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micro_climate/App/Src/anemometer_dev.c

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#include "anemometer_dev.h"
#include "FreeRTOS.h"
#include "filter.h"
#include "inflash.h"
#include "uart_dev.h"
#include "fdacoefs.h"
#include "sht30.h"
#include "hp203b.h"
#include "FIR.h"
#define AVE_TIME 600 //滑动平均时间，秒，最大600
uint32_t run_time_us;
// fft检验波形有效性
arm_rfft_fast_instance_f32 s;
#define FFT_DATA_LEN 256
// 浮点数buf
float32_t rfft_float_buf[FFT_DATA_LEN];
// fft结果
float32_t fft_out_f32[ADC_VAL_LEN] = {0};
//
int16_t adc_val[ADC_VAL_LEN];
int16_t adc_val1[ADC_VAL_LEN];
#define AV_SPEED_LEN 5
float32_t speed[AV_SPEED_LEN]={0};
float32_t angle[AV_SPEED_LEN]={0};
float32_t speedx[AV_SPEED_LEN]={0};
float32_t speedy[AV_SPEED_LEN]={0};
uint32_t speedi = 0;
float32_t av_speed;
float32_t av_angle;
float32_t av_speedx= 0;
float32_t av_speedy=0;
Weather_param weather_info={0x00};
mcs_para g_stMcs_Para={0x00};
void update_mcs_param(float new_wind_speed, float new_wind_dirction);
float32_t max_val_f32;
int32_t max_val_index_f32;
// 多项式插值
// 返回值是最大值
float32_t find_maxVal_by_interpolation(float32_t a,float32_t b,float32_t c)
{
float32_t d1=0;
//到达极值点的时间Xmax
d1 = (a-c)/2.0f/(a-2.0f*b+c);
return 0.5f*a*d1*(d1-1.0f)-b*(d1-1.0f)*(d1+1.0f)+0.5f*c*d1*(d1+1.0f);
}
// 余弦插值找最大值所在的位置
// 返回值是相位
float32_t find_maxValPosition_by_sinInterpolation(float32_t a,float32_t b,float32_t c)
{
// sin 插值 寻找最大值
float32_t w_val,sin_val,y_val;
b=b+0.0000001f;
w_val = acosf((a+c)/2.0f/b);
sin_val = sinf(w_val)+0.0000001f;
y_val = atanf((a-c)/2.0f/b/sin_val);
// if(isnan(w_val)||isnan(sin_val)||isnan(y_val))
// {
// term_printf("isnan \r\n");
//
// }
return (0.0f-y_val)/(w_val+0.0000001f);
}
float32_t RSSI;
/*****************测试滤波器函数**********/
//int16_t firFilterTestData[1024]={
//2041,2047,2047,2045,2044,2045,2048,2050,2052,2049,2047,2046,2048,2050,2049,2048,2047,2045,2046,2045,2046,2045,2045,2043,2042,2044,2044,2044,2042,2042,2043,2042,2043,2042,2041,2040,2041,2043,2043,2042,2040,2041,2041,2042,2041,2041,2041,2041,2041,2041,2041,2043,2041,2039,2040,2042,2042,2041,2040,2042,2112,2097,1898,2011,2062,2081,2090,2010,1993,2055,2042,2012,2044,2051,2049,2062,2054,2038,2039,2027,2023,2054,2095,2070,1965,1966,2107,2125,2031,1971,2009,2076,2070,2017,2023,2065,2058,2033,2035,2048,2045,2035,2029,2041,2053,2048,2040,2047,2048,2031,2026,2039,2050,2054,2044,2035,2039,2041,2038,2037,2039,2044,2045,2045,2044,2038,2032,2038,2049,2051,2041,2032,2033,2043,2049,2048,2042,2039,2038,2040,2040,2039,2039,2043,2045,2044,2042,2039,2036,2039,2044,2048,2041,2036,2036,2039,2045,2046,2043,2040,2039,2038,2041,2043,2043,2042,2041,2039,2040,2039,2039,2042,2045,2045,2040,2036,2038,2043,2043,2043,2039,2038,2040,2042,2042,2043,2040,2040,2042,2043,2042,2038,2038,2042,2043,2040,2035,2033,2036,2041,2051,2060,2066,2067,2061,2046,2018,1987,1967,1966,1992,2039,2102,2163,2202,2199,2144,2041,1916,1807,1752,1778,1883,2051,2245,2412,2497,2457,2285,2015,1723,1492,1397,1478,1723,2081,2465,2765,2884,2769,2436,1968,1491,1145,1035,1199,1601,2143,2685,3069,3180,2975,2508,1895,1310,919,829,1067,1575,2220