/**
* @brief 串口解析任务；
* @param None
* @retval None
* @note 优先级最高。创建串口接收断帧信号量；回调函数信号量。首先等待串口接收完一帧(串口收到相邻两字符间隔3ms以上算一帧)所释放的信号量。
解析收到的数据，看是否是模块任务中发送给串口的指令回复：若是回复，则解析后利用回调函数转回模块任务；若为模块接收到的(如短信，gps)，那么
解析数据看是什么数据，那么释放sche信号量，并且为flag赋值。转到模块任务去执行。
*/
void WifiParseTask(void * pvParameters)
{
char auch_buf[MAX_REV_LEN];
Usart4RevBufInit();
InitQueue();
Usart4Init();
vSemaphoreCreateBinary(UsartTimeoutSem);
for( ;; )
{
if(xSemaphoreTake(UsartTimeoutSem, portMAX_DELAY) == pdTRUE)
{
memset(auch_buf, 0, MAX_REV_LEN);
memcpy(auch_buf, g_rev_usart1.p_parse, g_rev_usart1.uch_parse_len);
g_rev_usart1.b_parse_busy = false;
if(mystrstr(auch_buf,"StationMac") != NULL)
{
printf("%s\r\n",auch_buf);
}
else if(mystrstr(auch_buf,"TCP close") != NULL)
{
printf("TCP close\r\n");
}
else if(mystrstr(auch_buf,"TCP success") != NULL)
{
printf("TCP success\r\n");
}
else if(mystrstr(auch_buf,"WIFI success") != NULL)
{
printf("WIFI success\r\n");
}
else if(mystrstr(auch_buf,"WIFI close") != NULL)
{
printf("WIFI close\r\n");
}
Esp8266PromptProtocol(auch_buf,g_rev_usart1.uch_parse_len);
}
}
}
int main(void)
{
Delay_ms(100);
Periph_clock_enable();
GPIO_Config();
Usart4Init();
I2C_Config();
ADC_Config();
MPU6050_Init();
Timer1_Config();
Timer8_Config();
Timer2_Config();
Timer5_Config();
Timer4_Config();
Timer3_Config();//RC control timer
NVIC_Configuration();
EXTI_Config();
TIM_Cmd(TIM5, ENABLE);
TIM_CtrlPWMOutputs(TIM5, ENABLE);
for (i = 1 ; i < 1 ; i++) ; //small delay before starting Timer4
TIM_Cmd(TIM4, ENABLE);
TIM_CtrlPWMOutputs(TIM4, ENABLE);
Delay_ms(100);
for (i = 0; i < configDataSize; i++) //reads configuration from eeprom
{
ReadFromEEPROM(i);
configData[i] = EepromData;
Delay_ms(5);
}
I2C_AcknowledgeConfig(I2C2, ENABLE);
Delay_ms(100);
while (1)
{
LEDon;
DEBUG_LEDon;
while (ConfigMode == 1)
{
TimerOff(); //Configuration loop
}
MPU6050_ACC_get();//Getting Accelerometer data
acc_roll_angle = -(atan2(accADC_x, accADC_z)) + (configData[11] - 50.00) * 0.0035; //Calculating pitch ACC angle+callibration
acc_pitch_angle = +(atan2(accADC_y, accADC_z)); //Calculating roll ACC angle
MPU6050_Gyro_get();//Getting Gyroscope data
acc_roll_angle_vid = ((acc_roll_angle_vid * 99.00) + acc_roll_angle) / 100.00; //Averaging pitch ACC values
acc_pitch_angle_vid = ((acc_pitch_angle_vid * 99.00) + acc_pitch_angle) / 100.00; //Averaging roll ACC values
sinus = sinusas[(int)(rc4)]; //Calculating sinus
cosinus = sinusas[90 - (int)(rc4)]; //Calculating cosinus
ROLL = -gyroADC_z * sinus + gyroADC_y * cosinus;
roll_angle = (roll_angle + ROLL * dt) + 0.0002 * (acc_roll_angle_vid - roll_angle); //Roll Horizon
//ROLL=-gyroADC_z*sinus+gyroADC_y*cosinus;
yaw_angle = (yaw_angle + gyroADC_z * dt); //Yaw
pitch_angle_true = ((pitch_angle_true + gyroADC_x * dt) + 0.0002 * (acc_pitch_angle_vid - pitch_angle_true)); //Pitch Horizon
ADC1Ch1_vid = ((ADC1Ch1_vid * 99.00) + (readADC1(1) / 4000.00)) / 100.00; //Averaging ADC values
ADC1Ch1_vid = 0.00;
rc4_avg = ((rc4_avg * 499.00) + (rc4)) / 500.00; //Averaging RC4 values
pitch_angle = pitch_angle_true - rc4_avg / 57.3; //Adding angle
pitch_angle_correction = pitch_angle * 150.0;
if (pitch_angle_correction > 2.0)
{
pitch_angle_correction = 2.0;
}
if (pitch_angle_correction < -2.0)
{
pitch_angle_correction = -2.0;
}
pitch_setpoint = pitch_setpoint + pitch_angle_correction; //Pitch return to zero after collision
roll_angle_correction = roll_angle * 200.0;
if (roll_angle_correction > 2.0)
{
roll_angle_correction = 2.0;
}
if (roll_angle_correction < -2.0)
{
roll_angle_correction = -2.0;
}
roll_setpoint = roll_setpoint + roll_angle_correction; //Roll return to zero after collision
ADC1Ch13_vid = ((ADC1Ch13_vid * 99.00) + ((readADC1(13) - 2000) / 4000.00)) / 100.00; //Averaging ADC values
if (configData[10] == '0')
{
yaw_angle = (yaw_angle + gyroADC_z * dt) + 0.01 * (ADC1Ch13_vid - yaw_angle); //Yaw AutoPan
}
if (configData[10] == '1')
{
yaw_angle = (yaw_angle + gyroADC_z * dt); //Yaw RCPan
}
yaw_angle_correction = yaw_angle * 50.0;
if (yaw_angle_correction > 1.0)
{
yaw_angle_correction = 1.0;
}
if (yaw_angle_correction < -1.0)
{
yaw_angle_correction = -1.0;
}
yaw_setpoint = yaw_setpoint + yaw_angle_correction; //Yaw return to zero after collision
pitch_PID();//Pitch axis pid
roll_PID(); //Roll axis pid
yaw_PID(); //Yaw axis pid
printcounter++; //Print data to UART
if (printcounter >= 100)
{
//sprintf (buff, " %d %d %c Labas\n\r", ACCread[0], ACCread[1], ACCread[2]);
//sprintf (buff, " %x %x %x %x %x %x Labas\n\r", ACCread[0], ACCread[1], ACCread[2], ACCread[3], ACCread[4], ACCread[5]);
//sprintf (buff, "Labas %d %d\n\r", ACCread[0], ACCread[1]);
//sprintf (buff, "%3.1f %f\n\r", ADC1Ch1_vid*57.3, sinus);
//sprintf (buff, "Labas %f %f %f \n\r", accADC_x, accADC_y, accADC_z);
//sprintf (buff, "%3.1f %3.1f \n\r", acc_roll_angle_vid*57.3, acc_pitch_angle_vid *57.3);
//sprintf (buff, "%3.1f %3.1f \n\r", pitch_angle*57.3, roll_angle*57.3);
//sprintf (buff, "%d\n\r", rc4);
//USART_PutString(buff);
printcounter = 0;
}
stop = 0;
LEDoff;
watchcounter = 0;
while (stop == 0) {} //Closed loop waits for interrupt
}
}
