>
> PID算法获取位置：[RT-ThreadDigitalCtrlr软件包](https://packages.rt-thread.org/detail.html?package=DigitalCtrl)
>
> 
>
> PID图像显示程序：[VOFA+](https://www.vofa.plus/)
### PID程序代码
详见The Smurfs\User\smurf_pid.c与smurf_pid.h
### VOFA+使用方法
加载文件夹内The Smurfs\User\ANO_DT.c与ANO_DT.h
```c
void ANO_DT_Send_Data(uint8_t *dataToSend , uint8_t length)
{
USART1_Send_Date(dataToSend,length); //可以修改不同的串口发送数据
}
```
将.c文件中ANO_DT_Send_Data函数中串口发送函数换成自己的
```c
void ANO_DT_send_int16(float data1 , float data2, float data3, float data4, float data5)
```
自行改变函数内形参数量，更新对应头文件
```c
data_to_send[_cnt++]=BYTE0(datax);
data_to_send[_cnt++]=BYTE1(datax);
data_to_send[_cnt++]=BYTE2(datax);
data_to_send[_cnt++]=BYTE3(datax);
```
按照形参数量，在函数内添加对应代码
主函数调用ANO_DT_Send_Data，将需要显示的数据作为实参填入
## 引脚配置
### RCT6引脚配置
| 引脚名称 | 主功能 | 默认复用 | 重定义 | 配置功能 | 使用功能 |
| --------------- | ---------- | ------------------------------------------------------------ | -------------------------------------- | ---------- | :----------- |
| PA0-WKUP | PA0 | WKUP/USART2_CTS ADC123_IN0 TIM2_CH1_ETR TIM5_CH1/TIM8_ETR | -- | | |
| PA1 | PA1 | USART2_RTS/ADC123_IN1 TIM5_CH2/TIM2_CH2 | -- | 24L01 IRQ | PA1 |
| PA2 | PA2 | USART2_TX/TIM5_CH3 ADC123_IN2/TIM2_CH3 | -- | RFID | USART2_TX |
| PA3 | PA3 | USART2_RX/TIM5_CH4 ADC123_IN3/TIM2_CH4 | -- | RFID | USART2_RX |
| PA4 | PA4 | SPI1_NSS/USART2_CK DAC_OUT1/ADC12_IN4 | -- | 24L01 CE | PA4 |
| PA5 | PA5 | SPI1_SCK/DAC_OUT2 ADC12_IN5 | -- | 24L01 SCK | PA5 |
| PA6 | PA6 | SPI1_MISO/TIM8_BKIN ADC12_IN6/TIM3_CH1 | TIM1_BKIN | 24L01 MISO | PA6 |
| PA7 | PA7 | SPI1_MOSI/TIM8_CH1N ADC12_IN7/TIM3_CH2 | TIM1_CH1N | 24L01 MOSI | PA7 |
| PA8 | PA8 | USART1_CK TIM1_CH1/MCO | -- | 灯带 | PA8 |
| PA9 | PA9 | USART1_TX/TIM1_CH2 | | | |
| PA10 | PA10 | USART1_RX/TIM1_CH3 | | | |
| PA11 | PA11 | USART1_CTS/USBDM CAN_RX/TIM1_CH4 | | 树莓派TX | PA11 |
| PA12 | PA12 | USART1_RTS/USBDP CAN_TX/TIM1_ETR | | 树莓派RX | PA12 |
| PA13 | JTMS/SWDIO | -- | PA13 | | |
| PA14 | JTCK/SWCLK | -- | PA14 | | |
| PA15 | JTDI | SPI3_NSS/I2S3_WS | TIM2_CH1_ETR PA15/SPI1_NSS | 电机编码器 | TIM2_CH1_ETR |
| PB0 | PB0 | ADC12_IN8/TIM3_CH3 TIM8_CH2N | TIM1_CH2N | 巡线 | ADC12_IN8 |