,2830,3227,3299,3023,2480,1814,1212,838,790,1082,1634,2213,2849,3460,3311,2814,2336,1803,1272,859,765,1159,1794,2352,2851,3207,3212,2868,2319,1701,1192,912,752,1280,2049,2424,2711,3073,3207,2907,2238,1551,1189,1031,998,1296,1885,2480,2906,3100,3019,2686,2153,1573,1163,1025,1132,1465,1979,2519,2904,3027,2875,2522,2051,1577,1234,1124,1264,1608,2062,2506,2811,2902,2763,2432,1996,1577,1293,1229,1396,1727,2120,2483,2723,2783,2640,2331,1947,1606,1395,1365,1512,1794,2141,2455,2649,2675,2529,2247,1913,1633,1479,1482,1627,1873,2161,2413,2558,2562,2423,2181,1906,1680,1561,1578,1717,1936,2176,2375,2477,2456,2323,2122,1911,1740,1654,1672,1791,1977,2172,2323,2392,2366,2254,2091,1921,1789,1727,1754,1858,2008,2159,2268,2313,2289,2202,2074,1938,1836,1795,1824,1911,2028,2141,2221,2251,2227,2154,2052,1951,1880,1859,1890,1957,2039,2118,2177,2198,2176,2116,2038,1966,1920,1912,1938,1987,2047,2104,2142,2152,2130,2087,2034,1985,1956,1950,1969,2006,2050,2091,2116,2119,2101,2068,2031,1999,1980,1978,1992,2020,2053,2080,2096,2096,2081,2056,2031,2009,1998,1997,2008,2031,2055,2074,2080,2075,2063,2047,2031,2017,2009,2099,2054,1896,2039,2085,2107,2106,2016,1999,2047,2017,1991,2031,2042,2053,2074,2069,2055,2054,2033,2024,2049,2080,2048,1944,1974,2120,2129,2036,1984,2029,2086,2061,2002,2011,2052,2045,2028,2041,2059,2058,2049,2041,2045,2046,2033,2025,2035,2039,2030,2034,2053,2067,2067,2051,2036,2032,2027,2023,2026,2035,2047,2055,2059,2058,2048,2037,2037,2041,2038,2028,2021,2030,2046,2058,2059,2055,2049,2043,2039,2033,2029,2028,2034,2041,2045,2048,2050,2050,2051,2051,2045,2034,2024,2024,2032,2041,2047,2049,2052,2051,2048,2045,2041,2036,2033,2030,2032,2037,2042,2048,2054,2056,2053,2043,2035,2032,2034,2034,2034,2036,2041,2048,2052,2052,2049,2044,2039,2037,2036,2032,2031,2036,2045,2050,2050,2047,2046,2044,2042,2037,2035,2033,2035,2038,2043,2045,2047,2048,2048,2045,2041,2036,2034,2035,2038,2042,2043,2044,2045,2046,2046,2045,2041,2038,2037,2038,2040,2040,2041,2043,2045,2045,2044,2042,2041,2041,2040,2039,2039,2040,2041,2042,2044,2043,2042,2041,2042,2041,2040,2040,2041,2041,2041,2040,2042,2042,2042,2042,2042,2042,2042,2043,2041,2039,2040,2041,2041,2040,2040,2041,1944,2038,2255,2036,1891,1992,2101,2125,2033,1959,2050,2117,2026,1990,2041,2058,2040,2040,2042,2056,2055,1872,2109,2287,2028,1843,1969,2146,2166,2019,1940,2064,2119,2012,1977,2039,2061,2045,2038,2050,2067,2048,2009,2018,2052,2044,2019,2035,2065,2071,2050,2024,2028,2040,2042,2042,2045,2045,2040,2040,2043,2040,2042,2047,2051,2047,2035,2024,2031,2048,2055,2047,2036,2034,2043,2050,2046,2037,2036,2040,2043,2040,2036,2038,2043,2047,2050,2051,2043,2030,2030,2037,2048,2048,2041,2037,2039,2042,2048,2050,2047,2037,2033,2033,2037,2043,2044,2043,2045,2046,2045,2039,2039,2041,2041,2039,2037,2038,2042,2044,2044,2045,2045,2043,2041,2039,2038,2037,2038,2041,2045,2044,2042,2040,2044,2047,2044,2038,2036,2037,2040,2043,2043,2042,2042,2045,2046,2044,2040,2036,2036,2039,2043,2041,2039,2039,2043,2046,2046,2044,2039,2037,2038,2038,2040,2040,2041,2043,2045,2045,2042,2041,2041,2041,2039,2038,2038,2041,2043,2044,2045,2044,2041,2041,2042,2041,2039,2038,2039,2041,2044,2042,2043