From 6af1c2269e7715803ee613f2317b7ab25888f8e9 Mon Sep 17 00:00:00 2001 From: latercomer Date: Sun, 8 Sep 2024 22:55:45 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BA=86=E9=83=A8=E5=88=86do?= =?UTF-8?q?cs=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../01.uorb.md" | 6 +- .../03.param.md" | 24 ++++-- .../05.mavlink.md" | 12 +-- .../10.dataman.md" | 1 + .../11.version.md" | 7 +- .../80.gps.md" | 1 - .../README.md" | 1 + .../oem718d.md" | 1 + .../ub482.md" | 1 + .../README.md" | 0 .../README.md" | 0 .../README.md" | 1 + .../dsm.md" | 16 ++++ .../sbus-reverse.png" | Bin 0 -> 46205 bytes .../sbus.md" | 71 ++++++++++++++++++ .../microhard-p900.md" | 2 +- 16 files changed, 116 insertions(+), 28 deletions(-) create mode 100644 "docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/10.dataman.md" delete mode 100644 "docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/80.gps.md" create mode 100644 "docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\274\240\346\204\237\345\231\250/\345\215\253\346\230\237\345\257\274\350\210\252/README.md" create mode 100644 "docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\274\240\346\204\237\345\231\250/\345\215\253\346\230\237\345\257\274\350\210\252/oem718d.md" create mode 100644 "docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\274\240\346\204\237\345\231\250/\345\215\253\346\230\237\345\257\274\350\210\252/ub482.md" create mode 100644 "docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\275\234\345\212\250\345\231\250/README.md" create mode 100644 "docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\346\225\260\346\215\256\351\223\276/README.md" create mode 100644 "docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\351\201\245\346\216\247\345\231\250/README.md" create mode 100644 "docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\351\201\245\346\216\247\345\231\250/dsm.md" create mode 100644 "docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\351\201\245\346\216\247\345\231\250/sbus-reverse.png" create mode 100644 "docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\351\201\245\346\216\247\345\231\250/sbus.md" diff --git "a/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/01.uorb.md" "b/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/01.uorb.md" index 6f00c6c996..9c7eb6b2cf 100644 --- "a/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/01.uorb.md" +++ "b/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/01.uorb.md" @@ -1,11 +1,9 @@ -# uORB 消息管理 +# uORB 通信机制 ## 订阅主题 - ## 发布主题 - ## 添加主题 1. 添加自定义主题的头文件和c文件，c文件中注意数据填充。 @@ -17,4 +15,4 @@ ![uorb_count](./image/uorb_count.png)![add_id](./image/add_id.png) 4. 如果需要增加日志记录，在`logger.c`中添加如下代码，其中的4表示记录周期为4ms。 -![add_log](./image/add_log.png) \ No newline at end of file +![add_log](./image/add_log.png) diff --git "a/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/03.param.md" "b/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/03.param.md" index a7a9cb85da..994bbf8462 100644 --- "a/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/03.param.md" +++ "b/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/03.param.md" @@ -1,11 +1,11 @@ # PARAM参数管理 - ## 定义参数 ### 参数文件 参数定义文件是`*_params.c`为后缀的C文件，并需要`#include "param.h`。 + ``` #include "param.h" @@ -32,6 +32,7 @@ PARAM_DEFINE_INT32(name, default, flag) ``` + ### 必要信息 飞控内部用于参数管理（查找、获取、设置、计算等）所必须的信息包括变量名、类型、取值和标志。 @@ -42,6 +43,7 @@ PARAM_DEFINE_INT32(name, default, flag) - **flag**：必须，标志位，`bit0表示不允许用户修改，bit1表示修改需要重启，bit2表示解锁后不允许修改` 通过`PARAM_DEFINE_**(name, default, flag);`宏来定义一个参数，其语法格式为： + ``` # 定义一个float型param PARAM_DEFINE_FALOT(name, default, flag); @@ -50,6 +52,7 @@ PARAM_DEFINE_FALOT(name, default, flag); PARAM_DEFINE_INT32(name, default, flag); ``` + ### 可选信息 可选信息主要是用于地面站参数显示、设置等 @@ -61,6 +64,7 @@ PARAM_DEFINE_INT32(name, default, flag); - board - boolean - @value value description，可选，允许值 + ``` // 表示允许取值0,1,2,3 @value 0 Disabled @@ -68,12 +72,14 @@ PARAM_DEFINE_INT32(name, default, flag); @value 2 S.BUS @value 3 DSM ``` + - @bit，可选 - @min，可选，最小值 - @max，可选，最大值 - @increment，可选，修改步长 - @decimal - @unit，可选，单位，允许以下取值： + ``` '%', 'Hz', '1/s', 