MWCv代码解读.docVIP

[转载]MWC?v2.2?代码解读LOOP() ? (2013-04-07 20:01:27)  HYPERLINK javascript:; 转载▼ 标签：?  HYPERLINK /?c=blogq=%D7%AA%D4%D8by=tag \t _blank 转载原文地址： HYPERLINK /s/blog_658fcbde01015l6o.html \o MWC?wbrv2.2?wbr代码解读LOOP() \t _blank MWC?v2.2?代码解读LOOP()作者： HYPERLINK /u/1703922654 \o 问江南 \t _blank 问江南 函数很长不用文字了 贴个流程图，说明一切： void loop () { ??static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors ??static uint8_t rcSticks; ??????// this hold sticks position for command combos ??uint8_t axis,i; ??int16_t error,errorAngle; ??int16_t delta,deltaSum; ??int16_t PTerm,ITerm,DTerm; ??int16_t PTermACC = 0 , ITermACC = 0 , PTermGYRO = 0 , ITermGYRO = 0; ??static int16_t lastGyro[3] = {0,0,0}; ??static int16_t delta1[3],delta2[3]; ??static int16_t errorGyroI[3] = {0,0,0}; ??static int16_t errorAngleI[2] = {0,0}; ??static uint32_t rcTime ?= 0; ??static int16_t initialThrottleHold; ??static uint32_t timestamp_fixated = 0; ??#if defined(SPEKTRUM) ????if (spekFrameFlags == 0x01) readSpektrum(); ?????????//支持的一种特殊遥控器 读取数据 ??#endif ?? ??#if defined(OPENLRSv2MULTI)? ????Read_OpenLRS_RC(); ?????????????????????????????????????????????????//支持的一种特殊的遥控器 读取数据 ??#endif? ??if (currentTime rcTime ) ??????????????????????????????????????????// 50Hz ?时间过了20ms {? ????rcTime = currentTime + 20000; ????computeRC(); ??//对已经接收的遥控接收的信号进行循环滤波，取4组数据，80MS，算平均值，大于平均值的减小2，小于平均值的增大2. ????// Failsafe routine - added by MIS ????#if defined(FAILSAFE) ??????if ( failsafeCnt (5*FAILSAFE_DELAY) f.ARMED) ???????// 使之稳定, 并设置油门到指定的值 ??????{ ????????????????? ??????????for(i=0; i3; i++) rcData[i] = MIDRC; ?????????????????????????????// 丢失信号(in 0.1sec)后，把所有通道数据设置为?MIDRC=1500 ??????????rcData[THROTTLE] = conf.failsafe_throttle; ??????????????????// ?把油门设置为conf.failsafe_throttle ??????????if (failsafeCnt 5*(FAILSAFE_DELAY+FAILSAFE_OFF_DELAY)) ?// 在特定时间之后关闭电机 (in 0.1sec) ??????????{ ????????? ????????????go_dis