,2042,2041,2042,2043,2041,2038,2037,2038,2042,2044,2043,2041,2040,2043,2045,2043,2041,2037,2114,2093,1893,1999,2066,2106,2091,1996,1990,2062,2047,2006,2037,2054,2057,2058,2048,2039,2044,2029,2025,2058,2098,2063,1949,1983,2122,2114,2017,1971,2022,2084,2062,2011,2031,2069,2052,2029,2035,2048,2045,2035,2031,2045,2053,2047,2042,2049,2045,2027,2024,2039,2053,2056,2043,2036,2040,2042,2039,2037,2038,2043,2044,2046,2044,2038,2034,2040,2052,2052,2040,2030,2032,2043,2048,2048,2043,2039,2039,2040,2040,2041,2041,2044,2044,2039,2039,2039,2037,2040,2046,2048,2043,2036,2036,2041,2046,2043,2039,2039,2039,2039,2041,2043,2044,2043,2041,2040,2039,2037,2039,2043,2047,2046,2041,2037,2039,2044,2044,2042};
//int16_t firFilterTestOutData[1024];
float32_t buf[1024];
float32_t buf2[1024];
/*****************测试滤波器函数**********/
float32_t cal_tof(q15_t* x,uint32_t len)
{
q15_t max_val,dc_offset;
float32_t echo_p = 0,echo_dt = 0;
uint32_t max_val_p;
uint32_t i=0;//stop_position = 0;
static uint32_t fft_200khz_pos;
// 计算直流分量 因为数据前端是没有回波的 计算50个数据求平均值 获取直流分量
arm_mean_q15(x,50,&dc_offset);
// 信号减去直流分量
arm_offset_q15(x,-dc_offset,x,len);
/*****************滤波器**********/
// arm_mean_q15(x,50,&dc_offset);
// // 信号减去直流分量
// arm_offset_q15(x,-dc_offset,x,len);
// 转换成浮点数
// arm_q15_to_float(x,buf,len);
for(i= 0 ;i<len;i++ )
{
buf[i] = (float32_t)x[i];
}
firBPFFilter(buf,buf2,len);
// // 数据转换有异常 无法还原成整数
// arm_float_to_q15(buf2,firFilterTestOutData,len);
for(i= 0 ;i<len;i++ )
{
x[i] = (int16_t)(buf2[i]*2.5f);
}
/*****************滤波器**********/
// fft 中 200khz 所在的位置。
fft_200khz_pos=(uint32_t)roundf((0.2f/(ADC_SAMP_RATE_MHz/FFT_DATA_LEN)));
// 查找数组中的最大值和最大值所在的索引
arm_max_q15(x,len,&max_val,&max_val_p);
// 最大值前后128个点数据的地址这里预防数组越界
q15_t* fft_data_q15_buf;
uint32_t fft_data_add;
if(max_val_p>=FFT_DATA_LEN/2)
fft_data_add=max_val_p-FFT_DATA_LEN/2;
else
fft_data_add = 0;
// 找到最大值前128个点的地址
fft_data_q15_buf = &(x[fft_data_add]);
// 转换成浮点数
arm_q15_to_float(fft_data_q15_buf,rfft_float_buf,FFT_DATA_LEN);
// fft进行转换。
arm_rfft_fast_f32(&s,rfft_float_buf,fft_out_f32,0);
// 对fft结果取模
arm_cmplx_mag_f32(fft_out_f32,rfft_float_buf,FFT_DATA_LEN);
// 统计200khz 附近的信号强度
RSSI = rfft_float_buf[fft_200khz_pos-2]+rfft_float_buf[fft_200khz_pos-1]+ rfft_float_buf[fft_200khz_pos]+rfft_float_buf[fft_200khz_pos+1]+rfft_float_buf[fft_200khz_pos+2];
// 如果RSSI小于
// 可变RSSI范围
if(RSSI < ((float)g_stConfigInfo.RSSI_range/100.0))
// if(RSSI<0.2)
return -1;
// 可变参数
uint16_t max_val_zero_1R5 = max_val * g_stConfigInfo.transducer_cfg_1R5/100;
uint16_t max_val_zero_4R5 = max_val * g_stConfigInfo.transducer_cfg_4R5/100;
uint16_t max_val_zero_8R0 = max_val * g_stConfigInfo.transducer_cfg_8R0/100;
// // 大宇换能器参数 开始
// // 最大值的0.18倍
// uint16_t max_val_zero_1R5 = (max_val*15/100);
// // 最大值的0.45倍
// uint16_t max_val_zero_4R5 = (max_val*45/100);
// // 最大值的0.8倍
// uint16_t max_val_zero_8R0 = (max_val*80/100);
// // 大宇换能器参数
// // 无锡电声换能器参数
// // 最大值的0.18倍
// uint16_t max_val_zero_1R5 = (max_val*10/100);
// // 最大值的0.45倍
// uint16_t max_val_zero_4R5 = (max_val*35/100);
// // 最大值的0.8倍
// uint16_t max_val_zero_8R0 = (max_val*65/100);
//如果最大值位置大于8个周波 则从最大值前前8周波位置开始寻找起始波形。
