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_RCData)
{
Send_RCData = 0;
Data_Send_RCData();
}
else if(Send_MotoPwm)
{
Send_MotoPwm = 0;
Data_Send_MotoPWM();
}
}
void rt_transfer_thread_entry(void *parameter)
{
// rt_uint16_t ms_20=0,ms_100=0,ms_1000=0;
// char buff[33];
T_RC_Status data;
// T_RC_Voltage voltage;
T_RC_Sensor Sensor;
// rt_uint32_t _temp[3];
// rt_uint8_t i;
rt_thread_delay(1000);
for(;;)
{
//NRF24_Check_Event();
/*Pms_20++;
if(ms_20==100)
{
ms_20=0;
for(i=0;i<3;i++)
{
_temp[i]=read_battert_adc_value();
}
voltage.Voltage1=(float)_temp[0]/4095.0f*3.3f*2;
voltage.Voltage2=(float)_temp[1]/4095.0f*3.3f*2;
voltage.Voltage3=(float)_temp[2]/4095.0f*3.3f*2;
Data_Send_Voltage(&voltage);
}*/
#if 1
data.ANGLE.rol=angleActual.rol;
data.ANGLE.pit=angleActual.pit;
data.ANGLE.yaw=angleActual.yaw;
data.ALT_CSB=1234;
data.ALT_PRS=1234;
data.ARMED=0;
Data_Send_Status(&data);
Sensor.ACC.X=accelMpu.x;
Sensor.ACC.Y=accelMpu.y;
Sensor.ACC.Z=accelMpu.z;
Sensor.GYR.X=gyroMpu.x;
Sensor.GYR.Y=gyroMpu.y;
Sensor.GYR.Z=gyroMpu.z;
Sensor.MAG.X=magMpu.x;
Sensor.MAG.Y=magMpu.y;
Sensor.MAG.Z=magMpu.z;
Sensor.MAG.X=magCorrect.x;
Sensor.MAG.Y=magCorrect.y;
Sensor.MAG.Z=magCorrect.z;
Data_Send_Senser(&Sensor);
#endif
rt_thread_delay(20);
}
}
__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;
}
void Send_Data(void)
{
if(Send_Status)
{
Send_Status = 0;
Data_Send_Status();
}
else if(Send_Senser)
{
Send_Senser = 0;
Data_Send_Senser();
}
else if(Send_PID)
{
Send_PID = 0;
Data_Send_PID();
}
}
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++;
}
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();
}
}
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();
}
}
