void main()
{
unsigned char testdisplay[8]={'1','1','1','1','1','1','1','1'};
uchar i; //自己加的
// uchar datedisplay[7];
init_io();
P0=0x00;//屏蔽数码管
delay(10); //延时
// wela=0;
// dula=0;
// inte();
lcd_init2();
lcd12864(testdisplay);
/******************自己加的**************************/
while(NRF_Check());
RX_Mode();//
interface();
while(NRF24L01_RxPacket(RxBuf)!=0);
while(1)
{
if(NRF24L01_RxPacket(RxBuf)==0)
{
for(i=0;i<8;i++)
datedisplay[i]=RxBuf[i];
}
checkbutton();
lcd12864(datedisplay);
}
}
//Send a packet and receive the ACK
//Return true in case of success.
//Polling implementation
unsigned char NRF24L01_SendPacket(char *payload, char len, char *ackPayload, char *ackLen)
{
char status = 0;
//Send the packet
NRF24L01_TxPacket(payload, len);
//Wait for something to happen
while(((status=NRF24L01_Nop())&0x70) == 0);
// Clear the flags
NRF24L01_WriteReg(REG_STATUS, 0x70);
//Return FALSE if the packet has not been transmited
if (status&BIT_MAX_RT) {
NRF24L01_FlushTx();
return 0;
}
//Receive the ackPayload if any has been received
if (status&BIT_RX_DR)
*ackLen = NRF24L01_RxPacket(ackPayload);
else
*ackLen = 0;
NRF24L01_FlushRx();
return status&BIT_TX_DS;
}
void lock()
{
u8 i=0;
if(LOCK)
{
printf("locking\r\n");
if(NRF_flag == 1)
{
if(NRF24L01_RxPacket(tmp_buf)==0)//一旦接收到信息,则显示出来.
{
for(i=0;i<9;i++)
{
if(tmp_buf[i] != 0xff)break;
UN_LOCK = 0;
}
if(i>=9)
{
UN_LOCK = 1;//解锁成功
LOCK = 0; //不需要继续解锁
first_unlock =1;
i=0;
}
NRF24L01_Write_Reg(FLUSH_RX,0xff);//清除RX FIFO寄存器
}
}
NRF_flag = 0;
TIM_Cmd(TIM4, ENABLE);
Nrf_Star;
LED2 =!LED2;
}
}
int main(void)
{
u8 rx_buf[10];
System_init();
TIM_Cmd(TIM3,ENABLE);
TIM_Cmd(TIM4,ENABLE);
while(1)
{
while(1)
{
if(NRF24L01_RxPacket(rx_buf) == 0)
{
break;
}
}
switch(rx_buf[0])
{
case '1': run1(); break;
case '2': run2(); break;
case '3': run3(); delay_ms(3000); PCout(0) = 0; break;
case '4': run4(); delay_ms(3000); PCout(0) = 0; break;
case '5': run5(); break;
default: break;
}
rx_buf[0] = 0;
}
return 0;
}
/******************************以下finsh中测试函数*****************************/
static void rt_rf_thread_entry(void* parameter)
{
rt_uint8_t buf[TX_ADR_WIDTH] = {0x00};
NRF24L01_Init();
if(NRF24L01_Check()==RT_EOK)
{
rt_kprintf("\r\n RF1 模块初始化成功！\r\n");
}
else
{
rt_kprintf("\r\n RF1 模块不存在！\r\n");
return;
}
RX_Mode();
while (1)
{
if(NRF24L01_RxPacket(buf) == RT_EOK)
{
rt_kprintf("\r\n RF1 接收到数据：\r\n");
{
rt_kprintf((char const*)buf);
}
}
rt_thread_delay(RT_TICK_PER_SECOND/100);
}
}
__interrupt void PORT2_ISR(void)
{
if(P2IFG & 0x40) {
LPM3_EXIT;
NRF24L01_RxPacket(rece_buf);
}
P2IFG =0x00;
}
void main()
{
uchar i; //自己加的
init_io();
P0=0x00;//屏蔽数码管
Delay400Ms(); //延时
/******************自己加的**************************/
RX_Mode();
while(NRF24L01_RxPacket(RxBuf)!=0);
while(1)
{
if(NRF24L01_RxPacket(RxBuf)==0)
{
for(i=0;i<8;i++)
datedisplay[i]=RxBuf[i];
}
display();
}
}
//主循环检测数据包
//返回是否成功处理包，0成功，1失败或无数据
u8 deal_wpan(void) //wpan检查是否有包，及处理
{
if(NRF24L01_IRQ==0) { //收到包
NRF24L01_RxPacket((u8 *)&wpan_pkt); //170us读取
if(deal_pkt(&wpan_pkt)) { //返回1表示读信息，要返回数据//40us
return send_pkt(&wpan_pkt);
}
return 0;
}
