圆点博士小四轴通讯指令的执行代码

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下面列出圆点博士小四轴所支持的通讯命令的源代码。

if((anbt_com_command_HH=='R')&&(anbt_com_command_HL=='C')) anbt_com_command_ops=0xA0;     //remote ctrol
    else if((anbt_com_command_HH=='B')&&(anbt_com_command_HL=='A')&&(anbt_com_command_LH=='T'))   anbt_com_command_ops=0xA1;  //read voltage
    else if((anbt_com_command_HH=='V')&&(anbt_com_command_HL=='E')&&(anbt_com_command_LH=='R'))  anbt_com_command_ops=0xA2;  //return version
    else if((anbt_com_command_HH=='C')&&(anbt_com_command_HL=='T')&&(anbt_com_command_LH=='R')&&(anbt_com_command_LL=='L')) anbt_com_command_ops=0xA3;  //read PI data
    else if((anbt_com_command_HH=='P')&&(anbt_com_command_HL=='A')&&(anbt_com_command_LH=='L')&&(anbt_com_command_LL=='L')) anbt_com_command_ops=0xA4;  //read PI data
    else if((anbt_com_command_HH=='I')&&(anbt_com_command_HL=='A')&&(anbt_com_command_LH=='L')&&(anbt_com_command_LL=='L')) anbt_com_command_ops=0xA5;  //read PI data
    else if((anbt_com_command_HH=='W')&&(anbt_com_command_HL=='R')&&(anbt_com_command_LH=='P')&&(anbt_com_command_LL=='X')) anbt_com_command_ops=0xA6;  //write PX
    else if((anbt_com_command_HH=='W')&&(anbt_com_command_HL=='R')&&(anbt_com_command_LH=='P')&&(anbt_com_command_LL=='Y')) anbt_com_command_ops=0xA7;  //write PY
    else if((anbt_com_command_HH=='W')&&(anbt_com_command_HL=='R')&&(anbt_com_command_LH=='P')&&(anbt_com_command_LL=='Z')) anbt_com_command_ops=0xA8;  //write PZ
    else if((anbt_com_command_HH=='W')&&(anbt_com_command_HL=='R')&&(anbt_com_command_LH=='I')&&(anbt_com_command_LL=='X')) anbt_com_command_ops=0xA9;  //write IX
    else if((anbt_com_command_HH=='W')&&(anbt_com_command_HL=='R')&&(anbt_com_command_LH=='I')&&(anbt_com_command_LL=='Y')) anbt_com_command_ops=0xAA;  //write IY
    else if((anbt_com_command_HH=='W')&&(anbt_com_command_HL=='R')&&(anbt_com_command_LH=='I')&&(anbt_com_command_LL=='Z')) anbt_com_command_ops=0xAB;  //write IZ
    else if((anbt_com_command_HH=='P')&&(anbt_com_command_HL=='W')&&(anbt_com_command_LH=='O')&&(anbt_com_command_LL=='N')) anbt_com_command_ops=0xAC;  //motor pwm on
    else if((anbt_com_command_HH=='P')&&(anbt_com_command_HL=='W')&&(anbt_com_command_LH=='O')&&(anbt_com_command_LL=='F')) anbt_com_command_ops=0xAD;  //motor pwm on  
    else anbt_com_command_ops=0;

命令相应一：返回电池电压值。

if(anbt_com_command_ops==0xA1)    //圆点博士:返回电池电压,注意,如果电机电源没开,将返回0
{
  BS004_COM1_Send_Str_Head();
  BS004_COM1_Send_Str_Body("read bat voltage .");
  BS004_COM1_Send_4bits_BCD_Num(bs004_bat_value);
  BS004_COM1_Send_Str_Tail();
}

命令相应二：返回版本号。

else if(anbt_com_command_ops==0xA2) //圆点博士:返回版本号
{
  BS004_COM1_Send_Str_Head();
  BS004_COM1_Send_Str_Body("version 10.");
  BS004_COM1_Send_Str_Tail();
}

命令相应三：返回接收到的最后一次遥控器指令。包括油门数据，俯昂角度，滚动角度，和航向

else if(anbt_com_command_ops==0xA3) //圆点博士:返回遥控器数据
{
  BS004_COM1_Send_Str_Head();
  BS004_COM1_Send_Str_Body("read remote control data .");
  //
  BS004_COM1_Send_4bits_BCD_Num(BS004_Ctrl_Gas);   
  BS004_COM1_Send_Char(',');   
  BS004_COM1_Send_4bits_BCD_Num(BS004_Ctrl_Pitch);   
  BS004_COM1_Send_Char(',');   
  BS004_COM1_Send_4bits_BCD_Num(BS004_Ctrl_Roll);   
  BS004_COM1_Send_Char(',');
  BS004_COM1_Send_4bits_BCD_Num(BS004_Ctrl_Yaw);  
  //  
  BS004_COM1_Send_Str_Tail();
}

