2019年3月21日 (四) 08:40 502748957@qq.com

2019-03-21T08:40:21Z

502748957@qq.com：创建页面，内容为“ #include "mQuad.h" #include #include #include #define EEPROM_ADDR 0 byte eeprom_data = 0; #include…”

2019-03-08T07:50:50Z

创建页面，内容为“<source lang="cpp"> #include "mQuad.h" #include <Microduino_Protocol.h> #include <stdlib.h> #include <EEPROM.h> #define EEPROM_ADDR 0 byte eeprom_data = 0; #include…”

新页面

<source lang="cpp">
#include "mQuad.h"
#include <Microduino_Protocol.h>
#include <stdlib.h>
#include <EEPROM.h>
#define EEPROM_ADDR 0
byte eeprom_data = 0;

#include <RF24Network.h>
RF24 radio(D9, D10);
RF24Network network(radio);

const uint16_t this_node = 00;
const uint16_t other_node = 01;

#define CHANNEL_NUM 8

struct receive_a {
uint32_t ms;
uint16_t rf_CH[CHANNEL_NUM];
};
struct send_a { //鍙戦��
uint32_t node_ms; //鑺傜偣杩愯鏃堕棿
};

//ProtocolSer protocol(&Serial, 16); //閲囩敤ProSerial锛屾暟鎹暱搴︿负16涓瓧鑺�

uint8_t recCmd;
uint16_t Data[8];
uint16_t dataBuf[4] = {1000, 1000, 1000, 1000};
uint32_t spiTimer;
uint8_t spiCmd;
uint8_t spiCmdData;
uint8_t spiFlag = 0;
bool ITflag = 0;

//新添加的变量
enum state_t {
state_init = 0, state_check_matched, state_public_channel_init, state_public_channel, state_priviate_channel_init, state_priviate_channel, state_rotate
};

#define PRIVIATE_CHN_MIN 10 //随机生成通道范围下限
#define PRIVIATE_CHN_MAX 50 //随机生成通道范围上限
#define LOST_TIM_MAX 1500
#define PUBLIC_CHANNEL 0

struct payload_public_t { // 数据的结构体
int priviate_chn;
};

int _state = state_init;
int priviate_channel = 0;
int rotate_flag = 0;
int unlock_cnt = 0;
unsigned long now_1, now_2, now_3, now_4, tim_1, tim_2 = 0;
;
void setup() {
// initialize both serial ports:
digitalWrite(QUAD_CS, HIGH);
QuadBegin();
delay(100);
Serial.begin(9600); //9600/19200/38400
Serial.println("RF24Network/examples/helloworld_rx/");
spiTimer = millis();
_state = state_init;
}

void loop()
{
/*
if(!(radio.isPVariant()))
{
// initialize both serial ports:
QuadBegin();
delay(100);
Serial.begin(9600); //9600/19200/38400
//spiTimer = millis();
//_state = state_init;
}
*/
//Get_SoftDeviceVersion();
//先从遥控器接收
pinMode(QUAD_CS, OUTPUT);
digitalWrite(QUAD_CS, HIGH);

switch (_state) {
case state_init: {
_state = state_check_matched;
break;
}

case state_check_matched: {
eeprom_data = EEPROM.read(EEPROM_ADDR);
if (eeprom_data == 0)
{
_state = state_public_channel_init;
rotate_flag = 0;
}
else
_state = state_rotate;
break;
}

case state_public_channel_init: {
radio.begin();
radio.setDataRate(RF24_250KBPS);
network.begin(/*channel*/ PUBLIC_CHANNEL, /*node address*/ this_node);
Serial.println("state_public_channel_init success");
now_1 = millis();
_state = state_public_channel;
break;
}

//公共通道配对，并接收priviate_chn信息
case state_public_channel: {
network.update();
while (network.available()) {
now_1 = millis();
RF24NetworkHeader header;
payload_public_t payload_public;
network.read(header, &payload_public, sizeof(payload_public)); //读取数据
priviate_channel = payload_public.priviate_chn;
EEPROM.write(EEPROM_ADDR, priviate_channel); //收到了新的就写进去
Serial.println("state_public_channel match success");
Serial.print("The new channel is ");
Serial.println(priviate_channel);
_state = state_priviate_channel_init;
}
now_2 = millis();
if (now_2 - now_1 > LOST_TIM_MAX && rotate_flag == 1)
_state = state_priviate_channel_init;
else if (now_2 - now_1 > LOST_TIM_MAX)
_state = state_public_channel_init;
break;
}

//设置新的通道
case state_priviate_channel_init: {
priviate_channel = EEPROM.read(EEPROM_ADDR);
radio.begin();
radio.setDataRate(RF24_250KBPS);
network.begin(/*channel*/ priviate_channel, /*node address*/ this_node);
Serial.println("state_priviate_channel_init success");
Serial.print("The priviate_channel is : ");
Serial.print(priviate_channel);
_state = state_priviate_channel;
now_3 = millis();
break;
}