return 1;
}
int main(void)
{
int dianya_fly = 0;
SysTick_Init();
Tim3_Init(500);
Nvic_Init();
LED_Init();
ADC1_Init();
USART1_Config(115200);
KEY_Init();
NRF24L01_Init();
while (NRF24L01_Check()) //检查NRF24L01是否在位.要放在设置TX_MODE之前，否则设置的发送地址会变成check中的0XA5 ,将与原接收地址对不上
{
LED2_ON;
LED1_OFF;
printf("no");
}
LED1_ON;
LED2_OFF;
//TX mode
//NRF24L01_TX_Mode();
//NRF24L01_Mode_Config(2);
//RX mode
NRF24L01_Mode_Config(3);
while (1)
{
key = KEY_scan();
if (NRF24L01_RxPacket(tmp_buf) == 0)
{
NRF24L01_TxPacket_AP(rc_buf);
LED1_ON;
if(tmp_buf[0]==0x88 && tmp_buf[1]==0xAE && tmp_buf[2]==0x1C)
{
dianya_fly = tmp_buf[17]<<8|tmp_buf[18];
if(dianya_fly<36 && dianya_fly>20)
{
LED2_ON;
}
}
send_wave(32,tmp_buf);
}
else
{
LED1_OFF;
}
}
}
//接收数据包
//0,ok;1,err
u8 rec_pkt(pkt_t * pkt)
{
u32 t;
u8 res = 1;
RX_Mode(&ch); //使用对端地址接收
t = systick;
while(systick - t < 10 && NRF24L01_IRQ); //等待20ms，读取返回值
if(systick - t < 10)
{
NRF24L01_RxPacket((u8 *)pkt); //170us读取
res = 0;
}
RX_Mode(&mych);//最后返回本机接收模式
return res;
}
void run2()
{
u8 ack[2];
float k;
u8 run_flag = 0; // nove dir flag
u8 tar2_flag;
float tar2_angle[]={9.9,10.54,11.18,11.82,12.46,13.09,13.73,14.30,14.97,15.59,16.22,16.81,17.40,18.08,18.66,19.2};
u16 pwm_data[]= {10000,10000,10000,12000,12000,12000,13500,13500,13500,14000,14000,14000,14800,14800,14800,14800};
float tar2_angle_data[100],tar2_angle_data_max;
float old_angle,new_angle;
float x_angle;
u8 rx_buf[10];
u8 long_data;
u8 tar2_check = 1;
int time_value;
dc_moter_setspeed(2,65000);
dc_moter_setspeed(4,65000);
while(1) //rev data
{
if(NRF24L01_RxPacket(rx_buf) == 0)
{
break;
}
}
LED1 = 0;
long_data = rx_buf[0]*10+rx_buf[1];
if(long_data % 2)
{
long_data --;
}
//printf("long_data %d",long_data);
x_angle = tar2_angle[(long_data-30)/2];
if(long_data >= 30 && long_data <35)
{
k = K30;
}
else if(long_data >= 35 && long_data <40)
{
k = K35;
}
else if(long_data >= 40 && long_data <45)
{
k = K40;
}
else if(long_data >= 45 && long_data <50)
{
k = K45;
}
else if(long_data >= 50 && long_data <55)
{
k = K50;
}
else if(long_data >= 55 && long_data <=60)
{
k = K55;
}
dc_cmd(2,1);
delay_ms(780);
dc_cmd(2,0);
dc_cmd(4,1);
delay_ms(780);
dc_cmd(4,0);
dc_cmd(2,1);
delay_ms(780);
dc_cmd(2,0);
dc_cmd(4,1);
delay_ms(780);
dc_cmd(4,0);
mpu6050_get();
old_angle = angle[1];
while(1)
{
delay_ms(10); //By QL 20150814
mpu6050_get();
new_angle = angle[1];
if((new_angle - old_angle)>0)
{
dc_cmd(2,1);
dc_cmd(4,0);
}
else if((new_angle - old_angle)<0)
{
dc_cmd(4,1);
dc_cmd(2,0);
}
if(new_angle > x_angle)
{
Beep(1);
dc_cmd(2,0);
break;
}
if(0 ==NRF24L01_RxPacket(ack))
{
Beep(0);
if(ack[0] == 's')
{
PDout(2)=1;
dc_cmd(2,0);
dc_cmd(4,0);
return;
}
}
}
time_value = (int)(k * KbuChang);
while(1) // 摆-----补偿循环
{
mpu6050_get();
old_angle = angle[1];
delay_ms(10); //By QL 20150814
mpu6050_get();
new_angle = angle[1];
if((new_angle - old_angle)>0 && (run_flag == 0))
{
dc_cmd(4,1); // start MT
delay_ms(time_value);
dc_cmd(4,0); // Stop MT
run_flag = 1;
}
if((new_angle - old_angle)<0)
{
run_flag = 0;
}
if(0 ==NRF24L01_RxPacket(ack))
{
Beep(0);
if(ack[0] == 's')
{
PDout(2)=1;