// 优化的地方，从最大值位置开始找到达波,可以最大限度排除偶然噪声干扰，
// 因为噪声在波形到达出 噪声不是很大
//优化性能，如果不需要则从数组0位置开始寻找其实波形
if(max_val_p>=(uint32_t)(8*ADC_SAMP_RATE_MHz/DRIVE_FREQ_MHz))
{
i = max_val_p-(uint32_t)(8*ADC_SAMP_RATE_MHz/DRIVE_FREQ_MHz);
}else
{
i = 0;
}
// 在最大值前寻找起始波形
for( ; i < max_val_p ; i++)
{
// 建议判断顶点，但是容易遇到偶然数据异常 类似于 28 29 28 30 29 28这种情况
// if( x[i-1] < x[i] && x[i]> x[i+1] )
// 排除以上数据异常情况，但是有可能就无法检测到30 这个顶点。
// 故需要检测下一个周期的顶点，然后再减去一个周期的时间。
if( x[i-2]<x[i-1] && x[i-1] <= x[i] && x[i]>=x[i+1] && x[i+1]>x[i+2])
{
// 减去偏置电压
//temp_val_zero = arr[i]-2048;
// 判断顶点是否在 15%-%45之间。
if(x[i] >= max_val_zero_1R5 && x[i] <= max_val_zero_4R5 )
{
// 如果找到 函数退出
//echo_dt = (x[i-1]-x[i+1])/2.0/(x[i-1]-2*x[i]+x[i+1]);
echo_dt = find_maxValPosition_by_sinInterpolation(x[i-1],x[i],x[i+1]);
echo_p = (float32_t)i+echo_dt-0*(float32_t)(ADC_SAMP_RATE_MHz/DRIVE_FREQ_MHz);
return echo_p;
}
// 如果15% ~45%之间的数据未找到，则找45-80%的顶点。
// 判断顶点是否在 45% -- 80% 之间
if(x[i] >= max_val_zero_4R5 && x[i] <= max_val_zero_8R0)
{
// 如果找到 函数推出
//echo_dt = (x[i-1]-x[i+1])/2.0/(x[i-1]-2*x[i]+x[i+1]);
echo_dt = find_maxValPosition_by_sinInterpolation(x[i-1],x[i],x[i+1]);
// 换算成第二个顶点的位置。
echo_p = (float32_t)i+echo_dt - 1*(float32_t)(ADC_SAMP_RATE_MHz/DRIVE_FREQ_MHz);
return echo_p;
}
}
}
// term_printf("bad wave of echo signal \r\n");
return -1;
}
/*
C B A
0 0 0 X0
0 0 1 X1
0 1 0 X2
0 1 1 X3
1 0 0 X4
1 0 1 X5
*/
void change_channel(uint32_t channel)
{
// 复位全部通道IO
HAL_GPIO_WritePin(GPIOC, GPIO_PWM_C_Pin|GPIO_PWM_B_Pin|GPIO_PWM_A_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOC, GPIO_RX_A_Pin|GPIO_RX_B_Pin|GPIO_RX_C_Pin, GPIO_PIN_RESET);
switch(channel)
{
case 0x01:
// N tx S rx
//HAL_GPIO_WritePin(GPIOC, GPIO_RX_A_Pin, GPIO_PIN_SET);
// 接收通道
HAL_GPIO_WritePin(GPIOC, GPIO_RX_A_Pin, GPIO_PIN_SET);
break;
case 0x02:
// N rx S tx
HAL_GPIO_WritePin(GPIOC, GPIO_PWM_A_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOC, GPIO_RX_B_Pin, GPIO_PIN_SET);
break;
case 0x03:
// W tx E rx
HAL_GPIO_WritePin(GPIOC, GPIO_PWM_B_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOC, GPIO_RX_A_Pin|GPIO_RX_B_Pin, GPIO_PIN_SET);
break;
case 0x04:
// W rx E tx
HAL_GPIO_WritePin(GPIOC, GPIO_PWM_A_Pin|GPIO_PWM_B_Pin, GPIO_PIN_SET);
//HAL_GPIO_WritePin(GPIOC, GPIO_RX_A_Pin, GPIO_PIN_SET);
break;
}
}
void play_one_measure(int16_t* result_data,uint32_t len)
{
// 重新初始化PWM定时器
MX_TIM15_Init();
//MX_TIM6_Init();
// adc驱动定时器,保证每次使用前处于停止状态
HAL_TIM_Base_Stop(&htim6);
// 计数器复位
__HAL_TIM_SET_COUNTER(&htim6,0);
// 校准adc
//HAL_ADCEx_Calibration_Start(&hadc1,ADC_SINGLE_ENDED);
// adc dma初始化
HAL_ADC_Start_DMA(&hadc1,(uint32_t *)result_data,len);
//禁止全局中断
// 停止定时器
__HAL_TIM_DISABLE(&htim7);
// 重置计数器
__HAL_TIM_SET_COUNTER(&htim7,0);
__set_PRIMASK(1);
// 发送超声波驱动信号
HAL_TIM_PWM_Start(&htim15,TIM_CHANNEL_1);
// 延时 REV_MUTE_DELAY us
//HAL_GPIO_WritePin(GPIOC,GPIO_ACK_LED_Pin,0);
// 启定时器
__HAL_TIM_ENABLE(&htim7);
// 等待定时到达
while(__HAL_TIM_GET_COUNTER(&htim7)<REV_MUTE_DELAY_US);
//HAL_GPIO_WritePin(GPIOC,GPIO_ACK_LED_Pin,1);
// 关闭定时
__HAL_TIM_DISABLE(&htim7);
HAL_TIM_PWM_Stop(&htim15,TIM_CHANNEL_1);
// 开启ADC
HAL_TIM_Base_Start(&htim6);
// 使能全局中断
