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