/**
* @brief Program entry point.
* @param none
* @retval 0
*/
int main(void) {
RCC_ClocksTypeDef RCC_Clocks;
SystemInit();
// Get the clock rate so we can set the sampling rate correctly.
RCC_GetClocksFreq(&RCC_Clocks);
ClockRate = RCC_Clocks.HCLK_Frequency;
// NOTE: STM generic
// Our timer (TIM2) uses the APB1 (PCLK1) clock.
TimerBaseClockRate = RCC_Clocks.PCLK1_Frequency;
// Set the SysTick interrupt to fire once every millisecond.
SysTick_Config(RCC_Clocks.SYSCLK_Frequency / 1000);
LedInit();
// Turn the Orange LED on, signifying WAIT...
LedSet(LED_ORANGE, LED_MODE_ON);
UsartInit();
Copyright();
uint32_t commandTicks = Ticks;
LedSet(LED_ORANGE, LED_MODE_OFF);
// Loop forever...
while (1) {
if (SamplingActive) {
LedSet(LED_RED, LED_MODE_OFF);
// Turn the Blue LED on when sampling.
LedSet(LED_BLUE, LED_MODE_ON);
SampleLoop();
LedSet(LED_BLUE, LED_MODE_OFF);
}
// Check for commands every 1/10 second.
if ((Ticks - commandTicks) >= 100) {
ProcessCommands();
commandTicks = Ticks;
}
}
return 0;
}
/**********************************************函数定义*****************************************************
* 函数名称: void LedInit(void)
* 输入参数: void
* 返回参数: void
* 功 能: csh
* 作 者: by lhb_steven
* 日 期: 2016/4/15
************************************************************************************************************/
void LedInit(void) {
PD_DDR_DDR4 = 1;
PD_CR1_C14 = 1;
PD_CR2_C24 = 0;
LedSet(1);
}
/****** press key to unlock crazepony****/
void KeyLockcrazepony(void)
{
u8 i;
if(0 == ++cnt){
//防止数据溢出
cnt = 3;
}
switch( Lockflag )
{
case 1:
//解决按键连按的毛刺
//本函数会被主循环10Hz调用，测试发现cnt为1或者2的时候，（200ms以下），属于按键毛刺，应该剔除
if(cnt < 3){
//printf("invalid key press:%d\n",cnt);
cnt = 0;
Lockflag = 0;
break;
}else{
cnt = 0;
}
if(Locksta == 0xa5)
{
for(i=0;i<5;i++)
CommUAVUpload(MSP_ARM_IT); //unlock Crazepony
Locksta = 0x5a;
Lockflag = 0;
}
else if(Locksta == 0x5a )
{
for(i=0;i<5;i++)
CommUAVUpload(MSP_DISARM_IT); //lock Crazepony
Locksta = 0xa5;
Lockflag = 0;
}
break;
case 0:
if(Locksta == 0x5a) LedSet(led5,1);
else if(Locksta == 0xa5) LedSet(led5,0);
break;
}
}
/*IMUcalibrate */
void IMUcalibrate(void)
{
LedSet(led4,IMUcalibratflag);
if(IMUcalibratflag)
{
CommUAVUpload(MSP_ACC_CALI);
IMUcalibratflag = 0;
}
}
__irq __arm void IRQ_Handler(void)
{
switch((0xff & IRQIVEC)-1)
{
case CIM_MIBADCE1 : // channel 27 (AD1) interrupt?
