Exemple #1
0
int main(void)
	{
	//*******************************************************************
	Init();
	TMRInit(2);			// Initialize Timer interface with Priority=2
	BLIInit();			// Initialize Signal interface
	ADCInit(3);			// Initialize ADC
	UARTInitTX(6, 350);	// Initialize UART1 for TX
	// This initialization routine accepts BaudRate in multiples
	// of 2400 bps; Thus:
	// BaudRate =   1	=>   2400 bps
	// BaudRate =   2	=>   4800 bps
	// ...
	// BaudRate =  48	=> 115200 bps
	//------------------------------------------------------------
	// High speed
	//------------------------------------------------------------
	// BaudRate =  100	=>   250,000 bps
	// BaudRate =  200	=>   500,000 bps
	// BaudRate =  250	=>   625,000 bps
	// BaudRate =  350	=>   833,333 bps
	// BaudRate =  500	=> 1,250,000 bps
	// BaudRate = 1000	=> 2,500,000 bps
	//*******************************************************************
	struct 
		{
		float			V;
		uint			Raw;
		uint			Stat;
		} UData;

	int i = 0;
	int j = 0;
	BLISignalON();
	while(j < 10)
		{
		TMRDelay(10);
		//--------------------------
		UData.V		= ADCGetBatteryVoltage();
		UData.Raw 	= ADCGetRawSample();
		UData.Stat	= ADCGetBatteryStatus();
		//--------------------------
		UARTPostWhenReady((uchar*)&UData, sizeof(UData));
		i++;
		//--------------------------
		if (i >= 100)
			{
			UARTPostWhenReady(NULL, 0);
			BLISignalFlip();
			//------------------------
			i = 0;
			j++;
			}
		TMRDelay(10);
		}


	return 1;
	}
Exemple #2
0
int main(void)
	{
	//*******************************************************************
	Init();
	TMRInit(2);			// Initialize Timer interface with Priority=2
	BLIInit();			// Initialize Signal interface
	//--------------------------
	BLIAsyncMorse("S", 1);	// dot-dot-dot
	MCMInitF(50, 2500);	// Initialize Motor Control at 50 Hz with setting
						// Throttle to HIGH for delay interval to let ESC
						// capture Throttle range
	BLIAsyncStop();
	//--------------------------
	RCInit(4);			// Initialize Receiver interface with Priority=4
	//--------------------------
	UARTInitTX(6, 48);	// Initialize UART1 for TX on IPL=6 at 115200 bps
	// This initialization routine accepts BaudRate in multiples
	// of 2400 bps; Thus:
	// BaudRate =   1	=>   2400 bps
	// BaudRate =   2	=>   4800 bps
	// ...
	// BaudRate =  48	=> 115200 bps
	//------------------------------------------------------------
	// High speed
	//------------------------------------------------------------
	// BaudRate =  100	=>   250,000 bps
	// BaudRate =  200	=>   500,000 bps
	// BaudRate =  250	=>   625,000 bps
	// BaudRate =  350	=>   833,333 bps
	// BaudRate =  500	=> 1,250,000 bps
	// BaudRate = 1000	=> 2,500,000 bps
	//*******************************************************************
	BLISignalON();
	TMRDelay(2000); 	// Wait for extra 2 sec - to let ESC arm...
