176 lines
3.8 KiB
C
176 lines
3.8 KiB
C
#include <includes.h>
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#include "device_photoelectricswitch.h"
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#include "ptz_header_file.h"
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#include "ptz_type_select.h"
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#include "ptz_struct.h"
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static BSP_OS_SEM ptz_ps_read_mutex;
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#ifdef PTZ_PHOTOELECTRIC_SWITCH
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float ps_k = 0;
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#endif
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/// 初始化所有光电开关
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///
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/// 初始化所有光电开关
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/// @param 无
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/// @return 无
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/// @par 修改日志
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/// 杨鹏程于2017-09-14创建
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/// LH修改于2022-05-31
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void ps_init()
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{
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//配置引脚时钟
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rcu_periph_clock_enable(RCU_GPIOB);
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//设置引脚为输入模式:PB0-SW1，PB1-SW2，PB2-SW3
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gpio_mode_set(GPIOB, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_0);
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gpio_mode_set(GPIOB, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_1);
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gpio_mode_set(GPIOB, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_2);
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BSP_OS_SemCreate(&ptz_ps_read_mutex,1u,"ptz_ps_read_mutex");
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}
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/// 读取指定光电开关返回的电平
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#define PS_NUM 20
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#define PS_RATIO 0.9
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char ps_read(char flag)
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{
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int i = 0;
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int j = 0;
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BSP_OS_SemWait(&ptz_ps_read_mutex, 0u);
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char temp;
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switch(flag)
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{
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case PS_VERT_SW1:
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j = 0;
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for(i = 0; i < PS_NUM; i++)//对垂直光电开关滤波
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{
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asm("nop");
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temp = PS_VERT_SW1_READ;//光电开关1
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j = j + temp;
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}
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ps_k = ((float)(PS_NUM - j))/ PS_NUM;//计算遮挡概率
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if(ps_k > PS_RATIO)
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{
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temp = PS_LOW;
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}
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else
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{
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temp = PS_HIGH;
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}
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//temp = PS_VERT_SW1_READ;
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BSP_OS_SemPost(&ptz_ps_read_mutex);
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return temp;
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break;
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case PS_VERT_SW2:
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j = 0;
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for(i = 0; i < PS_NUM; i++)//对垂直光电开关滤波
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{
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asm("nop");
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temp = PS_VERT_SW2_READ;//光电开关2
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j = j + temp;
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}
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ps_k = ((float)(PS_NUM - j))/ PS_NUM;//计算遮挡概率
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if(ps_k > PS_RATIO)
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{
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temp = PS_LOW;
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}
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else
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{
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temp = PS_HIGH;
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}
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//temp = PS_VERT_SW2_READ;
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BSP_OS_SemPost(&ptz_ps_read_mutex);
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return temp;
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break;
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case PS_HORI_SW3:
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j = 0;
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for(i = 0; i < PS_NUM; i++)//对水平光电开关滤波
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{
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asm("nop");
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temp = PS_HORI_SW3_READ;//光电开关3
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j = j + temp;
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}
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ps_k = ((float)(PS_NUM - j))/ PS_NUM;//计算遮挡概率
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if(ps_k > PS_RATIO)
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{
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temp = PS_LOW;
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}
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else
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{
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temp = PS_HIGH;
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}
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//temp = PS_HORI_SW3_READ;
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BSP_OS_SemPost(&ptz_ps_read_mutex);
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return temp;
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break;
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}
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BSP_OS_SemPost(&ptz_ps_read_mutex);
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return -1;
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}
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static void ptz_ps_read_task()
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{
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while(1)
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{
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g_ptz.hori_ps_sw3_state = ps_read(PS_HORI_SW3);
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g_ptz.vert_ps_sw1_state = ps_read(PS_VERT_SW1);
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g_ptz.vert_ps_sw2_state = ps_read(PS_VERT_SW2);
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OSTimeDlyHMSM(0u, 0u, 0u, 1u);
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}
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}
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static OS_STK task_ps_read_stk[TASK_PS_STK_SIZE];
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static void creat_task_ps_read(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_ps_read_task,
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(void *) 0,
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(OS_STK *)&task_ps_read_stk[TASK_PS_STK_SIZE - 1],
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(INT8U ) TASK_PS_PRIO,
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(INT16U ) TASK_PS_PRIO,
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(OS_STK *)&task_ps_read_stk[0],
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(INT32U ) TASK_PS_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_PS_PRIO, "ptz_ps_read_task", &name_err);
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#endif
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}
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void task_ps_read_init(void)
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{
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ps_init();
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creat_task_ps_read();
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}
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void init_photoelectric_switch_module()
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{
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task_ps_read_init();
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g_ptz.vert_ps_sw1_down_fall = 0;
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g_ptz.vert_ps_sw1_up_rise = 0;
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g_ptz.vert_ps_sw2_up_fall = 0;
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g_ptz.vert_ps_sw2_down_rise = 0;
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g_ptz.hori_ps_sw3_right_fall = 0;
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g_ptz.hori_ps_sw3_right_rise = 0;
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g_ptz.hori_ps_sw3_left_fall = 0;
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g_ptz.hori_ps_sw3_left_rise = 0;
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}
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