#include "device_adc_collect.h" #include #include "gd32f4xx.h" #include "comm_types.h" #include "ptz_struct.h" #include "tmp75.h" #include "w25q128.h" #include "agent_hyt.h" #include "ptz_type_select.h" #include "pdebug.h" #include "rotate_plan.h" #include "rotate_bldc.h" ADC_Phase_current H_ADC_Collect; ADC_Phase_current V_ADC_Collect; //发送云台工作电压 void ptz_send_voltage(char dev) { unsigned short int vol = 0; unsigned char VData[7]= {0xff,0x00,0x00,0x00,0x00,0x00,0x00}; vol = ( unsigned short int)(g_ptz.Voltage * 100 + 0.5); VData[1] = g_ptz.address; VData[2] = 0xcd; VData[3] = (unsigned char)(vol >> 8); VData[4] = (unsigned char)(vol & 0x00ff); VData[6] = MotorCalPelcoDSUM(VData,sizeof(VData)); ptz_send_data(dev, VData, sizeof(VData)); //发送调试数据 } //发送云台工作电流 void ptz_send_current(char dev) { unsigned short int current = 0; unsigned char IData[7]= {0xff,0x00,0x00,0x00,0x00,0x00,0x00}; current = (unsigned short int)(g_ptz.electric_current * 100 + 0.5); IData[1] = g_ptz.address; IData[2] = 0xc8; IData[3] = (unsigned char)(current >> 8); IData[4] = (unsigned char)(current & 0x00ff); IData[6] = MotorCalPelcoDSUM(IData,sizeof(IData)); ptz_send_data(dev, IData, sizeof(IData)); } //发送云台温度 void ptz_send_temperature(char dev) { unsigned short int tem = 0; unsigned char TData[7]= {0xff,0x00,0x00,0x00,0x00,0x00,0x00}; tem = (unsigned short int)(g_ptz.temperature * 100 + 0.5); TData[1] = g_ptz.address; TData[2] = 0xd6; TData[3] = (unsigned char)(tem >> 8); TData[4] = (unsigned char)(tem & 0x00ff); TData[6] = MotorCalPelcoDSUM(TData,sizeof(TData)); ptz_send_data(dev,TData,sizeof(TData)); } //发送全桥驱动电路温度 void ptz_send_bridge_temperature(char dev) { unsigned short int tem = 0; unsigned char TData[7]= {0xff,0x00,0x00,0x00,0x00,0x00,0x00}; //发送水平驱动侧 tem = (unsigned short int)(g_ptz.H_boad_temp * 100 + 0.5); TData[1] = g_ptz.address; TData[2] = 0xd7; TData[3] = PTZ_HORI; TData[4] = (unsigned char)(tem >> 8); TData[5] = (unsigned char)(tem & 0x00ff); TData[6] = MotorCalPelcoDSUM(TData,sizeof(TData)); ptz_send_data(dev,TData,sizeof(TData)); OSTimeDlyHMSM(0u, 0u, 0u, 5u); //发送垂直驱动侧 tem = (unsigned short int)(g_ptz.V_boad_temp * 100 + 0.5); TData[1] = g_ptz.address; TData[2] = 0xd7; TData[3] = PTZ_VERT; TData[4] = (unsigned char)(tem >> 8); TData[5] = (unsigned char)(tem & 0x00ff); TData[6] = MotorCalPelcoDSUM(TData,sizeof(TData)); ptz_send_data(dev,TData,sizeof(TData)); } static float current_caculate(uint16_t I) { float i; i = ((float)I/4096.0*3.3)/0.5; return i; } /*! \brief