						// (finish the song :) )
	BLISignalOFF();
	//==================================================================
	MCMData		MC;
	RCData		RC;
	//-------------------------------------------------
	BLIAsyncMorse("R", 1);	// dot-doh-dot
	RCArm();
	BLIAsyncStop();
	//-------------------------------------------------
	BLISignalON();
	while(1)
		{
		RCReadWhenReady(&RC);
		//---------------------------------------------	
		if (0 == RC.Control)
			MC.F = MC.B	= MC.L = MC.R	= 0.0;
		else
			{	
			MC.F	= RC.Throttle;
			MC.B	= RC.Throttle;
			//--------------
			MC.L	= RC.Throttle;
			MC.R	= RC.Throttle;
			//--------------
			}
		//---------------------------------------------	
		MCMSet(&MC);
		//---------------------------------------------	
		UARTPostWhenReady((uchar*)&RC, sizeof(RC));
		//---------------------------------------------	
		BLISignalFlip();
		}
	return 1;
	}
Exemple #3
0
int main(void)
	{
	//*******************************************************************
	Init();
	TMRInit(2);			// Initialize Timer interface with Priority=2
	BLIInit();			// Initialize Signal interface
	I2CInit(5, 0);		// Initialize I2C1 module with IPL=5 and Fscl=400 KHz
	//--------------------------
	TMRDelay(1000);		// Wait for 1 sec so that the shake from turning on
						// power switch dissipates...
	//--------------------------
	if (MPUInit(3, 1))	// Initialize motion Sensor - 1 kHz/4 (250 Hz)
		BLIDeadStop("EA", 2);
	//--------------------------
	#ifdef __MAG_Use__
	if (HMCInit(6, 1, 0))	// Initialize magnetic Sensor
							// ODR  = 6 (max, 75 Hz),
							// Gain = 2 (1.3 Gs)
							// DLPF = 0 (no averaging)
		BLIDeadStop("EM", 2);
	#endif
	//--------------------------
	UARTInitTX(6, 48);	// Initialize UART1 for TX on IPL=6 at 115200 bps
	// This initialization routine accepts BaudRate in multiples
	// of 2400 bps; Thus:
	// BaudRate =   1	=>   2400 bps
	// BaudRate =   2	=>   4800 bps
	// ...
	// BaudRate =  48	=> 115200 bps
	//------------------------------------------------------------
	// High speed
	//------------------------------------------------------------
	// BaudRate =  100	=>   250,000 bps
	// BaudRate =  200	=>   500,000 bps
	// BaudRate =  250	=>   625,000 bps
	// BaudRate =  350	=>   833,333 bps
	// BaudRate =  500	=> 1,250,000 bps
	// BaudRate = 1000	=> 2,500,000 bps
	//*******************************************************************
	uint			RC			= 0;
	//--------------------------
	MPUSample		AGSample;
	#ifdef __MAG_Use__
	HMCSample		MSample;
	#endif
	//--------------------------
	if (MPUAsyncStart())
		BLIDeadStop("A", 1);
	//--------------------------
	#ifdef __MAG_Use__
	if (HMCAsyncStart())
		BLIDeadStop("M", 1);
	#endif
	//--------------------------
	struct 
		{
		ulong	TS;		// Timestamp of the cycle
		//-----------------------------------------------
		ulong	MPUCount;	// Sequential number of MPU sample
		#ifdef __MAG_Use__
		ulong	MAGCount;	// Sequential number of MAG sample
		#endif
		//-----------------------------------------------
		// Accelerometer (in units of G)
		//-----------------------------------------------
		Vector	A;
		//-----------------------------------------------
		// Gyroscopes	(in Rad/sec)
		//-----------------------------------------------
		Vector	G;
		#ifdef __MAG_Use__
		//-----------------------------------------------
		// Magnetometer (in mGs)
		//-----------------------------------------------
		Vector	M;
		#endif
		} UData;
	//*******************************************************************
	BLISignalON();
	while(1)
		{
		TMRDelay(100);
		//------------------------	
		#ifdef __MAG_Use__
		RC 	= HMCAsyncReadWhenReady(&MSample);
		if (RC) BLIDeadStop("M", 1);
		#endif
		//------------------------	
		RC 	= MPUAsyncReadWhenReady(&AGSample);
		if (RC) BLIDeadStop("A", 1);
		//---------------------------------------------	
