На таймер 7 поставлено обновление PID
This commit is contained in:
@@ -118,7 +118,12 @@ void TimerUpdateMain()
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if(MainDrone.ExternMagInit) MagObj->GetAsync(DoneProcMag);*/
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if(MainDrone.ExternMagInit) MagObj->GetAsync(DoneProcMag);*/
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}
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}
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static bool control_update_flag = 0;
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static bool control_update_flag = false;
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void TimerUpdateControl()
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{
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control_update_flag = true;
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}
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int main()
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int main()
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{
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{
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@@ -128,15 +133,17 @@ int main()
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TICK_Init();
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TICK_Init();
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TIM6_Init(TIM_PRIORITY, 500, TimerUpdateSensor, TimerUpdateMain);
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TIM6_Init(TIM_PRIORITY, 500, TimerUpdateSensor, TimerUpdateMain);
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TIM7_Init(TIM_PRIORITY, 200, TimerUpdateControl);
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IMUObj = TryFindIMU(MainDrone.IMUInit);
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IMUObj = TryFindIMU(MainDrone.IMUInit);
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TIM6_Enable();
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TIM6_Enable();
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TIM7_Enable();
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attitude_t attitude;
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attitude_t attitude;
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rc_channels rx_chs_raw;
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rc_channels rx_chs_raw;
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rc_channels rx_chs_normalized;
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rc_channels rx_chs_normalized;
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control_channels_t ctrl_chs;
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static control_channels_t ctrl_chs;
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attitude_init(&attitude);
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attitude_init(&attitude);
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receiver_init();
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receiver_init();
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@@ -149,7 +156,7 @@ int main()
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if (control_update_flag)
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if (control_update_flag)
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{
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{
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control_update_flag = 0;
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control_update_flag = false;
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Vector3 Gyro = Vector3(DataIMU.Gyr.X, DataIMU.Gyr.Y, DataIMU.Gyr.Z);
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Vector3 Gyro = Vector3(DataIMU.Gyr.X, DataIMU.Gyr.Y, DataIMU.Gyr.Z);
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126
drone.ewp
126
drone.ewp
@@ -356,12 +356,11 @@
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</option>
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</option>
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<option>
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<option>
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<name>CCIncludePath2</name>
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<name>CCIncludePath2</name>
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<state>$PROJ_DIR$\Source\Drivers</state>
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<state>$PROJ_DIR$\Source\Core</state>
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<state>$PROJ_DIR$\Source\Core</state>
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<state>$PROJ_DIR$\Source\BSP\Inc</state>
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<state>$PROJ_DIR$\Source\Drivers</state>
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<state>$PROJ_DIR$\Source\Control\Inc</state>
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<state>$PROJ_DIR$\Source\Devices</state>
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<state>$PROJ_DIR$\Source\INS\geometry</state>
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<state>$PROJ_DIR$\Source\INS</state>
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<state>$PROJ_DIR$\Source\INS</state>
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<state>$PROJ_DIR$\Source\Control</state>
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<state>$PROJ_DIR$\Source\MathEnv</state>
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<state>$PROJ_DIR$\Source\MathEnv</state>
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</option>
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</option>
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<option>
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<option>
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@@ -2239,71 +2238,32 @@
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</configuration>
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</configuration>
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<group>
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<group>
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<name>Source</name>
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<name>Source</name>
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<group>
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<name>BSP</name>
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<group>
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<name>Inc</name>
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<file>
