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瑞萨单片机四轴飞行器源码

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ID:240583 发表于 2017-10-18 15:07 | 只看该作者 回帖奖励 |倒序浏览 |阅读模式
附件为瑞萨单片机做的四轴飞行器源代码，希望可以帮到大家

所有资料51hei提供下载:
RL78四轴飞行器完美起飞开源代码.zip (239.66 KB, 下载次数: 14)


单片机源程序（主程序）如下:
  1. /***********************************************************************************************************************
  2. * DISCLAIMER
  3. * This software is supplied by Renesas Electronics Corporation and is only
  4. * intended for use with Renesas products. No other uses are authorized. This
  5. * software is owned by Renesas Electronics Corporation and is protected under
  6. * all applicable laws, including copyright laws.
  7. * THIS SOFTWARE IS PROVIDED "AS IS" AND RENESAS MAKES NO WARRANTIES REGARDING
  8. * THIS SOFTWARE, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING BUT NOT
  9. * LIMITED TO WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
  10. * AND NON-INFRINGEMENT.  ALL SUCH WARRANTIES ARE EXPRESSLY DISCLAIMED.
  11. * TO THE MAXIMUM EXTENT PERMITTED NOT PROHIBITED BY LAW, NEITHER RENESAS
  12. * ELECTRONICS CORPORATION NOR ANY OF ITS AFFILIATED COMPANIES SHALL BE LIABLE
  13. * FOR ANY DIRECT, INDIRECT, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES FOR
  14. * ANY REASON RELATED TO THIS SOFTWARE, EVEN IF RENESAS OR ITS AFFILIATES HAVE
  15. * BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
  16. * Renesas reserves the right, without notice, to make changes to this software
  17. * and to discontinue the availability of this software.  By using this software,
  18. * you agree to the additional terms and conditions found by accessing the
  19. * following link:
  20. * http://www.renesas.com/disclaimer
  21. *
  22. * Copyright (C) 2011, 2013 Renesas Electronics Corporation. All rights reserved.
  23. ***********************************************************************************************************************/

  25. /***********************************************************************************************************************
  26. * File Name    : r_main.c
  27. * Version      : CodeGenerator for RL78/G13 V2.00.00.07 [22 Feb 2013]
  28. * Device(s)    : R5F100LE
  29. * Tool-Chain   : CA78K0R
  30. * Description  : This file implements main function.
  31. * Creation Date: 2015/8/5
  32. ***********************************************************************************************************************/

  34. /***********************************************************************************************************************
  35. Pragma directive
  36. ***********************************************************************************************************************/
  37. /* Start user code for pragma. Do not edit comment generated here */
  38. /* End user code. Do not edit comment generated here */

  40. /***********************************************************************************************************************
  41. Includes
  42. ***********************************************************************************************************************/
  43. #include "r_cg_macrodriver.h"
  44. #include "r_cg_cgc.h"
  45. #include "r_cg_port.h"
  46. #include "r_cg_serial.h"
  47. #include "r_cg_timer.h"
  48. /* Start user code for include. Do not edit comment generated here */
  49. #include "RF24L01.h"
  50. #include "MPU6050.h"
  51. #include "moto.h"
  52. #include "rc.h"
  53. #include "control.h"
  54. #include "timing.h"
  55. /* End user code. Do not edit comment generated here */
  56. #include "r_cg_userdefine.h"

  58. /***********************************************************************************************************************
  59. Global variables and functions
  60. ***********************************************************************************************************************/
  61. /* Start user code for global. Do not edit comment generated here */
  62. unsigned char si=0;
  63. #define BYTE0(x) x&0xff
  64. #define BYTE1(x) (x&0xff00)>>8
  65. MD_STATUS Rstatus;
  66. //unsigned char SYS_INIT_OK = 0;
  67. extern char TxBuf[32];
  68. void UARTA1_Send_AF(void);
  69. /* End user code. Do not edit comment generated here */
  70. void R_MAIN_UserInit(void);

