuation\">;<\/span>        <\/p>\n<p>    gyroButterworthData<span class=\"token punctuation\">.<\/span>x <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token function\">butterworth_lpf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span>gyroRaw<span class=\"token punctuation\">.<\/span>x<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span><span class=\"token operator\">&amp;<\/span>gyroButterData<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span><span class=\"token operator\">&amp;<\/span>gyro_30hz_parameter<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u5df4\u7279\u6c83\u65af\u4f4e\u901a\u6ee4\u6ce2\u540e\u7684\u6570\u636e<\/span><br \/>\n    gyroButterworthData<span class=\"token punctuation\">.<\/span>y <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token function\">butterworth_lpf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span>gyroRaw<span class=\"token punctuation\">.<\/span>y<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span><span class=\"token operator\">&amp;<\/span>gyroButterData<span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span><span class=\"token operator\">&amp;<\/span>gyro_30hz_parameter<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    gyroButterworthData<span class=\"token punctuation\">.<\/span>z <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token function\">butterworth_lpf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span>gyroRaw<span class=\"token punctuation\">.<\/span>z<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span><span class=\"token operator\">&amp;<\/span>gyroButterData<span class=\"token punctuation\">[<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span><span class=\"token operator\">&amp;<\/span>gyro_30hz_parameter<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/\u6c42\u53d6IIR\u6ee4\u6ce2\u56e0\u5b50<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">get_iir_factor<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span> <span class=\"token operator\">*<\/span>out_factor<span class=\"token punctuation\">,<\/span><span class=\"token keyword\">float<\/span> Time<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> Cut_Off<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token operator\">*<\/span>out_factor <span class=\"token operator\">&#061;<\/span> Time <span class=\"token operator\">\/<\/span><span class=\"token punctuation\">(<\/span> Time <span class=\"token operator\">&#043;<\/span> <span class=\"token number\">1<\/span><span class=\"token operator\">\/<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">2.0f<\/span> <span class=\"token operator\">*<\/span> PI <span class=\"token operator\">*<\/span> Cut_Off<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/\u52a0\u901f\u5ea6IIR\u4f4e\u901a\u6ee4\u6ce2<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">acc_iir_lpf<\/span><span class=\"token punctuation\">(<\/span>SI_F_XYZ <span class=\"token operator\">*<\/span>acc_in<span class=\"token punctuation\">,<\/span>SI_F_XYZ <span class=\"token operator\">*<\/span>acc_out<span class=\"token punctuation\">,<\/span><span class=\"token keyword\">float<\/span> lpf_factor<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nacc_out<span class=\"token operator\">-&gt;<\/span>x <span class=\"token operator\">&#061;<\/span> acc_out<span class=\"token operator\">-&gt;<\/span>x <span class=\"token operator\">&#043;<\/span> lpf_factor<span class=\"token operator\">*<\/span><span class=\"token punctuation\">(<\/span>acc_in<span class=\"token operator\">-&gt;<\/span>x <span class=\"token operator\">&#8211;<\/span> acc_out<span class=\"token operator\">-&gt;<\/span>x<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nacc_out<span class=\"token operator\">-&gt;<\/span>y <span class=\"token operator\">&#061;<\/span> acc_out<span class=\"token operator\">-&gt;<\/span>y <span class=\"token operator\">&#043;<\/span> lpf_factor<span class=\"token operator\">*<\/span><span class=\"token punctuation\">(<\/span>acc_in<span class=\"token operator\">-&gt;<\/span>y <span class=\"token operator\">&#8211;<\/span> acc_out<span class=\"token operator\">-&gt;<\/span>y<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nacc_out<span class=\"token operator\">-&gt;<\/span>z <span class=\"token operator\">&#061;<\/span> acc_out<span class=\"token operator\">-&gt;<\/span>z <span class=\"token operator\">&#043;<\/span> lpf_factor<span class=\"token operator\">*<\/span><span class=\"token punctuation\">(<\/span>acc_in<span class=\"token operator\">-&gt;<\/span>z <span class=\"token operator\">&#8211;<\/span> acc_out<span class=\"token operator\">-&gt;<\/span>z<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/\u52a0\u901f\u5ea6\u8ba1\u6ee4\u6ce2\u53c2\u6570  <\/span><br \/>\n_Butterworth_parameter acc_5hz_parameter <span class=\"token operator\">&#061;<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span>                  <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1.778631777825<\/span><span class=\"token punctuation\">,<\/span>    <span class=\"token number\">0.8008026466657<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token number\">0.005542717210281<\/span><span class=\"token punctuation\">,<\/span>   <span class=\"token number\">0.01108543442056<\/span><span class=\"token punctuation\">,<\/span>  <span class=\"token number\">0.005542717210281<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span> <\/p>\n<p>_Butterworth_data   acc_butter_data<span class=\"token punctuation\">[<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/\u52a0\u901f\u5ea6\u8ba1\u5df4\u7279\u6c83\u65af\u4f4e\u901a<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">acc_butterworth_lpf<\/span><span class=\"token punctuation\">(<\/span>SI_F_XYZ <span class=\"token operator\">*<\/span>accIn<span class=\"token punctuation\">,<\/span>SI_F_XYZ <span class=\"token operator\">*<\/span>accOut<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    accOut<span class=\"token operator\">-&gt;<\/span>x <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">butterworth_lpf<\/span><span class=\"token punctuation\">(<\/span>accIn<span class=\"token operator\">-&gt;<\/span>x<span class=\"token punctuation\">,<\/span><span class=\"token operator\">&amp;<\/span>acc_butter_data<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span><span class=\"token operator\">&amp;<\/span>acc_5hz_parameter<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    accOut<span class=\"token operator\">-&gt;<\/span>y <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">butterworth_lpf<\/span><span class=\"token punctuation\">(<\/span>accIn<span class=\"token operator\">-&gt;<\/span>y<span class=\"token punctuation\">,<\/span><span class=\"token operator\">&amp;<\/span>acc_butter_data<span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span><span class=\"token operator\">&amp;<\/span>acc_5hz_parameter<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    accOut<span class=\"token operator\">-&gt;<\/span>z <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">butterworth_lpf<\/span><span class=\"token punctuation\">(<\/span>accIn<span class=\"token operator\">-&gt;<\/span>z<span class=\"token punctuation\">,<\/span><span class=\"token operator\">&amp;<\/span>acc_butter_data<span class=\"token punctuation\">[<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span><span class=\"token operator\">&amp;<\/span>acc_5hz_parameter<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/\u539f\u59cb\u52a0\u901f\u5ea6\u91cf\u8f6c\u4e3a g<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">AccDataTransToG<\/span><span class=\"token punctuation\">(<\/span>SI_F_XYZ <span class=\"token operator\">*<\/span>accIn<span class=\"token punctuation\">,<\/span>SI_F_XYZ <span class=\"token operator\">*<\/span>accOut<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\naccOut<span class=\"token operator\">-&gt;<\/span>x <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>accIn<span