int main(void) { int status; memset(RX_BUF,0,4); led_init(); nRF24L01_init(); motor_init(); //电机初始化 QuadCopter_init(&QuadCopter); uart_init(115200); status = nRF_Check(); /*检测NRF模块与MCU的连接*/ if(status == SUCCESS) /*判断连接状态*/ uart_printf("\r\n NRF与MCU连接成功!\r\n"); else uart_printf("\r\n NRF与MCU连接失败,请重新检查接线。\r\n"); nRF_RX_Mode(); LED_OFF; while(1) { nRF_RX_Mode(); nRF_Rx_Dat(RX_BUF); status=RX_BUF[2]; switch(status) { case Q_ON: LED_ON; QuadCopter.Status=Q_ON; QuadCopter.BaseSpeed=300; motor_speed(QuadCopter.BaseSpeed,QuadCopter.BaseSpeed,QuadCopter.BaseSpeed,QuadCopter.BaseSpeed ) ; break; case Q_UP: QuadCopter_up(&QuadCopter); break; case Q_DOWN: QuadCopter_down(&QuadCopter); break; case Q_OFF: LED_OFF; QuadCopter.Status=Q_OFF; motor_speed(0,0,0,0 ) ; break; default: break; } } }
void receive_func(int argc, char *argv[]){ u8 Sta; printf("Receive:"); nRF_RX_Mode(); Sta = nRF_Rx_Data(rec_word); /* if(Sta == RX_DR){ printf("RX_DR\n"); }*/ printf("%s\n", rec_word); printf("Success\n"); }
/** * @brief 软件触发中断,进入中断发送数据 * @param None * retval None */ uint8_t nRF_Start_Tx(void) { BaseType_t uxBits; const TickType_t xTicksToWait = 5; // Time Out 3ms uint8_t RetValue = 0; // Entry TX Mode to Send Data nRF_TX_Mode(); /*!< Select the nRF: Chip Select low */ nRF_CSN_LOW(); nRF_SPI_IO_WriteReg(nRF_FLUSH_TX, 0x00); nRF_SPI_IO_WriteData(nRF_WR_TX_PLOAD, (uint8_t *)&nRF_Buf, nRF_TX_PLOAD_WIDTH); /*!< Deselect the nRF: Start Send */ nRF_CSN_HIGH(); uxBits = xEventGroupWaitBits(xEventGruop, nRF_State_TX_OK|nRF_State_TX_MAX, pdTRUE, pdFALSE, xTicksToWait); if (uxBits & nRF_State_TX_OK) { nRF_RX_Mode(); RetValue = nRF_TX_OK; } else if ( uxBits & nRF_State_TX_MAX) { nRF_CSN_LOW(); nRF_SPI_IO_WriteReg(nRF_FLUSH_TX, 0xFF); nRF_CSN_HIGH(); RetValue = nRF_MAX_TX; } else { nRF_CSN_LOW(); nRF_SPI_IO_WriteReg(nRF_FLUSH_TX, 0xFF); nRF_CSN_HIGH(); RetValue = nRF_TIMEOUT; } return RetValue; }
/*=====================================================================================================*/ int main(void) { u8 Sta = ERROR; FSM_Mode FSM_State = FSM_Rx; /* System Init */ System_Init(); test_printf(); /* Throttle Config */ if (KEY == 1) { LED_B = 0; Motor_Control(PWM_MOTOR_MAX, PWM_MOTOR_MAX, PWM_MOTOR_MAX, PWM_MOTOR_MAX); } while (KEY == 1); LED_B = 1; Motor_Control(PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN); /* nRF Check */ while (Sta == ERROR) Sta = nRF_Check(); /* Sensor Init */ if (Sensor_Init() == SUCCESS) LED_G = 0; Delay_10ms(10); /* Systick Config */ if (SysTick_Config(SystemCoreClock / SampleRateFreg)) { // SampleRateFreg = 500 Hz while (1); } /* Wait Correction */ while (SensorMode != Mode_Algorithm); /* Lock */ LED_R = 1; LED_G = 1; LED_B = 1; while (!KEY) { LED_B = ~LED_B; Delay_10ms(1); Transport_Send(TxBuf[0]); printf("Roll%d,Pitch%d,Yaw%d,CH1 %u(%d),CH2 %u(%d),CH3 %u(%d),CH4 %u(%d),CH5 %u()\r\n", (int)AngE.Roll, (int)AngE.Pitch, (int)AngE.Yaw, PWM1_InputCaptureValue, global_rc_roll, PWM2_InputCaptureValue, global_rc_pitch, PWM3_InputCaptureValue, global_rc_thr, PWM4_InputCaptureValue, global_rc_yaw, PWM5_InputCaptureValue); } LED_B = 1; /* Final State Machine */ while (1) { LED_G = ~LED_G; switch (FSM_State) { /************************** FSM Tx ****************************************/ case FSM_Tx: // FSM_Tx nRF_TX_Mode(); do { Sta = nRF_Tx_Data(TxBuf[0]); } while (Sta == MAX_RT); // FSM_Tx End FSM_State = FSM_Rx; break; /************************** FSM Rx ****************************************/ case FSM_Rx: // FSM_Rx nRF_RX_Mode(); Sta = nRF_Rx_Data(RxBuf[0]); if (Sta == RX_DR) { Transport_Recv(RxBuf[0]); } // FSM_Rx End FSM_State = FSM_CTRL; break; /************************** FSM CTRL **************************************/ case FSM_CTRL: // FSM_CTRL CTRL_FlightControl(); // FSM_CTRL End FSM_State = FSM_UART; break; /************************** FSM UART ***************************************/ case FSM_UART: // FSM_USART RS232_VisualScope(USART3, TxBuf[0] + 20, 8); // FSM_USART End FSM_State = FSM_DATA; break; /************************** FSM DATA **************************************/ case FSM_DATA: // FSM_DATA Transport_Send(TxBuf[0]); // FSM_DATA End FSM_State = FSM_Tx; break; } } }
