【文件目录】四轴无人机代码2.0└── 四轴飞控-STC8A8K16S4A12-LQFP44-PPM-V10
├── AD.C
├── AD.H
├── EEPROM.C
├── EEPROM.H
├── MPU-6050.C
├── MPU6050.H
├── PCA.h
├── STC8xxx_PWM.C
├── STC8xxx_PWM.H
├── STC8xxxx.H
├── aux4.Opt
├── aux4.Uv2
├── aux4.plg
├── aux4_Opt.Bak
├── aux4_Uv2.Bak
├── binary.h
├── config.h
├── list
│ ├── AD.lst
│ ├── AD.obj
│ ├── EEPROM.lst
│ ├── EEPROM.obj
│ ├── MPU-6050.lst
│ ├── MPU-6050.obj
│ ├── STC8xxx_PWM.lst
│ ├── STC8xxx_PWM.obj
│ ├── aux4
│ ├── aux4.build_log.htm
│ ├── aux4.hex
│ ├── aux4.lnp
│ ├── aux4.m51
│ ├── aux4.plg
│ ├── 四轴飞控-PPM-V10.lst
│ └── 四轴飞控-PPM-V10.obj
├── 飞控8.BAK
├── 飞控8.SCH
├── 飞控8.pdf
├── 四轴飞控-PPM-V10.C
└── 飞控使用说明-STC8A8K16S4A12.pdf
2 directories, 38 files
#define Baudrate1 115200UL#define TX1_LENGTH 128#define RX1_LENGTH 128#include "config.h"#include "STC8xxx_PWM.H"#include "MPU6050.H"#include "AD.H" #include "EEPROM.H"#include "PCA.h"#include <math.H>sbit P_Light = P5^4; //航灯sbit P_BUZZER = P5^5; //蜂鸣器int xdata g_x=0,g_y=0,g_z=0; //陀螺仪矫正参数float xdata a_x=0,a_y=0; //角度矫正参数float data AngleX=0,AngleY=0; //四元数解算出的欧拉角float xdata Angle_gx=0,Angle_gy=0,Angle_gz=0; //由角速度计算的角速率(角度制)float xdata Angle_ax=0,Angle_ay=0,Angle_az=0; //由加速度计算的加速度(弧度制)float xdata Ax=0,Ay=0,Az=0; //加入遥控器控制量后的角度 float data PID_x=0,PID_y=0,PID_z=0; //PID最终输出量int data speed0=0,speed1=0,speed2=0,speed3=0; //电机速度参数int data PWM0=0,PWM1=0,PWM2=0,PWM3=0;//,PWM4=0,PWM5=0; //加载至PWM模块的参数int int_tmp;u8 YM=0,FRX=128,FRY=128,FRZ=128; //4通道遥控信号.u8 xdata tp[16]; //读MP6050缓冲//****************姿态处理和PID*********************************************float xdata Out_PID_X=0,Last_Angle_gx=0; //外环PI输出量 上一次陀螺仪数据float xdata ERRORX_Out=0,ERRORX_In=0; //外环P 外环I 外环误差积分float xdata Out_PID_Y=0,Last_Angle_gy=0;float xdata ERRORY_Out=0,ERRORY_In=0; //规则1:内外环P乘积等于10.5float xdata Last_Ax=0,Last_Ay=0,Last_Az=0;/******************************************************************************/#define Out_XP 6.65f //ADC0 外环P V1 / 10#define Out_XI 0.0074f //ADC4 外环I V2 / 10000#define Out_XD 6.0f //ADC5 外环D V3 / 10#define In_XP 0.8275f //ADC6 内环P V4 / 100#define In_XI 0.0074f //ADC4 内环I V2 / 10000#define In_XD 6.0f //ADC5 内环D V3 / 10#define Out_YP Out_XP#define Out_YI Out_XI#define Out_YD Out_XD#define In_YP In_XP#define In_YI In_XI#define In_YD In_XD#define ZP 5.0f#define ZI 0.1f#define ZD 4.0f //自旋控制的P Dfloat Z_integral=0;//Z轴积分#define ERR_MAX 500//======================================================================u8 data YM_LostCnt=0, Lost16S; //上一次RxBuf[0]数据(RxBuf[0]数据在不断变动的) 状态标识u8 SW2_tmp;//======================================================================bit B_8ms; //8ms标志bit B_rtn_ADC0; //请求返回信息bit B_BAT_LOW; //低电压标志u8 xdata cnt_ms; //时间计数u8 xdata UART1_cmd=0; //串口命令u8 xdata TX1_Read=0; //发送读指针u8 xdata TX1_Write=0; //发送写指针u8 xdata TX1_cnt=0; //发送计数u8 xdata TX1_Buffer[TX1_LENGTH]; //发送缓冲bit B_TX1_Busy; //发送忙标志u8 xdata RX1_Cnt,RX1_Timer;u8 xdata RX1_Buffer[RX1_LENGTH];bit B_RX1_OK;u8 