class=\"token operator\">-&gt;<\/span>x <span class=\"token operator\">*<\/span> acc_raw_to_g<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\naccOut<span class=\"token operator\">-&gt;<\/span>y <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>accIn<span class=\"token operator\">-&gt;<\/span>y <span class=\"token operator\">*<\/span> acc_raw_to_g<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\naccOut<span class=\"token operator\">-&gt;<\/span>z <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>accIn<span class=\"token operator\">-&gt;<\/span>z <span class=\"token operator\">*<\/span> acc_raw_to_g<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/\u6ee4\u6ce2\u540e\u7684\u6570\u636e\u8f6c\u6210&#xff08;\u5f27\u5ea6\/\u79d2&#xff09;\u5355\u4f4d<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">RadTransform<\/span><span class=\"token punctuation\">(<\/span>SI_F_XYZ <span class=\"token operator\">*<\/span>gyroIn<span class=\"token punctuation\">,<\/span>SI_F_XYZ <span class=\"token operator\">*<\/span>gyroRadOut<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\ngyroRadOut<span class=\"token operator\">-&gt;<\/span>x <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>gyroIn<span class=\"token operator\">-&gt;<\/span>x <span class=\"token operator\">*<\/span> gyro_raw_to_radian_s<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\ngyroRadOut<span class=\"token operator\">-&gt;<\/span>y <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>gyroIn<span class=\"token operator\">-&gt;<\/span>y <span class=\"token operator\">*<\/span> gyro_raw_to_radian_s<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\ngyroRadOut<span class=\"token operator\">-&gt;<\/span>z <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>gyroIn<span class=\"token operator\">-&gt;<\/span>z <span class=\"token operator\">*<\/span> gyro_raw_to_radian_s<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/\u6ee4\u6ce2\u540e\u7684\u6570\u636e\u8f6c\u6210&#xff08;\u5ea6\/\u79d2&#xff09;\u5355\u4f4d<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">DegTransform<\/span><span class=\"token punctuation\">(<\/span>SI_F_XYZ <span class=\"token operator\">*<\/span>gyroIn<span class=\"token punctuation\">,<\/span>SI_F_XYZ <span class=\"token operator\">*<\/span>gyroDegOut<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\ngyroDegOut<span class=\"token operator\">-&gt;<\/span>x <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>gyroIn<span class=\"token operator\">-&gt;<\/span>x <span class=\"token operator\">*<\/span> gyro_raw_to_deg_s<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\ngyroDegOut<span class=\"token operator\">-&gt;<\/span>y <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>gyroIn<span class=\"token operator\">-&gt;<\/span>y <span class=\"token operator\">*<\/span> gyro_raw_to_deg_s<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\ngyroDegOut<span class=\"token operator\">-&gt;<\/span>z <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>gyroIn<span class=\"token operator\">-&gt;<\/span>z <span class=\"token operator\">*<\/span> gyro_raw_to_deg_s<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>3.3.2 \u65e0\u7ebf\u901a\u4fe1\u8f6f\u4ef6\u5f00\u53d1<\/h4>\n<p>\u8fd9\u91cc\u6839\u636e\u4e0a\u9762\u4ecb\u7ecd\u7684\u521d\u59cb\u5316\u7a0b\u5e8f\u7136\u540e\u6839\u636e\u9700\u8981\u53d1\u9001\u7684\u6570\u636e\u5c06\u6570\u636e\u4f20\u9001\u5230\u53d1\u9001\u548c\u63a5\u53d7\u7f13\u51b2\u533a\u8fdb\u884c\u53d1\u9001\u4e0e\u63a5\u53d7\u3002<\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;nrf24l01.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;spi.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;systick.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;led.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;imath.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;pair_freq.h&#034;<\/span><\/span><\/p>\n<p><span class=\"token keyword\">const<\/span> u8 TX_ADDRESS<span class=\"token punctuation\">[<\/span>TX_ADR_WIDTH<span class=\"token punctuation\">]<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token punctuation\">{<\/span><span class=\"token number\">0x1F<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x2E<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x3D<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x4C<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x5B<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">const<\/span> u8 RX_ADDRESS<span class=\"token punctuation\">[<\/span>RX_ADR_WIDTH<span class=\"token punctuation\">]<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token punctuation\">{<\/span><span class=\"token number\">0x1F<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x2E<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x3D<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x4C<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x5B<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">NRF24L01Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nGPIO_InitTypeDef GPIO_InitStructure<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token function\">RCC_APB2PeriphClockCmd<\/span><span class=\"token punctuation\">(<\/span>RCC_APB2Periph_GPIOB<span class=\"token operator\">|<\/span>RCC_APB2Periph_GPIOA<span class=\"token punctuation\">,<\/span> ENABLE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/CE<\/span><br \/>\nGPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Pin <span class=\"token operator\">&#061;<\/span> GPIO_Pin_1<span class=\"token punctuation\">;<\/span><br \/>\nGPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Mode <span class=\"token operator\">&#061;<\/span> GPIO_Mode_Out_PP<span class=\"token punctuation\">;<\/span><br \/>\nGPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Speed <span class=\"token operator\">&#061;<\/span> GPIO_Speed_50MHz<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token comment\">\/\/IRQ<\/span><br \/>\nGPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Pin  <span class=\"token operator\">&#061;<\/span> GPIO_Pin_4<span class=\"token punctuation\">;<\/span><br \/>\nGPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Mode <span class=\"token operator\">&#061;<\/span> GPIO_Mode_IPD<span class=\"token punctuation\">;<\/span><br \/>\nGPIO_InitStructure<span class=\"token punctuation\">.<\/span>GPIO_Speed <span class=\"token operator\">&#061;<\/span> GPIO_Speed_50MHz<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>GPIOA<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStructure<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>NRF_CE_L<span class=\"token punctuation\">;<\/span><br \/>\nSPI_CSN_H<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/\u65e0\u7ebf\u662f\u5426\u5728\u4f4d\u68c0\u6d4b<\/span><br \/>\nu8 <span class=\"token function\">NRF24L01_Check<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nu8 buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">5<\/span><span class=\"token punctuation\">]<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token punctuation\">{<\/span><span class=\"token number\">0X18<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0X18<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0X18<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0X18<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0X18<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\nu8 i<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token function\">SPI_Write_Buf<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>TX_ADDR<span class=\"token punctuation\">,<\/span>buf<span class=\"token punctuation\">,<\/span><span class=\"token number\">5<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">SPI_Read_Buf<\/span><span class=\"token punctuation\">(<\/span>TX_ADDR<span class=\"token punctuation\">,<\/span>buf<span class=\"token punctuation\">,<\/span><span class=\"token number\">5<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">for<\/span><span class=\"token punctuation\">(<\/span>i<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span>i<span class=\"token operator\">&lt;<\/span><span class=\"token number\">5<\/span><span class=\"token punctuation\">;<\/span>i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>buf<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token operator\">!