{"id":562,"date":"2023-07-22T18:56:32","date_gmt":"2023-07-22T10:56:32","guid":{"rendered":"https:\/\/zhewana.cn\/?p=562"},"modified":"2023-07-22T19:05:00","modified_gmt":"2023-07-22T11:05:00","slug":"%e5%b7%a5%e8%ae%ad%e8%b5%9b%e8%bd%af%e4%bb%b6%e5%b7%a5%e7%a8%8b%e5%88%86%e6%9e%90","status":"publish","type":"post","link":"https:\/\/zhewana.cn\/?p=562","title":{"rendered":"\u5de5\u8bad\u8d5b\u8f6f\u4ef6\u5de5\u7a0b\u5206\u6790&#8212;-\u4e00\u4efd\u9001\u7ed9\u521a\u9677\u5165\u81ea\u63a7\u8f6f\u4ef6\u6ce5\u6f6d\u8005\u7684\u5c0f\u793c\u7269"},"content":{"rendered":"<h2>\u788e\u788e\u5ff5<\/h2>\n<p>\u4e4b\u524d\u53c2\u52a0\u5de5\u8bad\u8d5b\u5176\u5b9e\u662f\u62b1\u7740\u60f3\u8981\u628a\u8fd9\u4e2a\u6bd4\u8d5b\u6253\u5b8c\u7684\u60f3\u6cd5\u7684\uff0c\u4f46\u662f\u4e2d\u9014\u7a81\u7136\u6536\u5230\u4e86\u8001\u5e08\u7684\u901a\u77e5\u5f97\u77e5\u6bd4\u8d5b\u5b9e\u9645\u7684\u4e3e\u529e\u65f6\u95f4\u5df2\u7ecf\u63a8\u8fdf\u5230\u4e8612\u6708\uff0c\u5bf9\u4e8e\u6211\u4eec\u961f\u4f0d\u4e2d\u7684\u4e09\u4e2a\u4eba\u6765\u8bf4\u90fd\u662f\u4e00\u4e2a\u5669\u8017\uff0c\u6240\u4ee5\u65e0\u5948\u53ea\u597d\u653e\u5f03\u4e86\u8fd9\u4e2a\u6bd4\u8d5b\u3002<\/p>\n<p>\u6211\u4eec\u4e4b\u524d\u7684\u9879\u76ee\u7ed9\u5230\u4e86\u5b66\u5f1f\u624b\u4e2d\uff0c\u7531\u6211\u7ecf\u624b\u7684\u4ee3\u7801\u4e5f\u5df2\u7ecf\u6089\u6570\u5f00\u6e90\u5230<a href=\"https:\/\/gitee.com\/zhewana\/2023-Work-training-competition-software\">\u8fd9\u91cc<\/a>\u4e86\uff0c\u5e0c\u671b\u5b66\u5f1f\u5e26\u7740\u6211\u7684\u9057\u5fd7\uff08bushi\uff09\u7ee7\u7eed\u52aa\u529b\u4e0b\u53bb\uff01<\/p>\n<p>\u5de5\u8bad\u8d5b\u7684\u5de5\u7a0b\u5176\u5b9e\u662f\u7b14\u8005\u5199\u7684\u76f8\u5bf9\u6bd4\u8f83\u8ba4\u771f\u7684\u5de5\u7a0b\uff0c\u6709\u4e9b\u5730\u65b9\u7565\u663e\u9752\u6da9\uff0c\u4f46\u662f\u503c\u5f97\u4e00\u8bf4\uff08\u5427\uff1f\uff09\u3002\u518d\u52a0\u4e0a\u7b14\u8005\u81ea\u5df1\u4e5f\u6070\u597d\u6709\u9700\u8981\u5206\u6790\u8fd9\u4e2a\u9879\u76ee\u7684\u9700\u6c42\uff0c\u9042\u5199\u4e86\u8fd9\u7bc7\u6587\u7ae0\u3002<\/p>\n<blockquote>\n<p>\u8001\u6cb9\u6761\u987b\u77e5\uff1a\u672c\u6587\u4e0d\u662f\u4e3a\u8001\u6cb9\u6761\u51c6\u5907\u7684\uff0c\u770b\u7740\u73a9\u5c31\u884c\uff0c\u4e0d\u8db3\u4e4b\u5904\u8f7b\u55b7\uff0c\u8c22\u8c22\uff1a\uff09<\/p>\n<p>\u53e6\uff1a\u672c\u6587\u4e2d\u4f1a\u5bf9\u90e8\u5206\u6982\u5ff5\u8fdb\u884c\u7b80\u5355\u89e3\u91ca\uff0c\u5747\u5728\u5f15\u7528\u5757\u4e2d\u8fdb\u884c\u3002<\/p>\n<\/blockquote>\n<hr \/>\n<p>\u526f\u6807\u9898\u5176\u5b9e\u662f\u7b14\u8005\u540e\u7eed\u6dfb\u52a0\u7684\uff08\u5c3d\u7ba1\u6ca1\u4f53\u73b0\u5728\u66f4\u65b0\u8bb0\u5f55\u4e2d\uff09\uff0c\u56e0\u4e3a\u603b\u7ed3\u5b8c\u6574\u4e2a\u4ee3\u7801\u4e4b\u540e\u53d1\u73b0\u5176\u5b9e\u6574\u4e2a\u5de5\u7a0b\u8fd8\u662f\u6bd4\u8f83\u5c0f\uff0c\u4e3a\u4e86\u80fd\u591a\u6c34\u4e9b\u5b57\u6570\u6240\u4ee5\u6253\u7b97\u52a0\u4e00\u70b9\u7b80\u5355\u7684\u6982\u5ff5\u89e3\u91ca\u8fdb\u53bb\u3002<\/p>\n<h2>\u8f6f\u786c\u4ef6\u5e73\u53f0<\/h2>\n<p>\u63a7\u5236\u5668\uff1aSTM32H750VBT6<\/p>\n<p>\u5f00\u53d1\u73af\u5883\uff1a\u4f7f\u7528Clion\u4f5c\u4e3a\u7f16\u8f91\u5668\uff0c\u4f7f\u7528AC6\u5de5\u5177\u94fe\u8fdb\u884c\u7f16\u8bd1<\/p>\n<h2>\u4ee3\u7801\u7ed3\u6784\u4e0e\u5206\u6790<\/h2>\n<p>\u8fd9\u4e2a\u5de5\u7a0b\u548c\u4ee5\u5f80\u7684\u5de5\u7a0b\u6700\u5927\u7684\u4e0d\u540c\u5176\u5b9e\u662f\u7b14\u8005<strong>\u6709\u8ba4\u771f\u7684\u601d\u8003\u8fc7\u6574\u4e2a\u4ee3\u7801\u7684\u8f6f\u4ef6\u67b6\u6784\u5e94\u8be5\u5982\u4f55\u8fdb\u884c\u7ec4\u7ec7<\/strong>\uff0c\u5305\u62ec\u4f46\u4e0d\u9650\u4e8e\uff1a<\/p>\n<ul>\n<li>\u786c\u4ef6\u63a5\u53e3\u5e94\u8be5\u5982\u4f55\u5b9a\u4e49<\/li>\n<li>RTOS\u548c\u4e2d\u65ad\u5e94\u8be5\u5982\u4f55\u8fdb\u884c\u6743\u8861<\/li>\n<li>......