xdata Cal_Setp=0; //校准步骤u8 xdata Cal_cnt=0; //校准平均值计数int xdata x_sum,y_sum,z_sum; //校准累加和float xdata float_x_sum,float_y_sum; //校准累加和u8 xdata BuzzerOnTime,BuzzerOffTime,BuzzerRepeat,BuzzerOnCnt,BuzzerOffCnt;u8 xdata cnt_100ms;/* =================== PPM接收相关变量 ========================== */u16 xdata CCAP0_RiseTime; //捕捉到的上升沿时刻u8 xdata PPM1_Rise_TimeOut; //高电平限时u8 xdata PPM1_Rx_TimerOut; //接收超时计数u8 xdata PPM1_RxCnt; //接收次数计数u16 xdata PPM1_Cap; //捕捉到的PPM脉冲宽度bit B_PPM1_OK; //接收到一个PPM脉冲宽度u16 xdata CCAP1_RiseTime;u8 xdata PPM2_Rise_TimeOut; //高电平限时u8 xdata PPM2_Rx_TimerOut;u8 xdata PPM2_RxCnt;u16 xdata PPM2_Cap;bit B_PPM2_OK;u16 xdata CCAP2_RiseTime;u8 xdata PPM3_Rise_TimeOut; //高电平限时u8 xdata PPM3_Rx_TimerOut;u8 xdata PPM3_RxCnt;u16 xdata PPM3_Cap;bit B_PPM3_OK;u16 xdata CCAP3_RiseTime;u8 xdata PPM4_Rise_TimeOut; //高电平限时u8 xdata PPM4_Rx_TimerOut;u8 xdata PPM4_RxCnt;u16 xdata PPM4_Cap;bit B_PPM4_OK;u16 xdata CCAP_FallTime;u8 PPM1,PPM2,PPM3,PPM4;bit B_Start;u8 cnt_start;/* ============================================= */void UART1_config(void);void PrintString1(u8 *puts); //发送一个字符串void TX1_write2buff(u8 dat); //写入发送缓冲，指针 1void TX1_int_value(int i);void delay_ms(u8 ms);void Return_Message(void);u16 MODBUS_CRC16(u8 *p,u8 n); //input: *p--->First Data Address,n----->Data Number, return: CRC16void PCA_config(void);void Timer0_Config(void);void Timer1_Config(void);void return_TTMx(u8 id,PPMx);void Timer0_Config(void);u16 MODBUS_CRC16(u8 *p,u8 n); //input: *p--->First Data Address,n----->Data Number, return: CRC16extern xdata u16 adc0;extern xdata int Battery;//*********************************************************************//****************角度计算*********************************************//*********************************************************************#define pi 3.14159265f #define Kp 0.8f #define Ki 0.001f #define halfT 0.004f float idata q0=1,q1=0,q2=0,q3=0; float idata exInt=0,eyInt=0,ezInt=0; void IMUupdate(float gx, float gy, float gz, float ax, float ay, float az){float data norm;float idata vx, vy, vz;float idata ex, ey, ez;norm = sqrt(ax*ax ay*ay az*az); //把加速度计的三维向量转成单维向量 ax = ax / norm;ay = ay / norm;az = az / norm;// 下面是把四元数换算成《方向余弦矩阵》中的第三列的三个元素。 // 根据余弦矩阵和欧拉角的定义，地理坐标系的重力向量，转到机体坐标系，正好是这三个元素// 所以这里的vx vy vz，其实就是当前的欧拉角（即四元数）的机体坐标参照系上，换算出来的// 重力单位向量。vx = 2*(q1*q3 - q0*q2);vy = 2*(q0*q1 q2*q3);vz = q0*q0 - q1*q1 - q2*q2 q3*q3 ;ex = (ay*vz - az*vy) ;ey = (az*vx - ax*vz) ;ez = (ax*vy - ay*vx) ;exInt = exInt ex * Ki;eyInt = eyInt ey * Ki;ezInt = ezInt ez * Ki;gx = gx Kp*ex exInt;gy = gy Kp*ey eyInt;gz = gz Kp*ez ezInt;q0 = q0 (-q1*gx - q2*gy - q3*gz) * halfT;q1 = q1 ( q0*gx q2*gz - q3*gy) * halfT;q2 = q2 ( q0*gy - q1*gz q3*gx) * halfT;q3 = q3 ( q0*gz q1*gy - q2*gx) * halfT;norm = sqrt(q0*q0 q1*q1 q2*q2 q3*q3);q0 = q0 / norm;q1 = q1 / norm;q2 = q2 / norm;q3 = q3 / norm;AngleX = asin(2*(q0*q2 - q1*q3 )) * 57.2957795f; // 俯仰 换算成度AngleY = asin(2*(q0*q1 