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<name>$PROJ_DIR$\Source\BSP\Inc\imu.h</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\BSP\Inc\imu_processing.h</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\BSP\Inc\lidar.h</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\BSP\Inc\motors.h</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\BSP\Inc\radio_receiver.h</name>
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</file>
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</group>
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<group>
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<name>Src</name>
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<file>
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<name>$PROJ_DIR$\Source\BSP\Src\imu.c</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\BSP\Src\imu_processing.c</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\BSP\Src\lidar.c</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\BSP\Src\motors.c</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\BSP\Src\radio_receiver.c</name>
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</file>
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</group>
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</group>
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<group>
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<group>
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<name>Control</name>
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<name>Control</name>
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<group>
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<name>Inc</name>
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<file>
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<file>
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<name>$PROJ_DIR$\Source\Control\Inc\attitude.h</name>
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<name>$PROJ_DIR$\Source\Control\Attitude.cpp</name>
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</file>
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</file>
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<file>
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<file>
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<name>$PROJ_DIR$\Source\Control\Inc\biquad_filter.h</name>
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<name>$PROJ_DIR$\Source\Control\Attitude.h</name>
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</file>
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</file>
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<file>
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<file>
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<name>$PROJ_DIR$\Source\Control\Inc\pid.h</name>
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<name>$PROJ_DIR$\Source\Control\Autopilot.cpp</name>
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</file>
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</group>
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<group>
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<name>Src</name>
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<file>
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<name>$PROJ_DIR$\Source\Control\Src\attitude.c</name>
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</file>
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</file>
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<file>
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<file>
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<name>$PROJ_DIR$\Source\Control\Src\biquad_filter.c</name>
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<name>$PROJ_DIR$\Source\Control\Autopilot.h</name>
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</file>
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</file>
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<file>
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<file>
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<name>$PROJ_DIR$\Source\Control\Src\pid.c</name>
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<name>$PROJ_DIR$\Source\Control\PID.cpp</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\Control\PID.h</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\Control\Protocol.cpp</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\Control\Protocol.h</name>
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</file>
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</file>
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</group>
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</group>
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</group>
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<group>
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<group>
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<name>Core</name>
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<name>Core</name>
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@@ -2334,6 +2294,18 @@
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<file>
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<file>
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<name>$PROJ_DIR$\Source\Devices\IIMU.h</name>
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<name>$PROJ_DIR$\Source\Devices\IIMU.h</name>
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</file>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\Devices\Motors.cpp</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\Devices\Motors.h</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\Devices\RadioReceiver.cpp</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\Devices\RadioReceiver.h</name>
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</file>
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</group>
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</group>
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<group>
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<group>
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<name>Drivers</name>
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<name>Drivers</name>
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@@ -2349,26 +2321,32 @@
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<file>
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<file>
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<name>$PROJ_DIR$\Source\Drivers\I2C.h</name>
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<name>$PROJ_DIR$\Source\Drivers\I2C.h</name>
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</file>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\Drivers\Tick.cpp</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\Drivers\Tick.h</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\Drivers\Tim.cpp</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\Drivers\Tim.h</name>