<\/li>\n<\/ul>\n<p>\u4e0a\u8ff0\u95ee\u9898\u7b14\u8005\u53ef\u80fd\u4f1a\u5728\u63a5\u4e0b\u6765\u7684\u5185\u5bb9\u4e2d\u5c55\u5f00\u8bf4\u660e\uff0c\u4e5f\u53ef\u80fd\u4e0d\u4f1a\uff08\u6bd5\u7adf\u6709\u4e9b\u4e1c\u897f\u7b14\u8005\u81ea\u5df1\u4e5f\u4e0d\u6e05\u695a\u5e94\u8be5\u5982\u4f55\u8868\u8fbe\uff09\uff0c\u4f46\u662f\u7b14\u8005\u4f1a\u5c3d\u91cf\u628a\u6574\u4e2a\u5de5\u7a0b\u8bb2\u8ff0\u6e05\u695a\u3002<\/p>\n<p>\u5148\u6765\u770b\u4e00\u5f20\u5927\u6982\u7684\u7ed3\u6784\u56fe\uff1a<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/zhewana.cn\/wp-content\/uploads\/2023\/07\/1689668791806.png\" title=\"\" alt=\"1689668791806\" data-align=\"left\"><\/p>\n<p>\u8fd9\u4e2a\u7ed3\u6784\u56fe\u5927\u81f4\u63cf\u8ff0\u4e86\u6574\u4e2a\u63a7\u5236\u5668\u5de5\u7a0b\u7684\u4ee3\u7801\u67b6\u6784\uff0c\u7b14\u8005\u5c06\u5176\u6574\u4f53\u5206\u4e3a\u56db\u5c42\uff1a<strong>\u5e94\u7528\u5c42\uff081\uff09-&gt;\u6846\u67b6\u5c42\uff082\uff09-&gt;\u9a71\u52a8\u5c42\uff083\uff09-&gt;\u786c\u4ef6\u5c42\uff084\uff09<\/strong><\/p>\n<p>\u8be5\u5206\u5c42\u53ea\u662f\u7b14\u8005\u81ea\u5df1\u5f53\u524d\u9636\u6bb5\u8ba4\u4e3a\u7684\u5206\u5c42\u65b9\u5f0f\uff0c\u53ef\u80fd\u5e76\u4e0d\u5b8c\u5584\uff0c\u751a\u81f3\u5305\u542b\u9519\u8bef\uff0c<strong>\u4ec5\u4f5c\u53c2\u8003<\/strong>\u3002<\/p>\n<p>\u7b14\u8005\u5728\u6846\u67b6\u7684\u7ec4\u7ec7\u4e2d\u4f7f\u7528\u5230\u4e86RTOS\uff0c\u4f46\u662f\u5728\u7ed3\u6784\u56fe\u4e2d\u5207\u5e76\u6ca1\u6709\u51fa\u73b0RTOS\u7684\u8eab\u5f71\uff0c\u8bf7\u522b\u7591\u60d1\u3002\u7b14\u8005\u8ba4\u4e3a\uff0cRTOS\u8fd9\u79cd\u65e0\u611f\u7684\u8c03\u5ea6\u65b9\u5f0f\u4f7f\u5f97\u5176\u5e76\u4e0d\u9002\u5408\u88ab\u653e\u5728\u7cfb\u7edf\u7684\u67b6\u6784\u56fe\u4e2d\uff0c\u800c\u66f4\u5e94\u8be5\u51fa\u73b0\u5728\u8f6f\u4ef6\u5f00\u53d1\u7684\u7ec6\u8282\u4e2d\u3002<\/p>\n<p>\u8fd9\u5e76\u4e0d\u662f\u8bf4RTOS\u662f\u65e0\u7528\u7684\uff0c\u6070\u6070\u76f8\u53cd\uff0c<strong>\u80fd\u505a\u51fa\u8fd9\u79cd\u65e0\u611f\u7684\u8bbe\u8ba1\u624d\u662f\u66f4\u53ef\u8d35\u7684<\/strong>\uff0c\u56e0\u4e3a\u5b83\u7684\u5b58\u5728\u5e76\u6ca1\u6709\u8ba9\u6211\u4eec\u7684\u7cfb\u7edf\u5206\u6790\u53d8\u5f97\u66f4\u52a0\u590d\u6742\u3002<\/p>\n<h3>\u5e94\u7528\u5c42\u4ee3\u7801<\/h3>\n<p>\u4e25\u683c\u6765\u8bb2\uff0c\u5de5\u8bad\u8d5b\u8fd9\u4e2a\u5de5\u7a0b\u5e76\u4e0d\u7b97\u662f\u4e00\u4e2a\u4ea7\u54c1\u800c\u662f\u4e00\u5957\u81ea\u52a8\u5316\u7684\u6d41\u7a0b\uff0c\u6240\u4ee5\u5176\u5b9e\u4f1a\u7f3a\u5c11\u4e00\u4e9b\u4ea7\u54c1\u624d\u4f1a\u6709\u7684\u5c5e\u6027\uff0c\u6bd4\u5982\uff1a\u826f\u597d\u7684\u4eba\u673a\u4ea4\u4e92\u7cfb\u7edf\u3002<\/p>\n<p>\u4f46\u662f\u5728\u5b9e\u9645\u4f7f\u7528\u4e2d\u4e3a\u4e86\u65b9\u4fbf\u8c03\u8bd5\uff0c\u7b14\u8005\u8fd8\u662f\u5f15\u5165\u4e86<a href=\"https:\/\/github.com\/NevermindZZT\/letter-shell\">LetterShell<\/a>\u8fd9\u6837\u7684\u547d\u4ee4\u884c\u4ea4\u4e92\u7cfb\u7edf\u6765\u8fdb\u884c\u53c2\u6570\u7684\u8c03\u8282\u548c\u4e00\u4e9b\u9009\u9879\u7684\u8bbe\u7f6e\u3002\u5e76\u4e14\u7531\u4e8eshell\u64cd\u4f5c\u548c\u81ea\u52a8\u5316\u8fd0\u884c\u5176\u5b9e\u662f\u5b8c\u5168\u4e92\u76f8\u72ec\u7acb\u7684\u5173\u7cfb\uff0c\u6240\u4ee5\u53ef\u4ee5\u5728\u67b6\u6784\u56fe\u4e2d\u770b\u5230\uff1aLetterShell\u63d0\u4f9b\u7684\u65b9\u6cd5\u548c\u5b9e\u9645\u7684\u4e1a\u52a1\u4ee3\u7801\u662f\u540c\u5904\u5e94\u7528\u5c42\u4e2d\u7684\u4e24\u4e2a\u4e0d\u540c\u90e8\u5206\uff0c\u4ed6\u4eec\u76f4\u63a5\u9762\u5411\u7528\u6237\uff08\u9700\u6c42\uff09\uff0c\u5b9e\u73b0\u6700\u7ec8\u7684\u529f\u80fd\u3002<\/p>\n<p><strong>\u663e\u800c\u6613\u89c1\u7684\uff1a\u5e94\u7528\u5c42\u4ee3\u7801\u662f\u968f\u9700\u6c42\u53d8\u5316\u800c\u53d8\u5316\u7684\u3002<\/strong><\/p>\n<h4>\u81ea\u52a8\u5316\u8fd0\u884c\u76f8\u5173\u4ee3\u7801<\/h4>\n<p>\u6700\u5178\u578b\u7684\u5e94\u7528\u5c42\u7684\u4ee3\u7801\u96c6\u5408\u5e94\u8be5\u662f <code>static void __RunMainState(void)----utils.c:55<\/code><\/p>\n<blockquote>\n<p>PS\uff1a\u7b14\u8005\u5728\u6b64\u5904\u4ee5\u53ca\u540e\u6587\u5c06\u4f1a\u4f7f\u7528\u7c7b\u4f3c\u7684\u8bed\u6cd5\uff1a<code>\u884c\u4ee3\u7801----\u6587\u4ef6\u540d:\u884c\u6570<\/code>\u6765\u5bfc\u822a\u5230\u4e00\u4e9b\u8fc7\u957f\u4e0d\u4fbf\u5c55\u793a\u7684\u51fd\u6570\u6216\u4ee3\u7801\u3002<\/p>\n<\/blockquote>\n<p>\u8fd9\u4e2a\u51fd\u6570\u5b9e\u9645\u662f\u4e00\u4e2a\u72b6\u6001\u673a\u7684\u5b9e\u73b0\uff0c\u7528\u6765\u63cf\u8ff0\u6574\u8f66\u7684\u72b6\u6001\u6d41\u7a0b\uff1a<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/zhewana.cn\/wp-content\/uploads\/2023\/07\/1689665080292.png\" title=\"\" alt=\"1689665080292\" data-align=\"center\"><\/p>\n<p>\u5c3d\u7ba1\u5b9e\u9645\u4e0a\u6574\u8f66\u7684\u72b6\u6001\u6d41\u7a0b\u5c31\u662f\u4e00