dc_cmd(2,0);
dc_cmd(4,0);
return;
}
}
}
}
void run3()
{
u8 tar3_time;
int i;
float old_angle,new_angle;
int x1_pwm_data[20] = {65000,65000,60000,60000,65000,48000,45000,40000,30000,0};
int y1_pwm_data[20] = {0,35000,40000,55000,65000,60000,60000,60000,60000,60000};
int x2_pwm_data[20] = {45000,48000,65000,60000,60000,65000,65000,65000};
int y2_pwm_data[20] = {60000,60000,65000,55000,40000,35000,32000,30000};
u8 dir = 0;
float x_max_angle,y_max_angle;
float x_angle;
float x_old_angle,x_new_angle,y_old_angle,y_new_angle;
u8 tar3_flag = 0;
int k = 0;
int x_pwm,y_pwm;
u8 rx_buf[10];
int long_angle;
//printf("servlet3");
while(1)
{
if(NRF24L01_RxPacket(rx_buf) == 0)
{
break;
}
}
LED1 = 0;
long_angle = rx_buf[0]*100+rx_buf[1]*10+rx_buf[2];
if(long_angle > 180)
{
long_angle = 360 -long_angle;
}
printf("long_angle %d",long_angle);
if(long_angle <= 90)
{
tar3_flag = 0; // xiang xian 1
}
else if(long_angle > 90)
{
tar3_flag = 1; // xiang xian 2
}
tar3_time = 12;
if(long_angle > 45 && long_angle < 135)
{
tar3_time = 6;
}
if(tar3_flag == 0) // area 1 process
{
x_pwm = x1_pwm_data[(long_angle)/10];
y_pwm = y1_pwm_data[(long_angle)/10];
//printf("x_pwm %d y_pwm %d",x_pwm,y_pwm);
dc_moter_setspeed(1,x_pwm);
dc_moter_setspeed(2,y_pwm);
dc_moter_setspeed(3,x_pwm);
dc_moter_setspeed(4,y_pwm);
i = 0;
while(1)
{
i++;
dc_cmd(1,0); // move to XX_1
dc_cmd(2,0);
dc_cmd(3,1);
dc_cmd(4,1);
delay_ms(800);
dc_cmd(3,0); // move to XX_3
dc_cmd(4,0);
dc_cmd(1,1);
dc_cmd(2,1);
delay_ms(800);
if((i*1.6)>tar3_time)
{
dc_cmd(3,0); // move to XX_3
dc_cmd(4,0);
dc_cmd(1,0);
dc_cmd(2,0);
PCout(0) = 1;
return ;
}
}
}
else if(tar3_flag == 1)
{
x_pwm = x2_pwm_data[(long_angle-100)/10];
y_pwm = y2_pwm_data[(long_angle-100)/10];
printf("x_pwm %d y_pwm %d",x_pwm,y_pwm);
dc_moter_setspeed(1,x_pwm);
dc_moter_setspeed(2,y_pwm);
dc_moter_setspeed(3,x_pwm);
dc_moter_setspeed(4,y_pwm);
i = 0;
while(1)
{
i++;
dc_cmd(1,0); // move to XX_1
dc_cmd(4,0);
dc_cmd(2,1);
dc_cmd(3,1);
delay_ms(800);
dc_cmd(2,0); // move to XX_3
dc_cmd(3,0);
dc_cmd(1,1);
dc_cmd(4,1);
delay_ms(800);
if((i*1.6)>tar3_time)
{
dc_cmd(3,0); // move to XX_3
dc_cmd(4,0);
dc_cmd(1,0);
dc_cmd(2,0);
PCout(0) = 1;
//tar3_time_flag = 0;
return ;
}
}
}
}
void run1()
{
u8 ack[2];
float old_angle,new_angle;
//printf("servlet 1");
LED1 = 0;
dc_moter_setspeed(2,65000);
dc_moter_setspeed(4,65000);
dc_cmd(2,1);
delay_ms(780);
dc_cmd(2,0);
dc_cmd(4,1);
delay_ms(780);
dc_cmd(4,0);
dc_cmd(2,1);
delay_ms(780);
dc_cmd(2,0);
dc_cmd(4,1);
delay_ms(780);
dc_cmd(4,0);
mpu6050_get();
old_angle = angle[1];
while(1)
{
delay_ms(10); //By QL 20150814
mpu6050_get();
new_angle = angle[1];
if((new_angle - old_angle)>0)
{
dc_cmd(2,1);
dc_cmd(4,0);
}
else if((new_angle - old_angle)<0)
{
dc_cmd(4,1);
dc_cmd(2,0);
}
if(new_angle > 15.5)
{
Beep(1);
dc_moter_setspeed(3,50000);
dc_cmd(1,0);
}
if(0 ==NRF24L01_RxPacket(ack))
{
Beep(0);
if(ack[0] == 's')
{
PDout(2)=1;
dc_cmd(2,0);
dc_cmd(4,0);
return;
}
}
}
}
void un_lock()
{
u8 i=0;
if(UN_LOCK)
{
// printf("moving\r\n");
if(NRF_flag == 1)
{
if(NRF24L01_RxPacket(tmp_buf)==0)//一旦接收到信息,则显示出来.