ADC2初始化,水平电机相电流采集 \param[in] none \param[out] none \retval none \note LH @2022.07.21 */ static void ADC2_Init() { /* 水平电机相电流：PC0-U，PA0-V，PA3-W ---ADC2*/ //配置引脚时钟 rcu_periph_clock_enable(RCU_GPIOA); rcu_periph_clock_enable(RCU_GPIOC); gpio_mode_set(GPIOC,GPIO_MODE_ANALOG,GPIO_PUPD_NONE,GPIO_PIN_0); gpio_mode_set(GPIOA,GPIO_MODE_ANALOG,GPIO_PUPD_NONE,GPIO_PIN_0); gpio_mode_set(GPIOA,GPIO_MODE_ANALOG,GPIO_PUPD_NONE,GPIO_PIN_3); rcu_periph_clock_enable(RCU_ADC2); //总线时钟20分频=6MHZ adc_clock_config(ADC_ADCCK_PCLK2_DIV4); /***********************************************/ //对齐方式 ADC_INSERTED_CHANNEL adc_data_alignment_config(ADC2,ADC_DATAALIGN_RIGHT); //扫描模式 adc_special_function_config(ADC2,ADC_SCAN_MODE,ENABLE); //外部触发关闭 adc_external_trigger_config(ADC2,ADC_INSERTED_CHANNEL,DISABLE); //采集通道数 adc_channel_length_config(ADC2,ADC_INSERTED_CHANNEL,3); //通道注入顺序 adc_inserted_channel_config(ADC2,0,ADC_CHANNEL_10,ADC_SAMPLETIME_480);//u adc_inserted_channel_config(ADC2,1,ADC_CHANNEL_0,ADC_SAMPLETIME_480);//v adc_inserted_channel_config(ADC2,2,ADC_CHANNEL_3,ADC_SAMPLETIME_480);//w adc_enable(ADC2); adc_calibration_enable(ADC2); } /*! \brief ADC0初始化,垂直电机相电流采集 \param[in] none \param[out] none \retval none \note LH @2022.07.21 */ static void ADC0_Init() { /* 垂直电机相电流：PA4-U，PA5-V，PA6-W ---ADC0*/ //配置引脚时钟 rcu_periph_clock_enable(RCU_GPIOA); gpio_mode_set(GPIOA,GPIO_MODE_ANALOG,GPIO_PUPD_NONE,GPIO_PIN_4); gpio_mode_set(GPIOA,GPIO_MODE_ANALOG,GPIO_PUPD_NONE,GPIO_PIN_5); gpio_mode_set(GPIOA,GPIO_MODE_ANALOG,GPIO_PUPD_NONE,GPIO_PIN_6); rcu_periph_clock_enable(RCU_ADC0); //总线时钟20分频=6MHZ adc_clock_config(ADC_ADCCK_PCLK2_DIV4); /***********************************************/ //对齐方式 ADC_INSERTED_CHANNEL adc_data_alignment_config(ADC0,ADC_DATAALIGN_RIGHT); //扫描模式 adc_special_function_config(ADC0,ADC_SCAN_MODE,ENABLE); //外部触发关闭 adc_external_trigger_config(ADC0,ADC_INSERTED_CHANNEL,DISABLE); //采集通道数 adc_channel_length_config(ADC0,ADC_INSERTED_CHANNEL,3); //通道注入顺序 adc_inserted_channel_config(ADC0,0,ADC_CHANNEL_4,ADC_SAMPLETIME_480);//u adc_inserted_channel_config(ADC0,1,ADC_CHANNEL_5,ADC_SAMPLETIME_480);//v adc_inserted_channel_config(ADC0,2,ADC_CHANNEL_6,ADC_SAMPLETIME_480);//w adc_enable(ADC0); adc_calibration_enable(ADC0); } /* H_NTC-PB0 ,V_NTC-PB1 ----ADC1*/ /*! \brief ADC1初始化,电压,电流,NTC温度采集 \param[in] none \param[out] none \retval none \note LH @2022.07.21 */ static void ADC1_Init() { //配置引脚时钟 rcu_periph_clock_enable(RCU_GPIOC); rcu_periph_clock_enable(RCU_GPIOB); //引脚复用，PC2——电压ADC1-CH12，PC3——电流ADC1-CH13 