void controlClibra(void)
{
static u8 i;
uint16_t sum[4]={0,0,0,0};
static int8_t lednum=1;
static int8_t clibrasumNum = 20;
if((ClibraFlag == FAIL))//校准失败
{
for(i=0;i<clibrasumNum;i++)
{
#ifdef AMERICAN_RC_MODE
sum[0] += 1000 + (1000 - (1000*Get_Adc_Average(3,15))/4096);
sum[1] += 1000 + (1000*Get_Adc_Average(1,15))/4096;
#else
sum[0] += 1000 + (1000*Get_Adc_Average(1,15))/4096;
sum[1] += 1000 + (1000 - (1000*Get_Adc_Average(3,15))/4096);
#endif
sum[2] += 1000 + (1000*Get_Adc_Average(0,15))/4096;
sum[3] += 1000 + (1000*Get_Adc_Average(2,15))/4096;
delay_ms(100);
if(++lednum == led5 + 2)lednum = 2;
LedSet(lednum - 1,0);
LedSet(lednum ,1);
}
Throttle_Calibra = sum[0]/i;
Pitch_Calibra = sum[1]/i;
Roll_Calibra = sum[2]/i;
Yaw_Calibra = sum[3]/i;
// Throttle_Calibra = 1500;
// Pitch_Calibra = 1500;
// Roll_Calibra = 1500;
// Yaw_Calibra = 1500;
LoadRCdata(); //摇杆赋值
if((Throttle>=1510)||(Throttle<1490)||(Pitch>=1510)||(Pitch<=1490)||(Roll>=1510)||(Roll<=1490)||(Yaw>=1510)||(Yaw<=1490))
ClibraFlag = FAIL;//校准失败
else ClibraFlag = OK;//校准成功标志
SaveParamsToEEPROM();
LedSet(led2,0);LedSet(led3,0);LedSet(led4,0);LedSet(led5,0);
}
}
/********************************************
写蓝牙参数函数 (Write Bluetooth function parameters)
********************************************/
void BT_ATcmdWrite(void)
{
static u32 BT_CurBaud;
BT_CurBaud = BT_CurBaud_Get();
if((BT_CurBaud == BT_BAUD_Set)) BTstate = BThavewrote;//检测到蓝牙当前的波特率和设定值不同，就写入设定值 //Bluetooth current baud rate detection and setting values are different, the set value is written
else BTstate = BTneedwrite;
if(BTstate == BTneedwrite)
{
LedA_off;LedB_off;LedC_off;LedD_off;
UART1_init(SysClock,BT_CurBaud);//以当前波特率重新初始化串口 //In the current re-initialize the serial port baud rate
/*开始配置蓝牙设备名,pin码，波特率*/ //Begin configuring the Bluetooth device name, pin code, baud rate
Uart1SendaBTCmd(ATcmdAsk);
//printf("\r\n与蓝牙通信中...\r\n"); //Bluetooth Communication
if(CmdJudgement(ATcmdAnswer) == true)//有蓝牙返回，才往下写指令 //Bluetooth returned, only to write down instructions
{
Uart1SendaBTCmd(ATcmdNameAsk);
if(CmdJudgement(ATcmdNameAnswer) == false) {Uart1SendaBTCmd(ATcmdNameSet);LedA_off;LedB_on;LedC_off;LedD_on; }
else ;
Uart1SendaBTCmd(ATcmdCodeAsk);
if(CmdJudgement(ATcmdCodeAnswer) == false) {Uart1SendaBTCmd(ATcmdCodeSet); LedA_on;LedB_off;LedC_on;LedD_off; }
else ;
Uart1SendaBTCmd(ATcmdBaudAsk);
if(CmdJudgement(ATcmdBaudAnswer) == false) {
Uart1SendaBTCmd(ATcmdBaudSet);
LedA_off;LedB_on;LedC_off;LedD_on;
BTstate = BThavewrote;
SaveParamsToEEPROM();
LedA_on;LedB_on;LedC_on;LedD_on;
delay_ms(1000);
LedA_off;LedB_off;LedC_off;LedD_off;
}//最后修改波特率,并写入EEPROM //Last Modified baud rate, and write EEPROM
else BTstate = BTneedwrite;
}
else {BTstate = BTneedwrite; printf("\r\n与蓝牙通信失败\r\n");} //Bluetooth communication and failure
}
else ;
UART1_init(SysClock,BT_BAUD_Set);
}
void NRFmatching(void)
{
static uint32_t nTs,nT;
static uint32_t writeOvertime = 2 * 1000000;// unit :us
LedC_on; //led3 always on when 2.4G matching
nTs = micros();
do
{
NRFMatched = 0;
nT = micros() - nTs;
if(nT >= writeOvertime){
RX_ADDRESS[4] = table.NRFaddr[4];
break; //exit when time out,and do not change original address
}
SetRX_Mode(); // reset RX mode write RX panel address
delay_ms(4); // delay is needed after reset NRF
sta = NRF_Read_Reg(NRF_READ_REG + NRFRegSTATUS);
if((sta & 0x0E )== 0x00){
NRFMatched = 1;
}else{
RX_ADDRESS[4] ++; //search the next RX_ADDRESS
if(RX_ADDRESS[4] == 0xff ){
RX_ADDRESS[4] = 0x00;
}
}
}while((sta & 0x0E )== 0x0E);
SetRX_Mode(); // reset RX mode
if((NRFMatched == 1)&&(RX_ADDRESS[4]!= table.NRFaddr[4])){
SaveParamsToEEPROM(); //write eeprom when current addr != original addr
}
LedC_off; // matching end
}