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</file>
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</group>
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</group>
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<group>
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<group>
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<name>INS</name>
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<name>INS</name>
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<group>
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<group>
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<name>geometry</name>
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<name>util</name>
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<file>
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<file>
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<name>$PROJ_DIR$\Source\INS\geometry\quaternion.c</name>
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<name>$PROJ_DIR$\Source\INS\util\Record.cpp</name>
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</file>
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</file>
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<file>
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<file>
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<name>$PROJ_DIR$\Source\INS\geometry\quaternion.h</name>
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<name>$PROJ_DIR$\Source\INS\util\Record.h</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\INS\geometry\vector.c</name>
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</file>
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<file>
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<name>$PROJ_DIR$\Source\INS\geometry\vector.h</name>
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</file>
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</file>
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</group>
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</group>
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<file>
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<file>
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<name>$PROJ_DIR$\Source\INS\IRS.c</name>
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<name>$PROJ_DIR$\Source\INS\IRS.cpp</name>
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</file>
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</file>
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||||||
<file>
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<file>
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<name>$PROJ_DIR$\Source\INS\IRS.h</name>
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<name>$PROJ_DIR$\Source\INS\IRS.h</name>
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@@ -2388,9 +2366,21 @@
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<file>
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<file>
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<name>$PROJ_DIR$\Source\MathEnv\MathFunc.h</name>
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<name>$PROJ_DIR$\Source\MathEnv\MathFunc.h</name>
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</file>
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</file>
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||||||
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<file>
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||||||
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<name>$PROJ_DIR$\Source\MathEnv\Quaternion.cpp</name>
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</file>
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<file>
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||||||
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<name>$PROJ_DIR$\Source\MathEnv\Quaternion.h</name>
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</file>
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<file>
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||||||
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<name>$PROJ_DIR$\Source\MathEnv\Vector.cpp</name>
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</file>
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<file>
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||||||
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<name>$PROJ_DIR$\Source\MathEnv\Vector.h</name>
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</file>
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||||||
</group>
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</group>
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<file>
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<file>
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||||||
<name>$PROJ_DIR$\Source\main.c</name>
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<name>$PROJ_DIR$\Source\main.cpp</name>
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||||||
</file>
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</file>
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<file>
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<file>
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||||||
<name>$PROJ_DIR$\..\..\STM32G4\STM32CubeG4-master\Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\iar\startup_stm32g431xx.s</name>
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<name>$PROJ_DIR$\..\..\STM32G4\STM32CubeG4-master\Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\iar\startup_stm32g431xx.s</name>
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||||||
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119
drone.ewt
119
drone.ewt
@@ -3423,71 +3423,32 @@
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|||||||
</configuration>
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</configuration>
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<group>
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<group>
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||||||
<name>Source</name>
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<name>Source</name>
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||||||
<group>
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|
||||||
<name>BSP</name>
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|
||||||
<group>
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|
||||||
<name>Inc</name>
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||||||
<file>
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|