gpio_mode_set(GPIOC,GPIO_MODE_ANALOG,GPIO_PUPD_NONE,GPIO_PIN_2); gpio_mode_set(GPIOC,GPIO_MODE_ANALOG,GPIO_PUPD_NONE,GPIO_PIN_3); /* H_NTC-PB0 ,V_NTC-PB1 */ gpio_mode_set(GPIOB,GPIO_MODE_ANALOG,GPIO_PUPD_NONE,GPIO_PIN_0); gpio_mode_set(GPIOB,GPIO_MODE_ANALOG,GPIO_PUPD_NONE,GPIO_PIN_1); rcu_periph_clock_enable(RCU_ADC1); //总线时钟20分频=6MHZ adc_clock_config(ADC_ADCCK_PCLK2_DIV4); /***********************************************/ //对齐方式 ADC_INSERTED_CHANNEL adc_data_alignment_config(ADC1,ADC_DATAALIGN_RIGHT); //扫描模式 adc_special_function_config(ADC1,ADC_SCAN_MODE,ENABLE); //外部触发关闭 adc_external_trigger_config(ADC1,ADC_INSERTED_CHANNEL,DISABLE); //采集通道数 adc_channel_length_config(ADC1,ADC_INSERTED_CHANNEL,4); //通道注入顺序 adc_inserted_channel_config(ADC1,0,ADC_CHANNEL_13,ADC_SAMPLETIME_480);//电流 adc_inserted_channel_config(ADC1,1,ADC_CHANNEL_12,ADC_SAMPLETIME_480);//电压 adc_inserted_channel_config(ADC1,2,ADC_CHANNEL_8,ADC_SAMPLETIME_480);//H_NTC-PB0 adc_inserted_channel_config(ADC1,3,ADC_CHANNEL_9,ADC_SAMPLETIME_480);//V_NTC-PB1 adc_enable(ADC1); adc_calibration_enable(ADC1); } /*! \brief 水平电机相电流采集 \param[in] none \param[out] none \retval none \note LH @2022.07.19 */ void H_ADC2_Phase_current() { adc_software_trigger_enable(ADC2,ADC_INSERTED_CHANNEL); asm ("nop"); asm ("nop"); H_ADC_Collect.Phase_curr_U = current_caculate(ADC_IDATA0(ADC2));//U asm ("nop"); H_ADC_Collect.Phase_curr_V = current_caculate(ADC_IDATA1(ADC2));//V asm ("nop"); H_ADC_Collect.Phase_curr_W = current_caculate(ADC_IDATA2(ADC2));//W } /*! \brief 垂直电机相电流采集 \param[in] none \param[out] none \retval none \note LH @2022.07.19 */ void V_ADC0_Phase_current() { // int Ia,Ib,Ic; adc_software_trigger_enable(ADC0,ADC_INSERTED_CHANNEL); asm ("nop"); asm ("nop"); // Ia = ADC_IDATA0(ADC0);//U V_ADC_Collect.Phase_curr_U = current_caculate(ADC_IDATA0(ADC0));//U asm ("nop"); // Ib = ADC_IDATA1(ADC0);//V V_ADC_Collect.Phase_curr_V = current_caculate(ADC_IDATA1(ADC0));//V asm ("nop"); // Ic = ADC_IDATA2(ADC0);//W V_ADC_Collect.Phase_curr_W = current_caculate(ADC_IDATA2(ADC0));//W } #define R_constant 10.0 //千欧姆——分压电阻值 #define R_25 10000.0//热敏电阻常温下的电阻值 #define Ntc_B 3435.0//常量B #define Kelvin_temp 273.15+25//常温——开尔文温度 //NTC电流 static float Ntc_current(uint16_t data) { static float curr; curr = ((float)data / 4096.0 * 3.3)/R_constant; return curr; } //NTC电压 static float Ntc_voltage(uint16_t data) { static float voltage; voltage = 3.3 - ((float)data / 4096.0 * 3.3); return voltage; } //NTC电阻 