{"id":2518,"date":"2023-04-15T10:57:16","date_gmt":"2023-04-15T02:57:16","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=2518"},"modified":"2026-03-08T13:57:06","modified_gmt":"2026-03-08T05:57:06","slug":"apm%e9%a3%9e%e6%8e%a7%e5%9b%ba%e4%bb%b6%e7%bc%96%e7%a8%8b-gpio%e8%be%93%e5%85%a5","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=2518","title":{"rendered":"APM\u98de\u63a7\u56fa\u4ef6\u7f16\u7a0b-GPIO\u8f93\u5165"},"content":{"rendered":"\n<p>\u3000\u6709\u65f6\u5019\uff0c\u6211\u4eec\u7684\u98de\u63a7\u9700\u8981\u5f15\u5165\u4e00\u4e9b\u5916\u90e8IO\u4fe1\u53f7\uff0c\u6bd4\u5982\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u76f8\u673a\u62cd\u7167\u53cd\u9988<\/strong>\uff1a\u5355\u53cd\u76f8\u673a\u70ed\u9774\u63a5\u53e3\u7684\u53cd\u9988\u4fe1\u53f7\uff0c\u7528\u4e8e\u5c06\u7167\u7247\u62cd\u6444\u7684\u4f4d\u7f6e\u548c\u65f6\u95f4\u4fdd\u5b58\u5230\u98de\u63a7\u7684\u65e5\u5fd7\u4e2d\uff1b<\/li>\n\n\n\n<li><strong>\u6db2\u4f4d\u4eeaIO\u4fe1\u53f7<\/strong>\uff1a\u690d\u4fdd\u65e0\u4eba\u673a\u68c0\u6d4b\u5269\u4f59\u836f\u91cf\u662f\u5426\u4f4e\u4e8e\u8b66\u6212\u503c\uff1b<\/li>\n\n\n\n<li><strong>\u5f39\u5c04\u68c0\u6d4b\u4fe1\u53f7<\/strong>\uff1a\u901a\u8fc7\u4e00\u4e2a\u91d1\u5c5e\u89e6\u70b9\u5f39\u7247\u6765\u68c0\u6d4b\u65e0\u4eba\u673a\u662f\u5426\u4ece\u53d1\u5c04\u67b6\u4e0a\u5f39\u5c04\u51fa\u53bb\uff0c\u5bf9\u4e8e\u4e00\u4e9b\u9700\u8981\u5ef6\u8fdf\u5f00\u542f\u63a8\u8fdb\u7535\u673a\u7684\u5e94\u7528\u6bd4\u8f83\u6709\u7528\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u786c\u4ef6\u57fa\u7840<\/h3>\n\n\n\n<p>\u3000\u5bf9\u4e8e\u5927\u90e8\u5206\u8fd0\u884cAPM\u56fa\u4ef6\u7684\u98de\u63a7\u6765\u8bb2\uff0c\u5176\u7b2c9\u901a\u9053\u4ee5\u540e\uff08\u542b\uff09\u7684PWM\u8f93\u51fa\u901a\u9053\u540c\u65f6\u4e5f\u652f\u6301\u4f5c\u4e3aGPIO\u8f93\u5165\uff0c\u5f53\u7136\uff0c\u90e8\u5206\u98de\u63a7\u786c\u4ef6\u7684\u524d8\u4e2a\u901a\u9053\u4e5f\u652f\u6301\u4f5c\u4e3aGPIO\u8f93\u5165\uff0c\u8fd9\u4e0e\u98de\u63a7\u7684\u786c\u4ef6\u67b6\u6784\u76f8\u5173\u3002<\/p>\n\n\n\n<p>\u3000\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u6b64\u98de\u63a7\u7684PWM1~PWM8\u4f7f\u7528\u4e86SN74LVC8T245\u8fd9\u6b3e\u82af\u7247\u4f5c\u4e3a\u63a5\u53e3\u4fdd\u62a4\u82af\u7247\uff0c\u5e76\u4e14\u5c06\u6b64\u82af\u7247\u7684\u65b9\u5411\u63a7\u5236\u5f15\u811a\u56fa\u5b9a\u62c9\u4f4e\uff0c\u4ece\u800c\u8fd98\u4e2a\u901a\u9053\u53ea\u652f\u6301\u4f5c\u4e3aPWM\u8f93\u51fa\u6216\u8005GPIO\u8f93\u51fa\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"772\" height=\"646\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/04\/image.png\" alt=\"\" class=\"wp-image-2519\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/04\/image.png 772w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/04\/image-300x251.