\u4e2a\u7b80\u5355\u7684\u7ebf\u6027\u6d41\u7a0b\uff0c\u5b8c\u5168\u53ef\u4ee5\u76f4\u63a5\u5728\u51fd\u6570\u4e2d\u76f4\u63a5\u6267\u884c\uff0c\u4f46\u662f\u7b14\u8005\u8fd8\u662f\u4f7f\u7528\u4e86\u72b6\u6001\u673a\u6765\u8fdb\u884c\u7ec4\u7ec7\uff0c\u4ee5\u5e94\u4ed8\u540e\u7eed\u53ef\u80fd\u4f1a\u51fa\u73b0\u7684\u66f4\u52a0\u590d\u6742\u7684\u9700\u6c42\u3002<\/p>\n<blockquote>\n<p>\u72b6\u6001\u673a\u662f\u4e00\u79cd\u7b80\u5355\u7684\u7a0b\u5e8f\u5b9e\u73b0\u65b9\u5f0f\uff0c\u5728\u8fd1\u51e0\u5e74\u81ea\u63a7\u7684\u8d5b\u9898\u4e2d\u5341\u5206\u5e38\u89c1\u3002\u901a\u5e38\u7528\u72b6\u6001\u548c\u72b6\u6001\u8f6c\u79fb\u6765\u63cf\u8ff0\u4e00\u4e2a\u72b6\u6001\u673a\u3002\u800c\u6700\u5e38\u89c1\u4e14\u7b80\u5355\u7684\u72b6\u6001\u673a\u5b9e\u73b0\u65b9\u5f0f\u5176\u5b9e\u5c31\u662f\u4f7f\u7528switch\u8bed\u53e5\uff0c\u5c06\u72b6\u6001\u548c\u72b6\u6001\u8f6c\u79fb\u6761\u4ef6\u4ee5\u53ca\u884c\u4e3a\u90fd\u5305\u542b\u5728\u5206\u652f\u5185\u3002<\/p>\n<p>\u5bf9\u4e8e\u72b6\u6001\u7684\u5b9a\u4e49\uff0c\u7b14\u8005\u5efa\u8bae\u4f7f\u7528\u679a\u4e3e\u7684\u65b9\u5f0f\uff0c\u56e0\u4e3a\u4f7f\u7528\u5b8f\u5b9a\u4e49\u7684\u65b9\u5f0f\u8ba9\u672c\u4e92\u76f8\u4e4b\u95f4\u6709\u5173\u8054\u7684\u72b6\u6001\u53d8\u5f97\u4e92\u4e0d\u76f8\u5e72\uff08\u8bf4\u767d\u4e86\u5c31\u662f\u7b14\u8005\u4e0d\u559c\u6b22\ud83d\ude11<\/p>\n<p>PS\uff1a\u5c3d\u7ba1\u5927\u5bb6\u4f3c\u4e4e\u90fd\u4e0d\u5c51\u4e8e\u8fdb\u884c\u72b6\u6001\u673a\u7f16\u7a0b\uff0c\u4f46\u662f\u8fd9\u5e76\u4e0d\u5f71\u54cd\u72b6\u6001\u673a\u662f\u4e00\u4e2a\u826f\u597d\u7684\u65b9\u6cd5\u3002<\/p>\n<\/blockquote>\n<p>\u8be5\u72b6\u6001\u673a\u8fd0\u884c\u5728\u7531FreeRTOS\u6240\u8c03\u5ea6\u7684\u4e00\u4e2a\u4efb\u52a1\u4e2d <code>void StateMachineEntry(void *argument)----freertos.c:281<\/code>\uff1a<\/p>\n<pre><code class=\"language-c\">void StateMachineEntry(void *argument) {\n    \/* USER CODE BEGIN StateMachineEntry *\/\n    UNUSED(argument);\n    \/* Infinite loop *\/\n    for (;;) {\n        if (CarInfo.Start_State) {\n            CarInfo.RunMainState();\n        }\n    }\n    \/* USER CODE END StateMachineEntry *\/\n}<\/code><\/pre>\n<p>\u542f\u52a8\u72b6\u6001\u673a\u8c03\u5ea6\u7684\u6807\u5fd7\u4f4d\u7531\u4e00\u4e2a\u6309\u952e\u901a\u8fc7\u6309\u952e\u6846\u67b6\u8fdb\u884c\u63a7\u5236\uff0c\u4ee5\u5b9e\u73b0\u6309\u4e0b\u6309\u952e\u5c31\u80fd\u5f00\u59cb\u81ea\u52a8\u8fd0\u884c\u7684\u529f\u80fd\u3002<\/p>\n<h4>LetterShell API\u76f8\u5173\u4ee3\u7801<\/h4>\n<p>LetterShell\u4e2d\u53ea\u5b9e\u73b0\u4e86\u8c03\u8bd5\u7528\u5f97\u5230\u76846\u4e2a\u6307\u4ee4\uff1a<\/p>\n<table>\n<thead>\n<tr>\n<th style=\"text-align: center;\">\u6307\u4ee4<\/th>\n<th style=\"text-align: center;\">\u529f\u80fd<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td style=\"text-align: center;\">set<code>&lt;paraname paravalue&gt;<\/code>\u00a0...<\/td>\n<td style=\"text-align: center;\">\u8bbe\u7f6eparaname\u53c2\u6570\u7684\u503c<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">motormove<code>&lt;axis-y-value&gt;<\/code>\u00a0<code>&lt;axis-y-value&gt;<\/code>\u00a0<code>&lt;speedlimit&gt;<\/code><\/td>\n<td style=\"text-align: center;\">\u57fa\u4e8e\u8f66\u4f53\u5750\u6807\u7cfb\u8fdb\u884c\u79fb\u52a8<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">mapmove<code>&lt;axis-y-value&gt;<\/code>\u00a0<code>&lt;axis-y-value&gt;<\/code> <code>&lt;speedlimit&gt;<\/code><\/td>\n<td style=\"text-align: center;\">\u57fa\u4e8e\u4e16\u754c\u5750\u6807\u7cfb\u8fdb\u884c\u79fb\u52a8<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">rota<code>&lt;dig&gt;<\/code><\/td>\n<td style=\"text-align: center;\">\u65cb\u8f6c\u8f66\u8eab<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">ed<\/td>\n<td style=\"text-align: center;\">\u5173\u95ed\u4e32\u53e3\u6570\u636e\u8f93\u51fa<\/td>\n<\/tr>\n<tr>\n<td style=\"text-align: center;\">op<\/td>\n<td style=\"text-align: center;\">\u6253\u5f00\u4e32\u53e3\u6570\u636e\u8f93\u51fa<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u63a5\u53e3\u76f8\u5173\u4ee3\u7801<\/h4>\n<p>\u5e94\u7528\u5c42\u5b9e\u73b0\u6240\u7528\u7684\u63a5\u53e3\u5b9e\u9645\u5927\u81f4\u53ef\u4ee5\u5206\u4e3a\u4e24\u79cd\uff1a<strong>\u6846\u67b6\u5c42\u63a5\u53e3<\/strong>\u548c<strong>\u9a71\u52a8\u5c42\u63a5\u53e3<\/strong><\/p>\n<p>\u5176\u4e2d\u9a71\u52a8\u5c42\u63a5\u53e3\u4e00\u822c\u7528\u4e8e\u6bd4\u8f83\u7b80\u5355\u7684\u786c\u4ef6\u8bbe\u5907\u7684\u9a71\u52a8\uff0c\u4f8b\u5982\u603b\u7ebf\u8235\u673a\u76f8\u5173\u7684\u4ee3\u7801 <code>utils.c:304<\/code>\uff1a<\/p>\n<pre><code class=\"language-c\">\/**\n * @brief \u5939\u5b50\u7535\u673a\u65cb\u8f6c(\u5939\u5b50\u5f00\u5173)\n * @param position \u8235\u673a\u4f4d\u7f6e\u5355\u4f4d(0-1000)\n * @param time \u8fd0\u884c\u6240\u9700\u65f6\u95f4(\u5355\u4f4d:ms)\n *\/\nvoid ClipRotition(float position, uint32_t time) {\n    LobotSerialServoMove(ClipServoID, (int16_t) position, time);\n}\n\nvoid ClipCloseForOS(void) {\n    ClipRotition(CLIP_CLOSE, 700);\n}\n\nvoid ClipOpenForOS(void) {\n    ClipRotition(CLIP_OPEN, 700);\n}<\/code><\/pre>\n<p>\u800c\u6846\u67b6\u5c42\u7684\u63a5\u53e3\u5219\u662f\u7531\u6846\u67b6\u5c42\u76f4\u63a5\u63d0\u4f9b\u51fa\u6765\u7528\u6765\u64cd\u63a7\u6574\u8f66\u8fd0\u52a8\u7684\uff0c\u6211\u4eec\u5728\u4e0b\u4e00\u8282\u8be6\u53d9\u3002<\/p>\n<h3>\u6846\u67b6\u5c42\u4ee3\u7801<\/h3>\n<p>\u6846\u67b6\u5c42\u662f\u5e94\u7528\u5c42\u7684\u57fa\u7840\uff0c\u662f\u57fa\u4e8e\u9a71\u52a8\u5c42\u6240\u5b9e\u73b0\u7684\u4e0e\u5e94\u7528\u65e0\u5173\u7684\u901a\u7528\u529f\u80fd\u6a21\u5757\u3002<\/p>\n<p>\u8be5\u5de5\u7a0b\u7684\u6846\u67b6\u5c42\u4e3b\u8981\u6d89\u53ca\u4e24\u4e2a\u6846\u67b6\uff0c\u4e00\u4e2a\u901a\u7528\u7684\u6309\u952e\u6846\u67b6\u4ee5\u53ca\u4e00\u4e2a\u5177\u6709\u76f8\u5bf9\u4e13\u7528\u529f\u80fd\u6027\u7684\u9ea6\u514b\u7eb3\u59c6\u8f6e\u5c0f\u8f66\u63a7\u5236\u6846\u67b6\u3002<\/p>\n<p>\u901a\u7528\u6309\u952e\u6846\u67b6\u5df2\u7ecf\u5f00\u6e90\u5728<a href=\"https:\/\/github.com\/Zhewana\/CommonKey\">\u8fd9\u91cc<\/a>\uff0c\u5c31\u4e0d\u518d\u8d58\u8ff0\u4e86\u3002\u4ee5\u4e0b\u7740\u91cd\u5206\u6790\u9ea6\u514b\u7eb3\u59c6\u8f6e\u5c0f\u8f66\u7684\u63a7\u5236\u6846\u67b6\uff0c\u5148\u6765\u770b\u770b\u63a7\u5236\u6846\u67b6\u90e8\u5206\u7684\u6574\u4f53\u7a0b\u5e8f\u7ed3\u6784\uff1a<\/p>\n<p><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/zhewana.cn\/wp-content\/uploads\/2023\/07\/1689995014628.png'><img class=\"lazyload lazyload-style-1\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  decoding=\"async\" data-original=\"https:\/\/zhewana.cn\/wp-content\/uploads\/2023\/07\/1689995014628.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"1689995014628\" \/><\/div><\/p>\n<p>\u6846\u67b6\u76f8\u5173\u7684\u90e8\u5206\u4e3b\u8981\u6709\u4e24\u4e2a\u4efb\u52a1\u548c\u4e00\u4e2a\u5b9a\u65f6\u5668\u4e2d\u65ad\uff0c\u5176\u4e2d\u4e00\u4e2a\u5c4f\u5e55\u5237\u65b0\u4efb\u52a1\u6211\u4eec\u53ef\u4ee5\u5ffd\u7565\uff0c\u90a3\u4e48\u5269\u4e0b\u6765\u7684\u4e24\u90e8\u5206\u672c\u8d28\u4e0a\u5c31\u662f\u7531\u4e00\u4e2a\u4e2d\u65ad\u548c\u4e00\u4e2a\u5faa\u73af\u6240\u7ec4\u6210\u7684<strong>\u524d\u540e\u53f0\u67b6\u6784<\/strong>\u3002<\/p>\n<blockquote>\n<p>\u524d\u540e\u53f0\u67b6\u6784\u662f\u5728\u5d4c\u5165\u5f0f\u8f6f\u4ef6\u5f00\u53d1\u8fc7\u7a0b\u4e2d\u5341\u5206\u5e38\u89c1\u4e8e\u88f8\u673a\u5f00\u53d1\u4e2d\u7684\u4e00\u79cd\u67b6\u6784\uff0c\u901a\u5e38\u7531\u4e00\u4e2a\u5b9a\u65f6\u5668\u4e2d\u65ad\u548c\u4e00\u4e2a\u4e3b\u5faa\u73af\u6784\u6210\u3002<\/p>\n<p>\u4f7f\u7528\u8fd9\u79cd\u67b6\u6784\u7684\u521d\u8877\u662f\uff1a<strong>\u907f\u514d\u5728\u4e2d\u65ad\u4e2d\u5904\u7406\u8fc7\u4e8e\u7e41\u6742\u7684\u4efb\u52a1\u8fdb\u800c\u5bfc\u81f4\u4e2d\u65ad\u8854\u5c3e<\/strong>\uff0c\u4e8e\u662f\u4fbf\u628a\u9700\u8981\u5904\u7406\u7684\u4efb\u52a1\u642c\u5230\u4e3b\u5faa\u73af\u4e2d\u5904\u7406\u3002\u5b9e\u9645\u4f7f\u7528\u4e2d\u5f80\u5f80\u4f1a\u4e3a\u5728\u4e3b\u5faa\u73af\u4e2d\u7684\u8f6e\u8be2\u7684\u4ee3\u7801\u8bbe\u7f6e\u4e00\u4e2a\u6807\u5fd7\u4f4d\uff0c\u5728\u4e2d\u65ad\u4e2d\u628a\u6807\u5fd7\u4f4d\u7f6e\u4f4d\uff0c\u63a5\u7740\u5728\u4e3b\u5faa\u73af\u4e2d\u6e05\u9664\u8be5\u6807\u5fd7\u4f4d\u5e76\u6267\u884c\u9700\u8981\u6267\u884c\u7684\u4efb\u52a1\uff08\u6ca1\u9519\uff0c\u5c31\u662f\u4eff\u7167\u5b9e\u9645\u4e2d\u65ad\u7684\u8fd0\u884c\u65b9\u5f0f\uff09<\/p>\n<\/blockquote>\n<p>\u65e2\u7136\u6d89\u53ca\u5230\u4e86\u4e2d\u65ad\u90a3\u81ea\u7136\u5c11\u4e0d\u4e86\u5e26\u4e2d\u65ad\u8f6f\u4ef6\u7684\u8bbe\u8ba1\u51c6\u5219\uff1a<strong>\u4e2d\u65ad\u4e2d\u7684\u7a0b\u5e8f\u5e94\u8be5\u5c3d\u91cf\u77ed\u5c0f<\/strong>\uff0c\u6240\u4ee5\u4e00\u5207\u6d89\u53caIO\u7684\u64cd\u4f5c\u81ea\u7136\u5c31\u8981\u79fb\u52a8\u5230\u963b\u585e\u4e0d\u654f\u611f\u7684\u5faa\u73af\u4e2d\u3002\u518d\u52a0\u4e0a\u4f7f\u7528RTOS\u8fdb\u884c\u4ee3\u7801\u6267\u884c\uff0c\u6240\u4ee5\u539f\u6765\u7684\u6807\u5fd7\u4f4d\u4e5f\u5c31\u81ea\u7136\u800c\u7136\u7684\u6539\u4e3a\u4e86\u6d88\u606f\u961f\u5217\u7684\u5b9e\u73b0 <code>main.c:386<\/code>\uff1a<\/p>\n<pre><code class=\"language-c\">void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {\/\/ 1ms IRQHandler\n    static enum SensorType {\n        sCompass,\n        sGyro,\n        sOptical,\n    } SensorType;\n\n    \/\/ Get compass\n    SensorType = sCompass;\n    osMessageQueuePut(SensorMessageQueueHandle, &amp;SensorType, 0, 0);\n\n    \/\/ Get gyro\n    SensorType = sGyro;\n    osMessageQueuePut(SensorMessageQueueHandle, &amp;SensorType, 0, 0);\n\n    \/\/ Divide Timer Freq\n    static int cnt = 0;\n    const int period = 10;\n    if (++cnt == period) {\n        cnt = 0;\n        \/\/ Get position\n        SensorType = sOptical;\n        osMessageQueuePut(SensorMessageQueueHandle, &amp;SensorType, 0, 0);\n    }\n}<\/code><\/pre>\n<p>\u4ee5\u4e0a\u4ee3\u7801\u867d\u7136\u662f\u5b9e\u9645\u4ee3\u7801\u7684\u90e8\u5206\u622a\u53d6\uff0c\u4f46\u662f\u5b9e\u73b0\u7684\u529f\u80fd\u4e0e\u5b9e\u9645\u6267\u884c\u76f8\u540c\uff1a\u4ee5\u56fa\u5b9a\u7684\u65f6\u95f4\u95f4\u9694\u8bfb\u53d6\u4f20\u611f\u5668\u91c7\u96c6\u7684\u6570\u636e\u3002\u5176\u4e2d\u6d88\u606f\u961f\u5217\u4e0e\u4f20\u611f\u5668\u91c7\u96c6\u4efb\u52a1\u901a\u8baf\uff0c\u4e00\u65e6\u91c7\u96c6\u4efb\u52a1\u63a5\u6536\u5230\u5bf9\u5e94\u4f20\u611f\u5668\u7c7b\u578b\u7684\u6d88\u606f\u5c31\u4f1a\u7acb\u5373\u5f00\u59cb\u6570\u636e\u91c7\u96c6\u5de5\u4f5c <code>void SensorHandleEntry(void *argument) {----freertos.c:340<\/code>\u3002<\/p>\n<h3>\u786c\u4ef6\u63a5\u53e3<\/h3>\n<p>\u5916\u8bbe\u9a71\u52a8\u5c42\u4e3b\u8981\u662f\u7531\u5382\u5546\u5b9e\u73b0\u7684\uff0c\u6240\u4ee5\u7b14\u8005\u76f4\u63a5\u8df3\u8fc7\u4e86\u8fd9\u90e8\u5206\u7684\u8bf4\u660e\uff0c\u6bd5\u7adf\u4f60\u90fd\u770b\u5230\u8fd9\u91cc\u4e86\uff0c\u5e94\u8be5\u4e0d\u81f3\u4e8e\u4e0d\u4e86\u89e3HAL\u3002<\/p>\n<p>\u7b14\u8005\u6b64\u5904\u76f8\u95f4\u7684\u4e1c\u897f\u5176\u5b9e\u4e5f\u5f88\u7b80\u5355\uff1a\u901a\u8fc7<strong>\u6dfb\u52a0\u4e00\u4e2a\u4e2d\u95f4\u5c42\u7684\u65b9\u5f0f<\/strong>\u6765\u5c06\u8f6f\u4ef6\u903b\u8f91\u548c\u786c\u4ef6\u903b\u8f91\u6765\u8fdb\u884c\u9694\u79bb\u3002\u5728motor.c\u4e2d\u5c31\u6709\u4e00\u4e2a\u5f88\u7b80\u5355\u7684\u4f8b\u5b50\uff1a<\/p>\n<pre><code class=\"language-c\">int Motor_Drive(int motorID, float duty, int dir) {\n    static TIM_TypeDef *TIMx[5] = {TIM12, TIM16, TIM12, TIM15, TIM15};\n    static volatile uint32_t *CCRx[5] =\n            {&amp;TIM12-&gt;CCR1, &amp;TIM16-&gt;CCR1, &amp;TIM12-&gt;CCR2, &amp;TIM15-&gt;CCR1, &amp;TIM15-&gt;CCR2};\n    static GPIO_TypeDef *GPIOx[5] =\n            {Dir2_GPIO_Port, Dir3_GPIO_Port, Dir1_GPIO_Port, Dir4_GPIO_Port, DirStep_GPIO_Port};\n    static const uint32_t GPIO_Pinx[5] = {Dir2_Pin, Dir3_Pin, Dir1_Pin, Dir4_Pin, DirStep_Pin};\n\n    uint32_t pinState = 0;\n\n    if (duty &gt; 100)duty = 100;\n    else if (duty &lt; 0)duty = 0;\n\n    if (motorID == 0 || motorID == 3)\n        pinState = dir;\n    else\n        pinState = !dir;\n\n    *CCRx[motorID] = (uint32_t) ((float) (TIMx[motorID]-&gt;ARR) * duty \/ 100);\n    HAL_GPIO_WritePin(GPIOx[motorID], GPIO_Pinx[motorID], pinState);\n\n    return 