||||||
<name>$PROJ_DIR$\Source\BSP\Inc\imu.h</name>
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|
||||||
</file>
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|
||||||
<file>
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|
||||||
<name>$PROJ_DIR$\Source\BSP\Inc\imu_processing.h</name>
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|
||||||
</file>
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|
||||||
<file>
|
|
||||||
<name>$PROJ_DIR$\Source\BSP\Inc\lidar.h</name>
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|
||||||
</file>
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|
||||||
<file>
|
|
||||||
<name>$PROJ_DIR$\Source\BSP\Inc\motors.h</name>
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|
||||||
</file>
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|
||||||
<file>
|
|
||||||
<name>$PROJ_DIR$\Source\BSP\Inc\radio_receiver.h</name>
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|
||||||
</file>
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|
||||||
</group>
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|
||||||
<group>
|
|
||||||
<name>Src</name>
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|
||||||
<file>
|
|
||||||
<name>$PROJ_DIR$\Source\BSP\Src\imu.c</name>
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|
||||||
</file>
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|
||||||
<file>
|
|
||||||
<name>$PROJ_DIR$\Source\BSP\Src\imu_processing.c</name>
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|
||||||
</file>
|
|
||||||
<file>
|
|
||||||
<name>$PROJ_DIR$\Source\BSP\Src\lidar.c</name>
|
|
||||||
</file>
|
|
||||||
<file>
|
|
||||||
<name>$PROJ_DIR$\Source\BSP\Src\motors.c</name>
|
|
||||||
</file>
|
|
||||||
<file>
|
|
||||||
<name>$PROJ_DIR$\Source\BSP\Src\radio_receiver.c</name>
|
|
||||||
</file>
|
|
||||||
</group>
|
|
||||||
</group>
|
|
||||||
<group>
|
<group>
|
||||||
<name>Control</name>
|
<name>Control</name>
|
||||||
<group>
|
|
||||||
<name>Inc</name>
|
|
||||||
<file>
|
<file>
|
||||||
<name>$PROJ_DIR$\Source\Control\Inc\attitude.h</name>
|
<name>$PROJ_DIR$\Source\Control\Attitude.cpp</name>
|
||||||
</file>
|
</file>
|
||||||
<file>
|
<file>
|
||||||
<name>$PROJ_DIR$\Source\Control\Inc\biquad_filter.h</name>
|
<name>$PROJ_DIR$\Source\Control\Attitude.h</name>
|
||||||
</file>
|
</file>
|
||||||
<file>
|
<file>
|
||||||
<name>$PROJ_DIR$\Source\Control\Inc\pid.h</name>
|
<name>$PROJ_DIR$\Source\Control\Autopilot.cpp</name>
|
||||||
</file>
|
|
||||||
</group>
|
|
||||||
<group>
|
|
||||||
<name>Src</name>
|
|
||||||
<file>
|
|
||||||
<name>$PROJ_DIR$\Source\Control\Src\attitude.c</name>
|
|
||||||
</file>
|
</file>
|
||||||
<file>
|
<file>
|
||||||
<name>$PROJ_DIR$\Source\Control\Src\biquad_filter.c</name>
|
<name>$PROJ_DIR$\Source\Control\Autopilot.h</name>
|
||||||
</file>
|
</file>
|
||||||
<file>
|
<file>
|
||||||
<name>$PROJ_DIR$\Source\Control\Src\pid.c</name>
|
<name>$PROJ_DIR$\Source\Control\PID.cpp</name>
|
||||||
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\Control\PID.h</name>
|
||||||
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\Control\Protocol.cpp</name>
|
||||||
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\Control\Protocol.h</name>
|
||||||
</file>
|
</file>
|
||||||
</group>
|
|
||||||
</group>
|
</group>
|
||||||
<group>
|
<group>
|
||||||
<name>Core</name>
|
<name>Core</name>
|
||||||
@@ -3518,6 +3479,18 @@
|
|||||||
<file>
|
<file>
|
||||||
<name>$PROJ_DIR$\Source\Devices\IIMU.h</name>
|
<name>$PROJ_DIR$\Source\Devices\IIMU.h</name>
|
||||||
</file>
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\Devices\Motors.cpp</name>
|
||||||
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\Devices\Motors.h</name>
|
||||||
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\Devices\RadioReceiver.cpp</name>
|
||||||
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\Devices\RadioReceiver.h</name>
|
||||||
|
</file>
|
||||||
</group>
|
</group>
|
||||||
<group>
|
<group>
|
||||||
<name>Drivers</name>
|
<name>Drivers</name>
|
||||||
@@ -3533,26 +3506,32 @@
|
|||||||
<file>
|
<file>
|
||||||
<name>$PROJ_DIR$\Source\Drivers\I2C.h</name>
|
<name>$PROJ_DIR$\Source\Drivers\I2C.h</name>
|
||||||
</file>
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\Drivers\Tick.cpp</name>
|
||||||
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\Drivers\Tick.h</name>
|
||||||
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\Drivers\Tim.cpp</name>
|
||||||
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\Drivers\Tim.h</name>
|
||||||
|
</file>
|
||||||
</group>
|
</group>
|
||||||
<group>
|
<group>
|
||||||
<name>INS</name>
|
<name>INS</name>
|
||||||
<group>
|
<group>
|
||||||
<name>geometry</name>
|
<name>util</name>
|
||||||
<file>
|
<file>
|
||||||
<name>$PROJ_DIR$\Source\INS\geometry\quaternion.c</name>
|
<name>$PROJ_DIR$\Source\INS\util\Record.cpp</name>
|
||||||
</file>
|
</file>
|
||||||
<file>
|
<file>
|
||||||
<name>$PROJ_DIR$\Source\INS\geometry\quaternion.h</name>
|
<name>$PROJ_DIR$\Source\INS\util\Record.h</name>
|
||||||
</file>
|
|
||||||
<file>
|
|
||||||
<name>$PROJ_DIR$\Source\INS\geometry\vector.c</name>
|
|
||||||
</file>
|
|
||||||
<file>
|
|
||||||
<name>$PROJ_DIR$\Source\INS\geometry\vector.h</name>
|
|
||||||
</file>
|
</file>
|
||||||
</group>
|
</group>
|
||||||
<file>
|
<file>
|
||||||
<name>$PROJ_DIR$\Source\INS\IRS.c</name>
|
<name>$PROJ_DIR$\Source\INS\IRS.cpp</name>
|
||||||
</file>
|
</file>
|
||||||
<file>
|
<file>
|
||||||
<name>$PROJ_DIR$\Source\INS\IRS.h</name>
|
<name>$PROJ_DIR$\Source\INS\IRS.h</name>
|
||||||
@@ -3572,9 +3551,21 @@
|
|||||||
<file>
|
<file>
|
||||||
<name>$PROJ_DIR$\Source\MathEnv\MathFunc.h</name>
|
<name>$PROJ_DIR$\Source\MathEnv\MathFunc.h</name>
|
||||||
</file>
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\MathEnv\Quaternion.cpp</name>
|
||||||
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\MathEnv\Quaternion.h</name>
|
||||||
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\MathEnv\Vector.cpp</name>
|
||||||
|
</file>
|
||||||
|
<file>
|
||||||
|
<name>$PROJ_DIR$\Source\MathEnv\Vector.h</name>
|
||||||
|
</file>
|
||||||
</group>
|
</group>
|
||||||
<file>
|
<file>
|
||||||
<name>$PROJ_DIR$\Source\main.c</name>
|
<name>$PROJ_DIR$\Source\main.cpp</name>
|
||||||
</file>
|
</file>
|
||||||
<file>
|
<file>
|
||||||
<name>$PROJ_DIR$\..\..\STM32G4\STM32CubeG4-master\Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\iar\startup_stm32g431xx.s</name>
|
<name>$PROJ_DIR$\..\..\STM32G4\STM32CubeG4-master\Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\iar\startup_stm32g431xx.s</name>
|
||||||
|
|||||||
Reference in New Issue
Block a user