{
// while(tmp_buf[i]!= '\0')
// {
// printf("tmp_buf[%d] %x\r\n",i,tmp_buf[i]);
// i++;
// }
i=0;
NRF24L01_Write_Reg(FLUSH_RX,0xff);//清除RX FIFO寄存器
}
// if( tmp_buf[0] != 0xff && tmp_buf[1] != 0xff );
if( tmp_buf[0] == 0xff && tmp_buf[1] == 0xff )
{
if(first_unlock)
{
Rc_D.THROTTLE = 0;
Rc_D.PITCH = 0;
Rc_D.ROLL = 0;
first_unlock = 0;
}
else
{
Rc_D.THROTTLE = (vs16)(tmp_buf[4]<<8)|(tmp_buf[5]);
Rc_D.PITCH = (vs16)(tmp_buf[6]<<8)|(tmp_buf[7]);
Rc_D.ROLL = (vs16)(tmp_buf[8]<<8)|(tmp_buf[9]);
// printf("-- %d %d %d\r\n",Rc_D.THROTTLE,Rc_D.PITCH,Rc_D.ROLL);
// if(Rc_D.THROTTLE != 2083)Power = Rc_D.THROTTLE / 5 -150;
if(Rc_D.THROTTLE >3000)Power =Power + 100;
if(Rc_D.THROTTLE <1000)Power =Power - 100;
Power = Limit_Power(Power,0,999);
if(Rc_D.ROLL == 2073 || fabs(Rc_D.ROLL - 2073)>20)
{
Target_y = ( Rc_D.ROLL - 2073 )/500;
}
else Target_y = 0;
if(Rc_D.PITCH == 2116 || fabs(Rc_D.PITCH - 2116)>20)
{
Target_x = -( Rc_D.PITCH - 2116 )/500;
}
else Target_x = 0;
NRF_flag = 0;
// printf("%d\r\n",NRF_flag);
TIM_Cmd(TIM4, ENABLE);
Nrf_Star;
LED2 =!LED2;
}
}
}
}
}
//触摸画板功能演示函数
void Wireless_Play(void)
{
u8 err=0,i;
u8 key;
u8 mode;//24L01的模式设置
u8 tmp_buf[5];//低4个字节,传递坐标值,最高一个字节:0,正常画图,1清除;2,退出;
mode=Wireless_Mode_Set();
if(mode==0)
{
SPIx_Init();//设置回原来的
SPIx_SetSpeed(SPI_SPEED_4);//18Mhz
return;//24L01检测失败,直接退出
}
if(mode==2)
{
Load_Gui_Show("清除","发送","返回");//加载界面
TX_Mode();//发送模式
}else
{
Load_Gui_Show("清除","接收","返回");//加载界面
RX_Mode();//接收模式
}
LCD_Fill(0,0,240,296,LGRAY);//填充灰色
POINT_COLOR=BLUE;//设置字体为蓝色
while(1)
{
key=AI_Read_TP(20);//得到触点的状态
if(mode==1)//接收模式
{
if(NRF24L01_RxPacket(tmp_buf)==0)//一旦接收到信息,则显示出来.
