C++ (Cpp) nRF_Checkの例

コード例 #1

ファイル: shell.c プロジェクト: colossus212/quadrotor

void check_func(int argc, char *argv[]){
	u8 Sta = ERROR;
	printf("Check.....\n");
	Sta = nRF_Check();
	if(Sta == ERROR){
		printf("Fail.....\n");
	}else{
		printf("Success!!!!!!\n");
	}
}

コード例 #2

ファイル: main.c プロジェクト: pcedison/QuadcopterFlightControl

void system_init(void)
{
	LED_Config();
	KEY_Config();
	RS232_Config();
	Motor_Config();
	PWM_Capture_Config();
	Sensor_Config();
	nRF24L01_Config();

#if configSD_BOARD
	SDIO_Config();
#endif

	PID_Init(&PID_Yaw);
	PID_Init(&PID_Roll);
	PID_Init(&PID_Pitch);

	PID_Pitch.Kp = +4.0f;
	PID_Pitch.Ki = 0;//0.002f;
	PID_Pitch.Kd = +1.5f;

	PID_Roll.Kp = +4.0f;
	PID_Roll.Ki = 0;//0.002f;
	PID_Roll.Kd = 1.5f;

	PID_Yaw.Kp = +5.0f;
	PID_Yaw.Ki = +0.0f;
	PID_Yaw.Kd = +15.0f;

	Delay_10ms(10);

	Motor_Control(PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN);


#if configFLIGHT_CONTROL_BOARD
	/* nRF Check */
	while ( nRF_Check()== ERROR );

	/* Sensor Init */
	while(Sensor_Init() == ERROR);
#endif

	Delay_10ms(10);

	/* Lock */
	LED_R = 0;
	LED_G = 1;
	LED_B = 1;

	sys_status = SYSTEM_INITIALIZED;

}

コード例 #3

ファイル: QCopterFC.c プロジェクト: bgbgterry/QCopterFlightControl

/*=====================================================================================================*/
void QCopterFC_Init( void )
{
  u8 Sta = ERROR;

  SystemInit();

  LED_Config();
  KEY_Config();
  RS232_Config();
  Motor_Config();
  Sensor_Config();
  nRF24L01_Config();

  PID_Init(&PID_Yaw);
  PID_Init(&PID_Roll);
  PID_Init(&PID_Pitch);

  PID_Pitch.Kp = +1.5f;
  PID_Pitch.Ki = +0.002f;
  PID_Pitch.Kd = +1.0f;

  PID_Roll.Kp  = +1.5f;
  PID_Roll.Ki  = +0.002f;
  PID_Roll.Kd  = +1.0f;

  PID_Yaw.Kp   = +0.0f;
  PID_Yaw.Ki   = +0.0f;
  PID_Yaw.Kd   = +0.0f;

  RF_SendData.Packet = 0x00;

  /* Throttle Config */
  if(KEY == KEY_ON) {
    LED_B = 0;
    BLDC_CtrlPWM(BLDC_PWM_MAX, BLDC_PWM_MAX, BLDC_PWM_MAX, BLDC_PWM_MAX);
  }
  while(KEY == KEY_ON);
  LED_B = 1;
  BLDC_CtrlPWM(BLDC_PWM_MIN, BLDC_PWM_MIN, BLDC_PWM_MIN, BLDC_PWM_MIN);

  /* nRF Check */
  while(Sta == ERROR)
    Sta = nRF_Check();

  Delay_10ms(10);

  /* Sensor Init */
  if(Sensor_Init() == SUCCESS)
    LED_G = 0;

  Delay_10ms(10);
}

コード例 #4

ファイル: main.c プロジェクト: Robot2014/platform

int main(void)
{
    int status;
    memset(RX_BUF,0,4);
    led_init();
    nRF24L01_init();
    motor_init();			//电机初始化
    QuadCopter_init(&QuadCopter);
    uart_init(115200);

    status = nRF_Check(); 	   	 	/*检测NRF模块与MCU的连接*/
    if(status == SUCCESS)			/*判断连接状态*/
        uart_printf("\r\n      NRF与MCU连接成功！\r\n");
    else
        uart_printf("\r\n  NRF与MCU连接失败，请重新检查接线。\r\n");
    nRF_RX_Mode();
    LED_OFF;
    while(1)
    {

        nRF_RX_Mode();
        nRF_Rx_Dat(RX_BUF);
        status=RX_BUF[2];

        switch(status)
        {
        case Q_ON:
            LED_ON;
            QuadCopter.Status=Q_ON;
            QuadCopter.BaseSpeed=300;
            motor_speed(QuadCopter.BaseSpeed,QuadCopter.BaseSpeed,QuadCopter.BaseSpeed,QuadCopter.BaseSpeed ) ;
            break;
        case Q_UP:
            QuadCopter_up(&QuadCopter);
            break;
        case Q_DOWN:
            QuadCopter_down(&QuadCopter);
            break;
        case Q_OFF:
            LED_OFF;
            QuadCopter.Status=Q_OFF;
            motor_speed(0,0,0,0 ) ;
            break;
        default:
            break;
        }
    }

}

コード例 #5

ファイル: main.c プロジェクト: ElEHsiang/QuadrotorFlightControl

void system_init(void)
{
	LED_Config();
	Serial_Config(Serial_Baudrate);
	Motor_Config();
	PWM_Capture_Config();

	//IMU Config
	Sensor_Config();
	nRF24L01_Config();

	//SD Config
	if ((SD_status = SD_Init()) != SD_OK)
		system.status = SYSTEM_ERROR_SD;

	PID_Init(&PID_Pitch, 4.0, 0.0, 1.5);
	PID_Init(&PID_Roll, 4.0, 0.0, 1.5);
	PID_Init(&PID_Yaw, 5.0, 0.0, 15.0);

	Delay_10ms(10);

	Motor_Control(PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN);

	/* nRF Check */
	while (nRF_Check() == ERROR);

	/* Sensor Init */
	while (Sensor_Init() == ERROR);

	Delay_10ms(10);

	/* Lock */
	SetLED(LED_R, DISABLE);
	SetLED(LED_G, ENABLE);
	SetLED(LED_B, ENABLE);

	//Check if no error
	if (system.status != SYSTEM_ERROR_SD)
		system.status = SYSTEM_INITIALIZED;

}

コード例 #6

ファイル: QCopterFC.c プロジェクト: poemking/QuadrotorFlightControl

/*=====================================================================================================*/
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;
		}
	}
}

コード例 #7

ファイル: QCopterFC.c プロジェクト: Applezhu818/QCopterFlightControl

/*=====================================================================================================*/
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;
    }
  }
}