C++ (Cpp) Data_Send_PID1 Examples

Example #1

File: CtlFourAxis.c Project: zcatao/FourAxis

__interrupt void PID_CONTROL()
{


	TA1CCTL1 &=~ CCIFG;
	switch(CpuTimePoll)
	{
	//第一个3ms给控制  每6ms控制一次
	case 0 :
		ANGLE_CALCULATE(); //四元数转欧拉角 这个执行了1.2MS左右
		PID_ROLL();           //间接计算PID占空比    PID时间 不长
		PID_PITCH();
		PID_YALL();
		PWM_CALCULATE();  //PID输出值转换为四路电机的PWM占空比
		PWM_SET();         //PWM占空比设置
		//以上执行2.2ms
		break;

	//第二给3ms给接收控制信息  发送周期为15ms其中包括一个3ms的接收
	case 1 :
		if(time1 % 4 == 0)
		{
			Data_Send_PID1();
		}
		else if(time1 % 4 == 1)
		{
			Data_Send_MotoPWM(); //设置电机
		}
		else if(time1 % 4 == 2)
		{
			Data_Send_Status();
		}
		else if(time1 % 4 == 3)
		{
			Data_Send_Senser();
		}
		if(time1++ == 3)
			time1 = 0;
		break;
	}

	if(CpuTimePoll++ == 1)
		CpuTimePoll = 0;
}

Example #2

File: dataSend.c Project: shenzihao6/myqudx

void Send_Data(void)
{
	if(Send_Status==2)
	{
		Data_Send_Status();
	}	
	else if(Send_Status==4)
	{
		Data_Send_RCData();
		
	}
	else if(Send_Status==6)
	{
		Data_Send_MotoPWM();
	}    
	else if(Send_Status==8)  
	{
		Data_Send_Senser();
		
	}
	else if(Send_Status==10)
	{
		if(SendPidDataFlag==1)
		{
			Data_Send_PID1();
		}	
	}
	else if(Send_Status==12)
	{      if(SendPidDataFlag==1)
	       {
		Data_Send_PID2();
		SendPidDataFlag=0;
	       }
		Send_Status=0;
	}
	       
	
	Send_Status++;
}

Example #3

File: data_transfer.c Project: jasongwq/FLY

void Data_Exchange(void)
{
#ifdef DATA_TRANSFER_USE_SPI_NRF
    Nrf_Check_Event();
    u8 sta = Nrf_Get_FIFOSta();
    if ((sta & (1 << 4)) == 0)
        return;
#endif
    if (Send.DataF1)
    {
        Send.DataF1 = 0;
        Data_Send_F1();
    }
    if (Send.DataF2)
    {
        Send.DataF2 = 0;
        Data_Send_F2();
    }
    if (Send.DataF3)
    {
        Send.DataF3 = 0;
        Data_Send_F3();
    }
    if (Send.RCData && Send.DataF4)
    {
        Send.DataF4 = 0;
        Data_Send_F4();
    }
    if (Send.Status)
    {
        Send.Status = 0;
        Data_Send_Status();
    }
    else if (Send.GpsData)
    {
        Send.GpsData = 0;
        //Data_Send_GpsData();
    }
    if (Send.Senser)
    {
        Send.Senser = 0;
        Data_Send_Senser();
    }
    if (Send.PID1)
    {
        Send.PID1 = 0;
        Data_Send_PID1();
    }
    else if (Send.PID2)
    {
        Send.PID2 = 0;
        Data_Send_PID2();
    }
    else if (Send.PID3)
    {
        Send.PID3 = 0;
        Data_Send_PID3();
    }
    else if (Send.PID4)
    {
        Send.PID4 = 0;
        Data_Send_PID4();
    }
    else if (Send.PID5)
    {
        Send.PID5 = 0;
        Data_Send_PID5();
    }
    else if (Send.PID6)
    {
        Send.PID6 = 0;
        Data_Send_PID6();
    }
    if (Send.RCData && Ex_ON_OFF.RCData)
    {
        Send.RCData = 0;
        Data_Send_RCData();
    }
    if (Send.Offset)
    {
        Send.Offset = 0;
        Data_Send_OFFSET();
    }
    if (Send.MotoPwm)
    {
        Send.MotoPwm = 0;
        Data_Send_MotoPWM();
    }
}