0;\n}<\/code><\/pre>\n<p>\u901a\u8fc7\u5b9a\u4e49\u4e00\u4e2a<strong>\u786c\u4ef6\u76f8\u5173\u7684\u53e5\u67c4\u5217\u8868<\/strong>\u7684\u65b9\u5f0f\u5c06\u6240\u6709\u9700\u8981\u63a7\u5236\u7684\u7535\u673a\u5168\u90e8\u96c6\u6210\u5230\u4e00\u4e2a\u7edf\u4e00\u7684\u63a5\u53e3\u4e2d\uff0c\u8fd9\u6837\u5f53\u4f60\u7684\u786c\u4ef6\u961f\u53cb\u5927\u6539\u786c\u4ef6\u65f6\uff0c\u4f60\u5c31\u53ea\u9700\u8981\u4fee\u6539\u8fd9\u4e2a\u51fd\u6570\u4e2d\u7684\u5bf9\u5e94\u5f15\u811a\u8868\u4e86\u3002<del>\uff08\u786c\u4ef6\u4e0d\u8981\u5927\u6539\u6700\u597d<\/del><\/p>\n<h2>\u67b6\u6784\u4e4b\u5916<\/h2>\n<p>\u5728\u4ee3\u7801\u67b6\u6784\u4e4b\u5916\u5176\u5b9e\u8fd8\u662f\u6709\u90a3\u4e48\u4e00\u4e9b\u95ee\u9898\u548c\u4e00\u70b9\u7279\u6b8a\u7684\u4ee3\u7801\u6bb5\u503c\u5f97\u5173\u6ce8\uff0c\u8fd9\u4e9b\u5185\u5bb9\u4e2d\u7684\u4e00\u5c0f\u90e8\u5206\u53ef\u80fd\u7b97\u662f\u4e00\u70b9\u5c0f\u5de7\u601d\u5427\uff0c\u4e0d\u8fc7\u5f80\u5f80\u4e0d\u662f\u4ec0\u4e48\u901a\u7528\u7684\u7ecf\u9a8c\uff0c\u6240\u4ee5\u7b80\u5355\u4ecb\u7ecd\u4e00\u4e0b\u7b97\u4e86\u3002<\/p>\n<h3>RTOS\u4e0e\u4e2d\u65ad\u7684\u6743\u8861\u95ee\u9898<\/h3>\n<blockquote>\n<p>RTOS\u7684\u5168\u79f0\u662f\u5b9e\u65f6\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5176\u4e3b\u8981\u5b9e\u73b0\u7684\u529f\u80fd\u5305\u62ec\u4f46\u4e0d\u9650\u4e8e\uff1a\u591a\u4efb\u52a1\u7684\u7ade\u4e89\u6216\u5408\u4f5c\u5f0f\u8c03\u5ea6\u3001\u4efb\u52a1\u95f4\u901a\u4fe1\u673a\u5236\uff08\u4fe1\u53f7\u91cf\u3001\u6d88\u606f\u961f\u5217\uff09\u7b49\u3002<\/p>\n<p>RTOS\u7684\u6838\u5fc3\u662f<strong>\u8c03\u5ea6<\/strong>\uff0c\u6211\u4eec\u4f7f\u7528\u5230\u5b83\u7684\u6700\u5927\u539f\u56e0\u662f\uff1a\u5b83\u53ef\u4ee5\u901a\u8fc7\u8c03\u5ea6\u7684\u65b9\u5f0f\u6765\u8ba9\u5355\u6838\u7684MCU\u4ee5\u4e00\u79cd\u4f2a\u5e76\u884c\u7684\u65b9\u5f0f\u6765\u8fd0\u884c\u591a\u4e2a\u4efb\u52a1\u3002<\/p>\n<\/blockquote>\n<p>\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u7684\u5b9e\u9645\u4f7f\u7528\u4e2d\uff0c\u5c3d\u7ba1\u4f7f\u7528\u4e86RTOS\uff0c\u4e2d\u65ad\u4e5f\u662f\u6ca1\u6cd5\u7ed5\u5f00\u7684\u91cd\u8981\u90e8\u5206\u3002\u4e0d\u8fc7\u5728\u4e00\u5f00\u59cb\u63a5\u89e6RTOS\u7684\u65f6\u5019\u7b14\u8005\u4e00\u76f4\u5c06\u5176<strong>\u4f5c\u4e3a\u4ee3\u66ff\u524d\u540e\u53f0\u67b6\u6784\u7684\u826f\u597d\u89e3\u836f<\/strong>\uff0c\u4f46\u662f\u7ecf\u8fc7\u4e00\u756a\u601d\u8003\u4e0e\u5b9e\u8df5\u4e4b\u540e\u7b14\u8005\u53d1\u73b0\u4e8b\u60c5\u8c8c\u4f3c\u5e76\u4e0d\u662f\u8fd9\u6837\u7684\u3002<\/p>\n<p>RTOS\u7684\u4efb\u52a1\u8c03\u5ea6\u4e4b\u95f4\u5f80\u5f80\u6709\u4efb\u52a1\u4f18\u5148\u7ea7\uff0c\u800c\u4e0d\u540c\u4e2d\u65ad\u4e4b\u95f4\u4e5f\u662f\u6709\u4f18\u5148\u7ea7\u7684\uff1bRTOS\u548c\u4e2d\u65ad\u7684\u9ad8\u4f18\u5148\u7ea7\u90fd\u4f1a\u65e0\u60c5\u7684\u6253\u65ad\u4f4e\u4f18\u5148\u7ea7\u7684\u6267\u884c\u3002\u4f46\u662f\u4e24\u8005\u5b9e\u9645<strong>\u5e76\u4e0d\u51b2\u7a81<\/strong>\u3002\u5c31\u62ff\u4f7f\u7528\u9891\u7387\u6700\u9ad8\u7684\u5b9a\u65f6\u5668\u4e2d\u65ad\u6765\u8bf4\uff1a\u5728FreeRTOS\u4e2d\u4f3c\u4e4e\u4e5f\u505a\u51fa\u4e86\u5c1d\u8bd5\u53d6\u4ee3\u5b9a\u65f6\u5668\u4e2d\u65ad\u7684\u8bbe\u8ba1\uff1a<strong>\u8f6f\u4ef6\u5b9a\u65f6\u5668<\/strong>\uff0c\u4f46\u662f\u52c7\u6562\u7684\u8bfb\u8005\u4f60\u8981\u77e5\u9053\uff0cRTOS\u7684\u8c03\u5ea6<strong>\u5e76\u4e0d\u662f\u6beb\u65e0\u6210\u672c\u7684\u8c03\u5ea6<\/strong>\uff0c\u6240\u4ee5\u8fd9\u79cd\u8f6f\u4ef6\u4e0a\u7684\u5b9a\u65f6\u5668\u5f80\u5f80\u6ca1\u6cd5\u4fdd\u8bc1\u5176\u7cbe\u5ea6\u3002<\/p>\n<p>\u53e6\u4e00\u4e2a\u503c\u5f97\u6ce8\u610f\u7684\u70b9\u662f\uff1a\u867d\u7136RTOS\u5177\u6709\u6253\u65ad\u4efb\u52a1\u6267\u884c\u7684\u80fd\u529b\uff0c\u4f46\u662f\u7a0d\u5fae\u4e86\u89e3\u4e00\u4e0b\u4f60\u5c31\u4f1a\u77e5\u9053\uff1a<strong>RTOS\u7684\u8fd9\u79cd\u80fd\u529b\u5f80\u5f80\u4e5f\u662f\u6765\u81ea\u4e8e\u4e2d\u65ad<\/strong>\uff0c\u6700\u5178\u578b\u7684\u5c31\u662f\u5728Arm\u5185\u6838\u4e2d\u5f80\u5f80\u6765\u81ea\u4e8e\u5185\u6838\u63d0\u4f9b\u7684SysTick\u4e2d\u65ad\u3002\u800c\u8fd9\u4e2a\u4e2d\u65ad\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u4e3a\u4e86\u9632\u6b62\u7cfb\u7edf\u6545\u969c\u5bfc\u81f4\u91cd\u5927\u95ee\u9898\uff0c\u5f80\u5f80\u4f1a\u5c06\u5176\u4f18\u5148\u7ea7\u8bbe\u7f6e\u4e3a\u6700\u4f4e\u3002\u8fd9\u8bf4\u660e\u4e86\u4ec0\u4e48\uff1f<strong>\u4e2d\u65ad\u5177\u6709\u6253\u65adRTOS\u6267\u884c\u7684\u80fd\u529b\u3002<\/strong><\/p>\n<p>\u6362\u53e5\u8bdd\u8bf4\uff0c\u867d\u7136RTOS\u88ab\u79f0\u4e3a\u5b9e\u65f6\u7cfb\u7edf\uff0c\u4f46\u662f\u5b9e\u9645\u7684\u5b9e\u65f6\u6027\u7ef4\u62a4\u8fd8\u662f\u57fa\u4e8e\u4e2d\u65ad\u7684\uff0c<strong>RTOS\u53ea\u662f\u901a\u8fc7\u8c03\u5ea6\u7684\u65b9\u5f0f\u628a\u539f\u6765\u524d\u540e\u53f0\u67b6\u6784\u4e2d\u540e\u53f0\u7684\u90e8\u5206\u505a\u7684\u66f4\u597d\u4e86