//新通道配对，并接收新通道的信息
case state_priviate_channel: {
network.update();
if (network.available())
{
now_3 = millis();
RF24NetworkHeader header;
receive_a rec;
network.read(header, &rec, sizeof(rec));
for (int a = 0; a < CHANNEL_NUM; a++) {
Data[a] = rec.rf_CH[a];
}
Data[0] = Data[0] ;
Data[1] = Data[1] ;

//protocol.readWords(&recCmd, Data, 8);
spiFlag = 1; //从joypad收到了数据
Data[0] = map(Data[0], 1000, 2000, 2000, 1000);
Data[1] = map(Data[1], 1000, 2000, 2000, 1000);
RF24NetworkHeader talker(other_node);

network.write(talker, Data_to_Rc, sizeof(Data_to_Rc));
}
//后向四轴发送
if (millis() - spiTimer > 10)
{
pinMode(QUAD_CS, OUTPUT);
digitalWrite(QUAD_CS, LOW);
pinMode(NRF_CS, OUTPUT);
digitalWrite(NRF_CS, HIGH);
spiTimer = millis();
tim_1 = millis();
if (spiFlag == 0) {
spiCmd = CMD_NONE;
}
else if (Data[4] != dataBuf[0]) {
dataBuf[0] = Data[4];
spiCmd = CMD_AUTO_FLY_UP;
}
else if (Data[5] != dataBuf[1]) {
dataBuf[1] = Data[5];
spiCmd = CMD_AUTO_LANDING;
}
else if (Data[6] != dataBuf[2]) {
dataBuf[2] = Data[6];
spiCmd = CMD_ACC_CLI;
}
//解锁

else if (Data[0] < 1300 && Data[1] > 1600 && Data[2] < 1300 && Data[3] < 1300 && Data[7] == 2000 && unlock_cnt++ > 25 && (tim_1 - tim_2) > 4500 ) {
tim_2 = millis();
spiCmd = CMD_ARM_IT_STICK;
ITflag = 1;
spiCmdData = ITflag;
unlock_cnt = 0;
}
//上锁
else if (Data[0] > 1600 && Data[1] > 1600 && Data[2] > 1600 && Data[3] < 1300 ) {
spiCmd = CMD_ARM_IT_STICK;
ITflag = 0;
spiCmdData = ITflag;
}

else if ( Data[7] == 1000 ) {
spiCmd = CMD_ARM_IT_SWITCH;
ITflag = 0;
spiCmdData = ITflag;
}

else {
spiCmd = CMD_SET_CH4;
}

spiFlag = 0;
QuadWrite(spiCmd, spiCmdData, Data);

}

now_4 = millis();
if (now_4 - now_3 > LOST_TIM_MAX)
_state = state_rotate;
break;
}

case state_rotate: {
rotate_flag = 1;
_state = state_public_channel_init;

}
default:
return 0;