{
Pen_Point.X=tmp_buf[0];
Pen_Point.X=(Pen_Point.X<<8)+tmp_buf[1];
Pen_Point.Y=tmp_buf[2];
Pen_Point.Y=(Pen_Point.Y<<8)+tmp_buf[3];
switch(tmp_buf[4])
{
case 0://正常画点
Draw_Big_Point(Pen_Point.X,Pen_Point.Y);//画点
break;
case 1://清除
LCD_Fill(0,0,240,296,LGRAY);//填充灰色
break;
case 2://退出
Pen_Point.Key_Reg=0;//清除笔状态
SPIx_Init();//设置回原来的
SPIx_SetSpeed(SPI_SPEED_4);//18Mhz
return;
}
}
}
if(key)//触摸屏被按下
{
Pen_Point.Key_Reg|=0x80;//标记按下了按键
if(Pen_Point.Y<296&&mode==2)//在画图区域内,且为发送模式
{
tmp_buf[0]=Pen_Point.X>>8;
tmp_buf[1]=Pen_Point.X&0xFF;
tmp_buf[2]=Pen_Point.Y>>8;
tmp_buf[3]=Pen_Point.Y&0xFF;
tmp_buf[4]=0;//功能为0,正常画图
Draw_Big_Point(Pen_Point.X,Pen_Point.Y);//画点
err=0;
while(NRF24L01_TxPacket(tmp_buf)!=TX_OK)//等待发送完成
{
err++;
if(err>10)return;//连续超过10次错误,则返回
}
}
}else if(Pen_Point.Key_Reg&0X80)//按键松开了
int main(void)
{
float q[4];
u8 tmp_buf[32] = {0};
float test = 0;
static u8 led_on = 0;
RCC_HSE_Configuration();
SysTick_Init();
NVIC_Configuration();
USART1_Config(115200);
LED_Init();
LED3_Flash(2,100);
ANO_TC_I2C2_INIT(0xA6, 400000, 1, 1, 3, 3);
//硬实时
Tim3_Init(500);//0.005s
TIM2_Init(999, 0);
Mpu6050init();
MOT_GPIO_init();
MOT_PWM_init();
Set_PWM(0, 0, 0, 0);
NRF24L01_Init();
while (NRF24L01_Check())
{
LED2_Flash(2,500000);
}
//TX mode
NRF24L01_Mode_Config(4);
PID_Init();
ADC1_Init();
while (1)
{
if (getMpu6050Data == 1)
{
//0.01ms?
Read_Mpu6050();
Mpu6050_Analyze();
getMpu6050Data = 0;
}
if (calculateAngle == 1)//2ms period
{
//0.2ms T
//LED2_ON;
//100us
IMU_Quateration_Update((float)fGYRO_X , (float)fGYRO_Y , (float)fGYRO_Z , (float)fACCEL_X, (float)fACCEL_Y, (float)fACCEL_Z,ypr);
//LED2_OFF;
calculateAngle = 0;
}
if (sendData == 1)//2ms period
{
if(led_on)
{
LED2_OFF;
led_on = 0;
}
else
{
LED2_ON;
led_on = 1;
}
if (NRF24L01_RxPacket(tmp_buf) == 0)
{
//10us
Rc_Data_Analyze(tmp_buf,&Rc_Data);
}
//if wait for the IRQ it need 9ms
//if not wait for IRQ it runtime need 100us*1.2=0.12ms
sendSenser((int16_t)fACCEL_X, (int16_t)fACCEL_Y, (int16_t)fACCEL_Z, (int16_t)fGYRO_X, (int16_t) fGYRO_Y, (int16_t)fGYRO_Z, (int16_t)(ypr[0] * 100), (signed short int)(ypr[1] * 100));
send_wave(32);
//0.14ms run time
sendPwmVoltage(&Rc_Data,(uint16_t)(motor0 / 1000.0 * 100), (uint16_t)(motor1 / 1000.0 * 100), (uint16_t)(motor2 / 1000.0 * 100), (uint16_t)(motor3 / 1000.0 * 100));//0.00003974s
send_wave(32);
sendData = 0;
}
//moveFilterAccData(fACCEL_X, fACCEL_Y, fACCEL_Z, AngleOut);
if (!strcmp(Rc_Data.status, "stop"))
{
Set_PWM(0, 0, 0, 0);
}
else if (!strcmp(Rc_Data.status, "start"))
{
//LED2_ON;
expRoll = Rc_Data.roll;
expPitch = Rc_Data.pitch;
expThro = Rc_Data.throttle;
surRoll = ypr[2];
surPitch = ypr[1];
PID_Set();
Set_PWM(motor0, motor1, motor2, motor3);
//LED2_OFF;
}
////Uart1_Send_PID(320,PID_ROLL.KI,PID_ROLL.KD,1,0,0);
////send_wave(32);
// if (STA == 1)
// {
// receive_Data();
// STA = 0;
// p = 0;
// }
}
}