\u800c\u5df2\u3002<\/strong><\/p>\n<p><del>\u4e00\u4e0d\u5c0f\u5fc3\u5199\u591a\u4e86\uff0c\u62b1\u6b49\uff0c\u4e0b\u6b21\u8fd8\u6562<\/del><\/p>\n<h3>\u4f5c\u7528\u4e8e\u540c\u4e00\u6267\u884c\u5668\u7684\u591a\u4e2aPID\u7684\u6570\u636e\u878d\u5408\u95ee\u9898<\/h3>\n<p>\u8fd9\u4e2a\u95ee\u9898\u4e25\u683c\u6765\u8bb2\u5176\u5b9e\u5bf9\u4e8e\u8dfb\u8eab\u81ea\u63a7\u6ce5\u6f6d\u5f88\u4e45\u4e86\u8001\u6cb9\u6761\u6765\u8bf4\u5f80\u5f80\u4e0d\u662f\u4ec0\u4e48\u95ee\u9898\u5427\uff0c\u751a\u81f3\u5f88\u591a\u5927\u4f6c\u5e94\u8be5\u6709\u4f18\u4e8e\u7b14\u8005\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u4e0d\u8fc7\u5c31\u5f53\u662f\u8bb2\u7ed9\u65b0\u624b\u4e86\u3002<\/p>\n<p>\u5728\u6211\u4eec\u8fdb\u884cPID\u63a7\u5236\u7684\u8fc7\u7a0b\u4e2d\uff0c\u7edd\u5927\u90e8\u5206PID\u7684\u8f93\u51fa\u90fd\u662f\u76f4\u63a5\u5bf9\u5e94\u5230\u6267\u884c\u5668\u4e0a\uff0c\u5bf9\u5176\u8fdb\u884c\u63a7\u5236\u7684\uff0c\u4f46\u662f\u96be\u514d\u4f1a\u6709\u8fd9\u6837\u5c34\u5c2c\u7684\u5c40\u9762\uff1a\u4e24\u4e2aPID\u7684\u8f93\u51fa\u9700\u8981\u4f5c\u7528\u5230\u540c\u4e00\u4e2a\u6267\u884c\u5668\u4e0a\u3002<\/p>\n<p>\u6700\u5178\u578b\u7684\u573a\u666f\u5c31\u662f\uff1a\u4f60\u9700\u8981\u63a7\u5236\u4e00\u4e2a\u4e24\u8f6e\u5c0f\u8f66\u8fdb\u884c\u8fd0\u52a8\uff0c\u5305\u62ec\u524d\u8fdb\u540e\u9000\u4ee5\u53ca\u8f6c\u5411\u3002\u5728\u5206\u5f00\u7684\u60c5\u51b5\u4e0b\u4e00\u5207\u90fd\u662f\u5bb9\u6613\u7684\uff0c\u4f46\u662f\u5f53\u4f60\u9700\u8981\u4e00\u8fb9\u524d\u8fdb\u4e00\u8fb9\u8f6c\u5411\u7684\u65f6\u5019\u4f60\u5c31\u4f1a\u5f00\u59cb\u61f5\u903c\u4e86\u3002<\/p>\n<p>\u5f53\u7136\uff0c\u65b9\u6848\u5176\u5b9e\u662f\u7b80\u5355\u7684\uff0c\u53ea\u8981\u628a\u4e24\u4e2aPID\u7684\u8f93\u51fa\u7ebf\u6027\u76f8\u52a0\u5230\u540c\u4e00\u7f13\u51b2\u4e2a\u53d8\u91cf\u4e2d\u7136\u540e\u8fdb\u884c\u8f93\u51fa\u5373\u53ef\uff0c\u5982\u679c\u8fd8\u662f\u4e0d\u592a\u7406\u89e3\u7684\u8bdd\u53ef\u4ee5\u8bfb\u4e00\u8bfb\u5b9a\u65f6\u5668\u4e2d\u65ad\u4e2d\u76f8\u5173\u7684\u4ee3\u7801 <code>main.c:485<\/code>\uff1a<\/p>\n<pre><code class=\"language-c\">\/\/ Merge Motor Position PID and Attitude PID output\nswitch (i) {\n    case 1:\n    case 2:\n        CarInfo.msPid[i].ctr.aim =\n                (CarInfo.mPsiCtr ? CarInfo.mpPIDout[i] : CarInfo.spdAim[i]) + CarInfo.avPidOut;\n        break;\n    case 0:\n    case 3:\n        CarInfo.msPid[i].ctr.aim =\n                (CarInfo.mPsiCtr ? CarInfo.mpPIDout[i] : CarInfo.spdAim[i]) - CarInfo.avPidOut;\n        break;\n    case 4:\n        CarInfo.msPid[i].ctr.aim = CarInfo.mpPIDout[i];\n        break;\n}<\/code><\/pre>\n<p>\u5f53\u7136\uff0c\u76f4\u63a5\u7ebf\u6027\u76f8\u52a0\u7684\u65b9\u6cd5\u5728\u4e24\u4e2a\u73af\u8f93\u51fa\u90fd\u6bd4\u8f83\u9ad8\u7684\u60c5\u51b5\u4e0b\u5f80\u5f80\u4f1a\u9020\u6210\u8f93\u51fa\u8fdb\u800c\u5931\u771f\uff0c\u53ef\u4ee5\u7528\u8f6f\u4ef6\u7684\u65b9\u5f0f\u5728\u6ca1\u6709\u5931\u771f\u7684\u53e6\u4e00\u4fa7\u8fdb\u884c\u8865\u507f\uff0c\u4f46\u662f\u6ca1\u6709\u5fc5\u8981\u4e5f\u4e0d\u4e25\u8c28\uff0c\u771f\u60f3\u4e86\u89e3\u8fd9\u65b9\u9762\u7684\u5185\u5bb9\u5efa\u8bae\u5bfb\u6c42\u4e13\u4e1a\u4eba\u58eb\u5e2e\u52a9\u3002<\/p>\n<h3>\u5149\u6d41\u4f20\u611f\u5668\u7684\u6570\u636e\u4fee\u590d\u95ee\u9898<\/h3>\n<p>\u5728\u5b9e\u9645\u4f7f\u7528\u7684\u8fc7\u7a0b\u4e2d\uff0c\u7b14\u8005\u4f7f\u7528\u7684\u5149\u6d41\u4f20\u611f\u5668\u4e00\u65e6\u9762\u5bf9\u7eaf\u9ed1\u8272\u7684\u6750\u8d28\u5c31\u4f1a\u5931\u6548\uff0c\u4e0d\u5de7\u7684\u662f\u5728\u6d4b\u8bd5\u7684\u573a\u666f\u4e2d\u9ed1\u8272\u90e8\u5206\u751a\u591a\uff0c\u56e0\u6b64\u4e00\u65e6\u5230\u8fbe\u9ed1\u8272\u6750\u8d28\u7684\u90e8\u5206\uff0c\u5149\u6d41\u4f20\u611f\u5668\u7684\u6570\u636e\u5c06\u4e0d\u518d\u66f4\u65b0\uff0c\u8fdb\u800c\u8ba9\u95ed\u73af\u7b97\u6cd5\u8ba4\u4e3a\u81ea\u5df1\u7684\u4f4d\u7f6e\u6ca1\u6709\u53d1\u751f\u53d8\u5316\uff0c\u6700\u7ec8\u5bfc\u81f4\u6574\u8f66\u5728\u79ef\u5206\u7684\u4f5c\u7528\u4e0b\u52a0\u901f\u5728\u9ed1\u8272\u533a\u57df\u4e2d\u5931\u63a7\u884c\u9a76\u3002<\/p>\n<p>\u8fd9\u5df2\u7ecf\u4e0d\u662f\u7b80\u5355\u7684\u4f20\u611f\u5668\u6570\u636e\u8bef\u5dee\u4e86\uff0c\u800c\u662f\u5b9e\u5b9e\u5728\u5728\u7684\u4f20\u611f\u5668\u6545\u969c\u3002<\/p>\n<p>\u5