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/04\/image-768x643.png 768w\" sizes=\"auto, (max-width: 772px) 100vw, 772px\" \/><\/figure>\n\n\n\n<p>\u3000\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u5176PWM9~PWM16\u901a\u9053\u4f7f\u7528\u4e86TXS0108ERGYR\u8fd9\u6b3e\u82af\u7247\u4f5c\u4e3a\u63a5\u53e3\u4fdd\u62a4\u82af\u7247\uff0c\u8fd9\u6b3e\u82af\u7247\u652f\u6301\u81ea\u52a8\u5207\u6362\u5404\u4e2a\u901a\u9053\u7684\u65b9\u5411\u7684\u529f\u80fd\uff0c\u56e0\u6b64\u8fd98\u4e2a\u901a\u9053\u65e2\u53ef\u4ee5\u4f5c\u4e3aPWM\u8f93\u51fa\uff0c\u4e5f\u53ef\u4ee5\u4f5c\u4e3aGPIO\u8f93\u5165\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"894\" height=\"573\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/04\/image-1.png\" alt=\"\" class=\"wp-image-2520\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/04\/image-1.png 894w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/04\/image-1-300x192.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/04\/image-1-768x492.png 768w\" sizes=\"auto, (max-width: 894px) 100vw, 894px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">\u8f6f\u4ef6\u7f16\u7a0b<\/h3>\n\n\n\n<p>\u3000APM\u56fa\u4ef6\u7684GPIO\u8f93\u5165\u529f\u80fd\u7684\u4f7f\u7528\u662f\u975e\u5e38\u7b80\u5355\u7684\uff0c\u5982\u4e0b\u9762\u7684\u4f8b\u5b50\u6240\u793a\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/\/ \u7b2c\u4e00\u6b65\uff0c\u5c06GPIO50\u8bbe\u7f6e\u4e3a\u8f93\u5165\u6a21\u5f0f\nhal.gpio->pinMode(50, HAL_GPIO_INPUT);\n\n\/\/ \u7b2c\u4e8c\u6b65\uff0c\u5c06GPIO50\u8bbe\u7f6e\u4e3a\u5185\u90e8\u4e0a\u62c9\uff08\u53ef\u9009\uff0c\u53ef\u4ee5\u4e0d\u4e0a\u62c9\uff1b\u5982\u679c\u8981\u4e0b\u62c9\uff0c\u5219\u7b2c\u4e8c\u4e2a\u53c2\u6570\u8bbe\u7f6e\u4e3a0\uff09\nhal.gpio->write(50, 1);\n\n\/\/ \u7b2c\u4e09\u6b65\uff0c\u8bfb\u53d6GPIO50\u7684\u72b6\u6001\uff0c\u8fd4\u56de\u503c\u4e3a0\u8868\u793a\u4f4e\u7535\u5e73\uff0c\u4e3a1\u8868\u793a\u9ad8\u7535\u5e73\nuint8_t gpio_state = hal.gpio->read(50);<\/code><\/pre>\n\n\n\n<p>\u3000\u6ce8\u610f\uff0c\u4f8b\u7a0b\u4e2d\u7684\u201c50\u201d\u662f\u201c\u8f6f\u4ef6\u5c42\u9762\u201d\u7684GPIO\u53f7\uff0c\u4e0d\u662fSTM32\u5355\u7247\u673a\u201c\u786c\u4ef6\u5c42\u9762\u201d\u7684GPIO\u53f7\uff0c\u5e76\u4e14\u5404\u4e2a\u98de\u63a7\u7684\u5b9a\u4e49\u4e0d\u540c\u3002\u6b64\u503c\u7684\u5b9a\u4e49\u5728APM\u6e90\u4ee3\u7801\u201cLibraries\/AP_HAL_ChibiOS\/hwdef\/\u98de\u63a7\u786c\u4ef6\u540d\/hwdef.dat\u201d\u4e2d\uff0c\u4e0b\u56fe\u4e3a\u539f\u7248Pixhawk\u5bf9\u4e8eGPIO\u53f7\u7684\u5b9a\u4e49\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"549\" height=\"247\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/04\/image-2.png\" alt=\"\" class=\"wp-image-2521\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/04\/image-2.png 