void Run_Task(void)
{
if( rxBuffer.cmd == CMD_PCR_RUN &&
currentTargetTemp != rxBuffer.currentTargetTemp )
{
prevTargetTemp = currentTargetTemp;
currentTargetTemp = rxBuffer.currentTargetTemp;
if ( !(fabs(prevTargetTemp - currentTargetTemp) < .5) )
{
lastIntegral = 0;
lastError = 0;
}
}
//in Run_Task, 150901 kimjd
if(prevTargetTemp>currentTargetTemp )
{
if( currentTemp>prevTargetTemp-1 )
{
Fan_ON();
fanFlag = 1;
}
if( (fanFlag == 1) && (currentTemp-currentTargetTemp<= FAN_STOP_TEMPDIF) )
{
Fan_OFF();
fanFlag = 2;
freeRunning = TRUE;
}
}
else
{
fallingTargetArrival = 0;
fanFlag = 0;
Fan_OFF();
}
PID_Control();
}
int main()
{
RCC_Configuration();
NVIC_Configuration();
GPIO_Configuration();
USART_Configuration(USART3, 230400);
USART_Configuration(USART2, 9600);
USART_Configuration(UART4, 9600);
TIM_Configuration();
initailze_wifiSet();
Initailze_value();
GPIO_SetBits(GPIOB, GPIO_Pin_0);
delay_ms(100);
while(!Wifi_fly_Set)
{
if(Wifi_Connect)
{
printf("AT+CIPSEND=0,21\n");
delay_ms(150);
printf("Angle,NN\n");
delay_ms(350);
}
}
delay_ms(150);
Send_Count = 0;
while(1) {
if((Send_Count%5) == 0) Tx_Data16t(USART3, 0x5555);
else if((Send_Count%5) == 1) Tx_Data16t(USART3, Drone_Control.axis[ROLL].Target);
else if((Send_Count%5) == 2) Tx_Data16t(USART3, Drone_Control.axis[PITCH].Target);
else if((Send_Count%5) == 3) Tx_Data16t(USART3, Drone_Control.Throttle);
else if((Send_Count%5) == 4) Tx_Data16t(USART3, 0xFFFF);
if(Send_Exit)
{
GPIO_ResetBits(GPIOB, GPIO_Pin_1);
if(Send_Exit > 200) { Drone_Control.Throttle = 100; /*Send_Throttle = 0; */ }
else { Send_Exit++; }
}
if(Wifi_Land_Set) {
Send_Throttle = 0;
if(Drone_Control.axis[HEIGHT].Current < 3000){ Send_Exit = 1; Wifi_Land_Set = 0;}
else Drone_Control.Throttle -= 2;
}
if(Send_Count == 4){
GPIO_SetBits(GPIOA, GPIO_Pin_8);
delay_us(10);
GPIO_ResetBits(GPIOA, GPIO_Pin_8);
if(Send_Throttle) PID_Control();
Send_Count++;
}
else if(Send_Count == 9)
{
GPIO_SetBits(GPIOA, GPIO_Pin_5);
delay_us(10);
GPIO_ResetBits(GPIOA, GPIO_Pin_5);
Send_Count = 0;
if(Send_Throttle) PID_Control();
}
else Send_Count++;
delay_ms(1);
}
}