&#061;<\/span><span class=\"token number\">0X18<\/span><span class=\"token punctuation\">)<\/span><br \/>\n            <span class=\"token keyword\">break<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>i<span class=\"token operator\">!&#061;<\/span><span class=\"token number\">5<\/span><span class=\"token punctuation\">)<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span>  <\/p>\n<p><span class=\"token comment\">\/\/\u5411\u5bc4\u5b58\u5668\u5199\u5165\u503c<\/span><br \/>\nu8 <span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>u8 reg<span class=\"token punctuation\">,<\/span>u8 value<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nu8 status<span class=\"token punctuation\">;<\/span><\/p>\n<p>   SPI_CSN_L<span class=\"token punctuation\">;<\/span>        <\/p>\n<p>  status <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">Spi_RW_Byte<\/span><span class=\"token punctuation\">(<\/span>reg<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">Spi_RW_Byte<\/span><span class=\"token punctuation\">(<\/span>value<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <\/p>\n<p>  SPI_CSN_H<span class=\"token punctuation\">;<\/span>    <\/p>\n<p>  <span class=\"token keyword\">return<\/span><span class=\"token punctuation\">(<\/span>status<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/\u8bfb\u53d6\u5bc4\u5b58\u5668\u503c<\/span><br \/>\nu8 <span class=\"token function\">SPI_Read_Reg<\/span><span class=\"token punctuation\">(<\/span>u8 reg<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nu8 reg_val<span class=\"token punctuation\">;<\/span>  <\/p>\n<p> SPI_CSN_L<span class=\"token punctuation\">;<\/span>  <\/p>\n<p>  <span class=\"token function\">Spi_RW_Byte<\/span><span class=\"token punctuation\">(<\/span>reg<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  reg_val <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">Spi_RW_Byte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0XFF<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  SPI_CSN_H<span class=\"token punctuation\">;<\/span>   <\/p>\n<p>  <span class=\"token keyword\">return<\/span><span class=\"token punctuation\">(<\/span>reg_val<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/\u8bfb\u51fa\u5bc4\u5b58\u5668\u4e2d\u8fde\u7eedlen\u4e2a\u5b57\u8282\u957f\u5ea6\u7684\u503c<\/span><br \/>\nu8 <span class=\"token function\">SPI_Read_Buf<\/span><span class=\"token punctuation\">(<\/span>u8 reg<span class=\"token punctuation\">,<\/span>u8 <span class=\"token operator\">*<\/span>pBuf<span class=\"token punctuation\">,<\/span>u8 len<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nu8 status<span class=\"token punctuation\">,<\/span>u8_ctr<span class=\"token punctuation\">;<\/span><\/p>\n<p>  SPI_CSN_L<span class=\"token punctuation\">;<\/span>         <\/p>\n<p>  status <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">Spi_RW_Byte<\/span><span class=\"token punctuation\">(<\/span>reg<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n <span class=\"token keyword\">for<\/span><span class=\"token punctuation\">(<\/span>u8_ctr<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span>u8_ctr<span class=\"token operator\">&lt;<\/span>len<span class=\"token punctuation\">;<\/span>u8_ctr<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n        pBuf<span class=\"token punctuation\">[<\/span>u8_ctr<span class=\"token punctuation\">]<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token function\">Spi_RW_Byte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0XFF<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  SPI_CSN_H<span class=\"token punctuation\">;<\/span> <\/p>\n<p>  <span class=\"token keyword\">return<\/span> status<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/\u5411\u5bc4\u5b58\u5668\u5199\u5165\u8fde\u7eedlen\u4e2a\u5b57\u8282\u7684\u503c<\/span><br \/>\nu8 <span class=\"token function\">SPI_Write_Buf<\/span><span class=\"token punctuation\">(<\/span>u8 reg<span class=\"token punctuation\">,<\/span> u8 <span class=\"token operator\">*<\/span>pBuf<span class=\"token punctuation\">,<\/span> u8 len<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nu8 status<span class=\"token punctuation\">,<\/span>u8_ctr<span class=\"token punctuation\">;<\/span><\/p>\n<p> SPI_CSN_L<span class=\"token punctuation\">;<\/span>    <\/p>\n<p>  status <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">Spi_RW_Byte<\/span><span class=\"token punctuation\">(<\/span>reg<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">for<\/span><span class=\"token punctuation\">(<\/span>u8_ctr<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> u8_ctr<span class=\"token operator\">&lt;<\/span>len<span class=\"token punctuation\">;<\/span> u8_ctr<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token function\">Spi_RW_Byte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">*<\/span>pBuf<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  SPI_CSN_H<span class=\"token punctuation\">;<\/span>   <\/p>\n<p>  <span class=\"token keyword\">return<\/span> status<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/\u63a5\u6536\u6a21\u5f0f   <\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">NRF24L01ReceiveMode<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nNRF_CE_L<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>SETUP_AW<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x03<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u5730\u5740\u5bbd\u5ea6\u4e3a 5bytes<\/span><\/p>\n<p>    <span class=\"token function\">SPI_Write_Buf<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>RX_ADDR_P0<span class=\"token punctuation\">,<\/span><span class=\"token punctuation\">(<\/span>u8<span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>pair<span class=\"token punctuation\">.<\/span>addr<span class=\"token punctuation\">,<\/span>RX_ADR_WIDTH<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u8bbe\u7f6e\u63a5\u6536\u5730\u5740&#xff08;RX&#xff09;<\/span><\/p>\n<p><span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span> NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>FEATURE<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x06<\/span> <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u4f7f\u80fd\u52a8\u6001\u8d1f\u8f7d\u957f\u5ea6\u53caACK\u5e94\u7b54<\/span><br \/>\n<span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>DYNPD<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x01<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/\u4f7f\u80fd\u63a5\u6536\u7ba1\u90530\u52a8\u6001\u8d1f\u8f7d\u957f\u5ea6<\/span><\/p>\n<p>  <span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>EN_AA<span class=\"token punctuation\">,<\/span><span class=\"token number\">0x01<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/\u4f7f\u80fd\u901a\u90530\u7684\u81ea\u52a8\u5e94\u7b54<\/span><br \/>\n  <span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>EN_RXADDR<span class=\"token punctuation\">,<\/span><span class=\"token number\">0x01<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/\u4f7f\u80fd\u901a\u90530\u7684\u63a5\u6536\u5730\u5740<\/span><br \/>\n  <span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>RF_CH<span class=\"token punctuation\">,<\/span>pair<span class=\"token punctuation\">.