基于瑞萨单片机的四旋翼飞行器源程序.docx
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- 上传时间:2023-06-27
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基于瑞萨单片机的四旋翼飞行器源程序.docx
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基于瑞萨单片机的四旋翼飞行器源程序
/***********************************************************************************************************************
*DISCLAIMER
*ThissoftwareissuppliedbyRenesasElectronicsCorporationandisonly
*intendedforusewithRenesasproducts.Nootherusesareauthorized.This
*softwareisownedbyRenesasElectronicsCorporationandisprotectedunder
*allapplicablelaws,includingcopyrightlaws.
*THISSOFTWAREISPROVIDED"ASIS"ANDRENESASMAKESNOWARRANTIESREGARDING
*THISSOFTWARE,WHETHEREXPRESS,IMPLIEDORSTATUTORY,INCLUDINGBUTNOT
*LIMITEDTOWARRANTIESOFMERCHANTABILITY,FITNESSFORAPARTICULARPURPOSE
*ANDNON-INFRINGEMENT.ALLSUCHWARRANTIESAREEXPRESSLYDISCLAIMED.
*TOTHEMAXIMUMEXTENTPERMITTEDNOTPROHIBITEDBYLAW,NEITHERRENESAS
*ELECTRONICSCORPORATIONNORANYOFITSAFFILIATEDCOMPANIESSHALLBELIABLE
*FORANYDIRECT,INDIRECT,SPECIAL,INCIDENTALORCONSEQUENTIALDAMAGESFOR
*ANYREASONRELATEDTOTHISSOFTWARE,EVENIFRENESASORITSAFFILIATESHAVE
*BEENADVISEDOFTHEPOSSIBILITYOFSUCHDAMAGES.
*Renesasreservestheright,withoutnotice,tomakechangestothissoftware
*andtodiscontinuetheavailabilityofthissoftware.Byusingthissoftware,
*youagreetotheadditionaltermsandconditionsfoundbyaccessingthe
*followinglink:
*
*
*Copyright(C)2011,2014RenesasElectronicsCorporation.Allrightsreserved.
***********************************************************************************************************************/
/***********************************************************************************************************************
*FileName:
r_main.c
*Version:
CodeGeneratorforRL78/G13V2.02.00.02[11Feb2014]
*Device(s):
R5F100LE
*Tool-Chain:
CA78K0R
*Description:
Thisfileimplementsmainfunction.
*CreationDate:
2015/8/17/星期一
***********************************************************************************************************************/
/***********************************************************************************************************************
Pragmadirective
***********************************************************************************************************************/
/*Startusercodeforpragma.Donoteditcommentgeneratedhere*/
/*Endusercode.Donoteditcommentgeneratedhere*/
/***********************************************************************************************************************
Includes
***********************************************************************************************************************/
#include"r_cg_macrodriver.h"
#include"r_cg_cgc.h"
#include"r_cg_port.h"
#include"r_cg_intc.h"
#include"r_cg_timer.h"
/*Startusercodeforinclude.Donoteditcommentgeneratedhere*/
/*Endusercode.Donoteditcommentgeneratedhere*/
#include"r_cg_userdefine.h"
/***********************************************************************************************************************
Globalvariablesandfunctions
***********************************************************************************************************************/
/*Startusercodeforglobal.Donoteditcommentgeneratedhere*/
externunsignedcharz;
voiddelay_1ms(unsignedintK)
{
unsignedchari,j;
for(;K>0;K--)
{
for(j=14;j>0;j--)
for(i=250;i>0;i--)
;
for(i=4;i>0;i--);
}
}
/*Endusercode.Donoteditcommentgeneratedhere*/
voidR_MAIN_UserInit(void);
/***********************************************************************************************************************
*FunctionName:
main
*Description:
Thisfunctionimplementsmainfunction.