static float Ntc_resis(uint16_t data) { static float resis,curr,voltage; curr = Ntc_current(data); voltage = Ntc_voltage(data); resis = voltage / curr * 1000.0;//因为电流值放大了1000倍 return resis; } //NTC温度计算,开尔文温度 static float Ntc_temp(uint16_t adc_data) { float R_ntc;//实际电阻 double temp,K,j,l,m;//实际温度 R_ntc = Ntc_resis(adc_data); K = R_ntc/10000.0; j = log(K);//log e为底数 l = j/3435.0; m = 1.0 /298.15; temp = 1/(l+m); // temp = 1/(j / Ntc_B + 1/Kelvin_temp); return (float)temp; } /*! \brief 热敏电阻计算主板温度 \param[in] none \param[out] none \retval none \note LH @2022.07.19 */ static void Ntc_value()//ADC1 { float H_temp_f,V_temp_f;//初始温度,开尔文温度 short int H_temp,V_temp;//矫正温度,摄氏温度 adc_software_trigger_enable(ADC1,ADC_INSERTED_CHANNEL); asm ("nop"); asm ("nop"); H_temp_f = Ntc_temp(ADC_IDATA2(ADC1)); asm ("nop"); asm ("nop"); V_temp_f = Ntc_temp(ADC_IDATA3(ADC1)); H_temp = (short int)(H_temp_f - 273.15 + 0.5); V_temp = (short int)(V_temp_f - 273.15 + 0.5); g_ptz.H_boad_temp = (float)H_temp;//该温度参数需要增加回传与查询 g_ptz.V_boad_temp = (float)V_temp; } //电压采集 static void ptz_Voltage_collect_adc1_task() { static float adc1_v[5]; static unsigned char adc1_num; int j,k; float tem; float curadc1; uint16_t value_V; //软件触发使能 adc_software_trigger_enable(ADC1,ADC_INSERTED_CHANNEL); value_V = ADC_IDATA1(ADC1); adc1_v[adc1_num] = (float)value_V / 4096.0 * 11 *3.3;//(float)value_V;// adc1_num++; if(adc1_num >= 5) { adc1_num = 0; for(j = 0; j < 5-1; j++)//采样值由小到大排列 { for(k = 0; k < 5-j-1; k++) { if(adc1_v[k] > adc1_v[k+1]) { tem = adc1_v[k]; adc1_v[k] = adc1_v[k+1]; adc1_v[k+1] = tem; } } } for(uint8_t i = 1; i < 5 - 1; i++) { curadc1 = curadc1 + adc1_v[i]; } curadc1 = curadc1 /((float)(5 - 2));//去掉一个最大值和一个最小值求平均值 g_ptz.Voltage = curadc1; memset(adc1_v,0,sizeof(adc1_v)); // pdebug(DEBUG_LEVEL_INFO,"get ptz Voltage: %.3fV",g_ptz.Voltage); } } //电流采集 static void ptz_Current_collect_adc1_task() { static float adc1_i[5]; static unsigned char adc0_num; int j,k; float tem; float curadc0; uint16_t value_I; adc_software_trigger_enable(ADC1,ADC_INSERTED_CHANNEL); value_I = ADC_IDATA0(ADC1); adc1_i[adc0_num] = (((float)value_I / 4096.0 * 3.3)-3.3/2) / 0.132;//(float)value_I;// adc0_num ++; if(adc0_num >= 5) { adc0_num = 0; for(j = 0; j < 5-1; j++)//采样值由小到大排列 { for(k = 0; k < 5-j-1; k++) { if(adc1_i[k] > adc1_i[k+1]) { tem = adc1_i[k]; adc1_i[k] = adc1_i[k+1]; adc1_i[k+1] = tem; } } } for(uint8_t i = 1; i < 5 - 1; i++) { curadc0 = curadc0 + adc1_i[i]; } curadc0 = curadc0 /((float)(5 - 