<\/span>freq_channel<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/\u8bbe\u7f6e\u9891\u70b9&#xff08;RF\u901a\u9053&#xff09;<\/span><br \/>\n<span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>RX_PW_P0<span class=\"token punctuation\">,<\/span>RX_PLOAD_WIDTH<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u8bbe\u7f6e\u63a5\u6536\u6570\u636e\u901a\u90530\u6709\u6548\u6570\u636e\u5bbd\u5ea6\u4e3a11<\/span><br \/>\n  <span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>RF_SETUP<span class=\"token punctuation\">,<\/span><span class=\"token number\">0x07<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u8bbe\u7f6e\u5c04\u9891\u6570\u636e\u7387\u4e3a1MHZ&#xff0c;\u53d1\u5c04\u529f\u7387\u4e3a7dBm<\/span><br \/>\n  <span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>CONFIG<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x0f<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u914d\u7f6e\u57fa\u672c\u5de5\u4f5c\u6a21\u5f0f\u7684\u53c2\u6570;\u5f00\u542fCRC&#xff0c;\u914d\u7f6e\u4e3a\u63a5\u6536\u6a21\u5f0f,\u5f00\u542f\u6240\u6709\u4e2d\u65ad<\/span><\/p>\n<p>  NRF_CE_H<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> <\/p>\n<p><span class=\"token comment\">\/\/\u63a5\u6536\u6570\u636e\u5305<\/span><br \/>\nu8 <span class=\"token function\">NRF24L01_RxPacket<\/span><span class=\"token punctuation\">(<\/span>u8 <span class=\"token operator\">*<\/span>rxbuf<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nu8 sta<span class=\"token punctuation\">;<\/span>    <\/p>\n<p>sta <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">SPI_Read_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_READ_REG<span class=\"token operator\">&#043;<\/span>STATUS<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/\u72b6\u6001\u6807\u5fd7\u4f4d<\/span><br \/>\n<span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>STATUS<span class=\"token punctuation\">,<\/span>sta<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>sta<span class=\"token operator\">&amp;<\/span>RX_OK<span class=\"token punctuation\">)<\/span><span class=\"token comment\">\/\/\u63a5\u6536\u6210\u529f<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token function\">SPI_Read_Buf<\/span><span class=\"token punctuation\">(<\/span>RD_RX_PLOAD<span class=\"token punctuation\">,<\/span>rxbuf<span class=\"token punctuation\">,<\/span>RX_PLOAD_WIDTH<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>FLUSH_RX<span class=\"token punctuation\">,<\/span><span class=\"token number\">0xff<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token keyword\">return<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span>    <\/p>\n<p><span class=\"token comment\">\/\/\u8be5\u51fd\u6570\u521d\u59cb\u5316NRF24L01\u5230TX\u6a21\u5f0f<\/span><br \/>\n<span class=\"token comment\">\/\/\u8bbe\u7f6eTX\u5730\u5740,\u5199TX\u6570\u636e\u5bbd\u5ea6,\u8bbe\u7f6eRX\u81ea\u52a8\u5e94\u7b54\u7684\u5730\u5740,\u586b\u5145TX\u53d1\u9001\u6570\u636e,\u9009\u62e9RF\u9891\u9053,\u6ce2\u7279\u7387\u548cLNA HCURR<\/span><br \/>\n<span class=\"token comment\">\/\/PWR_UP,CRC\u4f7f\u80fd<\/span><br \/>\n<span class=\"token comment\">\/\/\u5f53CE\u53d8\u9ad8\u540e,\u5373\u8fdb\u5165RX\u6a21\u5f0f,\u5e76\u53ef\u4ee5\u63a5\u6536\u6570\u636e\u4e86   <\/span><br \/>\n<span class=\"token comment\">\/\/CE\u4e3a\u9ad8\u5927\u4e8e10us,\u5219\u542f\u52a8\u53d1\u9001. <\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">NRF24L01_TX_Mode<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nNRF_CE_L<span class=\"token punctuation\">;<\/span> <\/p>\n<p><span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>SETUP_AW<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x03<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u5730\u5740\u5bbd\u5ea6\u4e3a 5bytes<\/span><\/p>\n<p><span class=\"token function\">SPI_Write_Buf<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>TX_ADDR<span class=\"token punctuation\">,<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>pair<span class=\"token punctuation\">.<\/span>addr<span class=\"token punctuation\">,<\/span>TX_ADR_WIDTH<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>    <span class=\"token comment\">\/\/\u5199TX\u8282\u70b9\u5730\u5740 <\/span><br \/>\n<span class=\"token function\">SPI_Write_Buf<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>RX_ADDR_P0<span class=\"token punctuation\">,<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>pair<span class=\"token punctuation\">.<\/span>addr<span class=\"token punctuation\">,<\/span>RX_ADR_WIDTH<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/\u8bbe\u7f6eTX\u8282\u70b9\u5730\u5740,\u4e3b\u8981\u4e3a\u4e86\u63a5\u6536ACK  <\/span><\/p>\n<p><span class=\"token comment\">\/\/NRF24L01_Write_Reg(NRF_WRITE_REG&#043;FEATURE, 0x02 );\/\/\u4f7f\u80fd\u52a8\u6001\u8d1f\u8f7d\u957f\u5ea6\u53ca\u5e26\u8d1f\u8f7d\u7684ACK\u5e94\u7b54<\/span><br \/>\n<span class=\"token comment\">\/\/NRF24L01_Write_Reg(NRF_WRITE_REG&#043;DYNPD, 0x01); \/\/\u4f7f\u80fd\u63a5\u6536\u7ba1\u90530\u52a8\u6001\u8d1f\u8f7d\u957f\u5ea6<\/span><\/p>\n<p><span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>EN_AA<span class=\"token punctuation\">,<\/span><span class=\"token number\">0x01<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>               <span class=\"token comment\">\/\/\u4f7f\u80fd\u901a\u90530\u7684\u81ea\u52a8\u5e94\u7b54    <\/span><br \/>\n<span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>EN_RXADDR<span class=\"token punctuation\">,<\/span><span class=\"token number\">0x01<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>           <span class=\"token comment\">\/\/\u4f7f\u80fd\u901a\u90530\u7684\u63a5\u6536\u5730\u5740  <\/span><br \/>\n<span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>RF_CH<span class=\"token punctuation\">,<\/span>pair<span class=\"token punctuation\">.<\/span>freq_channel<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/\u8bbe\u7f6eRF\u901a\u9053<\/span><br \/>\n<span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>SETUP_RETR<span class=\"token punctuation\">,<\/span><span class=\"token number\">0x1a<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/\/\u8bbe\u7f6e\u81ea\u52a8\u91cd\u53d1\u95f4\u9694\u65f6\u95f4:500us;\u6700\u5927\u81ea\u52a8\u91cd\u53d1\u6b21\u6570:10\u6b21<\/span><br \/>\n<span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>RF_SETUP<span class=\"token punctuation\">,<\/span><span class=\"token number\">0x07<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u8bbe\u7f6e\u5c04\u9891\u6570\u636e\u7387\u4e3a1MHZ&#xff0c;\u53d1\u5c04\u529f\u7387\u4e3a7dBm<\/span><br \/>\n<span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>CONFIG<span class=\"token punctuation\">,<\/span><span class=\"token number\">0x0e<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>              <span class=\"token comment\">\/\/\u914d\u7f6e\u57fa\u672c\u5de5\u4f5c\u6a21\u5f0f\u7684\u53c2\u6570;\u5f00\u542fCRC&#xff0c;\u914d\u7f6e\u4e3a\u53d1\u5c04\u6a21\u5f0f,\u5f00\u542f\u6240\u6709\u4e2d\u65ad<\/span><\/p>\n<p>NRF_CE_H<span class=\"token punctuation\">;<\/span>                                          <span class=\"token comment\">\/\/CE\u4e3a\u9ad8,10us\u540e\u542f\u52a8\u53d1\u9001<\/span><br \/>\n<span class=\"token punctuation\">}<\/span>  <\/p>\n<p><span class=\"token comment\">\/\/\u542f\u52a8NRF24L01\u53d1\u9001\u4e00\u6b21\u6570\u636e<\/span><br \/>\n<span class=\"token comment\">\/\/sendBuff:\u5f85\u53d1\u9001\u6570\u636e\u9996\u5730\u5740<\/span><br \/>\n<span class=\"token comment\">\/\/\u8fd4\u56de\u503c:\u53d1\u9001\u5b8c\u6210\u72b6\u51b5<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> <span class=\"token function\">NRF24L01_TxPacket<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>sendBuff<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token class-name\">uint8_t<\/span> state<span class=\"token punctuation\">;<\/span><br \/>\nNRF_CE_L<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/NRF24L01_Write_Buf(SPI_WRITE_REG&#043;RX_ADDR_P0,(uint8_t*)pair.addr,RX_ADR_WIDTH);<\/span><br \/>\n<span class=\"token function\">SPI_Write_Buf<\/span><span class=\"token punctuation\">(<\/span>WR_TX_PLOAD<span class=\"token punctuation\">,<\/span>sendBuff<span class=\"token punctuation\">,<\/span>TX_PLOAD_WIDTH<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p> NRF_CE_H<span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u542f\u52a8\u53d1\u9001<\/span><\/p>\n<p><span class=\"token keyword\">while<\/span><span class=\"token punctuation\">(<\/span>NRF_IRQ<span class=\"token operator\">!