  72. /***********************************************************************************************************************
  73. * Function Name: main
  74. * Description  : This function implements main function.
  75. * Arguments    : None
  76. * Return Value : None
  77. ***********************************************************************************************************************/
  78. void main(void)
  79. {
  80.     R_MAIN_UserInit();
  81.     /* Start user code. Do not edit comment generated here */
  82.     //R_UART0_Start();
  83.     while (1U)
  84.     {
  85.                 //(mpuBuf,1);
  86.                 //P13.0=0;
  87.                 //Prepare_Data();
  88.                 //SetRX_Mode();
  89.                 //P13.0=1;
  90.                 //Get_Attitude();
  91.                 NOP();
  92.                 //UARTA1_Send_AF();
  93.                 //NRF_Send_AF();
  94.                
  95.        
  96.                 //DelayUs(32000);
  97.                 //DelayUs(32000);
  98.                
  99.                 //DelayUs(5000);
  100.                
  101.                 //P7.6=~P7.6;
  102.         //ISendStrS(DEVICE_ADDRESS,0x6b,mpuBuf,1);
  103.     }
  104.     /* End user code. Do not edit comment generated here */
  105. }

  107. /***********************************************************************************************************************
  108. * Function Name: R_MAIN_UserInit
  109. * Description  : This function adds user code before implementing main function.
  110. * Arguments    : None
  111. * Return Value : None
  112. ***********************************************************************************************************************/
  113. void R_MAIN_UserInit(void)
  114. {
  115.     /* Start user code. Do not edit comment generated here */
  116.     unsigned long time=200000;
  117.     EI();
  118.     //unsigned long time=100000;
  119.     while(time--)NOP();
  120.     CreateIICPort();
  121.     InitMPU6050();
  122.     RF24L01_IO_set();
  123.     init_NRF24L01();
  124.     R_TAU0_Channel5_Start();
  125.     R_TAU0_Channel0_Start();
  126.     Pid_init();
  127.     /* End user code. Do not edit comment generated here */
  128. }

  130. /* Start user code for adding. Do not edit comment generated here */
  131. void UARTA1_Send_AF(void)
  132. {
  133.         unsigned char i,sum;
  134.         unsigned int _temp;

  136.         TxBuf[0]=0x88;
  137.         TxBuf[1]=0xAF;
  138.         TxBuf[2]=0x1C;
  139.         TxBuf[3]=BYTE1(MPU6050_ACC_LAST.x);
  140.         TxBuf[4]=BYTE0(MPU6050_ACC_LAST.x);
  141.         TxBuf[5]=BYTE1(MPU6050_ACC_LAST.y);
  142.         TxBuf[6]=BYTE0(MPU6050_ACC_LAST.y);
  143.         TxBuf[7]=BYTE1(MPU6050_ACC_LAST.z);
  144.         TxBuf[8]=BYTE0(MPU6050_ACC_LAST.z);
  145.         TxBuf[9]=BYTE1(MPU6050_GYRO_LAST.x);
  146.         TxBuf[10]=BYTE0(MPU6050_GYRO_LAST.x);
  147.         TxBuf[11]=BYTE1(MPU6050_GYRO_LAST.y);
  148.         TxBuf[12]=BYTE0(MPU6050_GYRO_LAST.y);
  149.         TxBuf[13]=BYTE1(MPU6050_GYRO_LAST.z);
  150.         TxBuf[14]=BYTE0(MPU6050_GYRO_LAST.z);
  151.         TxBuf[17]=0;
  152.         TxBuf[18]=0;
  153.         TxBuf[19]=0;
  154.         TxBuf[20]=0;
  155.         _temp = (int)(Q_angle.x*100);
  156.         TxBuf[21]=BYTE1(_temp);
  157.         TxBuf[22]=BYTE0(_temp);
  158.         _temp = (int)(Q_angle.y*100);
  159.         TxBuf[23]=BYTE1(_temp);
  160.         TxBuf[24]=BYTE0(_temp);
  161.         TxBuf[25]=0;
  162.         TxBuf[26]=0;

  164.         sum = 0;
  165.         for(i=0;i<31;i++)
  166.                 sum += TxBuf[i];

  168.         TxBuf[31]=sum;
  169.         R_UART0_Send((unsigned char*)TxBuf,32);       
  170. }
  171. /* End user code. Do not edit comment generated here */
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沙发
ID:600532 发表于 2019-8-15 18:24 | 只看该作者
请问是个瑞萨G12的吗？
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