| PB1 | PB1 | ADC12_IN9/TIM3_CH4 TIM8_CH3N | TIM1_CH3N | | |
| PB2 | PB2/BOOT1 | -- | -- | | |
| PB3 | JTDO | SPI3_SCK/I2S3_CK | PB3/TRACESWO TIM2_CH2 SPI1_SCK | 电机编码器 | TIM2_CH2 |
| PB4 | NJTRST | SPI3_MISO | PB4/TIM3_CH1 SPI1_MISO | 电机编码器 | TIM3_CH1 |
| PB5 | PB5 | I2C1_SMBA/SPI3_MOSI I2S3_SD | TIM3_CH2 SPI1_MOSI | 电机编码器 | TIM3_CH2 |
| PB6 | PB6 | I2C1_SCL/TIM4_CH1 | USART1_TX | 电机pwm | TIM4_CH1 |
| PB7 | PB7 | I2C1_SDA/TIM4_CH2 | USART1_RX | 电机pwm | TIM4_CH2 |
| PB8 | PB8 | TIM4_CH3/SDIO_D4 | I2C1_SCL CAN_RX | 电机pwm | TIM4_CH3 |
| PB9 | PB9 | TIM4_CH4/SDIO_D5 | I2C1_SDA CAN_TX | 电机pwm | TIM4_CH4 |
| PB10 | PB10 | I2C2_SCL/USART3_TX | TIM2_CH3 | nbiot | USART3_TX |
| PB11 | PB11 | I2C2_SDA/USART3_RX | TIM2_CH4 | nbiot | USART3_RX |
| PB12 | PB12 | SPI2_NSS/I2S2_WS I2C2_SMBA/USART3_CK TIM1_BKIN | -- | IC CS | PB12 |
| PB13 | PB13 | SPI2_SCK/I2S2_CK USART3_CTS/TIM1_CH1N | -- | IC SCK | SPI2_SCK |
| PB14 | PB14 | SPI2_MISO/TIM1_CH2N USART3_RTS | -- | IC MISO | SPI2_MISO |
| PB15 | PB15 | SPI2_MOSI/I2S2_SD TIM1_CH3N | -- | IC MOSI | SPI2_MOSI |
| PC0 | PC0 | ADC123_IN10 | -- | 巡线SI | PC0 |
| PC1 | PC1 | ADC123_IN11 | -- | 巡线CLK | PC1 |
| PC2 | PC2 | ADC123_IN12 | -- | 测电量 | ADC123_IN12 |
| PC3 | PC3 | ADC123_IN13 | -- | IC RST | PC3 |
| PC4 | PC4 | ADC12_IN14 | -- | 24L01 CSN | PC4 |
| PC5 | PC5 | ADC12_IN15 | -- | 红外 | PC5 |
| PC6 | PC6 | I2S2_MCK/TIM8_CH1\ SDIO_D6 | TIM3_CH1 | 红外 | PC6 |
| PC7 | PC7 | I2S3_MCK/TIM8_CH2 SDIO_D7 | TIM3_CH2 | 红外 | PC7 |
| PC8 | PC8 | TIM8_CH3/SDIO_D0 | TIM3_CH3 | 电磁锁 | PC8 |
| PC9 | PC9 | TIM8_CH4/SDIO_D1 | TIM3_CH4 | 电磁锁 | PC9 |
| PC10 | PC10 | UART4_TX/SDIO_D2 | USART3_TX | 串口屏 | USART4_TX |
| PC11 | PC11 | UART4_RX/SDIO_D3 | USART3_RX | 串口屏 | USART4_RX |
| PC12 | PC12 | UART5_TX/SDIO_CK | USART3_CK | UWB | UART5_TX |
| PC13-TAMPER-RTC | PC13 | TAMPER-RTC | -- | | |
| PC14-OSC32_IN | PC14 | OSC32_IN | -- | | |
| PC15-OSC32_OUT | PC15 | OSC32_OUT | -- | | |
| PD2 | PD2 | TIM3_ETR/UART5_RX SDIO_CMD | -- | UWB | UART5_RX |
### C8T6引脚配置
| 引脚名称 | 主功能 | 默认复用功能 | 重定义功能 | 配置功能 | 使用功能 |
