99re视频在线观看,亚洲精品一区二区网址,日韩色av

/*
上位機(jī)測試程序，
下位機(jī)循環(huán)發(fā)送各功能模塊數(shù)據(jù)幀至上位機(jī)。
Hto_ES.C 為協(xié)議幀生成庫函數(shù)
*/
#include <stm32f10x.h>
#include <stdlib.h>
#include "sys.h"
#include "usart.h"
#include "delay.h"
#include "led.h"
#include "lcd.h"
#include "adc.h"
#include "dma.h"
#include "Hto_ES.h"
float Tmp,test_1,test_2,test_3;
int i,F,sw;
int main(void)
{
Stm32_Clock_Init(9); //系統(tǒng)時鐘設(shè)置
delay_init(72); //延時初始化
uart_init(72,115200); //串口1初始化
LCD_Init(); //初始化液晶
LED_Init(); //LED初始化
POINT_COLOR=RED; //設(shè)置字體為紅色
BACK_COLOR = BLACK;
LCD_Clear(BLACK);
LCD_ShowString(80,0,200,16,16,"ACE-Tech");
POINT_COLOR = WHITE;
sw = 0;
test_1 = test_2 = test_3 = 0;
//////////////////////////////////////////////////////////////////////
while(1)
{
Tmp = 1.0;
Tmp += 0.184;
CH1_data = rand()%200;
CH2_data = rand()%200; //15通道獨(dú)立數(shù)據(jù)
CH3_data = rand()%200;
CH4_data = rand()%200;
CH5_data = rand()%200;
CH6_data = rand()%200;
CH7_data = rand()%200;
CH8_data = rand()%200;
CH9_data = rand()%200;
CH10_data = rand()%200;
CH11_data = rand()%200;
CH12_data = rand()%200;
CH13_data = rand()%200;
CH14_data = rand()%200;
CH15_data = rand()%200;
//-------------------------------------------------------------------------------
Longitude_val = 11.234; //經(jīng)度
Latitude_Val = 15.634; //緯度
Altitude_Val = 56.687; //高度
Dir_Val = 98.685; //方位角
SPD_Val = 12.568; //速度
Voltage_Val = 11.25*100; //假定電池電壓11.25v，放大100倍
Temperture_Val = 25.67*100; //假定溫度為25.67℃，放大100倍
Satellite_Val = 7; //假定7顆可用衛(wèi)星
Location_Sta = 1; //假定定位ok
Longitude_WE = 'W';
Latitude_NS = 'N';
//-------------------------------------------------------------------------------
Pitch_Val = test_1;
Roll_Val = test_2; //測試姿態(tài)數(shù)據(jù)
Yaw_Val = test_3;
test_1 += 0.078;
test_2 += 0.088;
test_3 += 0.098;
if ( test_1 >= 180 ) test_1 = -test_1;
if ( test_2 >= 180 ) test_2 = -test_2;
if ( test_3 >= 360 ) test_3 = 0;
//-------------------------------------------------------------------------------
Gyro_X = 0.065;
Gyro_Y = -5.896;
Gyro_Z = 0.102;
Accel_X = 0.008;
Accel_Y = -0.003; //傳感器校準(zhǔn)
Accel_Z = 1.021;
Mag_X = 85.659;
Mag_Y = 268.475;
Mag_Z = 5.784;
//-------------------------------------------------------------------------------
PoressBar_1 = 700;
PoressBar_2 = 800;
PoressBar_3 = 900;
PoressBar_4 = 1000;
PoressBar_5 = 1200;
PoressBar_6 = 1400; //RC 通道數(shù)據(jù)
PoressBar_7 = 1600;
PoressBar_8 = 1800;
PoressBar_9 = 2000;
//-------------------------------------------------------------------------------
Pitch_PID_P = -569;
Pitch_PID_I = 48;
Pitch_PID_D = 79;
Roll_PID_P = 89;
Roll_PID_I = 21;
Roll_PID_D = 34;
Yaw_PID_P = 14;
Yaw_PID_I = 10589;
Yaw_PID_D = 30549;
Alt_PID_P = -30468;
Alt_PID_I = -26;
Alt_PID_P = -1;
Pos_PID_P = 5684;
Pos_PID_I = -2;
Pos_PID_D = 568;
//////////////////////////////////////////////////////////////////////////////////
//協(xié)議幀生成
switch(sw) //循環(huán)發(fā)送各模塊數(shù)據(jù)
{
case 1: F = HtoEs_Chart_Data_Generate(); break; //測試獨(dú)立通道,返回需發(fā)送字節(jié)數(shù)
case 2: F = HtoEs_GPS_Data_Generate(); break; //測試GPS,返回需發(fā)送字節(jié)數(shù)
case 3: F = HtoEs_Attitude_Data_Generate(); break; //測試姿態(tài),返回需發(fā)送字節(jié)數(shù)
case 4: F = HtoEs_RC_Data_Generate(); break; //測試RC通道，返回需發(fā)送字節(jié)數(shù)
case 5: F = HtoEs_PID_Data_Generate(); break; //測試PID參數(shù)，返回需發(fā)送字節(jié)數(shù)
case 6: F = HtoEs_Senosrs_Data_Generate(); break; //測試傳感器標(biāo)定，返回需發(fā)送字節(jié)數(shù)
case 7: sw = 0; break;
}
sw++;
//////////////////////////////////////////////////////////////////////////////////
// 發(fā)送部分
for( i = 0 ; i < F; i++) //循環(huán)發(fā)送,直到發(fā)送完畢
{
while((USART1->SR&0X40)==0);
USART1->DR = HtoEs_OutPut_Buffer[i];
}
delay_ms(3); //幀空閑時間
LED1=!LED1;
}
}

復(fù)制代碼

久久久久久久999_99精品久久精品一区二区爱城_成人欧美一区二区三区在线播放_国产精品日本一区二区不卡视频_国产午夜视频_欧美精品在线观看免费