f53\u7136\uff0c\u95ee\u9898\u7684\u51fa\u73b0\u5c31\u662f\u8981\u8ba9\u4eba\u53bb\u89e3\u51b3\u7684\uff0c\u53ea\u8981\u6293\u4f4f\u4e3b\u8981\u77db\u76fe\u5c31\u80fd\u89e3\u51b3\u95ee\u9898\u3002\u800c\u8fd9\u4e2a\u95ee\u9898\u4e2d\u7684\u4e3b\u8981\u77db\u76fe\u5c31\u662f\uff1a\u5149\u6d41\u4f20\u611f\u5668\u7684\u6570\u636e\u662f\u4e0d\u53d8\u7684\uff0c\u800c\u8f66\u5b50\u672c\u8eab\u7684\u901f\u5ea6\u662f\u53d8\u5316\u7684\uff0c\u751a\u81f3\u4f1a\u53d8\u5316\u7684\u66f4\u52a0\u731b\u70c8<del>\uff08\u7269\u7406\u77db\u76fe\uff09<\/del>\u3002<\/p>\n<p>\u8f6c\u6362\u4e00\u4e0b\u95ee\u9898\u5c31\u662f\uff1a\u5728\u4f20\u611f\u5668\u5931\u63a7\u7684\u65f6\u5019\uff0c\u901a\u8fc7\u901f\u5ea6\u8ba1\u7b97\u7684\u4f4d\u79fb\u548c\u901a\u8fc7\u5149\u6d41\u8ba1\u7b97\u83b7\u5f97\u7684\u4f4d\u79fb\u7684\u5dee\u662f\u66f4\u5927\u7684\u3002\u5e76\u4e14\uff0c\u5728\u4f20\u611f\u5668\u6ca1\u6709\u662f\u7a7a\u7684\u60c5\u51b5\u4e0b\uff0c\u4f20\u611f\u5668\u66f4\u51c6\uff0c\u5426\u5219\u901a\u8fc7\u81ea\u8eab\u901f\u5ea6\u79ef\u5206\u83b7\u5f97\u7684\u4f4d\u79fb\u66f4\u51c6\uff0c\u521a\u597d\u7b26\u5408\u4e92\u8865\u6ee4\u6ce2\u7684\u4f7f\u7528\u6761\u4ef6\uff08\u6216\u8bb8\u9700\u8981\u4e00\u4e9b\u60f3\u8c61\u529b\uff1a\uff09<\/p>\n<p>\u4e8e\u662f\u7b14\u8005\u7b80\u5355\u7684\u5199\u4e86\u4e00\u4e2a\u7cfb\u6570\u53d8\u5316\u7684\u4e92\u8865\u6ee4\u6ce2\uff0c\u7528\u6765\u4fee\u590d\u4f20\u611f\u5668\u7684\u9519\u8bef\u6570\u636e <code>freertos.c:378<\/code>\uff1a<\/p>\n<pre><code class=\"language-c\">\/\/ Recalculate optical confidence for each axis\nfloat tempDx = fabsf(CarInfo.dx),\n        tempSx = fabsf(ToPMWSystem(CarInfo.spdX)),\n        tempDy = fabsf(CarInfo.dx),\n        tempSy = fabsf(ToPMWSystem(CarInfo.spdX));\nif (MAX(tempDx, tempSx) != 0) {\n    CarInfo.opticalConfigX = MIN(tempDx, tempSx) \/ MAX(tempDx, tempSx);\n} else {\n    CarInfo.opticalConfigX = 1;\n}\nif (MAX(tempDy, tempSy) != 0) {\n    CarInfo.opticalConfigY = MIN(tempDy, tempSy) \/ MAX(tempDy, tempSy);\n} else {\n    CarInfo.opticalConfigY = 1;\n}\n\/\/ Fusing optical data and car speed data\nCarInfo.curX += CarInfo.dx * CarInfo.opticalConfigX\n                + (1 - CarInfo.opticalConfigX) * ToPMWSystem(CarInfo.spdX) * 0.01f;\nCarInfo.curY += CarInfo.dy * CarInfo.opticalConfigY\n                + (1 - CarInfo.opticalConfigY) * ToPMWSystem(CarInfo.spdY) * 0.01f;<\/code><\/pre>\n<p>\u5b9e\u9645\u6d4b\u8bd5\u6548\u679c\u8fd8\u597d\uff0c\u606d\u559c\u81ea\u5df1\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u788e\u788e\u5ff5 \u4e4b\u524d\u53c2\u52a0\u5de5\u8bad\u8d5b\u5176\u5b9e\u662f\u62b1\u7740\u60f3\u8981\u628a\u8fd9\u4e2a\u6bd4\u8d5b\u6253\u5b8c\u7684\u60f3\u6cd5\u7684\uff0c\u4f46\u662f\u4e2d\u9014\u7a81\u7136\u6536\u5230\u4e86\u8001\u5e08\u7684\u901a\u77e5\u5f97\u77e5\u6bd4\u8d5b\u5b9e\u9645\u7684\u4e3e\u529e\u65f6\u95f4 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":354,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[5,2],"tags":[],"class_list":["post-562","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-embedded","category-default"],"_links":{"self":[{"href":"https:\/\/zhewana.cn\/index.php?rest_route=\/wp\/v2\/posts\/562","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/zhewana.cn\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/zhewana.cn\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/zhewana.cn\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/zhewana.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=562"}],"version-history":[{"count":2,"href":"https:\/\/zhewana.cn\/index.php?rest_route=\/wp\/v2\/posts\/562\/revisions"}],"predecessor-version":[{"id":567,"href":"https:\/\/zhewana.cn\/index.php?rest_route=\/wp\/v2\/posts\/562\/revisions\/567"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/zhewana.cn\/index.php?rest_route=\/wp\/v2\/media\/354"}],"wp:attachment":[{"href":"https:\/\/zhewana.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=562"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/zhewana.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=562"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/zhewana.cn\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=562"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}