LedSet(ADDR0);
break;
}
}
void DispatcherTask ( void * pvParameters )
{
struct ADispatcherMessage *pxDispatcherMessage;
struct ALCDMessage xLCDMessage, *pxLCDMessage = & xLCDMessage;
UB_RTC_Init ( );
LedInit ( );
xDispatcherQueue = xQueueCreate ( 8, sizeof ( unsigned long ) );
while ( 1 )
{
SendTimeToLCD ( pxLCDMessage );
if ( xQueueReceive ( xDispatcherQueue, & ( pxDispatcherMessage ), 250 / portTICK_RATE_MS ) )
{
if ( !strnicmp ( pxDispatcherMessage->Domain, "HELP", 3 ) )
{
PrintHelp ( );
}
else if ( !strnicmp ( pxDispatcherMessage->Domain, "RTC", 3 ) )
{
if ( !strnicmp ( pxDispatcherMessage->Command, "SET", 3 ) )
{
SetRTCTime ( pxDispatcherMessage->Parameter );
}
else if ( !strnicmp ( pxDispatcherMessage->Command, "GET", 3 ) )
{
GetRTCTime ( );
};
}
else if ( !strnicmp ( pxDispatcherMessage->Domain, "AUDIO", 5 ) )
{
ForwardAudioMessage ( pxDispatcherMessage->Command, pxDispatcherMessage->Parameter );
}
else if ( !strnicmp ( pxDispatcherMessage->Domain, "LED", 3 ) )
{
if ( !strnicmp ( pxDispatcherMessage->Command, "SET", 3 ) )
{
LedSet ( pxDispatcherMessage->Parameter );
}
else if ( !strnicmp ( pxDispatcherMessage->Command, "GET", 3 ) )
{
LedGet ( pxDispatcherMessage->Parameter );
};
}
else
{
};
};
};
};
void controlClibra(void)
{
static u8 i;
uint16_t sum[4]={0,0,0,0};
static int8_t lednum=1;
static int8_t clibrasumNum = 20;
if((ClibraFlag == FAIL))//校准失败
{
for(i=0;i<clibrasumNum;i++)
{
#ifdef AMERICAN_RC_MODE
sum[0] += 1000 + (1000 - (1000*Get_Adc_Average(3,15))/4096);
sum[1] += 1000 + (1000*Get_Adc_Average(1,15))/4096;
#else
sum[0] += 1000 + (1000*Get_Adc_Average(1,15))/4096;
sum[1] += 1000 + (1000 - (1000*Get_Adc_Average(3,15))/4096);
#endif
sum[2] += 1000 + (1000*Get_Adc_Average(0,15))/4096;
sum[3] += 1000 + (1000*Get_Adc_Average(2,15))/4096;
delay_ms(100);
if(++lednum == led5 + 2)lednum = 2;
LedSet(lednum - 1,0);
LedSet(lednum ,1);
}
Throttle_Calibra = sum[0]/i;
Pitch_Calibra = sum[1]/i;
Roll_Calibra = sum[2]/i;
Yaw_Calibra = sum[3]/i;
// Throttle_Calibra = 1500;
// Pitch_Calibra = 1500;
// Roll_Calibra = 1500;
// Yaw_Calibra = 1500;
LoadRCdata(); //摇杆赋值
if((Throttle>=1510)||(Throttle<1490)||(Pitch>=1510)||(Pitch<=1490)||(Roll>=1510)||(Roll<=1490)||(Yaw>=1510)||(Yaw<=1490))
ClibraFlag = FAIL;//校准失败
else ClibraFlag = OK;//校准成功标志
SaveParamsToEEPROM();
LedSet(led2,0);LedSet(led3,0);LedSet(led4,0);LedSet(led5,0);
}
}
int main( void ) {
SysInit();
EeepromInit();
TimerInit();
ComInit();
Ds1302Init();
HtlcdInit();
BottonInit();
LedInit();
MenuInit();
INTEN
while(1) {
u8 botton_bit = 0;
if(TimerGetSec() > 20) {
TimerSetSec(0);
SysSleep();
}
if(TimerGetTimeFlag() > 0x01) {
TimerSetTimeFlag(0);
MenuRefreshTime();
}
MenuFlickerServerTime();
botton_bit = BottonRead();
if(botton_bit > 0x01) {
TimerSetSec(0);
SysOpen();
}
switch(botton_bit) {
case 0x01:
MenuSetFeatures(7);
break;//后减档
case 0x02:
MenuSetFeatures(5);
break;//后加档
case 0x03:
MenuSetFeatures(4);
break;//前换挡
case 0x11:
MenuSetFeatures(1);
break;//区域3
case 0x12:
MenuSetFeatures(6);//1
break;//区域2
case 0x13:
MenuSetFeatures(8);
break;//区域1
case 0x14:
MenuSetFeatures(2);
break;//区域1
case 0x15:
MenuSetFeatures(3);
break;//放开信号
}
if(ComGetFlag() == 0x80) {
ComClearFlag();
LedSet(0);
switch(ComGetData(0)) {
case front:
switch(ComGetData(1)) {
case dce_gear:
MenuSetStalls(front,ComGetData(2)+1);
MenuSetBattery(ComGetData(3));
break;
}
break;
case behind:
switch(ComGetData(1)) {
case dce_gear:
MenuSetStalls(behind,ComGetData(2));
MenuSetBattery(ComGetData(3));
break;
}
break;
case dce_powe:
MenuSetBattery(ComGetData(1));
break;
}
}
}
}
void LedOff(byte x, byte y, byte z) {
LedSet(x, y, z, 0);
}
void LedOn(byte x, byte y, byte z) {
LedSet(x, y, z, 1);
}
/**
* @brief Get samples from the input pins and queue them for output via USART.