__set_PRIMASK(0);
// 等待adc采集完成，且等待超声波换能器能量释放完成，避免通道之间干扰
//不能使用os_delay();
osDelay(1);
//HAL_Delay(3);
}
//#define UPDATA_FROM_SERIAL_PORT 1
//#define DEBUG_TOF_ERR 1
float32_t tofx,tofy,dtof;
char str[100];
//void calculate_tof_dtof_param(Weather_param *parm ,uint32_t direction , int16_t *adc_buf1,int16_t *adc_buf2,uint32_t len)
//{
// tofx = cal_tof(adc_buf1,len)/ADC_SAMP_RATE_MHz+REV_MUTE_DELAY_US-1.0f/DRIVE_FREQ_MHz+0.0001f;
// tofy = cal_tof(adc_buf2,len)/ADC_SAMP_RATE_MHz+REV_MUTE_DELAY_US-1.0f/DRIVE_FREQ_MHz+0.0001f;
// // 通过各通道渡越时间求时间差
// dtof = tofx-tofy;
//
// parm->wind_c = DISTANCE/2.0f*(1.0f/tofx+1.0f/tofy);
// // v = L*dtof/2/tofx/tofy/cos
// if(direction == WIND_DIRECTION_X)
// {
// parm->wind_velocity_x = 0-DISTANCE*dtof/1.41422f/tofx/tofx;
// //parm->wind_velocity_x = DISTANCE*c_dtof/1.41422/tofx/tofx;
// }
// else
// {
// parm->wind_velocity_y = DISTANCE*dtof/1.41422f/tofx/tofx;
// //parm->wind_velocity_y = DISTANCE*c_dtof/1.41422/tofx/tofx;
// }
//}
void wind_task(void const * argument)
{
int flag_init_msc_value = 1;
arm_rfft_fast_init_f32(&s,FFT_DATA_LEN);
firFilterInit();
for(;;)
{
__HAL_TIM_DISABLE(&htim16);
// 采集X轴风速耗时 22ms，两轴采集完44ms
__HAL_TIM_SET_COUNTER(&htim16,0);
// 开启定时器，统计算法时间
__HAL_TIM_ENABLE(&htim16);
// 通道1 通道2 测试南北风速
// 通道1发送 通道2接收
change_channel(0x01);
// 等待通道切换稳定
// adc开启采集数据有个固定的延时,这里取消等待
//HAL_Delay(0);
// 发送pwm 并启动adc采集数据
play_one_measure(adc_val,ADC_VAL_LEN);
//HAL_Delay(5);
osDelay(1);
// 通道2发送 通道1接收
change_channel(0x02);
// 等待通道切换稳定
//HAL_Delay(0);
// 发送pwm 并启动adc采集数据
play_one_measure(adc_val1,ADC_VAL_LEN);
tofx = cal_tof(adc_val,ADC_VAL_LEN);
tofy = cal_tof(adc_val1,ADC_VAL_LEN);
// 接受信号很小
if(tofx<0||tofy<0)
{
// 放弃本次采样，可以有效筛选雨滴等导致的异常大的风速数据
// 但是持续的遮挡会导致风速数据保持不变。
continue;
// 手动设置渡越时间差为0，会在探头受遮挡的时候输出0，持续遮挡的时候也输出0，但是计算出声速将变得很大
// tofx = tofx/ADC_SAMP_RATE_MHz+REV_MUTE_DELAY_US-1.0f/DRIVE_FREQ_MHz+0.0001f;
// tofy = tofy/ADC_SAMP_RATE_MHz+REV_MUTE_DELAY_US-1.0f/DRIVE_FREQ_MHz+0.0001f;
// dtof = 0;
}else{
// 计算成us
tofx = ((tofx-FIR_PHASE_DELAY)/ADC_SAMP_RATE_MHz)+REV_MUTE_DELAY_US-1.0f/DRIVE_FREQ_MHz+0.0001f;
tofy = ((tofy-FIR_PHASE_DELAY)/ADC_SAMP_RATE_MHz)+REV_MUTE_DELAY_US-1.0f/DRIVE_FREQ_MHz+0.0001f;
// 通过各通道渡越时间求时间差
dtof = tofx-tofy;
}
weather_info.wind_c = DISTANCE/2.0f*(1.0f/tofx+1.0f/tofy);
weather_info.wind_velocity_x = 0-DISTANCE*dtof/1.41422f/tofx/tofx;
// 通道3 通道4 测试东西风速
// 通道3发送 通道4接收
change_channel(0x03);
// 等待通道切换稳定
//HAL_Delay(0);
// 发送pwm 并启动adc采集数据
play_one_measure(adc_val,ADC_VAL_LEN);
//HAL_Delay(5);
osDelay(1);
// 通道4发送 通道3接收
change_channel(0x04);
// 等待通道切换稳定
//HAL_Delay(0);
// 发送pwm 并启动adc采集数据
play_one_measure(adc_val1,ADC_VAL_LEN);
tofx = cal_tof(adc_val,ADC_VAL_LEN);
tofy = cal_tof(adc_val1,ADC_VAL_LEN);
// 如果测量的信号幅值过小。
if(tofx<0||tofy<0)
{
// 放弃本次采样，可以有效筛选雨滴等导致的异常大的风速数据
// 但是持续的遮挡会导致风速数据保持不变。
continue;
// 手动设置渡越时间差为0，会在探头受遮挡的时候输出0，持续遮挡的时候也输出0，但是计算出声速将变得很大
// tofx = tofx/ADC_SAMP_RATE_MHz+REV_MUTE_DELAY_US-1.0f/DRIVE_FREQ_MHz+0.0001f;
// tofy = tofy/ADC_SAMP_RATE_MHz+REV_MUTE_DELAY_US-1.0f/DRIVE_FREQ_MHz+0.0001f;
// // 通过各通道渡越时间求时间差
// dtof = 0;
}else{
// 计算成us
tofx = ((tofx-FIR_PHASE_DELAY)/ADC_SAMP_RATE_MHz)+REV_MUTE_DELAY_US-1.0f/DRIVE_FREQ_MHz+0.000001f;