q2*q3 )) * 57.2957795f; // 横滚}//****************姿态计算*********************************************void PWM_int (void) interrupt 22 //PWM中断函数{PWMCFG = 0; //CBIF; //清除中断标志B_8ms = 1;//======================== 超时溢出处理 ==============================================PPM1_Rise_TimeOut ; //高电平限时PPM2_Rise_TimeOut ; //高电平限时PPM3_Rise_TimeOut ; //高电平限时PPM4_Rise_TimeOut ; //高电平限时if(--PPM1_Rx_TimerOut == 0) //超过100ms收不到信号{PPM1_RxCnt = 0; //一旦出现溢出, 则开始的n个脉冲无效PPM1 = 128;; //默认中点}if(--PPM2_Rx_TimerOut == 0) //超过100ms收不到信号{PPM2_RxCnt = 0; //一旦出现溢出, 则开始的n个脉冲无效PPM2 = 128;; //默认中点}if(--PPM3_Rx_TimerOut == 0) //超过200ms收不到信号{PPM3_RxCnt = 0; //一旦出现溢出, 则开始的n个脉冲无效}if(--PPM4_Rx_TimerOut == 0) //超过100ms收不到信号{PPM4_RxCnt = 0; //一旦出现溢出, 则开始的n个脉冲无效PPM4 = 128; //默认中点}//======================================================================if( YM_LostCnt >= 250) //失联2秒后{YM_LostCnt = 200; //重复0.4秒，失控保护if(PPM3 > 80) PPM3--;else if( Lost16S >= 40){Lost16S = 250;PPM3 = 0;B_Start = 0;}}if(YM_LostCnt >= 25) //失联200ms{PPM1 = 128;PPM2 = 128; //俯仰 横滚 航向均归0PPM4 = 128;}FRX = PPM1;FRY = PPM2;YM = PPM3; //油门FRZ = PPM4;//********************************************************************************************Read_MPU6050(tp); //680usAngle_ax = ((float)(((int *)&tp)[0])) / 8192.0; //加速度处理 结果单位是 - gAngle_ay = ((float)(((int *)&tp)[1])) / 8192.0; //转换关系 8192 LSB/g, 1g对应读数8192Angle_az = ((float)(((int *)&tp)[2])) / 8192.0; //加速度量程 -4g/SLast_Angle_gx = Angle_gx; //储存上一次角速度数据Last_Angle_gy = Angle_gy;Angle_gx = ((float)(((int *)&tp)[4] - g_x)) / 65.5; //陀螺仪处理 结果单位是 -度Angle_gy = ((float)(((int *)&tp)[5] - g_y)) / 65.5; //陀螺仪量程 -500度/S, 1度/秒 对应读数 65.536Angle_gz = ((float)(((int *)&tp)[6] - g_z)) / 65.5; //转换关系65.5 LSB/度IMUupdate(Angle_gx*0.0174533f, Angle_gy*0.0174533f, Angle_gz*0.0174533f, Angle_ax,Angle_ay,Angle_az);//**********************************X轴指向************************************************Ax = AngleX - a_x - ((float)FRX - 128) / 4.0; //角度控制量加载至角度if(YM > 35) ERRORX_Out = Ax, ERRORX_Out = Ax, ERRORX_Out = Ax; //外环积分(油门小于某个值时不积分)else ERRORX_Out = 0; //油门小于定值时清除积分值if(ERRORX_Out > 1500) ERRORX_Out = 1500;else if(ERRORX_Out < -1500) ERRORX_Out = -1500; //积分限幅Out_PID_X = Ax*Out_XP ERRORX_Out*Out_XI (Ax-Last_Ax)*Out_XD; //外环PILast_Ax = Ax;if(YM > 35) ERRORX_In = (Angle_gy - Out_PID_X); //内环积分(油门小于某个值时不积分)else ERRORX_In = 0; //油门小于定值时清除积分值if(ERRORX_In > 500) ERRORX_In = 500;else if(ERRORX_In < -500) ERRORX_In = -500; //积分限幅PID_x = (Angle_gy Out_PID_X) * In_XP ERRORX_In * In_XI (Angle_gy - Last_Angle_gy) * In_XD; //内环PIDif(PID_x > 500) PID_x = 500; //输出量限幅if(PID_x < -500) PID_x = -500;//**************Y轴指向**************************************************Ay = AngleY - a_y ((float)FRY - 128) / 4.0; //角度控制量加载至角度if(YM > 35) ERRORY_Out = Ay, ERRORY_Out = Ay, ERRORY_Out = Ay; //外环积分(油门小于某个值时不积分)else ERRORY_Out = 0; //油门小于定值时清除积分值if(ERRORY_Out > 1500) ERRORY_Out = 1500;else if(ERRORY_Out < -1500) ERRORY_Out = -1500; //积分限幅Out_PID_Y = Ay * Out_YP ERRORY_Out * Out_YI (Ay-Last_Ay)*Out_YD; //外环PIDLast_Ay = Ay;if(YM > 35) ERRORY_In = (Angle_gx - Out_PID_Y); //内环积分(油门小于某个值时不积分)else ERRORY_In = 0; //油门小于定值时清除积分值if(ERRORY_In > 500) ERRORY_In = 500;else if(ERRORY_In < -500) ERRORY_In = -500; //积分限幅PID_y = (Angle_gx Out_PID_Y) * In_YP ERRORY_In * In_YI (Angle_gx - Last_Angle_gx) * In_YD; //内环PIDif(PID_y > 500) PID_y = 500; //输出量限幅if(PID_y <-500) PID_y = -500;//**************Z轴指向(Z轴随便啦，自旋控制没必要上串级PID)***************************** Az = Angle_gz - ((float)FRZ - 128);if(YM > 35) Z_integral = Az; //Z轴积分else Z_integral = 0; //油门小于40积分清零if(Z_integral > 500.0f) Z_integral = 500.0f; //积分限幅else if(Z_integral < -500.0f) Z_integral = -500.0f; //积分限幅PID_z = Az * ZP Z_integral * ZI (Az - Last_Az) * ZD;Last_Az = Az;if(PID_z > 200) PID_z = 200; //输出量限幅if(PID_z < -200) PID_z = -200;speed0 = (int)( PID_x PID_y PID_z); //M1改为逆时针speed1 = (int)( PID_x - PID_y - PID_z);speed2 = (int)( -PID_x - PID_y PID_z);speed3 = (int)( -PID_x PID_y - PID_z);//**************将速度参数加载至PWM模块************************************************* if(YM < 10) PWM0 = 1000, PWM1 = 1000, PWM2 = 1000, PWM3 = 1000;else if(YM < 35) PWM0 = 860, PWM1 = 860, PWM2 = 860, PWM3 = 860;else{int_tmp = 1000 - (int)YM * 4;PWM0 = int_tmp - speed0;if(PWM0 > 1000) PWM0 = 1000; //速度参数控制，防止超过PWM参数范围0-1000else if(PWM0 < 10) PWM0 = 10;PWM1 = int_tmp - speed1;if(PWM1 > 1000) PWM1 = 1000;else if(PWM1 < 10) PWM1 = 10;PWM2 = int_tmp - speed2;if(PWM2 > 1000) PWM2 = 1000;else if(PWM2 < 10) PWM2 = 10;PWM3 = int_tmp - speed3;if(PWM3 > 1000) PWM3 = 1000;else if(PWM3 < 10) PWM3 = 10;}SW2_tmp = P_SW2; //保存SW2设置EAXSFR(); //访问XFRPWM0T2 = (u16)(PWM0 * 2);PWM1T2 = (u16)(PWM1 * 2);PWM2T2 = (u16)(PWM2 * 2);PWM3T2 = (u16)(PWM3 * 2); P_SW2 = SW2_tmp; //恢复SW2设置}/********************** 蜂鸣函数 ************************/void beep(void) //100ms调用{if(BuzzerRepeat > 0) //蜂鸣器处理, 重复次数不为0，则蜂鸣器要发声{if((BuzzerOnCnt == 0) && (BuzzerOffCnt == 0)) //On和OFF都为0，则开始装载On和Off的时间{P_BUZZER = 1; //允许蜂鸣BuzzerOnCnt = BuzzerOnTime; //装载on计数BuzzerOffCnt = BuzzerOffTime; //装载off计数}else if(BuzzerOnCnt > 0) {if(--BuzzerOnCnt == 0) P_BUZZER = 0;} //On的时间else if(BuzzerOffCnt > 0) //Off的时间{if(--BuzzerOffCnt == 0) BuzzerRepeat--;}}else P_BUZZER = 0;}void SetBuzzer(u8 on,u8 off,u8 rep) // rep: 重复次数, on: on的时间, off: off的时间{BuzzerRepeat = rep;BuzzerOnTime = on;BuzzerOffTime = off;if(BuzzerOnTime == 0) BuzzerOnTime = 1;if(BuzzerOffTime == 0) BuzzerOffTime = 1;if(BuzzerRepeat == 1) BuzzerOffTime = 1;BuzzerOnCnt = 0, BuzzerOffCnt = 0;}// ===================== 自动校准序列 =====================void AutoCal(void){if(PPM3 < 40) //停止时才允许校准{if(Cal_Setp == 1) //进入校准序列{x_sum = 0; y_sum = 0; z_sum = 0;Cal_cnt = 0;Cal_Setp = 2;}else if(Cal_Setp == 2) //对陀螺仪累加{x_sum = ((int *)&tp)[4]; //读取陀螺仪数据y_sum = ((int *)&tp)[5];z_sum = ((int *)&tp)[6];if( Cal_cnt >= 64){g_x = x_sum / 64;g_y = y_sum / 64;g_z = z_sum / 64;float_x_sum = 0; float_y_sum = 0;Cal_cnt = 0;Cal_Setp = 3;}}else if(Cal_Setp == 3) //对X Y角度累加{float_x_sum = AngleX;float_y_sum = AngleY;if( Cal_cnt >= 64){Cal_cnt = 0;Cal_Setp = 0;a_x = float_x_sum / 64.0;a_y = float_y_sum / 64.0;IAP_Gyro();SetBuzzer(5,1,1);}}}else{Cal_Setp = 0;Cal_cnt = 0;}}// ===================== 主函数 =====================void main(void){//所有I/O口全设为准双向，弱上拉模式P0M0=0x00; P0M1=0x00;P1M0=0x00; P1M1=0x00;P2M0=0x00; P2M1=0x00;P3M0=0x00; P3M1=0x00;P4M0=0x00; P4M1=0x00;P5M0=0x00; P5M1=0x00;P6M0=0x00; P6M1=0x00;P7M0=0x00; P7M1=0x00;PPM1 = 128;PPM2 = 128;PPM3 = 0;PPM4 = 128;PWMGO();P_Light = 0;P_BUZZER = 0;P5n_push_pull(0x30);adc_init(); //启动A/DPCA_config();delay_ms(100);IAPRead(); //读取陀螺仪静差InitMPU6050(); //初始化MPU-6050delay_ms(100);PWMCR = 0xc0;//ECBI; //允许PWM计数器归零中断EA = 1; //允许总中断cnt_start = 0;while(cnt_start < 25) //等待油门最小 20ms * 25 = 500ms{if(B_PPM3_OK) //油门{B_PPM3_OK = 0;if(PPM3_Cap <= 1200) cnt_start ;}delay_ms(1);}P_Light = 0;cnt_start = 0;SetBuzzer(5,1,1);//==============================================UART1_config(); // 选择波特率, 2: 使用Timer2做波特率, 其它值: 使用Timer1做波特率.PrintString1("STC15W4K系列大四轴飞控程序!\r\n"); //SUART1发送一个字符串//==============================================B_Start = 0; //上电禁止运行while(1){if(B_PPM1_OK) //左右(横滚){B_PPM1_OK = 0;if(PPM1_Cap < 1120) PPM1_Cap = 1120;else if(PPM1_Cap > 1880) PPM1_Cap = 1880;PPM2 = (u8)((PPM1_Cap-1116)/3); //转为0~255, 中间值为128}if(B_PPM2_OK) //前后(俯仰){B_PPM2_OK = 0;if(PPM2_Cap < 1120) PPM2_Cap = 1120;else if(PPM2_Cap > 1880) PPM2_Cap = 1880;PPM1 = (u8)((PPM2_Cap-1116)/3); //转为0~255, 中间值为128}if(B_PPM4_OK) //航向{B_PPM4_OK = 0;if(PPM4_Cap < 1056) PPM4_Cap = 1056;if(PPM4_Cap > 1940) PPM4_Cap = 1940;if(PPM4_Cap < 1440) PPM4_Cap = PPM4_Cap 60;else if(PPM4_Cap > 1560) PPM4_Cap = PPM4_Cap - 60;else PPM4_Cap = 1500;PPM4 = (u8)((PPM4_Cap-1116)/3); //转为0~255, 中间值为128}if(B_PPM3_OK) //油门{B_PPM3_OK = 0;if(PPM3_Cap < 1000) PPM3_Cap = 1000;if(PPM3_Cap > 1900) PPM3_Cap = 1900;if(B_Start) //正在运行时,{PPM3 = (u8)((PPM3_Cap-1000)/4); //转为0~255, 实际8~225if(PPM3 < 32) PPM3 = 32;if((PPM1 < 50) && (PPM2 < 50) && (PPM3_Cap < 1120) && (PPM4 > 200)) //下外八, 禁止{if( cnt_start >= 50) //1秒{cnt_start = 0;B_Start = 0;SetBuzzer(1,1,2);}}else cnt_start = 0;}else //禁止运行时, 等待内八开启{PPM3 = 0;if((PPM1 < 50) && (PPM2 > 200) && (PPM3_Cap < 1120) && (PPM4 < 50)) //下内八, 启动{if( cnt_start >= 50) //1秒{cnt_start = 0;B_Start = 1;SetBuzzer(5,1,1);}}else if((PPM1 > 200) && (PPM2 > 200) && (PPM3_Cap > 1850) && (PPM4 < 50)) //上内八, 水平校准{if( cnt_start >= 50) //1秒{cnt_start = 0;SetBuzzer(2,1,1);Cal_Setp = 1;}}else if((PPM1 > 200) && (PPM2 < 50) && (PPM3_Cap > 1850) && (PPM4 > 200)) //上外八, 取消水平校准{if( cnt_start >= 50) //1秒{cnt_start = 0;g_x = 0;g_y = 0;g_z = 0;a_x = 0;a_y = 0;IAP_Gyro();SetBuzzer(1,1,2);}}else cnt_start = 0;}}if(B_8ms) //8ms到{B_8ms = 0;if(Cal_Setp != 0) AutoCal(); //是否执行自动校准序列AD(); // 读ADC计算电压if( cnt_100ms >= 12) cnt_100ms = 0, beep(); //100ms处理一次蜂鸣器B = cnt_ms;cnt_ms;B = (B ^ cnt_ms) & cnt_ms;if(B2) //64ms{if(!B_BAT_LOW && (YM_LostCnt < 120)) //电压足, 信号正常{if(!B_Start) P_Light = 0; // 空闲时, 则慢闪(每2048ms亮64ms)else P_Light = 1; // 启动后, 灯常亮}}else if(B4) //256ms{if(B_BAT_LOW || (YM_LostCnt >= 120)) P_Light = ~P_Light; //电压低, 或无信号, 航灯闪烁 2HZ}else if(B6) //1024ms{if(Battery < 1090) B_BAT_LOW = 1; else if(Battery > 1110) B_BAT_LOW = 0; //<10.90V电压低, >11.10V电压够if(B_BAT_LOW) SetBuzzer(1,1,2); //电压低if(B_rtn_ADC0) Return_Message(); //请求返回ADC0数据if(!B_BAT_LOW && (YM_LostCnt < 120)) P_Light = 1; //遥控信号正常, 电压正常时}else if(B7) //2048ms{if(!B_BAT_LOW && (YM_LostCnt >= 120)) SetBuzzer(1,1,3); //电压正常时 遥控信号丢失, 每两秒短鸣3次,}}if(UART1_cmd != 0){if(UART1_cmd == 'a') //PC发送a，飞控返回一些参数{B_rtn_ADC0 = ~B_rtn_ADC0;}UART1_cmd = 0;}if((TX1_Read != TX1_Write) && (!B_TX1_Busy)) //有数据要发送, 并且发送空闲{SBUF = TX1_Buffer[TX1_Read];B_TX1_Busy = 1;if( TX1_Read >= TX1_LENGTH) TX1_Read = 0;}}}//=========================================================void Return_Message(void){TX1_write2buff('V');TX1_write2buff('=');TX1_write2buff(Battery/1000 '0');TX1_write2buff((Battery%1000)/100 '0');TX1_write2buff('.');TX1_write2buff((Battery%100)/10 '0');TX1_write2buff(Battery%10 '0');TX1_write2buff(' ');TX1_write2buff(' ');PrintString1("AngleX=");TX1_int_value((int)(AngleX * 10));PrintString1("AngleY=");TX1_int_value((int)(AngleY * 10));PrintString1("AngleZ=");TX1_int_value((int)(Angle_gz * 10));PrintString1("a_x=");TX1_int_value(a_x * 10);PrintString1("a_y=");TX1_int_value(a_y * 10);PrintString1("g_z=");TX1_int_value(g_z * 10);TX1_cnt = 0;TX1_write2buff(0x0d);TX1_write2buff(0x0a);}void delay_ms(u8 ms){ u16 i;do{i = MAIN_Fosc / 13000;while(--i) ; //13T per loop }while(--ms);}void TX1_int_value(int i){if(i < 0) TX1_write2buff('-'), i = 0 - i;else TX1_write2buff(' ');TX1_write2buff(i / 1000 '0');TX1_write2buff((i % 1000) / 100 '0');TX1_write2buff((i % 100) / 10 '0');TX1_write2buff('.');TX1_write2buff(i % 10 '0');TX1_write2buff(' ');TX1_write2buff(' ');}/*************** 装载串口1发送缓冲 *******************************/void TX1_write2buff(u8 dat) //写入发送缓冲，指针 1{TX1_Buffer[TX1_Write] = dat;if( TX1_Write >= TX1_LENGTH) TX1_Write = 0;}//========================================================================// 函数: void PrintString1(u8 *puts)// 描述: 串口1发送字符串函数。// 参数: puts: 字符串指针.// 返回: none.// 版本: VER1.0// 日期: 2014-11-28// 备注: //========================================================================void PrintString1(u8 *puts) //发送一个字符串{for (; *puts != 0; puts ) TX1_write2buff(*puts); //遇到停止符0结束}//========================================================================// 函数: SetTimer2Baudrate(u16 dat)// 描述: 设置Timer2做波特率发生器。// 参数: dat: Timer2的重装值.// 返回: none.// 版本: VER1.0// 日期: 2014-11-28// 备注: //========================================================================void SetTimer2Baudrate(u16 dat) // 选择波特率, 2: 使用Timer2做波特率, 其它值: 使用Timer1做波特率.