'mAh', 'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s', 'rad s^2/m', 'rad s/m', @@ -89,27 +95,34 @@ PARAM_DEFINE_INT32(name, default, flag); 'N/(m/s)', 'Nm/rad', 'Nm/(rad/s)', 'Nm', 'N', 'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD', '' ``` + - @reboot_required true/false，可选，修改是否需要重启飞控 - volatile，可选，不允许用户修改 - ## 使用参数 + ### 查找参数 + ``` uint16_t param_find(const char* name) ``` + ### 获取参数 + ``` void param_get(uint16_t handle, void* value) ``` + ### 设置参数 + ``` void param_set(uint16_t handle, void* value) ``` - ## 基本原理 + ### 参数定义 + ``` #define PARAM_DEFINE_INT32(_name, _value, _flag) \ __attribute__(used) \ // 防止被优化 @@ -124,10 +137,9 @@ void param_set(uint16_t handle, void* value) .status = 0, \ // 状态位 } ``` -### 参数存储 - +### 参数存储 ### 机架参数 -由于NextPilot支持多机架切换，但是不同机架之间有些参数是不一致的，因此切换机架的时候需要将参数重置为当前机架的默认值。 \ No newline at end of file +由于NextPilot支持多机架切换，但是不同机架之间有些参数是不一致的，因此切换机架的时候需要将参数重置为当前机架的默认值。 diff --git "a/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/05.mavlink.md" "b/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/05.mavlink.md" index 70e85fbc88..1dbc6490fa 100644 --- "a/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/05.mavlink.md" +++ "b/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/05.mavlink.md" @@ -1,21 +1,15 @@ -# MAVLink遥控遥测 +# MAVLink 遥控遥测 ## 添加下行数据 - ## 添加上行数据 - ## 生成代码 - - ## 帮助命令 mavlink模块提供了必要的shell命令，可以在nextpilot调试终端使用相关命令实现mavlink实例启动、停止、查看状态、设置消息频率等。 - - ### 格式 命令格式为：`mavlink [arguments...]`。 @@ -48,8 +42,6 @@ mavlink模块提供了必要的shell命令，可以在nextpilot调试终端使 msh />mavlink status stream ``` - - ### stream设置指令 #### 设置消息频率 @@ -81,4 +73,4 @@ mavlink模块提供了必要的shell命令，可以在nextpilot调试终端使 ```shell msh />mavlink stream -u 14556 -s HEARTBEAT -r -1 - ``` \ No newline at end of file + ``` diff --git "a/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/10.dataman.md" "b/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/10.dataman.md" new file mode 100644 index 0000000000..45de8a9d17 --- /dev/null +++ "b/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/10.dataman.md" @@ -0,0 +1 @@ +# 航线管理 diff --git "a/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/11.version.md" "b/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/11.version.md" index a27b4ecd87..8982548b85 100644 --- "a/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/11.version.md" +++ "b/docs/develop/04.\351\200\232\347\224\250\347\273\204\344\273\266/11.version.md" @@ -2,11 +2,6 @@ ## 硬件版本 - ## 软件版本 - - - - -### 软件版本信息自动生成 \ No newline at end of file +### 软件版本信息自动生成 diff --git "a/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/80.gps.md" "b/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/80.gps.md" deleted file mode 100644 index c87b97e22d..0000000000 --- "a/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/80.gps.md" +++ /dev/null @@ -1 +0,0 @@ -# gps驱动 diff --git "a/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\274\240\346\204\237\345\231\250/\345\215\253\346\230\237\345\257\274\350\210\252/README.md" "b/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\274\240\346\204\237\345\231\250/\345\215\253\346\230\237\345\257\274\350\210\252/README.md" new file mode 100644 index 0000000000..37f819a110 --- /dev/null +++ "b/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\274\240\346\204\237\345\231\250/\345\215\253\346\230\237\345\257\274\350\210\252/README.md" @@ -0,0 +1 @@ +# 卫星导航 diff --git "a/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\274\240\346\204\237\345\231\250/\345\215\253\346\230\237\345\257\274\350\210\252/oem718d.md" "b/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\274\240\346\204\237\345\231\250/\345\215\253\346\230\237\345\257\274\350\210\252/oem718d.md" new file mode 100644 index 0000000000..0875ac49ef --- /dev/null +++ "b/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\274\240\346\204\237\345\231\250/\345\215\253\346\230\237\345\257\274\350\210\252/oem718d.md" @@ -0,0 +1 @@ +# OEM718d diff --git "a/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\274\240\346\204\237\345\231\250/\345\215\253\346\230\237\345\257\274\350\210\252/ub482.md" "b/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\274\240\346\204\237\345\231\250/\345\215\253\346\230\237\345\257\274\350\210\252/ub482.md" new