tofy = ((tofy-FIR_PHASE_DELAY)/ADC_SAMP_RATE_MHz)+REV_MUTE_DELAY_US-1.0f/DRIVE_FREQ_MHz+0.000001f;
// 通过各通道渡越时间求时间差
dtof = tofx-tofy;
}
weather_info.wind_c = DISTANCE/2.0f*(1.0f/tofx+1.0f/tofy);
weather_info.wind_velocity_y = DISTANCE*dtof/1.41422f/tofx/tofx;
weather_info.wind_velocity = sqrtf(weather_info.wind_velocity_x*weather_info.wind_velocity_x + weather_info.wind_velocity_y*weather_info.wind_velocity_y);
// 分母加0.0001 保证分母不为0
weather_info.wind_angle = acosf(weather_info.wind_velocity_x/(weather_info.wind_velocity+0.000001f));
// 关闭定时器·
__HAL_TIM_DISABLE(&htim16);
// 显示时间 单位us
run_time_us = __HAL_TIM_GET_COUNTER(&htim16);// htim16).Instance->CNT;
speedx[speedi] = weather_info.wind_velocity_x;
speedy[speedi] = weather_info.wind_velocity_y;
speed[speedi] = weather_info.wind_velocity;
angle[speedi++] = weather_info.wind_angle*180/PI;
if(speedi>=AV_SPEED_LEN)
{
speedi=0;
arm_mean_f32(speedx,AV_SPEED_LEN,&av_speedx);
arm_mean_f32(speedy,AV_SPEED_LEN,&av_speedy);
av_speed = sqrtf(av_speedx*av_speedx + av_speedy*av_speedy);
av_angle = acosf(av_speedx/(av_speed+0.00000001))/2/PI*360;
if(av_speedy<0)
av_angle = 360-av_angle;
if(fabs(av_speed)<0.1)
{
av_speed = 0;
av_angle = 0;
}
term_printf("x:%.2f y:%.2f win_speed %.2f m/s angle %.2f \r\n",av_speedx,av_speedy,av_speed,av_angle);
}
///term_printf("win_speed %.2f \r\n",weather_info.wind_velocity);
//HAL_Delay(1);
//osDelay(3//
//kan ni osDelay(6);
#if 0
if(cnt < 10){
wind_speed_data[cnt].fValue = weather_info.wind_c;
wind_direcion_data[cnt].fValue = weather_info.wind_velocity;
cnt++;
}else{
cnt=0;
U_DataType tmp_wind_speed_value = filter_middle(wind_speed_data,10, FILTER_DATA_TYPE_FLOAT);
U_DataType tmp_wind_direction_value = filter_middle(wind_direcion_data,10, FILTER_DATA_TYPE_FLOAT);
update_mcs_param(tmp_wind_speed_value.fValue, tmp_wind_direction_value.fValue);
}
#endif
//osDelay(38);
// if(flag_init_msc_value== 1){
// flag_init_msc_value = 0;
// g_stMcs_Para.min_wind_direction = weather_info.wind_c;
// g_stMcs_Para.average_wind_direction = weather_info.wind_c;
// g_stMcs_Para.max_wind_direction = 0;
//
// g_stMcs_Para.min_wind_speed = weather_info.wind_velocity;
// g_stMcs_Para.average_wind_speed = weather_info.wind_velocity;
// g_stMcs_Para.max_wind_speed = 0;
// }
// update_mcs_param(weather_info.wind_velocity, weather_info.wind_c);
}
/* USER CODE END wind_task */
}
/* 更新微气象站气象数据 */
/* 风向、风向瞬时值：3s的滑动平均值，以1s为步长
* 风速、风向平均值：以1min为步长，求xx分钟的滑动平均值，默认10分钟平均风速风向
* 最大风速、风向：从10min平均风速中选取；
*/
#define K_3S (3*1/3)
#define K_1MIN (3*3/60)
#define K_10MIN (3*60/600)
int time_1s=0,time_11s=0,time_111s=0;
int flag_time_1s=0,flag_time_3s=0,flag_time_1min=0,flag_time_10min=0;
float Yn_sp_3s_average_value=0.0,Yn_1_sp_3s_average_value=0.0,yn_3s_sp_value=0.0;
float Yn_sp_1min_average_value=0.0,Yn_1_sp_1min_average_value=0.0,yn_1min_sp_value=0.0;
float Yn_sp_10min_average_value=0.0,Yn_1_sp_10min_average_value;
float Yn_dir_3s_average_value=0.0,Yn_1_dir_3s_average_value=0.0,yn_3s_dir_value=0.0;
float Yn_dir_1min_average_value=0.0,Yn_1_dir_1min_average_value=0.0,yn_1min_dir_value=0.0;;
