lose instruct,stop motor

Src/algorithm/my_control.c

@@ -91,7 +91,9 @@ void get_remote_control_desired(_Control_Loop_t * loop)/*{{{*/
 	//if(gpwmen && !(DRChannelMiddleLock(DRDataPointerDone[Yaw])))//没必要，没有偏航控制时 rc_yaw=0;
 	if(gpwmen)//加油门起来后，直接用当前角度作为 desired.yaw.这样才能锁航
 	{
+		//如果rc_yaw不为0，应调整 desired yaw.注意rc_yaw是角速度，所以inputscale.yaw要保护时间dt在里面，所以yaw 方向的inputscale比其他两个方向的小很多。
 		loop->desired.yaw += rc_yaw * loop->inputscale.yaw;
+		//期望的角度也应该限制在 -180 ~ +180 之间
 		if(loop->desired.yaw > 180)
 			loop->desired.yaw -=360;
 		else if(loop->desired.yaw < -180)

Src/driver/my_timer.c

@@ -21,6 +21,8 @@
 #include "IICtools.h"
 #include "my_sensor.h"
 
+#define CheckRecvInstrctCntThreshold TIM2Freq/2
+
 void TIM_Interrupt_Config(void)/*{{{*/
 {
 	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
@@ -158,6 +160,12 @@ void TIM2_IRQHandler(void)/*{{{*/
 		LED_B_Set(LED_On)
 	}
 #endif
+	g_check_recv_instruct_cnt ++;
+	if(g_check_recv_instruct_cnt == CheckRecvInstrctCntThreshold)
+	{
+		g_check_recv_instruct_cnt = 0;
+		flag_recv_instruct = false;
+	}
 	//delay ms service
 	gDelayCounter ++;
 	if(gDelayCounter == Delay1msTresh)

Src/global.c

@@ -45,3 +45,6 @@ volatile uint8_t gpwmen = 0;
 volatile uint8_t gbutton = 0;
 volatile uint8_t gbuttonedge = NoneEdge;
 
+bool flag_recv_instruct=false;
+int g_check_recv_instruct_cnt = 0;
+

Src/global.h

@@ -115,4 +115,6 @@ extern volatile uint8_t gpwmen;
 extern volatile uint8_t gbutton;
 extern volatile uint8_t gbuttonedge;
 
+extern bool flag_recv_instruct;
+extern int g_check_recv_instruct_cnt;
 #endif  /*__GLOBAL__H__*/

Src/main.c

@@ -220,6 +220,7 @@ void periph_init(void)/*{{{*/
 }/*}}}*/
 void RC_Process(void)
 {
+	static int not_recv_instruct_cnt=0;
 #ifdef Test_Tune_PID
 	float tf;
 	static int tune_denoise_cnt=0;
@@ -319,6 +320,16 @@ void RC_Process(void)
 		//motor enable
 	{
 		gpwmen = 1;
+		if(false == flag_recv_instruct)
+		{
+			//flag_recv_instruct = true;
+			if(not_recv_instruct_cnt < 1000)
+				not_recv_instruct_cnt++;
+		}
+		else
+			not_recv_instruct_cnt = 0;
+		if(not_recv_instruct_cnt > 200)
+				gpwmen =0;
 		gLEDCounterR = LED_Hang;
 		LED_R_Set(LED_On);
 

Src/others/DataReceiver.c

@@ -23,7 +23,7 @@ void DRReceiver(uint8_t data)
 	uint8_t step;
 	uint8_t i;
 	uint16_t* temp;
-	uint16_t tempdata;
+	uint16_t tempdata;//tempdata才16位，所以要求传进来的数据不超过65535.
 
 	if(DRProcess < DRNumOfCheckChar)
 	{
@@ -46,6 +46,8 @@ void DRReceiver(uint8_t data)
 				for(i = 0;i < DRNumOfDataInPackage;i ++)
 					DRDataPointerProcess[i] = DRDataNull;
 				DRProcess = DRnull;
+				flag_recv_instruct=true;
+				g_check_recv_instruct_cnt=0;
 				DRUserProcedureAfterReceiveOnce;
 			}else
 			{