&#061;<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u7b49\u5f85\u53d1\u9001\u5b8c\u6210<\/span><\/p>\n<p>state<span class=\"token operator\">&#061;<\/span><span class=\"token function\">SPI_Read_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>STATUS<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u8bfb\u53d6\u72b6\u6001\u5bc4\u5b58\u5668\u7684\u503c   <\/span><br \/>\n<span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>NRF_WRITE_REG<span class=\"token operator\">&#043;<\/span>STATUS<span class=\"token punctuation\">,<\/span>state<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u6e05\u9664TX_DS\u6216MAX_RT\u4e2d\u65ad\u6807\u5fd7<\/span><\/p>\n<p><span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>state<span class=\"token operator\">&amp;<\/span>MAX_TX<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">{<\/span><span class=\"token comment\">\/\/\u8fbe\u5230\u6700\u5927\u91cd\u53d1\u6b21\u6570<\/span><br \/>\n    <span class=\"token function\">SPI_Write_Reg<\/span><span class=\"token punctuation\">(<\/span>FLUSH_TX<span class=\"token punctuation\">,<\/span><span class=\"token number\">0xff<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u6e05\u9664TX FIFO\u5bc4\u5b58\u5668 <\/span><br \/>\n<span class=\"token keyword\">return<\/span> MAX_TX<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>state<span class=\"token operator\">&amp;<\/span>TX_OK<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">{<\/span><span class=\"token comment\">\/\/\u53d1\u9001\u5b8c\u6210<\/span><br \/>\n<span class=\"token keyword\">return<\/span> TX_OK<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token keyword\">return<\/span> <span class=\"token number\">0xff<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/\u5176\u4ed6\u539f\u56e0\u53d1\u9001\u5931\u8d25<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>3.3.3 \u89d2\u5ea6\u73af PID \u548c\u89d2\u901f\u5ea6\u73af PID<\/h4>\n<p>PID \u66f4\u65b0\u51fd\u6570&#xff0c;PID \u91c7\u7528\u7684\u6807\u51c6 PID&#xff0c;\u5176\u6570\u5b66\u516c\u5f0f\u5982\u4e0b&#xff1a; <img decoding=\"async\" src=\"2025-06-11gnvmittqm3v.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u8bf4\u660e&#xff1a;\u5982\u4f55\u5c06\u8be5\u516c\u5f0f\u8fdb\u884c\u8f6c\u6362&#xff0c;\u6211\u662f\u5f97\u5230\u4e86\u8001\u5e08\u7684\u5e2e\u52a9\u4ee5\u53ca\u5e08\u5144\u7684\u6307\u70b9&#xff0c;\u518d\u6b21\u611f\u8c22\u8001\u5e08\u548c\u5e08\u5144\u7684\u5e2e\u52a9&#xff01;&#xff01;&#xff01;\u5177\u4f53\u8f6c\u6362\u5982\u4e0b<\/p>\n<p>\u5c06\u6570\u5b66\u516c\u5f0f\u8f6c\u6362\u4e3a C \u4ee3\u7801&#xff0c;PID \u66f4\u65b0\u51fd\u6570\u662f\u8fd9\u6837\u7684&#xff1a;<\/p>\n<p><span class=\"token keyword\">float<\/span> <span class=\"token function\">pidUpdate<\/span><span class=\"token punctuation\">(<\/span>PidObject<span class=\"token operator\">*<\/span> pid<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token keyword\">float<\/span> error<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token keyword\">float<\/span> output<span class=\"token punctuation\">;<\/span><br \/>\npid<span class=\"token operator\">-&gt;<\/span>error <span class=\"token operator\">&#061;<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\npid<span class=\"token operator\">-&gt;<\/span>integ <span class=\"token operator\">&#043;&#061;<\/span> pid<span class=\"token operator\">-&gt;<\/span>error <span class=\"token operator\">*<\/span> pid<span class=\"token operator\">-&gt;<\/span>dt<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>pid<span class=\"token operator\">-&gt;<\/span>integ <span class=\"token operator\">&gt;<\/span> pid<span class=\"token operator\">-&gt;<\/span>iLimit<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\npid<span class=\"token operator\">-&gt;<\/span>integ <span class=\"token operator\">&#061;<\/span> pid<span class=\"token operator\">-&gt;<\/span>iLimit<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token keyword\">else<\/span> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>pid<span class=\"token operator\">-&gt;<\/span>integ <span class=\"token operator\">&lt;<\/span> pid<span class=\"token operator\">-&gt;<\/span>iLimitLow<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nALIENTEK<br \/>\nMiniFly<br \/>\n<span class=\"token number\">28<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">48<\/span><br \/>\nATK<span class=\"token operator\">&#8211;<\/span>MiniFly \u5f00\u53d1\u6307\u5357<br \/>\npid<span class=\"token operator\">-&gt;<\/span>integ <span class=\"token operator\">&#061;<\/span> pid<span class=\"token operator\">-&gt;<\/span>iLimitLow<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\npid<span class=\"token operator\">-&gt;<\/span>deriv <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>pid<span class=\"token operator\">-&gt;<\/span>error <span class=\"token operator\">&#8211;<\/span> pid<span class=\"token operator\">-&gt;<\/span>prevError<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> pid<span class=\"token operator\">-&gt;<\/span>dt<span class=\"token punctuation\">;<\/span><br \/>\npid<span class=\"token operator\">-&gt;<\/span>outP <span class=\"token operator\">&#061;<\/span> pid<span class=\"token operator\">-&gt;<\/span>kp <span class=\"token operator\">*<\/span> pid<span class=\"token operator\">-&gt;<\/span>error<span class=\"token punctuation\">;<\/span><br \/>\npid<span class=\"token operator\">-&gt;<\/span>outI <span class=\"token operator\">&#061;<\/span> pid<span class=\"token operator\">-&gt;<\/span>ki <span class=\"token operator\">*<\/span> pid<span class=\"token operator\">-&gt;<\/span>integ<span class=\"token punctuation\">;<\/span><br \/>\npid<span class=\"token operator\">-&gt;<\/span>outD <span class=\"token operator\">&#061;<\/span> pid<span class=\"token operator\">-&gt;<\/span>kd <span class=\"token operator\">*<\/span> pid<span class=\"token operator\">-&gt;<\/span>deriv<span class=\"token punctuation\">;<\/span><br \/>\noutput <span class=\"token operator\">&#061;<\/span> pid<span class=\"token operator\">-&gt;<\/span>outP <span class=\"token operator\">&#043;<\/span> pid<span class=\"token operator\">-&gt;<\/span>outI <span class=\"token operator\">&#043;<\/span> pid<span class=\"token operator\">-&gt;<\/span>outD<span class=\"token punctuation\">;<\/span><br \/>\npid<span class=\"token operator\">-&gt;<\/span>prevError <span class=\"token operator\">&#061;<\/span> pid<span class=\"token operator\">-&gt;<\/span>error<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">return<\/span> output<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>PidObject \u4e3a PID \u5bf9\u8c61\u7ed3\u6784\u4f53\u6570\u636e\u7c7b\u578b&#xff0c;\u7b2c\u4e00\u4e2a\u53c2\u6570\u4e3a\u5c06\u88ab\u66f4\u65b0\u7684 PID \u7ed3\u6784\u4f53\u5bf9\u8c61&#xff0c;\u7b2c\u4e8c\u4e2a\u53c2\u6570\u5219\u662f\u504f\u5dee&#xff08;\u671f\u671b\u503c-\u6d4b\u91cf\u503c&#xff09;&#xff0c;\u79ef\u5206\u9879\u4e3a\u504f\u5dee\u5bf9\u65f6\u95f4\u7684\u79ef\u5206&#xff0c;\u5fae\u5206\u9879\u5219\u662f\u504f\u5dee\u5bf9\u65f6\u95f4\u7684\u5fae\u5206&#xff0c;\u7136\u540e\u51fd\u6570\u91cc\u9762\u6709\u4e09\u4e2a\u53c2\u6570 pid-&gt;kp&#xff0c;pid-&gt;ki&#xff0c;pid-&gt;kd \u5206\u522b\u6307\u7684\u662f\u8be5 pid \u5bf9\u8c61\u7684\u6bd4\u4f8b\u9879&#xff0c;\u79ef\u5206\u9879\u548c\u5fae\u5206\u9879\u7cfb\u6570&#xff0c;\u6bcf\u4e2a pid \u5bf9\u8c61\u90fd\u6709\u5c5e\u4e8e\u81ea\u5df1\u7684 PID \u7cfb\u6570&#xff0c;PID \u521d\u59cb\u5316 pid \u5bf9\u8c61\u7684\u65f6\u5019\u4f1a\u8bbe\u5b9a\u4e00\u7ec4\u9ed8\u8ba4\u7684\u7cfb\u6570&#xff0c;\u540c\u65f6\u8fd9\u7ec4\u7cfb\u6570\u662f\u53ef\u4ee5\u8c03\u6574\u7684&#xff0c;\u6211\u4eec\u5e38\u8bf4\u7684 