#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" //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)); } void ADC_Init() { //配置引脚时钟 rcu_periph_clock_enable(RCU_GPIOC); //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); 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,2); //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_enable(ADC1); adc_calibration_enable(ADC1); } //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); } } //采集任务 static char ptz_data_collect_task() { int i=0; while(1) { //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, 50u); ptz_Current_collect_adc1_task(); OSTimeDlyHMSM(0u, 0u, 0u, 50u); if(i >= 30) {//降低温度采集频率 ptz_temperature_collect_tmp75_task(); i=0; } i++; } } 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 } void init_data_collect_module(void) { ADC_Init();//AD采集引脚初始化 temp75_gpio_init();//温度传感器初始化 creat_task_data_collect(); }