file mode 100644 index 0000000000..ec7f2b7cd5 --- /dev/null +++ "b/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\274\240\346\204\237\345\231\250/\345\215\253\346\230\237\345\257\274\350\210\252/ub482.md" @@ -0,0 +1 @@ +# UB482 diff --git "a/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\275\234\345\212\250\345\231\250/README.md" "b/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\344\275\234\345\212\250\345\231\250/README.md" new file mode 100644 index 0000000000..e69de29bb2 diff --git "a/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\346\225\260\346\215\256\351\223\276/README.md" "b/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\346\225\260\346\215\256\351\223\276/README.md" new file mode 100644 index 0000000000..e69de29bb2 diff --git "a/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\351\201\245\346\216\247\345\231\250/README.md" "b/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\351\201\245\346\216\247\345\231\250/README.md" new file mode 100644 index 0000000000..08102146f3 --- /dev/null +++ "b/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\351\201\245\346\216\247\345\231\250/README.md" @@ -0,0 +1 @@ +# 遥控器 diff --git "a/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\351\201\245\346\216\247\345\231\250/dsm.md" "b/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\351\201\245\346\216\247\345\231\250/dsm.md" new file mode 100644 index 0000000000..1abcb1a1b6 --- /dev/null +++ "b/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\351\201\245\346\216\247\345\231\250/dsm.md" @@ -0,0 +1,16 @@ + +# DSM + +## 简介 + +DSM是Digital Spread Spectrum Modulation的缩写，DMS协议一共有三代： DSM、DSM2、DSMX。国内最常见的是DSM2，JR和Spectrum 的遥控器都支持。该协议也是一种串行协议，但是比S.BUS更加通用，使用的标准串口定义，所以市面上兼容接收机更加便宜，兼容的设备也更多。但是该协议并不是一种总线化的协议，要靠接收机取把协议变为PWM来驱动舵机，DSM2接口也只能连接接收机和卫星接收机。 + +DSMX是DSM2的升级版，协议基本一样就是速率加快了。DSMX协议可以用于双向传输，即能够将飞机上的信息传回遥控器上在液晶屏显示。 + +## 硬件标准 + +DSM2设备使用三线连接，黑色线是地线，红色是电源线，另一条是信号线，电源线是3.3V。 + +## 协议格式 + +DSM2每一帧16个字节 diff --git "a/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\351\201\245\346\216\247\345\231\250/sbus-reverse.png" "b/docs/develop/05.\350\256\276\345\244\207\351\251\261\345\212\250/\351\201\245\346\216\247\345\231\250/sbus-reverse.png" new file mode 100644 index 0000000000000000000000000000000000000000..45b0578a5082b1c550da481498d8ea2f9d4aa4a3 GIT binary patch literal 46205 zcmdS>byr+X^F0m&8DQ{1g6lx=;O_1^A-KD{yG!uk5G;7`;1JwG2=1PN5Zpc3Z^(6j zp4aew{$QQOtU29XReSHMu5O4?Q<23$B}RpVgTs)QlY+p(A$)-S5CailpU^wsXTrfz z!pTdCYk0#S_G)EV?D)`KKVKX>UyJbX{4l7feANz*NrhdU&ed>eVf1&r<(dFG=8v;+ zXZg+EX3U#Lod!Oca*_Z2INh)S|IuR?3mh0FmKq5?TExIVP!ysN!ahW3b|Dq~@^F*+ 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z;98mB(45M#MVBw2(cvKax!jov925_#Y11iN3gCmQ0Z|VGl{o{&u3PnAY%&~518!!l z=2CA;8B?2`6dnJ+;X|!Teji@dd6w+!GZk%3(uAv|WhSIo63H4&wG@l~q05J?W(gNcL{v+aW z^8>`-_3z)O7XSJAlUw>4C2}8UV^aU 有一个特例，S.BUS2的SLOT0（ID=0x03）默认是接收机电压，不能修改和占用，而endbyte=0x04时表示发送SLOT 0 ~ 7中的数据，因此SLOT0接收机电压在此帧会发送出去。这就是为什么endbyte=0x04的时候，后面必定跟一个0x03 xx xx的小尾巴，这里的0x03表示SLOT0，后面两个xx是接收机电压。 + +## 注意事项 + +1. 遥控器关闭之后，S.BUS接收机还是会一直输出数据，但是不同的型号接收机会差异 + +> 绝大部分接收机是继续输出最后一拍的数据，部分接收机可能会将油门通道的值变成最低，但是一般都会将flag的bit2和bit3设置1，因此为了安全，在监测到bit2和bit3变成1之后，一定要禁用遥控器的控制，否则存在很大安全隐患 + +## 参考链接 + +S.BUS2数传库：[https://github.com/BrushlessPower/SBUS2-Telemetry](https://github.com/BrushlessPower/SBUS2-Telemetry)。 diff --git "a/docs/manual/21.\345\221\250\350\276\271\350\256\276\345\244\207/03.\346\225\260 \346\215\256 \351\223\276/microhard-p900.md" "b/docs/manual/21.\345\221\250\350\276\271\350\256\276\345\244\207/03.\346\225\260 \346\215\256 \351\223\276/microhard-p900.md" index f14cb077aa..ec150dedc5 100644 --- "a/docs/manual/21.\345\221\250\350\276\271\350\256\276\345\244\207/03.\346\225\260 \346\215\256 \351\223\276/microhard-p900.md" +++ "b/docs/manual/21.\345\221\250\350\276\271\350\256\276\345\244\207/03.\346\225\260 \346\215\256 \351\223\276/microhard-p900.md" @@ -71,7 +71,7 @@ ATS108=30 # 发送功率 |ATI /?|显示帮助| |ATI0=x|设置用户自定义字符串| |ATI1|产品代码| -|AIT2||固件CRC校验| +|AIT2|固件CRC校验| |ATI3|固件版本| |ATI4|固件日期| |ATI5|固件版权|