153 lines
4.9 KiB
C
153 lines
4.9 KiB
C
#include "ptz_header_file.h"
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#include "device_heatresistor.h"
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#include "tmp75.h"
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#include "agent_hyt.h"
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///加热电阻
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HeatResistor heat_resistor;
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//加热电阻开关
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void ptz_heat_resistor_switch(PTZ_DATA_PACK *pack)
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{
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if(pack->command[1] == 1)
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{//打开电阻加热
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heat_resistor.pwm_duty_cycle = ((float)((pack->data[0] << 8) | pack->data[1])) / 100.0;
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heat_resistor.heat_switch = PTZ_HEAT_RESISTOR_ON;
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}
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else
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{
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heat_resistor.pwm_duty_cycle = 0;
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heat_resistor.heat_switch = PTZ_HEAT_RESISTOR_OFF_1;
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}
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}
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//加热电阻初始化
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static void ptz_heat_resistor_init()
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{
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//总线时钟使能
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rcu_periph_clock_enable(RCU_GPIOE);
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gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0| GPIO_PIN_1);
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gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_0| GPIO_PIN_1);
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PTZ_HEAT_RESISTOR_A_OFF;
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PTZ_HEAT_RESISTOR_B_OFF;
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}
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//电阻加热任务
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static void ptz_heat_resistor_task()
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{
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while(1)
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{
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switch(heat_resistor.heat_switch)
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{
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case PTZ_HEAT_RESISTOR_ON:
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//加热时间清0
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heat_resistor.heat_timer_ms = 0;
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heat_resistor.heat_timer_s = 0;
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heat_resistor.heat_timer_min = 0;
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//PWM波控制总周期
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heat_resistor.pwm_t = PTZ_HEAT_RESISTOR_PWM_T;
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//计算允许最大的占空比
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heat_resistor.pwm_duty_cycle_max =
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PTZ_HEAT_RESISTOR_I_MAX * PTZ_HEAT_RESISTOR_R / PTZ_HEAT_RESISTOR_V_MAX;
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//判断输入占空比是否满足要求
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if(heat_resistor.pwm_duty_cycle > heat_resistor.pwm_duty_cycle_max)
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{
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heat_resistor.pwm_duty_cycle = heat_resistor.pwm_duty_cycle_max;
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}
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//根据占空比计算电阻通电和关电的时间
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heat_resistor.pwm_power_on_t =
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(unsigned short int)(heat_resistor.pwm_duty_cycle * heat_resistor.pwm_t + 0.5);
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heat_resistor.pwm_power_off_t = heat_resistor.pwm_t - heat_resistor.pwm_power_on_t;
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//根据占空比计算电阻两端实际电压
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heat_resistor.resistor_v =
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heat_resistor.pwm_duty_cycle * PTZ_HEAT_RESISTOR_V_MAX;
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//根据电阻两端实际电压计算电阻电流
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heat_resistor.resistor_i = heat_resistor.resistor_v / PTZ_HEAT_RESISTOR_R;
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heat_resistor.heat_switch = PTZ_HEAT_RESISTOR_ON_PWM;
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OSTimeDlyHMSM(0u, 0u, 0u, 20u);
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break;
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case PTZ_HEAT_RESISTOR_ON_PWM:
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//加热PWM输出
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PTZ_HEAT_RESISTOR_A_ON;
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PTZ_HEAT_RESISTOR_B_ON;
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OSTimeDlyHMSM(0u, 0u, 0u, heat_resistor.pwm_power_on_t);
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PTZ_HEAT_RESISTOR_A_OFF;
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PTZ_HEAT_RESISTOR_B_OFF;
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OSTimeDlyHMSM(0u, 0u, 0u, heat_resistor.pwm_power_off_t);
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//加热时间计算
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heat_resistor.heat_timer_ms =
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heat_resistor.heat_timer_ms + heat_resistor.pwm_t;
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if(heat_resistor.heat_timer_ms >= 1000)
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{
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heat_resistor.heat_timer_s ++;
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heat_resistor.heat_timer_ms = heat_resistor.heat_timer_ms - 1000;
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}
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if(heat_resistor.heat_timer_s >= 60)
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{
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heat_resistor.heat_timer_min ++;
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heat_resistor.heat_timer_s = heat_resistor.heat_timer_s - 60;
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}
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//加热保护机制，云台本来温度就合适，防止加热电阻被误打开
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if(g_ptz.temperature >= PTZ_HEAT_RESISTOR_TEMP)
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{
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heat_resistor.heat_switch = PTZ_HEAT_RESISTOR_OFF_1;//关闭加热
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}
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break;
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case PTZ_HEAT_RESISTOR_OFF_1:
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PTZ_HEAT_RESISTOR_A_OFF;
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PTZ_HEAT_RESISTOR_B_OFF;
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heat_resistor.heat_timer_ms = 0;
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heat_resistor.heat_timer_s = 0;
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heat_resistor.heat_timer_min = 0;
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heat_resistor.heat_switch = PTZ_HEAT_RESISTOR_OFF_0;
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OSTimeDlyHMSM(0u, 0u, 0u, 20u);
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break;
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default://PTZ_HEAT_RESISTOR_OFF_0
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OSTimeDlyHMSM(0u, 0u, 0u, 1000u);
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break;
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}
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OSTimeDlyHMSM(0u, 0u, 0u, 50u);
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}
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}
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static OS_STK task_heat_resistor_stk[TASK_PTZ_HEAT_RESISTOR_STK_SIZE];
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static void creat_task_heat_resistor(void)
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{
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CPU_INT08U task_err;
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CPU_INT08U name_err;
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task_err = OSTaskCreateExt((void (*)(void *)) ptz_heat_resistor_task,
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(void *) 0,
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(OS_STK *)&task_heat_resistor_stk[TASK_PTZ_HEAT_RESISTOR_STK_SIZE - 1],
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(INT8U ) TASK_PTZ_HEAT_RESISTOR_PRIO,
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(INT16U ) TASK_PTZ_HEAT_RESISTOR_PRIO,
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(OS_STK *)&task_heat_resistor_stk[0],
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(INT32U ) TASK_PTZ_HEAT_RESISTOR_STK_SIZE,
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(void *) 0,
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(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
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#if (OS_TASK_NAME_EN > 0)
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OSTaskNameSet(TASK_PTZ_HEAT_RESISTOR_PRIO, "ptz_heat_resistor_task", &name_err);
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#endif
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if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
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pdebug(DEBUG_LEVEL_INFO,"create ptz_heat_resistor_task success...\n\r");
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} else {
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pdebug(DEBUG_LEVEL_FATAL,"create ptz_heat_resistor_task failed...\n\r");
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}
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}
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void init_heat_resistor_module()
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{
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ptz_heat_resistor_init();
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creat_task_heat_resistor();
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}
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