{AUXR &= ~(1<<4); //Timer stopAUXR &= ~(1<<3); //Timer2 set As TimerAUXR |= (1<<2); //Timer2 set as 1T modeTH2 = dat / 256;TL2 = dat % 256;IE2 &= ~(1<<2); //禁止中断AUXR |= (1<<4); //Timer run enable}//========================================================================// 函数: void UART1_config(u8 brt)// 描述: UART1初始化函数。// 参数: brt: 选择波特率, 2: 使用Timer2做波特率, 其它值: 使用Timer1做波特率.// 返回: none.// 版本: VER1.0// 日期: 2014-11-28// 备注: //========================================================================void UART1_config(void){/*********** 波特率使用定时器2 *****************/AUXR |= 0x01; //S1 BRT Use Timer2;SetTimer2Baudrate(65536UL - (MAIN_Fosc / 4) / Baudrate1);/*********** 波特率使用定时器1 *****************//* TR1 = 0;AUXR &= ~0x01; //S1 BRT Use Timer1;AUXR |= (1<<6); //Timer1 set as 1T modeTMOD &= ~(1<<6); //Timer1 set As TimerTMOD &= ~0x30; //Timer1_16bitAutoReload;TH1 = (u8)((65536UL - (MAIN_Fosc / 4) / Baudrate1) / 256);TL1 = (u8)((65536UL - (MAIN_Fosc / 4) / Baudrate1) % 256);ET1 = 0; //禁止中断INT_CLKO &= ~0x02; //不输出时钟TR1 = 1;*/ //========================================================================SCON = (SCON & 0x3f) | 0x40; //UART1模式, 0x00: 同步移位输出, 0x40: 8位数据,可变波特率, 0x80: 9位数据,固定波特率, 0xc0: 9位数据,可变波特率PS = 1; //高优先级中断ES = 1; //允许中断REN = 1; //允许接收P_SW1 &= 0x3f;P_SW1 |= 0x00; //UART1 switch to, 0x00: P3.0 P3.1, 0x40: P3.6 P3.7, 0x80: P1.6 P1.7 (必须使用内部时钟)// PCON2 |= (1<<4); //内部短路RXD与TXD, 做中继, ENABLE,DISABLEB_TX1_Busy = 0;TX1_Read = 0;TX1_Write = 0;UART1_cmd = 0;TX1_cnt = 0;}//========================================================================// 函数: void UART1_int (void) interrupt UART1_VECTOR// 描述: UART1中断函数。// 参数: nine.// 返回: none.// 版本: VER1.0// 日期: 2014-11-28// 备注: //========================================================================void UART1_int (void) interrupt 4{if(RI){RI = 0;UART1_cmd = SBUF;}if(TI){TI = 0;B_TX1_Busy = 0;}}void PCA_config(void){PPM1_Rise_TimeOut = 0;PPM2_Rise_TimeOut = 0;PPM3_Rise_TimeOut = 0;PPM4_Rise_TimeOut = 0;CR = 0;CH = 0;CL = 0;AUXR1 = (AUXR1 & ~(3<<4)) | PCA_P12_P17_P16_P15_P14; //切换IO口CMOD = (CMOD & ~(7<<1)) | PCA_Clock_12T; //选择时钟源 STC8F8K D版本// CMOD = (CMOD & ~1) | 1; //ECFPPCA = 1; //高优先级中断CCAPM0 = PCA_Mode_Capture | PCA_Rise_Active | PCA_Fall_Active | ENABLE; //工作模式, 中断模式PCA_PWM0 = PCA_PWM_8bit; //PWM宽度// CCAP0L = (u8)CCAP0_tmp; //将影射寄存器写入捕获寄存器，先写CCAPnL// CCAP0H = (u8)(CCAP0_tmp >> 8); //后写CCAPnHCCAPM1 = PCA_Mode_Capture | PCA_Rise_Active | PCA_Fall_Active | ENABLE; //工作模式, 中断模式PCA_PWM1 = PCA_PWM_8bit; //PWM宽度// CCAP1L = (u8)CCAP1_tmp; //将影射寄存器写入捕获寄存器，先写CCAPnL// CCAP1H = (u8)(CCAP1_tmp >> 8); //后写CCAPnHCCAPM2 = PCA_Mode_Capture | PCA_Rise_Active | PCA_Fall_Active | ENABLE; //工作模式, 中断模式PCA_PWM2 = PCA_PWM_8bit; //PWM宽度// CCAP2L = (u8)CCAP2_tmp; //将影射寄存器写入捕获寄存器，先写CCAPnL// CCAP2H = (u8)(CCAP2_tmp >> 8); //后写CCAPnHCCAPM3 = PCA_Mode_Capture | PCA_Rise_Active | PCA_Fall_Active | ENABLE; //工作模式, 中断模式PCA_PWM3 = PCA_PWM_8bit; //PWM宽度// CCAP3L = (u8)CCAP3_tmp; //将影射寄存器写入捕获寄存器，先写CCAPnL// CCAP3H = (u8)(CCAP3_tmp >> 8); //后写CCAPnHCR = 1;}//========================================================================// 函数: void PCA_Handler (void) interrupt PCA_VECTOR// 描述: PCA中断处理程序.