PID \u53c2\u6570\u6574\u5b9a&#xff0c;\u5176\u5b9e\u5c31\u662f\u8c03\u6574\u8fd9\u7ec4\u7cfb\u6570&#xff0c;\u8ba9\u5b83\u6ee1\u8db3\u4f60\u7684\u7cfb\u7edf\u3002 \u5176\u51fd\u6570\u539f\u578b\u5982\u4e0b&#xff1a;<\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">attitudeAnglePID<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">attitude_t<\/span> <span class=\"token operator\">*<\/span>actualAngle<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">attitude_t<\/span> <span class=\"token operator\">*<\/span>desiredAngle<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">attitude_t<\/span> <span class=\"token operator\">*<\/span>outDesiredRate<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><span class=\"token comment\">\/* \u89d2\u5ea6\u73af PID *\/<\/span><br \/>\noutDesiredRate<span class=\"token operator\">-&gt;<\/span>roll <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">pidUpdate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>pidAngleRoll<span class=\"token punctuation\">,<\/span> desiredAngle<span class=\"token operator\">-&gt;<\/span>roll <span class=\"token operator\">&#8211;<\/span> actualAngle<span class=\"token operator\">-&gt;<\/span>roll<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\noutDesiredRate<span class=\"token operator\">-&gt;<\/span>pitch <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">pidUpdate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>pidAnglePitch<span class=\"token punctuation\">,<\/span> desiredAngle<span class=\"token operator\">-&gt;<\/span>pitch <span class=\"token operator\">&#8211;<\/span> actualAngle<span class=\"token operator\">-&gt;<\/span>pitch<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">float<\/span> yawError <span class=\"token operator\">&#061;<\/span> desiredAngle<span class=\"token operator\">-&gt;<\/span>yaw <span class=\"token operator\">&#8211;<\/span> actualAngle<span class=\"token operator\">-&gt;<\/span>yaw <span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>yawError <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">180.0f<\/span><span class=\"token punctuation\">)<\/span><br \/>\nyawError <span class=\"token operator\">-&#061;<\/span> <span class=\"token number\">360.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">else<\/span> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>yawError <span class=\"token operator\">&lt;<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">180.0<\/span><span class=\"token punctuation\">)<\/span><br \/>\nyawError <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token number\">360.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\noutDesiredRate<span class=\"token operator\">-&gt;<\/span>yaw <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">pidUpdate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>pidAngleYaw<span class=\"token punctuation\">,<\/span> yawError<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>attitude_t \u662f\u4e00\u4e2a\u59ff\u6001\u6570\u636e\u7ed3\u6784\u7c7b\u578b&#xff0c;\u51fd\u6570\u53c2\u6570 actualAngle \u662f\u4e00\u4e2a\u7ed3\u6784\u4f53\u6307\u9488&#xff0c;\u6307\u5411\u5b9e\u9645\u89d2\u5ea6\u7ed3\u6784\u4f53\u53d8\u91cf&#xff08;\u6570\u636e\u878d\u5408\u8f93\u51fa\u503c&#xff09;state-&gt;attitude, desiredAngle \u6307\u5411\u671f\u671b\u89d2\u5ea6\u7ed3\u6784\u4f53\u53d8\u91cf&#xff08;\u8bbe\u7f6e\u7684\u89d2\u5ea6&#xff09;attitudeDesired&#xff0c;outDesiredRate \u5219\u662f\u89d2\u5ea6\u73af\u7684\u8f93\u51fa&#xff0c;\u6307\u5411\u671f\u671b\u89d2\u901f\u5ea6\u7ed3\u6784\u4f53\u53d8\u91cf rateDesired\u3002 \u7136\u540e\u662f\u89d2\u901f\u5ea6\u73af PID&#xff0c;\u5176\u51fd\u6570\u539f\u578b\u5982\u4e0b&#xff1a;<\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">attitudeRatePID<\/span><span class=\"token punctuation\">(<\/span>Axis3f <span class=\"token operator\">*<\/span>actualRate<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">attitude_t<\/span> <span class=\"token operator\">*<\/span>desiredRate<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">control_t<\/span> <span class=\"token operator\">*<\/span>output<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><span class=\"token comment\">\/* \u89d2\u901f\u5ea6\u73af PID *\/<\/span><br \/>\noutput<span class=\"token operator\">-&gt;<\/span>roll <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">pidOutLimit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">pidUpdate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>pidRateRoll<span class=\"token punctuation\">,<\/span> desiredRate<span class=\"token operator\">-&gt;<\/span>roll <span class=\"token operator\">&#8211;<\/span> actualRate<span class=\"token operator\">-&gt;<\/span>x<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\noutput<span class=\"token operator\">-&gt;<\/span>pitch <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">pidOutLimit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">pidUpdate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>pidRatePitch<span class=\"token punctuation\">,<\/span> desiredRate<span class=\"token operator\">-&gt;<\/span>pitch <span class=\"token operator\">&#8211;<\/span> actualRate<span class=\"token operator\">-&gt;<\/span>y<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nALIENTEK<br \/>\nMiniFly<br \/>\n<span class=\"token number\">29<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">48<\/span><br \/>\nATK<span class=\"token operator\">&#8211;<\/span>MiniFly \u5f00\u53d1\u6307\u5357<br \/>\noutput<span class=\"token operator\">-&gt;<\/span>yaw <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">pidOutLimit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">pidUpdate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>pidRateYaw<span class=\"token punctuation\">,<\/span> desiredRate<span class=\"token operator\">-&gt;<\/span>yaw <span class=\"token operator\">&#8211;<\/span> actualRate<span class=\"token operator\">-&gt;<\/span>z<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>3.3.4 \u59ff\u6001\u63a7\u5236\u91cf\u548c\u6cb9\u95e8\u503c\u6574\u5408<\/h4>\n<p>\u8bbe\u7f6eX \u6a21\u5f0f\u98de\u884c&#xff0c;\u7535\u673a\u8f6c\u5411\u548c\u59ff\u6001\u89e3\u7b97\u6b63\u65b9\u5411&#xff08;\u7bad\u5934\u6307\u793a\u6b63\u65b9\u5411&#xff09;&#xff1a; <img decoding=\"async\" src=\"2025-06-11lt40qmdzw4h.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> control-&gt;thrust \u4e3a\u6cb9\u95e8\u63a7\u5236\u91cf&#xff0c;\u8fd9\u4e2a\u503c\u589e\u5927\u56db\u8f74\u5347\u9ad8&#xff0c;\u51cf\u5c0f\u5219\u4e0b\u964d\u3002control-&gt;roll&#xff0c;control-&gt;pitch&#xff0c;control-&gt;yaw \u4e3a PID \u8f93\u51fa\u7684\u59ff\u6001\u63a7\u5236\u91cf\u3002\u6cb9\u95e8\u63a7\u5236\u91cf\u548c\u59ff\u6001\u63a7\u5236\u91cf\u6574\u5408\u540e\u63a7\u5236\u7535\u673a&#xff0c;\u6574\u5408\u4ee3\u7801\u5728 power_control.c \u6587\u4ef6\u7684\u51fd\u6570 powerControl ()\u4e2d\u5b9e\u73b0&#xff0c;\u4ee3\u7801\u5982\u4e0b&#xff1a;<\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">powerControl<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">control_t<\/span> <span class=\"token operator\">*<\/span>control<span class=\"token punctuation\">)<\/span> <span class=\"token comment\">\/*\u529f\u7387\u8f93\u51fa\u63a7\u5236*\/<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\ns16 r <span class=\"token operator\">&#061;<\/span> control<span class=\"token operator\">-&gt;<\/span>roll <span class=\"token operator\">\/<\/span> <span class=\"token number\">2.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\ns16 p <span class=\"token operator\">&#061;<\/span> control<span class=\"token operator\">-&gt;<\/span>pitch <span class=\"token operator\">\/<\/span> <span class=\"token number\">2.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\nmotorPWM<span class=\"token punctuation\">.