		UData.MPUCount	= AGSample.Count;
		#ifdef __MAG_Use__
		UData.MAGCount	= MSample.Count;
		#endif
		//------------------------
		VectorCopy(&AGSample.A, &UData.A);
		VectorCopy(&AGSample.G, &UData.G);
		#ifdef __MAG_Use__
		VectorCopy(&MSample.M,  &UData.M);
		#endif
		//------------------------
		UData.TS	= AGSample.TS;
		//---------------------------------------------	
		UARTPostWhenReady((uchar*)&UData, sizeof(UData));
		//---------------------------------------------	
		BLISignalFlip();
		}
	return 1;
	}
Exemple #4
0
int main(void)
	{
	//*******************************************************************
	Init();
	TMRInit(2);			// Initialize Timer interface with Priority=2
	BLIInit();			// Initialize Signal interface
	ADCInit(3);			// Initialize ADC to control battery
	I2CInit(5, 0);		// Initialize I2C1 module with IPL=5 and Fscl=400 KHz
	//--------------------------
	BLISignalON();
	//--------------------------
	if (MPUInit(3, 1))	// Initialize motion Sensor - 1 kHz/4 (250 Hz)
		DeadStop("A", 1);
	//--------------------------
	BLISignalOFF();
	//--------------------------
	UARTInitTX(6, 48);	// Initialize UART1 for TX on IPL=6 at 115200 bps
	// This initialization routine accepts BaudRate in multiples
	// of 2400 bps; Thus:
	// BaudRate =   1	=>   2400 bps
	// BaudRate =   2	=>   4800 bps
	// ...
	// BaudRate =  48	=> 115200 bps
	//------------------------------------------------------------
	// High speed
	//------------------------------------------------------------
	// BaudRate =  100	=>   250,000 bps
	// BaudRate =  200	=>   500,000 bps
	// BaudRate =  250	=>   625,000 bps
	// BaudRate =  350	=>   833,333 bps
	// BaudRate =  500	=> 1,250,000 bps
	// BaudRate = 1000	=> 2,500,000 bps
	//*******************************************************************
	uint			RC			= 0;
	//--------------------------
	_MPURawData	RawData;
	//--------------------------
	struct 
		{
		ulong	TS;		// Timestamp of the cycle
		//-----------------------------------------------
		// Temperature
		//-----------------------------------------------
		float			Temp;
		//-----------------------------------------------
		// Accelerometer
		//-----------------------------------------------
		float			AX;
		float			AY;
		float			AZ;
		//-----------------------------------------------
		// Gyroscopes
		//-----------------------------------------------
		float			GX;
		float			GY;
		float			GZ;
		//-----------------------------------------------
		} UData;
	//*******************************************************************
	long	AX, AY, AZ, GX, GY, GZ, Temp;
	//*******************************************************************
	while(1)
		{
		//------------------------	
		if (ADCGetBatteryStatus() < 30)
			DeadStop("SOS", 3);
		//------------------------
		AX= AY= AZ= GX= GY= GZ= Temp = 0;
		//------------------------
		int i;
		for (i=0; i<128; i++)	
			{
			RC 	= _MPUReadRawData(&RawData);
			if (RC) DeadStop("A", 1);
			//-----------------------------
			AX	+=	RawData.AX;
			AY	+=	RawData.AY;
			AZ	+=	RawData.AZ;
			//-----------------
			GX	+=	RawData.GX;
			GY	+=	RawData.GY;
			GZ	+=	RawData.GZ;
			//-----------------
			Temp+=	RawData.Temp;
			//-----------------------------
			}
		//---------------------------------------------	
		UData.TS	= 	TMRGetTS();
		//------------------------
		UData.Temp	=	((float)Temp/128.0 - _MPU_Temp_OffsetTo0) * _MPU_Temp_Sensitivity - 25.0;
		//------------------------
		UData.AX	= 	(float)AX/128.0;
		UData.AY	=	(float)AY/128.0;
		UData.AZ	=	(float)AZ/128.0;
		//------------------------
		UData.GX	= 	(float)GX/128.0;
		UData.GY	=	(float)GY/128.0;
		UData.GZ	=	(float)GZ/128.0;
		//---------------------------------------------	
		UARTPostWhenReady((uchar*)&UData, sizeof(UData));
		//---------------------------------------------	
		}
	return 1;
	}