/*=====================================================================================================*/ int main( void ) { u8 Sta = ERROR; FSM_Mode FSM_State = FSM_Rx; /* System Init */ System_Init(); /* Throttle Config */ if(KEY == 1) { LED_B = 0; Motor_Control(PWM_MOTOR_MAX, PWM_MOTOR_MAX, PWM_MOTOR_MAX, PWM_MOTOR_MAX); } while(KEY == 1); LED_B = 1; Motor_Control(PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN); /* nRF Check */ while(Sta == ERROR) Sta = nRF_Check(); /* Sensor Init */ if(Sensor_Init() == SUCCESS) LED_G = 0; Delay_10ms(10); /* Systick Config */ if(SysTick_Config(420000)) { // 168MHz / 420000 = 400Hz = 2.5ms while(1); } /* Wait Correction */ while(SensorMode != Mode_Algorithm); /* Lock */ LED_R = 1; LED_G = 1; LED_B = 1; while(!KEY) { LED_B = ~LED_B; Delay_10ms(1); Transport_Send(TxBuf[0]); RS232_VisualScope(USART3, TxBuf[0]+2, 8); } LED_B = 1; /* Final State Machine */ while(1) { LED_G = ~LED_G; switch(FSM_State) { /************************** FSM Tx ****************************************/ case FSM_Tx: // FSM_Tx nRF_TX_Mode(); do { Sta = nRF_Tx_Data(TxBuf[0]); } while(Sta == MAX_RT); // FSM_Tx End FSM_State = FSM_Rx; break; /************************** FSM Rx ****************************************/ case FSM_Rx: // FSM_Rx nRF_RX_Mode(); Sta = nRF_Rx_Data(RxBuf[0]); if(Sta == RX_DR) { Transport_Recv(RxBuf[0]); } // FSM_Rx End FSM_State = FSM_CTRL; break; /************************** FSM CTRL **************************************/ case FSM_CTRL: // FSM_CTRL CTRL_FlightControl(); // FSM_CTRL End FSM_State = FSM_UART; break; /************************** FSM UART ***************************************/ case FSM_UART: // FSM_USART RS232_VisualScope(USART3, TxBuf[0]+2, 8); // FSM_USART End FSM_State = FSM_DATA; break; /************************** FSM DATA **************************************/ case FSM_DATA: // FSM_DATA Transport_Send(TxBuf[0]); // FSM_DATA End FSM_State = FSM_Tx; break; } } }
/*=====================================================================================================*/ int main( void ) { u8 i = 0; u8 Sta = 0; FSM_Mode FSM_State = FSM_Rx; /* System Init */ QCopterFC_Init(); /* Systick Config */ if(SysTick_Config(SystemCoreClock/SampleRateFreg)) { // SampleRateFreg = 500 Hz while(1); } /* Wait Correction */ while(SensorMode != Mode_Algorithm); /* Lock */ LED_R = 1; LED_G = 1; LED_B = 1; while(KEY != KEY_ON) { LED_B = ~LED_B; Delay_10ms(1); VisualScope_Send(USART3); } LED_B = 1; /* Final State Machine */ while(1) { LED_G = ~LED_G; switch(FSM_State) { /************************** FSM Tx ****************************************/ case FSM_Tx: // FSM_Tx nRF_TX_Mode(); for(i=0; i<3; i++) { RF_SendData.Packet++; Transport_Send(TxBuf); do { Sta = nRF_Tx_Data(TxBuf); } while(Sta == MAX_RT); } RF_SendData.Packet = 0x00; // FSM_Tx End FSM_State = FSM_Rx; break; /************************** FSM Rx ****************************************/ case FSM_Rx: // FSM_Rx nRF_RX_Mode(); Sta = nRF_Rx_Data(RxBuf); if(Sta == RX_DR) { Transport_Recv(RxBuf); } // FSM_Rx End FSM_State = FSM_CTRL; break; /************************** FSM CTRL **************************************/ case FSM_CTRL: // FSM_CTRL Ctrl_BasicThr(); // FSM_CTRL End FSM_State = FSM_UART; break; /************************** FSM UART ***************************************/ case FSM_UART: // FSM_USART RS232_VisualScope(USART3, TxBuf+20, 8); // FSM_USART End FSM_State = FSM_DATA; break; /************************** FSM DATA **************************************/ case FSM_DATA: // FSM_DATA // FSM_DATA End FSM_State = FSM_Tx; break; } } }