void nrf_sending_task()
{
char buf[128]={0};
nrf_package package;
//Waiting for system finish initialize
while (sys_status == SYSTEM_UNINITIALIZED);
nRF_TX_Mode();
while(1){
package.roll = (int16_t)global_var[TRUE_ROLL].param*100;
package.pitch = (int16_t)global_var[TRUE_PITCH].param*100;
package.yaw = (int16_t)global_var[TRUE_YAW].param*100;
package.acc_x = Acc.X;
package.acc_y = Acc.Y;
package.acc_z = Acc.Z;
package.gyro_x = Gyr.X;
package.gyro_y = Gyr.Y;
package.gyro_z = Gyr.Z;
nrf_generate_package( &package, (uint8_t* )buf);
nrf_send_package( (uint8_t* )buf );
}
}
void send_func(int argc, char *argv[]){
u8 Sta;
int i;
char *ptr;
nRF_TX_Mode();
ptr = send_word;
for(i = 1; i < argc; i++){
strcpy(ptr, argv[i]);
ptr += strlen(argv[i]);
strcpy(ptr, " ");
ptr += 1;
}
printf("Send:%s\n", send_word);
do{
Sta = nRF_Tx_Data(send_word);
}while(Sta == MAX_RT);
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;
}
}
}