<\/span>m1 <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">limitThrust<\/span><span class=\"token punctuation\">(<\/span>control<span class=\"token operator\">-&gt;<\/span>thrust <span class=\"token operator\">&#8211;<\/span> r <span class=\"token operator\">&#8211;<\/span> p <span class=\"token operator\">&#043;<\/span> control<span class=\"token operator\">-&gt;<\/span>yaw<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nmotorPWM<span class=\"token punctuation\">.<\/span>m2 <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">limitThrust<\/span><span class=\"token punctuation\">(<\/span>control<span class=\"token operator\">-&gt;<\/span>thrust <span class=\"token operator\">&#8211;<\/span> r <span class=\"token operator\">&#043;<\/span> p <span class=\"token operator\">&#8211;<\/span> control<span class=\"token operator\">-&gt;<\/span>yaw<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nALIENTEK<br \/>\nMiniFly<br \/>\n<span class=\"token number\">31<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">48<\/span><br \/>\nATK<span class=\"token operator\">&#8211;<\/span>MiniFly \u5f00\u53d1\u6307\u5357<br \/>\nmotorPWM<span class=\"token punctuation\">.<\/span>m3 <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">limitThrust<\/span><span class=\"token punctuation\">(<\/span>control<span class=\"token operator\">-&gt;<\/span>thrust <span class=\"token operator\">&#043;<\/span> r <span class=\"token operator\">&#043;<\/span> p <span class=\"token operator\">&#043;<\/span> control<span class=\"token operator\">-&gt;<\/span>yaw<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nmotorPWM<span class=\"token punctuation\">.<\/span>m4 <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">limitThrust<\/span><span class=\"token punctuation\">(<\/span>control<span class=\"token operator\">-&gt;<\/span>thrust <span class=\"token operator\">&#043;<\/span> r <span class=\"token operator\">&#8211;<\/span> p <span class=\"token operator\">&#8211;<\/span> control<span class=\"token operator\">-&gt;<\/span>yaw<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>motorSetEnable<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nmotorPWM<span class=\"token operator\">&#061;<\/span>motorPWMSet<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token function\">motorsSetRatio<\/span><span class=\"token punctuation\">(<\/span>MOTOR_M1<span class=\"token punctuation\">,<\/span> motorPWM<span class=\"token punctuation\">.<\/span>m1<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/*\u63a7\u5236\u7535\u673a\u8f93\u51fa\u767e\u5206\u6bd4*\/<\/span><br \/>\n<span class=\"token function\">motorsSetRatio<\/span><span class=\"token punctuation\">(<\/span>MOTOR_M2<span class=\"token punctuation\">,<\/span> motorPWM<span class=\"token punctuation\">.<\/span>m2<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">motorsSetRatio<\/span><span class=\"token punctuation\">(<\/span>MOTOR_M3<span class=\"token punctuation\">,<\/span> motorPWM<span class=\"token punctuation\">.<\/span>m3<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">motorsSetRatio<\/span><span class=\"token punctuation\">(<\/span>MOTOR_M4<span class=\"token punctuation\">,<\/span> motorPWM<span class=\"token punctuation\">.<\/span>m4<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>Roll \u65b9\u5411\u53d7\u5916\u529b\u5411\u5de6\u65cb\u8f6c&#xff08;\u5411\u53f3\u4e3a\u6b63&#xff09;&#xff0c;\u4e3a\u4e86\u6062\u590d\u5e73\u8861&#xff0c;\u5219 M3 \u548c M4 \u540c\u4fa7\u51fa\u529b&#xff0c;M1\u548c M2 \u53cd\u5411\u51fa\u529b&#xff08;m1 \u548c m2 \u7684 Roll \u4e3a-&#xff0c;m3 \u548c m4 \u7684 Roll \u4e3a&#043;&#xff09;; Pitch \u65b9\u5411\u53d7\u5916\u529b\u5411\u540e\u65cb\u8f6c&#xff08;\u5411\u524d\u4e3a\u6b63&#xff09;&#xff0c;\u4e3a\u4e86\u6062\u590d\u5e73\u8861&#xff0c;\u5219 M2 \u548c M3 \u540c\u4fa7\u51fa\u529b&#xff0c;M1\u548c M4 \u53cd\u5411\u51fa\u529b&#xff08;m1 \u548c m4 \u7684 Pitch \u4e3a-&#xff0c;m2 \u548c m3 \u7684 Pitch \u4e3a&#043;&#xff09;; Yaw \u65b9\u5411\u53d7\u5916\u529b\u987a\u65f6\u9488\u65cb\u8f6c&#xff08;\u9006\u65f6\u9488\u4e3a\u6b63&#xff09;&#xff0c;\u4e3a\u4e86\u6062\u590d\u5e73\u8861&#xff0c;\u5219 M1 \u548c M3 \u540c\u4fa7\u51fa\u529b&#xff0c;M2 \u548c M4 \u53cd\u5411\u51fa\u529b&#xff0c;&#xff08;m2 \u548c m4 \u7684 Yaw \u4e3a-&#xff0c;m1 \u548c m3 \u7684 Yaw \u4e3a&#043;&#xff09;; bool \u578b\u53d8\u91cf motorSetEnable\u4e3a true&#xff0c;\u4f7f\u80fd\u624b\u52a8\u8bbe\u7f6e\u7535\u673a\u5360\u7a7a\u6bd4&#xff0c;\u8fd9\u6837\u53ef\u4ee5\u65b9\u4fbf\u5355\u72ec\u8c03\u8bd5\u67d0\u51e0\u4e2a\u7535\u673a&#xff0c;\u9ed8\u8ba4\u4e0d\u4f7f\u80fd\u3002 motorsSetRatio()\u5f53\u7136\u5c31\u662f\u8bbe\u5b9a\u5bf9\u5e94\u7535\u673a\u5b9a\u65f6\u5668\u901a\u9053\u5360\u7a7a\u6bd4\u7684\u51fd\u6570\u4e86&#xff0c;\u8bbe\u5b9a\u7684\u5360\u7a7a\u6bd4\u4f5c\u7528\u5230 MOS \u7ba1&#xff0c;\u7136\u540e\u63a7\u5236\u7535\u673a&#xff0c;\u4ece\u800c\u63a7\u5236\u56db\u8f74\u3002<\/p>\n<h4>3.3.5 4D \u7a7a\u7ffb\u7b97\u6cd5<\/h4>\n<p>4D \u7a7a\u7ffb\u5b9e\u73b0\u539f\u7406\u662f\u53ea\u4f7f\u7528\u5185\u73af PID\u2013\u89d2\u901f\u5ea6\u73af PID \u63a7\u5236\u5668&#xff0c;\u59ff\u6001\u89d2\u5ea6\u671f\u671b\u503c\u76f4\u63a5\u4f5c\u4e3a\u89d2\u901f\u5ea6\u73af\u7684\u671f\u671b\u503c&#xff0c;\u6d4b\u91cf\u503c\u4f7f\u7528 3 \u8f74\u9640\u87ba\u4eea\u6570\u636e&#xff0c;\u8fd9\u6837\u6211\u4eec\u63a7\u5236\u7684\u4e0d\u662f\u56db\u8f74\u7684\u89d2\u5ea6&#xff0c;\u800c\u662f\u56db\u8f74\u7684\u8f6c\u52a8\u89d2\u901f\u5ea6\u3002\u77e5\u9053\u4e86\u5982\u4f55\u63a7\u5236\u56db\u8f74\u8f6c\u52a8&#xff0c;\u5f53\u7136\u5c31\u80fd\u63a7\u5236\u7ffb\u6eda\u4e86\u3002 4D \u7a7a\u7ffb\u6e90\u7801\u6bd4\u8f83\u591a&#xff0c;\u6211\u5c31\u4e0d\u8d34\u51fa\u6765\u4e86&#xff0c;\u7a7a\u7ffb\u5177\u4f53\u5b9e\u73b0\u8fc7\u7a0b\u81ea\u884c\u53bb flip.c \u6587\u4ef6\u67e5\u770b\u7a7a\u7ffb\u5b9e\u73b0\u51fd\u6570 flyerFlipCheck()&#xff0c;\u7a7a\u7ffb\u8fc7\u7a0b\u6709\u597d\u51e0\u4e2a\u72b6\u6001&#xff0c;flipState \u6307\u793a\u7a7a\u7ffb\u7684\u5f53\u524d\u72b6\u6001&#xff0c;\u5176\u5b9a\u4e49\u5982\u4e0b&#xff1a;<\/p>\n<p><span class=\"token keyword\">static<\/span> <span class=\"token keyword\">enum<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nFLIP_IDLE <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\nFLIP_SET<span class=\"token punctuation\">,<\/span><br \/>\nFLIP_SPEED_UP<span class=\"token punctuation\">,<\/span><br \/>\nFLIP_SLOW_DOWN<span class=\"token punctuation\">,<\/span><br \/>\nALIENTEK<br \/>\nMiniFly<br \/>\n<span class=\"token number\">32<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">48<\/span><br \/>\nATK<span class=\"token operator\">&#8211;<\/span>MiniFly \u5f00\u53d1\u6307\u5357<br \/>\nFLIP_PERIOD<span class=\"token punctuation\">,<\/span><br \/>\nFLIP_FINISHED<span class=\"token punctuation\">,<\/span><br \/>\nREVER_SPEED_UP<span class=\"token punctuation\">,<\/span><br \/>\nFLIP_ERROR<span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token punctuation\">}<\/span>flipState <span class=\"token operator\">&#061;<\/span> FLIP_IDLE<span class=\"token punctuation\">;<\/span><\/p>\n<p>FLIP_IDLE \u4e3a\u7a7a\u7ffb\u7a7a\u95f2\u72b6\u6001&#xff0c;\u5728\u6b64\u72b6\u6001\u4e0b&#xff0c;\u56db\u8f74\u5b9e\u65f6\u68c0\u6d4b\u662f\u5426\u8981\u6267\u884c\u7a7a\u7ffb\u547d\u4ee4\u3002\u5982\u679c\u68c0\u6d4b\u5230\u7a7a\u7ffb\u6307\u4ee4&#xff0c;\u5219\u72b6\u6001\u5207\u6362\u5230 FLIP_SET&#xff0c;\u5728\u6b64\u72b6\u6001\u4e0b&#xff0c;\u6211\u4eec\u8bbe\u7f6e\u4e00\u4e9b\u56db\u8f74\u7ffb\u6eda\u7528\u5230\u7684\u53c2\u6570&#xff0c;\u53c2\u6570\u8bbe\u7f6e\u5b8c\u6210\u540e\u5207\u6362\u5230\u52a0\u901f\u4e0a\u5347\u72b6\u6001 FLIP_SPEED_UP&#xff0c;\u56e0\u4e3a\u7a7a\u7ffb\u7279\u6280\u4f1a\u6709\u6389\u9ad8\u95ee\u9898&#xff0c;\u6240\u4ee5\u6211\u4eec\u5728\u771f\u6b63 4D \u7ffb\u6eda\u4e4b\u524d\u5148\u52a0\u901f\u4e00\u6bb5\u65f6\u95f4&#xff0c;\u5f53 Z \u8f74\u901f\u5ea6\u8fbe\u5230\u4e00\u5b9a\u503c\u540e&#xff0c;\u8fdb\u5165\u51cf\u901f\u72b6\u6001&#xff0c;\u4e3a\u4ec0\u4e48\u7ffb\u6eda\u4e4b\u524d\u8981\u8fd9\u4e2a\u51cf\u901f\u72b6\u6001\u5462&#xff0c;\u7b54\u6848\u662f\u4e3a\u4e86\u66f4\u597d\u7684\u7a7a\u7ffb\u3002\u51cf\u901f\u5230\u8bbe\u5b9a\u503c\u540e\u624d\u8fdb\u5165\u771f\u6b63\u7684\u7ffb\u6eda\u72b6\u6001 FLIP_PERIOD&#xff0c;\u524d\u9762\u72b6\u6001\u90fd\u662f\u4e3a\u7a7a\u7ffb\u505a\u51c6\u5907\u7684\u3002<\/p>\n<h3>3.4 \u9650\u5236\u4e8e\u7bc7\u5e45&#xff0c;\u5176\u4ed6\u6a21\u5757\u7684\u7b97\u6cd5\u4e0d\u505a\u8bf4\u660e&#xff08;\u592a\u591a\u4e86\u2026\u2026&#xff09;<\/h3>\n<h2>\u56db\u3001\u98de\u63a7\u7684\u5236\u4f5c<\/h2>\n<p>\u5236\u4f5c\u4e4b\u524d\u9700\u8981\u5c06\u539f\u7406\u56fe\u5bfc\u5165PCB\u5e76\u8bbe\u8ba1\u51fa\u677f\u5b50\u5f62\u72b6\u3002<\/p>\n<h2>4.1 PCB\u677f\u56fe<\/h2>\n<p>\u4e3a\u65b9\u4fbf\u540e\u7eed\u5c01\u88c5\u7684\u914d\u7f6e&#xff0c;\u5c06\u539f\u7406\u56fe\u5bfc\u5165\u5230AD\u8f6f\u7532\u4e2d\u8fdb\u884c\u8bbe\u8ba1&#xff0c;\u677f\u56fe\u5982\u4e0b&#xff1a;\u5206\u522b\u4e3a\u98de\u673a\u548c\u9065\u63a7\u5668\u677f\u56fe&#xff1a; <img decoding=\"async\" src=\"2025-06-113z5nwqst2z3.