549w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2023\/04\/image-2-300x135.png 300w\" sizes=\"auto, (max-width: 549px) 100vw, 549px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">\u53c2\u6570\u8bbe\u7f6e<\/h3>\n\n\n\n<p>\u3000\u5bf9\u4e8e\u6700\u65b0\u7684APM\u56fa\u4ef6\uff0c\u201cBRD_PWM_COUNT\u201d\u8fd9\u4e2a\u53c2\u6570\u5df2\u7ecf\u88ab\u5220\u6389\u4e86\uff0c\u56e0\u6b64\u4e0d\u9700\u8981\u8bbe\u7f6e\u8fd9\u4e2a\u53c2\u6570\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>SERVOx_FUNCTION<\/strong>\uff1a\u8bbe\u7f6e\u4e3a-1\u3002\u6ce8\u610f\uff0cAUX OUT\u5f15\u811a\u7684\u6807\u53f7\u5728\u53c2\u6570\u8868\u4e2d\u662f\u4ece9\u5f00\u59cb\u4f9d\u6b21\u9012\u589e\u7684\uff0c\u5982AUX OUT 1\u5f15\u811a\u5bf9\u5e94SERVO9\uff0cAUX OUT 2\u5f15\u811a\u5bf9\u5e94SERVO10\uff0c\u4f9d\u6b21\u7c7b\u63a8\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3000\u4f60\u770b\u7684\u6ca1\u9519\uff0c\u53ea\u9700\u8981\u8bbe\u7f6e\u8fd9\u4e00\u4e2a\u53c2\u6570\u5373\u53ef\uff0c\u975e\u5e38\u7b80\u5355\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u7ed3\u8bed<\/h3>\n\n\n\n<p>\u3000\u4ee5\u4e0a\u5c31\u662fAPM\u56fa\u4ef6GPIO\u8f93\u5165\u529f\u80fd\u7684\u4f7f\u7528\u65b9\u6cd5\uff0c\u5e0c\u671b\u5bf9\u5bf9\u5927\u5bb6\u6709\u6240\u5e2e\u52a9\uff0c\u66f4\u591a\u98de\u63a7\u56fa\u4ef6\u5f00\u53d1\u89c6\u9891\u6559\u7a0b\uff0c\u94fe\u63a5\u5730\u5740\uff1a<a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6709\u65f6\u5019\uff0c\u6211\u4eec\u7684\u98de\u63a7\u9700\u8981\u5f15\u5165\u4e00\u4e9b\u5916\u90e8IO\u4fe1\u53f7\uff0c\u6bd4\u5982\uff1a\u76f8\u673a\u62cd\u7167\u53cd\u9988\u3001\u6db2\u4f4d\u4eeaIO\u4fe1\u53f7\u3001\u5f39\u5c04\u68c0\u6d4b\u4fe1\u53f7\u7b49\u7b49\uff0c\u672c\u6587\u8bb2\u8ff0APM\u5982\u4f55\u901a\u8fc7\u7f16\u7a0b\u5f15\u5165\u8fd9\u7c7b\u4fe1\u53f7\u3002<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[16],"tags":[],"class_list":["post-2518","post","type-post","status-publish","format-standard","hentry","category-16"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v24.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>APM\u98de\u63a7\u56fa\u4ef6\u7f16\u7a0b-GPIO\u8f93\u5165 - \u6012\u98de\u5782\u4e91 | \u65e0\u4eba\u673a\u77e5\u8bc6\u5e93<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"http:\/\/www.nufeichuiyun.com\/?p=2518\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"APM\u98de\u63a7\u56fa\u4ef6\u7f16\u7a0b-GPIO\u8f93\u5165 - \u6012\u98de\u5782\u4e91 | \u65e0\u4eba\u673a\u77e5\u8bc6\u5e93\" \/>\n<meta property=\"og:description\" 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