*Arguments:
None
*ReturnValue:
None
***********************************************************************************************************************/
voidmain(void)
{
R_MAIN_UserInit();
/*Startusercode.Donoteditcommentgeneratedhere*/
R_TAU0_Channel0_Start();
TDR02=0XFA0;
delay_1ms(3000);
TDR02=0XBB8;
R_INTC0_Start();
R_INTC1_Start();
R_INTC2_Start();
R_INTC3_Start();
while(1U)
{
unsignedcharm;
unsignedcharn;
switch(z)
{
case
(1):
/****zouzhixian****/
{
P13.0=~P13.0;
delay_1ms(2000);
while(TDR01<=0xaa0)//6.8
{
delay_1ms(3);
TDR01+=0x00001;
}
TDR01-=0x14;
TDR04=0xb2f;//go7.15
for(m=0;m<10;m++)
{
TDR01+=0X0001;
delay_1ms(370);
}
TDR04=0xcd0;//back8.27.83
delay_1ms(500);
for(n=0;n<760;n++)//landed
{
TDR04=0X0BAF;
TDR01-=0X0001;
delay_1ms(3);
}
TDR01=0x7D0;
TDR02=0x7D0;
delay_1ms(3000);
}
break;
case
(2):
{/*****zoujuxing****/
P13.0=~P13.0;
delay_1ms(2000);
while(TDR01<=0xaa0)//qifei6.8
{
delay_1ms(3);
TDR01+=0x00001;
}
TDR01-=0x14;
delay_1ms(300);
TDR03=0xc4f;//qifeiyouzhuan7.87
delay_1ms(1480);//add100ms
TDR03=0xa92;//6.76
delay_1ms(400);
TDR03=0xbb8;//
for(m=0;m<19;m++)//xiangqian
{
for(n=0;n<2;n++)
{
TDR01+=0x0001;
delay_1ms(9);
}
TDR04=0xb2f;//7.15
TDR03=0XBB4;//7.49turnleft
delay_1ms(175);
}
TDR04=0xcdf;
delay_1ms(400);
TDR04=0xc30;//turnleft7.8
TDR03=0xb18;//7.1
delay_1ms(2500);
TDR03=0xcef;//8.27
delay_1ms(500);
TDR02=0xbb8;
TDR03=0xbb8;
TDR04=0xbb8;
delay_1ms(300);
TDR04=0xc30;//7.8
TDR03=0Xbe0;//7.6
delay_1ms(2800);
/*for(m=0;m<18;m++)
{
TDR04=0xc30;//7.8
delay_1ms(110);
for(n=0;n<3;n++)
{
TDR01+=0x00001;
delay_1ms(4);
}
}*/
TDR04=0xa8c;//6.75
delay_1ms(400);
TDR04=0xb90;//turnright7.4
TDR03=0xc08;//7.7
delay_1ms(500);
TDR03=0xb18;//7.1
delay_1ms(300);
TDR02=0xbb8;
TDR03=0xbb8;
TDR04=0xbb8;
delay_1ms(100);
//jiangluo]
for(n=0;n<760;n++)//landed
{
TDR04=0X0BAF;
TDR01-=0X0001;
delay_1ms(3);
}
TDR01=0x7D0;
TDR02=0x7D0;
delay_1ms(3000);
}
break;
case(3):
{
P13.0=~P13.0;
delay_1ms(2000);
while(TDR01<=0xaec)
{
delay_1ms(3);
TDR01+=0x00001;
}
TDR04=0xb2f;//go7.15
TDR03=0XBF4;//7.65turnright
delay_1ms(4150);
TDR04=0xc3f;//back7.83
delay_1ms(400);
P6.3=!
P6.3;
for(n=0;n<200;n++)
{
TDR01-=0X0001;
delay_1ms
(1);
if(TDR01<=0xaa0)
{TDR01=0xaa0;}
}
delay_1ms(500);
TDR04=0xc58;//7.9
TDR03=0XBE0;//7.6
delay_1ms(4000);
TDR04=0xab4;
delay_1ms(400);
for(n=0;n<760;n++)
{
TDR04=0X0BAF;
TDR01-=0X0001;
delay_1ms(3);
}
TDR01=0x7D0;
TDR02=0x7D0;
delay_1ms(3000);
}
break;
case(4):
{
P13.0=~P13.0;
delay_1ms(2000);
while(TDR01<=0xaa0)//6.8
{
delay_1ms(3);
TDR01+=0x00001;
}
TDR01-=0x14;
TDR04=0xb2f;//go7.15
for(m=0;m<10;m++)
{
TDR01+=0X0001;
delay_1ms(370);
}
TDR04=0xcd0;//back8.27.83
delay_1ms(400);
TDR04=0XBB8;
while(TDR01>0X960)//landed
{
TDR01-=0X3c;//0.15
delay_1ms(800);
}
while(TDR01>0X834)
{
TDR01-=0X50;
delay_1ms(500);
}
if(TDR01<=0X834)
{delay_1ms(2000);}
while(TDR01<=0xaa0)
{
delay_1ms(3);
TDR01+=0x00001;
}
TDR01-=0x14;
delay_1ms(100);
TDR04=0xc30;//7.8
delay_1ms(5000);
TDR04=0xab4;//6.85
delay_1ms(400);
TDR04=0xBB8;//stop
delay_1ms(100);
for(n=0;n<760;n++)//landed
{
TDR04=0X0BAF;
TDR01-=0X0001;
delay_1ms(3);
}
TDR01=0x7D0;
TDR02=0x7D0;
delay_1ms(3000);
}
break;
default:
break;
}z=0;
}
/*Endusercode.Donoteditcommentgeneratedhere*/
}
/***********************************************************************************************************************
*FunctionName:
R_MAIN_UserInit
*Description:
Thisfunctionaddsusercodebeforeimplementingmainfunction.
*Arguments:
None
*ReturnValue:
None
***********************************************************************************************************************/
voidR_MAIN_UserInit(void)
{
/*Startusercode.Donoteditcommentgeneratedhere*/
EI();
/*Endusercode.Donoteditcommentgeneratedhere*/
}
/*Startusercodeforadding.Donoteditcommentgeneratedhere*/
/*Endusercode.Donoteditcommentgeneratedhere*/
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