匿名四轴之迷你遥控器附软硬件源码 -

/************************ (C) COPYRIGHT 2014 ANO Tech ******************************
* 作者：匿名科创
* 文件名：ANO_RC.cpp
* 描述：遥控通道数据处理
* 技术Q群：190169595
**********************************************************************************/
#include "ANO_RC.h"
ANO_RC rc;
ANO_RC::ANO_RC()
{
Init();
}
void ANO_RC::Init(void)
{
DataRaw[ROLL] = 1500;
DataRaw[PITCH] = 1500;
DataRaw[YAW] = 1500;
}
void ANO_RC::DataGet(void)
{
DataRaw[ROLL] = DataRaw[ROLL] * 0.99 + (float)ADC_ConvertedValue[3] * 0.01;
DataRaw[PITCH] = DataRaw[PITCH] * 0.99 + (float)ADC_ConvertedValue[2] * 0.01;
DataRaw[YAW] = DataRaw[YAW] * 0.99 + (float)ADC_ConvertedValue[1] * 0.01;
DataRaw[THROTTLE] = DataRaw[THROTTLE] * 0.99 + (float)ADC_ConvertedValue[0] * 0.01;
KeyDataRawL = (float)ADC_ConvertedValue[5];
KeyDataRawR = (float)ADC_ConvertedValue[6];
}
void ANO_RC::DataCalculate(void)
{
Data[ROLL] = (u16)(1000 - DataRaw[ROLL]/2 + 1000) - DataTrim[ROLL];
Data[ROLL] = (Data[ROLL] - 1500) * 0.8 +1500;
Data[PITCH] = (u16)(DataRaw[PITCH]/2 + 1000) - DataTrim[PITCH];
Data[PITCH] = (Data[PITCH] - 1500) * 0.8 +1500;
Data[YAW] = (u16)(1000 - DataRaw[YAW]/2 + 1000) - DataTrim[YAW];
Data[YAW] = (Data[YAW] - 1500) * 0.8 +1500;
Data[THROTTLE] = (u16)(DataRaw[THROTTLE]/2 + 1000) - DataTrim[THROTTLE];
Data[THROTTLE] = (Data[THROTTLE] - 1500) * 0.85 +1500;
KeyDataL = (u16)KeyDataRawL;
KeyDataR = (u16)KeyDataRawR;
}
void ANO_RC::KeyCheck(void)
{
static u8 keyFlagL = 1, keyFlagR = 1;
static u8 timeDelayFlag = 0;
if(timeDelayFlag)
timeDelayFlag --;
if(KeyDataL<100 && keyFlagL) //THR+
{
if(!timeDelayFlag)
timeDelayFlag = 10;
if((KeyDataL<100 && keyFlagL) && timeDelayFlag == 1)
{
DataTrim[THROTTLE] -= 2;
param.SAVE_RC_OFFSET();
keyFlagL = 0;
}
}
else if(KeyDataL>1950 && KeyDataL<2100 && keyFlagL) //YAW-
{
if(!timeDelayFlag)
timeDelayFlag = 10;
if(KeyDataL>1950 && KeyDataL<2100 && timeDelayFlag == 1)
{
DataTrim[YAW] += 2;
param.SAVE_RC_OFFSET();
keyFlagL = 0;
}
}
else if(KeyDataL>2650 && KeyDataL<2750 && keyFlagL) //THR-
{
if(!timeDelayFlag)
timeDelayFlag = 10;
if(KeyDataL>2650 && KeyDataL<2750 && timeDelayFlag == 1)
{
DataTrim[THROTTLE] += 2;
param.SAVE_RC_OFFSET();
keyFlagL = 0;
}
}
else if(KeyDataL>3000 && KeyDataL<3100 && keyFlagL) //YAW+
{
if(!timeDelayFlag)
timeDelayFlag = 10;
if(KeyDataL>3000 && KeyDataL<3100 && timeDelayFlag == 1)
{
DataTrim[YAW] -= 2;
param.SAVE_RC_OFFSET();
keyFlagL = 0;
}
}
else if(KeyDataL>4050)
{
keyFlagL = 1;
}
if(KeyDataR<100 && keyFlagR) //PITCH+
{
if(!timeDelayFlag)
timeDelayFlag = 10;
if(KeyDataR<100 && keyFlagR && timeDelayFlag == 1)
{
DataTrim[PITCH] -= 2;
param.SAVE_RC_OFFSET();
keyFlagR = 0;
}
}
else if(KeyDataR>1900 && KeyDataR<2100 && keyFlagR) //ROLL+
{
if(!timeDelayFlag)
timeDelayFlag = 10;
if(KeyDataR>1900 && KeyDataR<2100 && keyFlagR && timeDelayFlag == 1)
{
DataTrim[ROLL] -= 2;
param.SAVE_RC_OFFSET();
keyFlagR = 0;
}
}
else if(KeyDataR>2600 && KeyDataR<2800 && keyFlagR) //PITCH-
{
if(!timeDelayFlag)
timeDelayFlag = 10;
if(KeyDataR>2600 && KeyDataR<2800 && keyFlagR && timeDelayFlag == 1)
{
DataTrim[PITCH] += 2;
param.SAVE_RC_OFFSET();
keyFlagR = 0;
}
}
else if(KeyDataR>2950 && KeyDataR<3150 && keyFlagR) //ROLL-
{
if(!timeDelayFlag)
timeDelayFlag = 10;
if(KeyDataR>2950 && KeyDataR<3150 && keyFlagR && timeDelayFlag == 1)
{
DataTrim[ROLL] += 2;
param.SAVE_RC_OFFSET();
keyFlagR = 0;
}
}
else if(KeyDataR>3200 && KeyDataR<3300 && keyFlagR)
{
if(!timeDelayFlag)
timeDelayFlag = 10;
if(KeyDataR>3200 && KeyDataR<3300 && keyFlagR && timeDelayFlag == 1)
{
}
}
else if(KeyDataR>3350 && KeyDataR<3450 && keyFlagR)
{
if(!timeDelayFlag)
timeDelayFlag = 10;
if(KeyDataR>3350 && KeyDataR<3450 && keyFlagR && timeDelayFlag == 1)
{
}
}
else if(KeyDataR>4050)
{
keyFlagR = 1;
}
}
/******************* (C) COPYRIGHT 2014 ANO TECH *****END OF FILE************/

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