}
}

</source>

←上一版本		2019年3月21日 (四) 08:40的版本
第248行：		第248行：
	}		}

		+	</source>
		+
		+	<big>头文件"mQuad.h"</big>
		+	<source lang="cpp">
		+	//arduino 与 stm32 通过spi通信 arduino 作为主机 stm32作为从机 arduino 与蓝牙通过串口通信 arduino 与 nrf 通过spi通信
		+	#include <SPI.h>
		+
		+	#define QUAD_CS D8 // 给digitalWrite()函数使用，所以是D8引脚片选信号可以随便指定
		+	#define NRF_CS D10
		+
		+	#define CMD_NONE 0x00
		+	#define CMD_SET_CH4 0x01 //对应 RAW PITCH YAW THROTTLE四个通道
		+	#define CMD_ARM_IT_SWITCH 0x02 //使用总开关控制加锁、解锁
		+	#define CMD_HEAD_IT 0x03 //有头模式无头模式
		+	#define CMD_ACC_CLI 0x04 //校准
		+	#define CMD_AUTO_FLY_UP 0x05 //自动起飞
		+	#define CMD_AUTO_LANDING 0x07 //自动降落
		+	#define CMD_PID_SET 0x08
		+	#define CMD_ARM_IT_STICK 0x09 //使用摇杆控制加锁、解锁
		+
		+
		+	#define STEP_WAIT_AA 1
		+	#define STEP_WAIT_BB 2
		+	#define STEP_WAIT_LEN 3
		+	#define STEP_WAIT_DATA 4
		+	#define STEP_WAIT_BCC 5
		+	#define DATA_TX_LEN 10 //发送数据的数据位长度
		+	#define DATA_LENGTH 16 //接收数据的数据位长度
		+	#define TOTAL_LENGTH 21 //接收数据的总长度
		+
		+	enum State {
		+	WAIT_AA = 0, WAIT_BB, WAIT_FUNC, WAIT_LEN, WAIT_DATA, WAIT_CRC
		+	} ;
		+	int state = 0;
		+
		+	int data_len_cnt = 0;
		+
		+	uint8_t rxBuffer[100]; //用于存储spi收到的数据
		+	uint8_t rxData[TOTAL_LENGTH] = {}; //用于存储从rxBuffer整理后的数据
		+	uint8_t Data_to_Rc[TOTAL_LENGTH - 2]; //用于发送给遥控器的数据因为添加了2字节的软件版本数据，但遥控器不需要
		+	uint8_t SoftVersion[2] = {}; //用于存储表示软件版本的2byte数据
		+
		+	typedef union _byteToint {
		+	int16_t twobyte;
		+	uint8_t Twobyte[2];
		+	} _byteToint;
		+
		+	void Data_Parse(uint8_t data)
		+	{
		+	static int data_len_cnt = 0;
		+	switch (state)
		+	{
		+	case WAIT_AA:
		+	if (data == 0xAA)
		+	{
		+	rxData[0] = data;
		+	state = WAIT_BB;
		+	}
		+	else
		+	state = WAIT_AA;
		+	break;
		+	case WAIT_BB:
		+	if (data == 0xBB)
		+	{
		+	rxData[1] = data;
		+	state = WAIT_FUNC;
		+	}
		+	else
		+	state = WAIT_BB;
		+	break;
		+	case WAIT_FUNC:
		+	if (data == 0x00)
		+	{
		+	rxData[2] = data;
		+	state = WAIT_LEN;
		+	}
		+	else
		+	state = WAIT_AA;
		+	break;
		+
		+	case WAIT_LEN:
		+	if (data == DATA_LENGTH)
		+	{
		+	rxData[3] = DATA_LENGTH;
		+	state = WAIT_DATA;
		+	}
		+	else
		+	state = WAIT_AA;
		+	break;
		+	case WAIT_DATA:
		+	rxData[4 + data_len_cnt++] = data;
		+	if (data_len_cnt > DATA_LENGTH - 1)
		+	{
		+	data_len_cnt = 0;
		+	state = WAIT_CRC;
		+	}
		+	else
		+	state = WAIT_DATA;
		+	break;
		+	case WAIT_CRC:
		+	rxData[TOTAL_LENGTH - 1] = data;
		+
		+	//添加了2byte的软件版本，但不需要发给遥控器
		+	memcpy(Data_to_Rc, rxData, TOTAL_LENGTH-3);
		+	Data_to_Rc[TOTAL_LENGTH - 3] = rxData[TOTAL_LENGTH - 1];
		+	SoftVersion[1] = rxData[TOTAL_LENGTH - 3];
		+	SoftVersion[0] = rxData[TOTAL_LENGTH - 2];
		+	state = WAIT_AA;
		+	break;
		+	}
		+	}
		+
		+
		+	void QuadBegin() {
		+	SPI.begin();
		+	pinMode(QUAD_CS, OUTPUT);
		+	digitalWrite(QUAD_CS, HIGH);
		+	}
		+
		+	uint8_t QuadWrite(uint8_t cmd1, uint8_t cmd2, uint16_t *data) {
		+	uint8_t rxResult = 0;
		+	uint8_t txData[14];
		+	txData[0] = 0xAA;
		+	txData[1] = 0XBB;
		+	txData[2] = DATA_TX_LEN;
		+	txData[13] = DATA_TX_LEN;
		+	txData[3] = cmd1;
		+	txData[4] = cmd2;
		+
		+	memcpy(txData + 5, (uint8_t *)data, 8);
		+
		+	for (uint8_t i = 3; i < 13; i++)
		+	txData[13] ^= txData[i];
		+
		+	digitalWrite(QUAD_CS, LOW);
		+	for (uint8_t i = 0; i < 14; i++)
		+	{
		+	rxBuffer[i] = SPI.transfer(txData[i]);
		+	//Serial.print(txData[i]);
		+	Data_Parse(rxBuffer[i]);
		+	}
		+	digitalWrite(QUAD_CS, HIGH);
		+	}
		+
		+	void Get_SoftDeviceVersion(void)
		+	{
		+	_byteToint Version;
		+	Version.Twobyte[1] = SoftVersion[1];
		+	Version.Twobyte[0] = SoftVersion[0];
		+
		+	Serial.print("四轴软件版本号为： ");
		+	Serial.println(Version.twobyte/10.0);
		+	}
	</source>		</source>

四轴飞行器程序下载 - 版本历史

2019年3月21日 (四) 08:40 502748957@qq.com

502748957@qq.com：创建页面，内容为“ #include "mQuad.h" #include #include #include #define EEPROM_ADDR 0 byte eeprom_data = 0; #include…”