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> <img decoding=\"async\" src=\"2025-06-11mhqxw00cqlp.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u5c06\u8bbe\u8ba1\u56fe\u7eb8\u53d1\u7ed9\u5382\u5bb6&#xff0c;\u6700\u7ec8\u5f97\u5230\u4e0a\u9762\u677f\u5b50\u7684\u677f\u5b50&#xff1a; <img decoding=\"async\" src=\"2025-06-11y3dnvrunimb.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h2>4.2 \u8d34\u7247\u5668\u4ef6\u7684\u710a\u63a5<\/h2>\n<p>\u56e0\u4e3a\u4ee5\u524d\u6ca1\u6709\u710a\u63a5\u8d34\u7247\u5f0f\u5668\u4ef6\u7684\u7ecf\u9a8c&#xff0c;\u6240\u4ee5\u53bb\u5de5\u4f5c\u5ba4\u7ec3\u4e60\u4e86\u82af\u7247\u706f\u590d\u6742\u5668\u4ef6\u7684\u710a\u63a5\u3002\u5b8c\u6210\u8fd9\u4e9b\u4e4b\u524d&#xff0c;\u4f60\u9700\u8981\u6709\u81ea\u5df1\u7684\u52a0\u70ed\u53f0&#xff0c;\u6709\u6761\u4ef6\u7684\u53ef\u4ee5\u4e70\u4e2a\u70ed\u98ce\u67aa\u3002 \u5c06\u5668\u4ef6\u6309\u7167\u539f\u7406\u56fe\u4e2d\u7684\u4f4d\u7f6e\u8fdb\u884c\u6446\u653e&#xff0c;\u6211\u91c7\u8d2d\u7684\u5668\u4ef6\u7684\u5c01\u88c5\u4e3a0603\u5c01\u88c5&#xff08;\u4ec5\u9650\u7535\u963b\u7535\u611f&#xff09;&#xff0c;\u5982\u4e0b\u56fe&#xff1a; <img decoding=\"async\" src=\"2025-06-11gy2rve5xfau.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p><img decoding=\"async\" src=\"2025-06-110goeluy5gox.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p><img decoding=\"async\" src=\"2025-06-115qtv0bjbf1z.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>4.3 \u5b9e\u7269\u56fe<\/h3>\n<p>\u6700\u7ec8\u53ef\u4ee5\u5f97\u5230\u5b9e\u7269\u5982\u4e0b&#xff1a; <img decoding=\"async\" src=\"2025-06-11qfsqwffhswi.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> <img decoding=\"async\" src=\"2025-06-11n4mcen4a3ms.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h2>\u4e94\u3001\u98de\u63a7\u7a0b\u5e8f\u70e7\u5f55\u53ca\u8c03\u8bd5<\/h2>\n<p>\u710a\u63a5\u597d\u5668\u4ef6\u5c31\u53ef\u4ee5\u8fdb\u884c\u7a0b\u5e8f\u7684\u70e7\u5f55\u4ee5\u53ca&#043; \u5668\u4ef6\u7684\u8c03\u8bd5\u5de5\u4f5c\u4e86\u3002 \u5728\u8fd9\u91cc\u6211\u60f3\u8bf4\u4e00\u4e0b\u6211\u9047\u5230\u7684\u4e00\u4e9b\u95ee\u9898&#xff0c;\u4ee5\u53ca\u89e3\u51b3\u7684\u65b9\u6cd5\u3002\u5728\u8c03\u8bd5\u7684\u8fc7\u7a0b&#xff0c;\u6211\u91cd\u590d\u4e86\u4e0a\u97623\u6b21\u7684\u710a\u63a5\u6b65\u9aa4&#xff0c;\u5177\u4f53\u539f\u56e0\u5982\u4e0b&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u82af\u7247\u710a\u63a5\u51fa\u73b0\u95ee\u9898&#xff0c;\u6709\u4e86\u8fde\u9521\u7684\u73b0\u8c61<\/p>\n<\/li>\n<li>\n<p>MPU6050\u5c01\u88c5\u52a0\u70ed\u65f6\u51fa\u73b0&#xff0c;\u7531\u4e8e\u52a0\u70ed\u65f6\u95f4\u8fc7\u957f&#xff0c;\u5bfc\u81f4\u710a\u76d8\u8131\u843d<\/p>\n<\/li>\n<li>\n<p>\u9065\u63a7\u5668\u710a\u63a5\u5b8c\u6bd5&#xff0c;OLED\u663e\u793a\u5c4f\u4e0d\u80fd\u663e\u793a&#xff0c;\u6700\u7ec8\u53d1\u73b0\u662f\u7a0b\u5e8f\u51fa\u73b0\u4e86\u95ee\u9898&#xff0c;\u6700\u7ec8\u5bfc\u81f4\u82af\u7247\u70e7\u574f&#xff0c;\u88ab\u8feb\u6362\u677f<\/p>\n<\/li>\n<\/ul>\n<p>\u5982\u4e0b\u56fe&#xff0c;\u5206\u522b\u662f\u4e0a\u8ff0\u4e09\u79cd\u539f\u56e0\u5bfc\u81f4\u7684\u710a\u63a5\u5931\u8d25\u7684\u677f\u5b50&#xff1a; <img decoding=\"async\" src=\"2025-06-11sqnz4zwqkp1.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> <img decoding=\"async\" src=\"2025-06-11ai2ytqyxlqa.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> <img decoding=\"async\" src=\"2025-06-11ph5s3y1mgwb.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u7ecf\u8fc7\u4e09\u6b21\u7684\u5931\u8d25&#xff0c;\u6211\u5f97\u5230\u4e86\u81ea\u5df1\u7684\u710a\u63a5\u82af\u7247\u7684\u6280\u672f\u65b9\u6cd5&#xff0c;\u6700\u7ec8\u710a\u63a5\u6210\u529f\u3002\u5982\u56fe&#xff1a; <img decoding=\"async\" src=\"2025-06-11asxpzf5nz53.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> <img decoding=\"async\" src=\"2025-06-11y5tiz2dwrr0.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u7a0b\u5e8f\u7684\u70e7\u5f55\u91c7\u7528\u7684\u662fkeil\u8f6f\u4ef6\u8fdb\u884c\u70e7\u5f55&#xff1a; <img decoding=\"async\" src=\"2025-06-11h4aniaje4nl.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u6b64\u5904\u663e\u793a\u7f16\u8bd1\u65e0\u8bef&#xff0c;\u5373\u53ef\u8c03\u8bd5\u8fdb\u884c\u70e7\u5f55\u7a0b\u5e8f&#xff0c;\u5982\u679c\u82af\u7247\u710a\u63a5\u65e0\u8bef\u8fd9\u91cc\u663e\u793a\u7684\u662f\u8fd9\u6837\u7684&#xff1a; <img decoding=\"async\" src=\"2025-06-11yklimahiwlq.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u6216\u8005\u91c7\u7528STM32 unity\u8fdb\u884c\u9a8c\u8bc1&#xff0c;\u5355\u51fb\u8fd9\u91cc&#xff1a; <img decoding=\"async\" src=\"2025-06-11uc20hdsewve.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u5982\u679c\u51fa\u73b0\u5982\u56fe\u6240\u793a&#xff0c;\u8bc1\u660e\u82af\u7247\u710a\u63a5\u6ca1\u6709\u95ee\u9898&#xff1a; <img decoding=\"async\" src=\"2025-06-11yqwbpstwbha.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u4e4b\u540e\u5c31\u5728keil\u4e2d\u8fdb\u884c\u70e7\u5f55\u7a0b\u5e8f&#xff1a;\u5355\u673aload\u8fdb\u884c\u70e7\u5f55&#xff0c;\u7b49\u5f85\u5b8c\u6210\u3002\u9065\u63a7\u5668\u4e5f\u662f\u540c\u6837\u7684\u64cd\u4f5c&#xff0c;\u5b8c\u6210\u6b65\u9aa4\u540e\u5982\u56fe&#xff1a; <img decoding=\"async\" src=\"2025-06-11hrujdxal5pt.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> <img decoding=\"async\" src=\"2025-06-11vh4ytang5ba.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u7136\u540e\u6210\u54c1\u5c31\u5b8c\u6210\u4e86&#xff0c;\u540e\u9762\u6211\u6839\u636e\u9700\u6c42&#xff0c;\u81ea\u5df1\u52a0\u88c5\u4e86\u5929\u7ebf\u3002<\/p>\n<h2>\u516d\u3001 \u603b\u7ed3<\/h2>\n<p><img decoding=\"async\" src=\"2025-06-110ko2wynfsn2.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u88c5\u7bb1\u540e\u7684\u98de\u673a\u5c31\u662f\u8fd9\u6837&#xff0c;\u76ee\u524d\u8fd8\u6ca1\u6709\u8bd5\u98de&#xff0c;\u6709\u7a7a\u65f6\u5019\u53bb\u5916\u8fb9\u98de\u4e00\u98de\u770b&#xff0c;\u6574\u673a\u82b1\u9500100\u4ee5\u5185&#xff0c;\u8fd8\u662f\u5f88\u4eb2\u6c11\u7684&#xff0c;\u54c8\u54c8\u54c8\u54c8\u54c8<\/p>\n<p>\u521b\u4f5c\u4e0d\u6613&#xff0c;\u8fd9\u4e2a\u98de\u673a\u82b1\u8d39\u4e86\u592a\u591a\u7684\u65f6\u95f4&#xff0c;\u5e0c\u671b\u7c89\u4e1d\u670b\u53cb\u4eec\u559c\u6b22&#xff0c;\u8c22\u8c22\u5927\u5bb6&#xff01;&#xff01;&#xff01;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb2.4w\u6b21\uff0c\u70b9\u8d5e247\u6b21\uff0c\u6536\u85cf516\u6b21\u3002\u57fa\u4e8estm32\u7684DIY\u591a\u65cb\u7ffc\u65e0\u4eba\u673a\uff0cMPU6050\u5e73\u8861\u6a21\u5757\uff0c\u65e0\u7ebf\u901a\u4fe1\u6a21\u5757\uff0c\u7535\u673a\u9a71\u52a8\u6a21\u5757\u7b49\uff0c\u9879\u76ee\u5168\u90e8\u201c\u624b\u6413\u201d\uff0c\u96be\u514d\u4f1a\u6709\u4e0d\u8fdb\u5165\u4eba\u610f\u7684\u5730\u65b9\uff0c\u5e0c\u671b\u5404\u4f4d\u7c89\u4e1d\u559c\u6b22\uff0c\u4e0d\u559c\u52ff\u55b7\uff01\uff01_\u57fa\u4e8estm32\u7684\u65e0\u4eba\u673a\u98de\u63a7\u8bbe\u8ba1<\/p>\n","protected":false},"author":2,"featured_media":43203,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[217,4012,269,3267],"topic":[],"class_list":["post-43223","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-stm32","tag-4012","tag-269","tag-3267"],"yoast_head":"<!-- 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