2));//去掉一个最大值和一个最小值求平均值 g_ptz.electric_current = curadc0; memset(adc1_i,0,sizeof(adc1_i)); // pdebug(DEBUG_LEVEL_INFO,"get ptz Electric_Current: %.3fA",g_ptz.electric_current); } } //温度采集 static void ptz_temperature_collect_tmp75_task() { static float tmp75[5]; static unsigned char tmp75_num; float curtmp75; float tem; int j,k; tmp75[tmp75_num] = tmp75_read_temp(); tmp75_num ++; if(tmp75_num >= 5) { tmp75_num = 0; for(j = 0; j < 5-1; j++)//采样值由小到大排列 { for(k = 0; k < 5-j-1; k++) { if(tmp75[k] > tmp75[k+1]) { tem = tmp75[k]; tmp75[k] = tmp75[k+1]; tmp75[k+1] = tem; } } } for(uint8_t i = 1; i < 5 - 1; i++) { curtmp75 = curtmp75 + tmp75[i];//去掉一个最大值和一个最小值 } curtmp75 = curtmp75 / ((float)(5 - 2)); g_ptz.temperature = curtmp75; memset(tmp75,0,sizeof(tmp75)); // pdebug(DEBUG_LEVEL_INFO,"get ptz Temperature: %.3f℃",g_ptz.temperature); } } //int counter; //采集任务 static char ptz_data_collect_task() { int i=0,j=0; while(1) { if(g_ptz.hori_start_stop_set == PTZ_HORI_START) {//电机处于启动状态 H_ADC2_Phase_current(); } if(g_ptz.vert_start_stop_set == PTZ_VERT_START) {//电机处于启动状态 V_ADC0_Phase_current(); } if(j >= 100) { j=0; //云台不自检关闭，打开采集任务 #ifndef PTZ_NO_SELF_CHECK ptz_Voltage_collect_adc1_task(); #endif OSTimeDlyHMSM(0u, 0u, 0u, 2u); ptz_Current_collect_adc1_task(); // OSTimeDlyHMSM(0u, 0u, 0u, 50u); } if(i >= 3000) {//降低温度采集频率 ptz_temperature_collect_tmp75_task(); //驱动电路温度采集 Ntc_value(); i=0; } OSTimeDlyHMSM(0u, 0u, 0u, 1u); i++; j++; } } static OS_STK task_data_collect_stk[TASK_PTZ_DATA_COLLECT_STK_SIZE]; static void creat_task_data_collect(void) { CPU_INT08U task_err; CPU_INT08U name_err; task_err = OSTaskCreateExt((void (*)(void *)) ptz_data_collect_task, (void *) 0, (OS_STK *)&task_data_collect_stk[TASK_PTZ_DATA_COLLECT_STK_SIZE - 1], (INT8U ) TASK_PTZ_DATA_COLLECT_PRIO, (INT16U ) TASK_PTZ_DATA_COLLECT_PRIO, (OS_STK *)&task_data_collect_stk[0], (INT32U ) TASK_PTZ_DATA_COLLECT_STK_SIZE, (void *) 0, (INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR)); #if (OS_TASK_NAME_EN > 0) OSTaskNameSet(TASK_PTZ_DATA_COLLECT_PRIO, "ptz_data_collect_task", &name_err); #endif if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) { pdebug(DEBUG_LEVEL_INFO,"create ptz_data_collect_task success\r\n"); } else { pdebug(DEBUG_LEVEL_FATAL,"create ptz_data_collect_task failed\r\n"); } } void init_data_collect_module(void) { //#ifndef PTZ_NO_SELF_CHECK ADC1_Init();//AD采集引脚初始化 //#endif ADC2_Init();//AD采集引脚初始化 ADC0_Init();//AD采集引脚初始化 temp75_gpio_init();//温度传感器初始化 creat_task_data_collect(); }