命令响应四：返回PID参数中各个轴的P值

else if(anbt_com_command_ops==0xA4)  //圆点博士:返回P值
{  
  BS004_COM1_Send_Str_Head();
  BS004_COM1_Send_Str_Body("read All P data .");
  //
  for(i=0;i<3;i++)
  {
   BS004_COM1_Send_4bits_BCD_Num(pid_setting_P_value);   
   BS004_COM1_Send_Char(',');  
  }
  //
  BS004_COM1_Send_Str_Tail();
}

命令响应五：返回PID参数中各个轴的I值

else if(anbt_com_command_ops==0xA5)  //圆点博士:返回I值
{
  BS004_COM1_Send_Str_Head();
  BS004_COM1_Send_Str_Body("read All I data .");
  //
  for(i=0;i<3;i++)
  {
   BS004_COM1_Send_4bits_BCD_Num(pid_setting_I_value);   
   BS004_COM1_Send_Char(',');  
  }
  //
  BS004_COM1_Send_Str_Tail();
}

命令响应六：设置X轴P值

else if(anbt_com_command_ops==0xA6)  //圆点博士:设置X轴P值
{
  BS004_COM1_Send_Str_Head();
  BS004_COM1_Send_Str_Body("write PX data .");
  //
  if(pid_data_buffer_valid==1)
  {
   pid_setting_P_value[0]=pid_data_buffer;
   pid_data_buffer_valid=0;
  }
  //
  BS004_COM1_Send_4bits_BCD_Num(pid_data_buffer);
  BS004_COM1_Send_Str_Tail();  
}

命令响应七：设置Y轴P值

else if(anbt_com_command_ops==0xA7) //圆点博士:设置Y轴P值
{
  BS004_COM1_Send_Str_Head();
  BS004_COM1_Send_Str_Body("write PY data .");  
  //
  if(pid_data_buffer_valid==1)
  {
   pid_setting_P_value[1]=pid_data_buffer;
   pid_data_buffer_valid=0;
  }
  //
  BS004_COM1_Send_4bits_BCD_Num(pid_data_buffer);
  BS004_COM1_Send_Str_Tail();  
}

命令响应八：设置Z轴P值

else if(anbt_com_command_ops==0xA8) //圆点博士:设置Z轴P值
{
  BS004_COM1_Send_Str_Head();
  BS004_COM1_Send_Str_Body("write PZ data .");   
  //
  if(pid_data_buffer_valid==1)
  {
   pid_setting_P_value[2]=pid_data_buffer;
   pid_data_buffer_valid=0;
  }
  //
  BS004_COM1_Send_4bits_BCD_Num(pid_data_buffer);
  BS004_COM1_Send_Str_Tail();

命令相应九：设置X轴I值

  else if(anbt_com_command_ops==0xA9) //圆点博士:设置X轴I值
{
  BS004_COM1_Send_Str_Head();
  BS004_COM1_Send_Str_Body("write IX data .");
  //
  if(pid_data_buffer_valid==1)
  {
   pid_setting_I_value[0]=pid_data_buffer;
   pid_data_buffer_valid=0;
  }
  //
  BS004_COM1_Send_4bits_BCD_Num(pid_data_buffer);
  BS004_COM1_Send_Str_Tail();   
}

命令相应十：设置Y轴I值

  else if(anbt_com_command_ops==0xAA) //圆点博士:设置Y轴I值
{
  BS004_COM1_Send_Str_Head();
  BS004_COM1_Send_Str_Body("write IY data .");
  //
  if(pid_data_buffer_valid==1)
  {
   pid_setting_I_value[1]=pid_data_buffer;;
   pid_data_buffer_valid=0;
  }
  //
  BS004_COM1_Send_4bits_BCD_Num(pid_data_buffer);
  BS004_COM1_Send_Str_Tail();  
}

命令相应十一：设置Z轴I值

  else if(anbt_com_command_ops==0xAB) //圆点博士:设置Z轴I值
{
  BS004_COM1_Send_Str_Head();
  BS004_COM1_Send_Str_Body("write IZ data .");
  //
  if(pid_data_buffer_valid==1)
  {
   pid_setting_I_value[2]=pid_data_buffer;
   pid_data_buffer_valid=0;
  }
  //
  BS004_COM1_Send_4bits_BCD_Num(pid_data_buffer);
  BS004_COM1_Send_Str_Tail();  
}

下面命令用于电机电源的开启或者关闭。

else if(anbt_com_command_ops==0xAC) //圆点博士:打开电机电源
{
BS004_COM1_Send_Str_Head();
BS004_COM1_Send_Str_Body("motor power on.");
BS004_COM1_Send_Str_Tail();
//
BS004_Motor_Power_On();
}
//
else if(anbt_com_command_ops==0xAD) //圆点博士:关闭电机电源
{
BS004_COM1_Send_Str_Head();
BS004_COM1_Send_Str_Body("motor power off.");
BS004_COM1_Send_Str_Tail();
//
BS004_Motor_Power_Off();
}

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jameswang

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