四轴飞控-STC8A8K16S4A12

【实例截图】

【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

【核心代码】

#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10.5

float 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 D
float 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 1
void 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: CRC16
void 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: CRC16

extern 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0
PPM4 = 128;
}

FRX = PPM1;
FRY = PPM2;
YM  = PPM3; //油门
FRZ = PPM4;


//********************************************************************************************
Read_MPU6050(tp); //680us

Angle_ax = ((float)(((int *)&tp)[0])) / 8192.0; //加速度处理 结果单位是 - g
Angle_ay = ((float)(((int *)&tp)[1])) / 8192.0; //转换关系 8192 LSB/g, 1g对应读数8192
Angle_az = ((float)(((int *)&tp)[2])) / 8192.0; //加速度量程 -4g/S
Last_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 65.536
Angle_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PI
Last_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PID
if(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PID
Last_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PID

if(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0-1000
else 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XFR
PWM0T2 = (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/D

PCA_config();

delay_ms(100);
IAPRead(); //读取陀螺仪静差
InitMPU6050(); //初始化MPU-6050
delay_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8~225
if(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 stop
AUXR &= ~(1<<3); //Timer2 set As Timer
AUXR |=  (1<<2); //Timer2 set as 1T mode
TH2 = 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 mode
TMOD &= ~(1<<6); //Timer1 set As Timer
TMOD &= ~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,DISABLE

B_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; //ECF
PPCA = 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CCAPnH

CCAPM1     = 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CCAPnH

CCAPM2     = 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CCAPnH

CCAPM3     = 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CCAPnH

CR = 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CCAP0
PPM1_Rise_TimeOut = 1; //收到上升沿, 高电平限时
}
else //下降沿
{
CCAP_FallTime = ((u16)CCAP0H << 8) CCAP0L; //读CCAP0
if((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us
if((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CCAP1
PPM2_Rise_TimeOut = 1; //收到上升沿, 高电平限时
}
else //下降沿
{
CCAP_FallTime = ((u16)CCAP1H << 8) CCAP1L; //读CCAP1
if((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us
if((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CCAP2
PPM3_Rise_TimeOut = 1; //收到上升沿, 高电平限时
}
else //下降沿
{
CCAP_FallTime = ((u16)CCAP2H << 8) CCAP2L; //读CCAP2
if((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us
if((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CCAP3
PPM4_Rise_TimeOut = 1; //收到上升沿, 高电平限时
}
else //下降沿
{
CCAP_FallTime = ((u16)CCAP3H << 8) CCAP3L; //读CCAP3
if((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us
if((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
// }

}