float Yn_dir_10min_average_value=0.0,Yn_1_dir_10min_average_value;
float max_speed_value=0.0,max_direction_value=0.0,min_speed_value,min_direction_value=0.0;
void update_mcs_param(float new_wind_speed, float new_wind_dirction)
{
static int flag1=0;
static int flag11=0;
static int flag111=0;
time_1s++;
if(time_1s==3){
time_1s=0;
flag_time_3s=1;
}
time_11s++;
if(time_11s==20){
time_11s=0;
flag_time_1min=1;
}
time_111s++;
if(time_111s==g_stConfigInfo.speed_average_time*60){
time_111s=0;
flag_time_10min = 1;
}
/* 以1s为步长，计算3s风速风向滑动平均值 */
flag_time_1s=1;
if(flag_time_1s){
if(flag1 ==0){
Yn_1_sp_3s_average_value = new_wind_speed;
Yn_1_dir_3s_average_value=new_wind_dirction;
flag1=1;
}
//flag_time_1s=0;
Yn_sp_3s_average_value = K_3S*(new_wind_speed - Yn_1_sp_3s_average_value) + Yn_1_sp_3s_average_value;
Yn_1_sp_3s_average_value = Yn_sp_3s_average_value;
Yn_dir_3s_average_value = K_3S*(new_wind_dirction - Yn_1_dir_3s_average_value) + Yn_1_dir_3s_average_value;
Yn_1_dir_3s_average_value = Yn_dir_3s_average_value;
}
/* 以3s为步长，计算1min滑动平均风速 */
if(flag_time_3s){
if(flag11 ==0){
Yn_1_sp_1min_average_value = Yn_sp_3s_average_value;
Yn_1_dir_1min_average_value = Yn_dir_3s_average_value;
flag11=1;
}
flag_time_3s=0;
Yn_sp_1min_average_value = K_1MIN*(Yn_sp_3s_average_value - Yn_1_sp_1min_average_value) + Yn_1_sp_1min_average_value;
Yn_1_sp_1min_average_value = Yn_sp_1min_average_value;
Yn_dir_1min_average_value = K_1MIN*(Yn_dir_3s_average_value - Yn_1_dir_1min_average_value) + Yn_1_dir_1min_average_value;
//Yn_1_dir_1min_average_value = Yn_dir_1min_averの‘dvv,f;age_value;
}
/* 以1min为步长，计算10min滑动平均风速 */
if(flag_time_1min){
if(flag111 ==0){
Yn_1_sp_10min_average_value = Yn_sp_1min_average_value;
Yn_1_dir_10min_average_value = Yn_dir_1min_average_value;
flag111=1;
}
flag_time_1min = 0;
Yn_sp_10min_average_value = K_10MIN*(Yn_sp_1min_average_value - Yn_1_sp_10min_average_value) + Yn_1_sp_10min_average_value;
Yn_1_sp_10min_average_value = Yn_sp_10min_average_value;
Yn_dir_10min_average_value = K_10MIN*(Yn_dir_1min_average_value - Yn_1_dir_10min_average_value) + Yn_1_dir_10min_average_value;
Yn_1_dir_10min_average_value = Yn_dir_10min_average_value;
}
/* 统计最大风速风向，及平均风速 */
if(flag_time_10min){
flag_time_10min = 0;
if(max_direction_value < Yn_dir_10min_average_value){
max_direction_value = Yn_dir_10min_average_value;
}
if(min_direction_value > Yn_dir_10min_average_value){
min_direction_value = Yn_dir_10min_average_value;
}
if(max_speed_value < Yn_sp_10min_average_value){
max_speed_value = Yn_sp_10min_average_value;
}
if(min_speed_value > Yn_sp_10min_average_value){
min_speed_value = Yn_sp_10min_average_value;
}
g_stMcs_Para.min_wind_direction = min_direction_value;
g_stMcs_Para.average_wind_direction = Yn_dir_10min_average_value;
g_stMcs_Para.max_wind_direction = max_direction_value;
g_stMcs_Para.min_wind_speed = min_speed_value;
g_stMcs_Para.average_wind_speed = Yn_sp_10min_average_value;
g_stMcs_Para.max_wind_speed = max_speed_value;
}
}
SlidingWindow_10min win_10min = {0};
//求和函数
float sum(float arr[], int n)
{
float total = 0;
for(int i = 0; i < n; i++)
{
total += arr[i];
}
return total;
}
int times_1s_3sec = 0;
