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;
}
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;
}
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;
}
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;
}