Example #4

File: Data_Transfer.c Project: kenziD/Other-People-Program

void Data_Exchange(void)
{
#ifdef DATA_TRANSFER_USE_SPI_NRF
	Nrf_Check_Event();
	u8 sta = Nrf_Get_FIFOSta();
	if((sta & (1<<4))==0)
		return;
#endif
	if(Send_Status)
	{
		Send_Status = 0;
		Data_Send_Status();
	}
	else if(Send_Senser)
	{
		Send_Senser = 0;
		Data_Send_Senser();
	}
	else if(Send_PID1)
	{
		Send_PID1 = 0;
		Data_Send_PID1();
	}
	else if(Send_PID2)
	{
		Send_PID2 = 0;
		Data_Send_PID2();
	}
	else if(Send_PID3)
	{
		Send_PID3 = 0;
		Data_Send_PID3();
	}
	else if(Send_PID4)
	{
		Send_PID4 = 0;
		Data_Send_PID4();
	}
	else if(Send_PID5)
	{
		Send_PID5 = 0;
		Data_Send_PID5();
	}
	else if(Send_PID6)
	{
		Send_PID6 = 0;
		Data_Send_PID6();
	}
	else if(Send_RCData)
	{
		Send_RCData = 0;
		Data_Send_RCData();
	}
	else if(Send_Offset)
	{
		Send_Offset = 0;
		Data_Send_OFFSET();
	}
	else if(Send_MotoPwm)
	{
		Send_MotoPwm = 0;
		Data_Send_MotoPWM();
	}
}

Example #5

File: data_transfer.c Project: jasongwq/F4CameraDisplay

//Send_Senser = 1;
//Send_Status = 1;
// Send_MotoPwm = 1;
void Data_Exchange(void)
{
#ifdef DATA_TRANSFER_USE_SPI_NRF
    Nrf_Check_Event();//当使用 24l01时 必须 使用此函数 清 寄存器
    u8 sta = Nrf_Get_FIFOSta();//清FIFO
    if ((sta & (1 << 4)) == 0)
        return;
#endif

    if (Send_Status)
    {
        Send_Status = 0;
        //Data_Send_Status();
    }
    else if (Send_GpsData)
    {
        Send_GpsData = 0;
        //Data_Send_GpsData();
    }
    if (Send_Senser)
    {
        Send_Senser = 0;
        //Data_Send_Senser();
    }
    if (Send_PID1==1)
    {
        Send_PID1 = 2;
        Data_Send_PID1(0);
    }
		else if (Send_PID1==2)
    {
        Send_PID1 = 0;
        Data_Send_PID1(1);
    }
		
    else if (Send_PID2==1)
    {
        Send_PID2 = 0;
        Data_Send_PID2(0);
    }
		else if (Send_PID2==2)
    {
        Send_PID2 = 0;
        Data_Send_PID2(1);
    }
    else if (Send_PID3==1)
    {
        Send_PID3 = 0;
        Data_Send_PID3(0);
    }
		else if (Send_PID3==2)
    {
        Send_PID3 = 0;
        Data_Send_PID3(1);
    }
    if (Send_RCData)
    {
        Send_RCData = 0;
        // Data_Send_RCData();
    }
    else if (Send_Offset)
    {
        Send_Offset = 0;
        //Data_Send_OFFSET();
    }
    if (Send_MotoPwm)
    {
        Send_MotoPwm = 0;
        // Data_Send_MotoPWM();
    }
}