int times_1s_1min = 0;
void my_update_mcs_param(float new_wind_speed, float new_wind_dirction)
{
// 十分钟滑动平均值
win_10min.speed_data[win_10min.index] = new_wind_speed; //添加新数据
win_10min.direction_data[win_10min.index] = new_wind_dirction;
if(win_10min.count < g_stConfigInfo.speed_average_time /*AVE_TIME*/)
{
win_10min.count++;
}
if(win_10min.count > g_stConfigInfo.speed_average_time/*AVE_TIME*/){win_10min.count = /*AVE_TIME*/g_stConfigInfo.speed_average_time;}
//计算10min风速滑动平均值
win_10min.ave_speed_data[win_10min.index] = sum(win_10min.speed_data, win_10min.count) / win_10min.count;
//计算10min风向滑动平均值，风向滑动平均值需要过零算法
float temp_sin_sum = 0;
float temp_cos_sum = 0;
for(int i = 0; i < win_10min.count; i++)
{
temp_sin_sum += sinf(win_10min.direction_data[i] * PI/180);
temp_cos_sum += cosf(win_10min.direction_data[i] * PI/180);
}
win_10min.ave_direction_data[win_10min.index] = atanf(temp_sin_sum / (temp_cos_sum + 0.0001)) * 180/PI;
// 不同象限不一样
// 1象限真实角度=本身
// 2象限真实角度=+180
// 3象限真实角度=+180
// 4象限真实角度=+360
if((temp_sin_sum > 0 && temp_cos_sum < 0) || (temp_sin_sum < 0 && temp_cos_sum < 0))
{
win_10min.ave_direction_data[win_10min.index] += 180;
}else if (temp_sin_sum < 0 && temp_cos_sum > 0)
{
win_10min.ave_direction_data[win_10min.index] += 360;
}
//默认第一个数据为最大或者最小
float temp_min_direction = win_10min.ave_direction_data[0];
float temp_max_direction = win_10min.ave_direction_data[0];
float temp_min_speed = win_10min.ave_speed_data[0];
float temp_max_speed = win_10min.ave_speed_data[0];
//遍历10min内所有数据寻找最大最小
for (int i = 0; i < win_10min.count; i++) {
if (win_10min.ave_direction_data[i] < temp_min_direction) {
temp_min_direction = win_10min.ave_direction_data[i]; // 更新风向最小值
}
if (win_10min.ave_direction_data[i] > temp_max_direction) {
temp_max_direction = win_10min.ave_direction_data[i]; // 更新风向最大值
}
if (win_10min.ave_speed_data[i] < temp_min_speed) {
temp_min_speed = win_10min.ave_speed_data[i]; // 更新风速最小值
}
if (win_10min.ave_speed_data[i] > temp_max_speed) {
temp_max_speed = win_10min.ave_speed_data[i]; // 更新风速最大值
}
}
g_stMcs_Para.min_wind_direction = temp_min_direction;
g_stMcs_Para.average_wind_direction = win_10min.ave_direction_data[win_10min.index];
g_stMcs_Para.max_wind_direction = temp_max_direction;
g_stMcs_Para.min_wind_speed = temp_min_speed;
g_stMcs_Para.average_wind_speed = win_10min.ave_speed_data[win_10min.index];
g_stMcs_Para.max_wind_speed = temp_max_speed;
win_10min.index = (win_10min.index + 1) % /*AVE_TIME*/g_stConfigInfo.speed_average_time; //更新索引
}
void tem_hum_update_task(void const * argument)
{
int time_s_temp_humi = 0;
uint32_t time_s_1Day = 0;
get_temp_humi_data(&g_stMcs_Para.temperature, &g_stMcs_Para.humidity);//开机先采集一次
while(1)
{
osDelay(1000);
time_s_temp_humi ++;
time_s_1Day ++;
if (time_s_temp_humi >= g_stConfigInfo.temp_hum_update_time)
{
get_temp_humi_data(&g_stMcs_Para.temperature, &g_stMcs_Para.humidity);
time_s_temp_humi = 0;
}
if (time_s_1Day >= 86400)
{
__iar_builtin_set_FAULTMASK(1);
NVIC_SystemReset();
}
my_update_mcs_param(av_speed, av_angle);
//采集HP203B数据(大气压)
get_press_data();
}
}
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