* The loop continues even after the sampling time is over in order to
* clear the queue.
* @param none
* @retval none
*/
static void SampleLoop() {
uint32_t startTicks;
// In compression mode, initialize and send a "start compression" marker.
if (SamplingCompression) {
// Initialize compression, sending a pointer to the callback
// function below that will receive the compressed data.
if (CompressInit(&SendCompressedByte) < 0) {
LedSet(LED_RED, LED_MODE_ON);
return;
}
UsartSendString("<cmp>");
}
// Clear the output queue and set the timer to send an interrupt at our
// current sampling rate.
ClearSampleQueue();
TimerInit(TimerBaseClockRate, SamplingRate);
// Get our start time.
startTicks = Ticks;
// Loop until our time is up.
while (1) {
if (!SampleQueueIsEmpty()) {
// Send the next available sample to the output.
if (SamplingCompression) {
CompressByte(DequeueSample());
} else
UsartSendChar(DequeueSample());
LedSet(LED_ORANGE, LED_MODE_OFF);
} else {
// If the queue is empty and sampling is not active, we're done.
if (!SamplingActive)
break;
LedSet(LED_ORANGE, LED_MODE_ON);
}
// Turn on the RED LED if the queue is full.
if (SampleQueueIsFull()) {
LedSet(LED_RED, LED_MODE_ON);
} else
LedSet(LED_RED, LED_MODE_OFF);
// 'startTicks' is the millisecond count of when we started sampling.
// 'Ticks' is the millisecond count now.
if (SamplingActive && ((Ticks - startTicks) > SamplingTime)) {
// Turn sampling off when time expires.
// But continue in the loop until the queue is empty.
TimerDenit();
// If we're in transition-only mode, we need to send a final sample
// to expand to the full sample time.
if (SamplingMode == SAMPLING_MODE_TRANSITIONONLY)
EnqueueFinalSample();
SamplingActive = 0;
}
}
// If compression is active, de-intialize and send and "stop compression" marker.
if (SamplingCompression) {
CompressFlush();
CompressDenit();
UsartSendString("</cmp>");
}
// If we had an overflow (i.e. we are sending data to the queue faster than it can be
// sent out,) turn on the RED LED and send an overflow error.
if (Overflow) {
LedSet(LED_RED, LED_MODE_ON);
UsartSendString("<err>Overflow</err>");
}
}
int main(void)
{
static char ledsta;
/***********************************/
SystemClock_HSI(9); //系统时钟初始化，时钟源内部HSI
cycleCounterInit(); // Init cycle counter
SysTick_Config(SystemCoreClock / 1000); //SysTick开启系统tick定时器并初始化其中断，1ms
UART1_init(SysClock,uart1baudSet); //串口1初始化
NVIC_INIT(); //中断初始化
STMFLASH_Unlock(); //内部flash解锁
LoadParamsFromEEPROM(); //加载系统参数配置表
LedInit(); //IO初始化
Adc_Init(); //摇杆AD初始化
KeyInit(); //按键初始化
NRF24L01_INIT(); //NRF24L01初始化
SetTX_Mode(); //设无线模块为接收模式
controlClibra(); //遥控摇杆校准
#ifdef UART_DEBUG
TIM3_Init(SysClock,2000); //定时器初始化，1s为周期打印摇杆值
#endif
TIM4_Init(SysClock,TIME4_Preiod); //定时器4初始化，定时时间单位：(TIME4_Preiod)微秒
LedSet(led2,1);
LedSet(led3,1);
LoadRCdata(); //摇杆赋值
//RockerUnlockcrazepony(); //摆杆启动
Lockflag = 0; //解锁标志，1表示产生了一次按键操作，0表示该按键操作已经发送到飞控
LedSet(led2,0);
LedSet(led3,0);
while (1)
{
//10Hz loop
if(flag10Hz == 1) //10Hz
{
flag10Hz = 0;
/*status led*/
ledsta = !ledsta;
LedSet(signalLED,ledsta);
/*crazepony Lock*/
KeyLockcrazepony();
/*IMUcalibrate */
IMUcalibrate();
/*remote calibrate*/
Remotecalibrate();
}
//50Hz loop
if(flag50Hz == 1)
{
LoadRCdata();
flag50Hz = 0;
}
// 80Hz 12.5ms
if(flag80Hz)
{
flag80Hz = 0;
CommUAVUpload(MSP_SET_4CON);
}
}
}
/*-----------------------------------------------------------------------------
* Led Initialisierung
*/
void LedInit(void) {
LedSet(eLedRedOff);
LedSet(eLedGreenOff);
}