| --------------- | ----------- | ----------------------------------------------- | ------------------------------- | ---------- | --------- |
| PA0-WKUP | PA0 | WKUP/USART2_CTS/ ADC12_IN0/TIM2_CH1_ETR | | | |
| PA1 | PA1 | USART2_RTS/ADC12_IN1/ TIM2_CH2 | | 24L01 IRQ | PA1 |
| PA2 | PA2 | USART2_TX/ADC12_IN2/ TIM2_CH3 | | | |
| PA3 | PA3 | USART2_RX/ADC12_IN3/ TIM2_CH4 | | | |
| PA4 | PA4 | SPI1_NSS/USART2_CK/ ADC12_IN4 | | 24L01 CE | PA4 |
| PA5 | PA5 | SPI1_SCK/ADC12_IN5 | | 24L01 SCK | SPI1_SCK |
| PA6 | PA6 | SPI1_MISO/ADC12_IN6/ TIM3_CH1 | TIM1_BKIN | 24L01 MISO | SPI1_MISO |
| PA7 | PA7 | SPI1_MOSI/ADC12_IN7/ TIM3_CH2 | TIM1_CH1N | 24L01 MOSI | SPI1_MOSI |
| PA8 | PA8 | USART1_CK/TIM1_CH1/ MCO | | key下 | PA8 |
| PA9 | PA9 | USART1_TX/TIM1_CH2 | | | |
| PA10 | PA10 | USART1_RX/TIM1_CH3 | | | |
| PA11 | PA11 | USART1_CTS/USBDM/ CAN_RX/TIM1_CH4 | | | |
| PA12 | PA12 | USART1_RTS/USBDP/ CAN_TX/TIM1_ETR | | | |
| PA13 | JTMS/ SWDIO | | PA13 | | |
| PA14 | JTCK/ SWCLK | | PA14 | | |
| PA15 | JTDI | | TIM2_CH1_ETR/PA15/ SPI1_NSS | | |
| PB0 | PB0 | ADC12_IN8/TIM3_CH3 | TIM1_CH2N | | |
| PB1 | PB1 | ADC12_IN9/TIM3_CH4 | TIM1_CH3N | | |
| PB2 | PB2/ BOOT1 | | | | |
| PB3 | JTDO | | PB3/TRACESWO/ TIM2_CH2/SPI1_SCK | | |
| PB4 | NJTRST | | PB4/TIM3_CH1/ SPI1_MISO | | |
| PB5 | PB5 | I2C1_SMBAI | TIM3_CH2/SPI1_MOSI | 24L01 CSN | PB5 |
| PB6 | PB6 | I2C1_SCL/TIM4_CH1 | USART1_TX | | |
| PB7 | PB7 | I2C1_SDA/TIM4_CH2 | USART1_RX | | |
| PB8 | PB8 | TIM4_CH3 | I2C1_SCL/CAN_RX | | |
| PB9 | PB9 | TIM4_CH4 | I2C1_SDA/CAN_TX | | |
| PB10 | PB10 | I2C2_SCL/USART3_TX | TIM2_CH3 | 红灯 | PB10 |
| PB11 | PB11 | I2C2_SDA/USART3_RX | TIM2_CH4 | 绿灯 | PB11 |
| PB12 | PB12 | SPI2_NSS/I2C2_SMBAI/ USART3_CK/TIM1_BKIN | | 蓝灯 | PB12 |
| PB13 | PB13 | SPI2_SCK/USART3_CTS/ TIM1_CH1N | | key下 | PB13 |
| PB14 | PB14 | SPI2_MISO/USART3_RTS/ TIM1_CH2N | | key右 | PB14 |
| PB15 | PB15 | SPI2_MOSI/TIM1_CH3N | | key上 | PB15 |
| PC13-TAMPER-RTC | PC13 | TAMPER-RTC | | | |
| PC14-OSC32_IN | PC14 | OSC32_IN | | | |
| PC15-OSC32_OUT | PC15 | OSC32_OUT | | | |
## 2.4GHz通信
C8T6发送32位数据，RCT6接收32位数据，通信方案配置为发送之后等待应答模式，发送成功时绿灯亮，发送失败时红灯亮。