// 参数: None// 返回: none.// 版本: V1.0, 2012-11-22//========================================================================void PCA_Handler (void) interrupt PCA_VECTOR{if(CCF0) //PCA模块0中断{CCF0 = 0; //清PCA模块0中断标志if(P17) //上升沿{CCAP0_RiseTime = ((u16)CCAP0H << 8) CCAP0L; //读CCAP0PPM1_Rise_TimeOut = 1; //收到上升沿, 高电平限时}else //下降沿{CCAP_FallTime = ((u16)CCAP0H << 8) CCAP0L; //读CCAP0if((PPM1_Rise_TimeOut != 0) && (PPM1_Rise_TimeOut < 3)) //收到过上升沿, 高电平也没有溢出{CCAP_FallTime = (CCAP_FallTime - CCAP0_RiseTime) >> 1; //为了好处理, 转成单位为usif((CCAP_FallTime >= 800) && (CCAP_FallTime <= 2500)){if( PPM1_RxCnt >= 5) PPM1_RxCnt = 5; //连续接收到5个脉冲if(PPM1_RxCnt == 5){if(!B_PPM1_OK){PPM1_Cap = CCAP_FallTime;B_PPM1_OK = 1; //标志收到一个脉冲PPM1_Rx_TimerOut = 12; //限时收不到脉冲}}}}PPM1_Rise_TimeOut = 0;}}if(CCF1) //PCA模块1中断{CCF1 = 0; //清PCA模块1中断标志if(P16) //上升沿{CCAP1_RiseTime = ((u16)CCAP1H << 8) CCAP1L; //读CCAP1PPM2_Rise_TimeOut = 1; //收到上升沿, 高电平限时}else //下降沿{CCAP_FallTime = ((u16)CCAP1H << 8) CCAP1L; //读CCAP1if((PPM2_Rise_TimeOut != 0) && (PPM2_Rise_TimeOut < 3)) //收到过上升沿, 高电平也没有溢出{CCAP_FallTime = (CCAP_FallTime - CCAP1_RiseTime) >> 1; //为了好处理, 转成单位为usif((CCAP_FallTime >= 800) && (CCAP_FallTime <= 2500)){if( PPM2_RxCnt >= 5) PPM2_RxCnt = 5;if(PPM2_RxCnt == 5){if(!B_PPM2_OK){PPM2_Cap = CCAP_FallTime;B_PPM2_OK = 1; //标志收到一个脉冲PPM2_Rx_TimerOut = 12; //限时收不到脉冲}}}}PPM2_Rise_TimeOut = 0;}}if(CCF2) //PCA模块2中断{CCF2 = 0; //清PCA模块1中断标志if(P15) //上升沿{CCAP2_RiseTime = ((u16)CCAP2H << 8) CCAP2L; //读CCAP2PPM3_Rise_TimeOut = 1; //收到上升沿, 高电平限时}else //下降沿{CCAP_FallTime = ((u16)CCAP2H << 8) CCAP2L; //读CCAP2if((PPM3_Rise_TimeOut != 0) && (PPM3_Rise_TimeOut < 3)) //收到过上升沿, 高电平也没有溢出{CCAP_FallTime = (CCAP_FallTime - CCAP2_RiseTime) >> 1; //为了好处理, 转成单位为usif((CCAP_FallTime >= 800) && (CCAP_FallTime <= 2500)){if( PPM3_RxCnt >= 5) PPM3_RxCnt = 5;if(PPM3_RxCnt == 5){if(!B_PPM3_OK){PPM3_Cap = CCAP_FallTime;B_PPM3_OK = 1; //标志收到一个脉冲PPM3_Rx_TimerOut = 25; //限时收不到脉冲YM_LostCnt = 0;Lost16S = 0;}}}}PPM3_Rise_TimeOut = 0;}}if(CCF3) //PCA模块3中断{CCF3 = 0; //清PCA模块1中断标志if(P14) //上升沿{CCAP3_RiseTime = ((u16)CCAP3H << 8) CCAP3L; //读CCAP3PPM4_Rise_TimeOut = 1; //收到上升沿, 高电平限时}else //下降沿{CCAP_FallTime = ((u16)CCAP3H << 8) CCAP3L; //读CCAP3if((PPM4_Rise_TimeOut != 0) && (PPM4_Rise_TimeOut < 3)) //收到过上升沿, 高电平也没有溢出{CCAP_FallTime = (CCAP_FallTime - CCAP3_RiseTime) >> 1; //为了好处理, 转成单位为usif((CCAP_FallTime >= 800) && (CCAP_FallTime <= 2500)){if( PPM4_RxCnt >= 5) PPM4_RxCnt = 5;if(PPM4_RxCnt == 5){if(!B_PPM4_OK){PPM4_Cap = CCAP_FallTime;B_PPM4_OK = 1; //标志收到一个脉冲PPM4_Rx_TimerOut = 12; //限时收不到脉冲}}}}PPM4_Rise_TimeOut = 0;}}// if(CF) //PCA溢出中断// {// CF = 0; //清PCA溢出中断标志// }}
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