修复ad读取失败

src/adc1256.cpp

@@ -8,10 +8,10 @@ ADS1256 adc(clockMHZ, vRef, false);
 void adc1256_init(void)
 {
     SPI.begin();
-    sleep(0.1);
+    sleep(0.5);
     SPI.beginTransaction(
         SPISettings(clockMHZ * 1000000 / 4, MSBFIRST, SPI_MODE1));
-    sleep(0.1);
+    sleep(0.5);
     adc.begin(ADS1256_DRATE_30000SPS, ADS1256_GAIN_1, false);
 
     Serial.println("ADC Started");
@@ -20,10 +20,19 @@ void adc1256_init(void)
     adc.setChannel(3);
 }
 
+void adc1256_reset(void)
+{
+    adc.reset();
+}
+
+void adc1256_set_channel(uint8_t ch)
+{
+    adc.setChannel(ch);
+}
+
 float adc1256_read(void)
 {
-    adc.waitDRDY();
-    adc.setChannel(3);
+    // adc.waitDRDY();
     return adc.readCurrentChannel();
 }
 

src/adc1256.h

@@ -3,6 +3,8 @@
 
 // Function declarations
 void adc1256_init(void);
+void adc1256_reset(void);
 void adc1256_loop(void);
 float adc1256_read(void);
+void adc1256_set_channel(uint8_t ch);
 #endif // ADC1256_H

src/board.cpp

@@ -1,6 +1,6 @@
 #include <HardwareSerial.h>
 #include "board.h"
-#include "adc1256.h"
+
 void board_init(void)
 {
     Serial.begin(115200); // The value does not matter if you use an MCU with native USB
@@ -10,4 +10,5 @@ void board_init(void)
     }
     Serial.println("ADS1256 - 2023-12-22");
     adc1256_init();
+    // motor_init();
 }

src/board.h

@@ -1,6 +1,7 @@
 #ifndef BOARD_H
 #define BOARD_H
-
+#include "adc1256.h"
+#include "motor.h"
 // Your code here
 void board_init(void);
 

src/main.cpp

@@ -1,6 +1,5 @@
 #include <Arduino.h>
 #include "board.h"
-#include "adc1256.h"
 
 volatile bool task_adc1256_flag = false;
 String read_val = ""; // 用于储存串口接收的字符串
@@ -46,38 +45,49 @@ void task_ads(void *pt)
 
       String part01 = fenge(read_val, ",", 0);
       String part02 = fenge(read_val, ",", 1);
-      read_val = "";
-
-      int count = part01.toInt();
-      int delay = part02.toInt();
-
-      array = static_cast<float *>(malloc(sizeof(float) * count));
-      memset(array, 0, sizeof(array));
-      for (i = 0; i < count; i++)
+      String part03 = fenge(read_val, ",", 2);
+      if (part01 == "r")
       {
-        array[i] = adc1256_read();
-        vTaskDelay(delay);
-      }
-      // 对array[i]从小到大排序后取中间一个值
-      for (i = 0; i < count - 1; i++)
-      {
-        for (j = 0; j < count - 1 - i; j++)
+        adc1256_set_channel(3);
+        if (part02 != "" && part03 != "")
         {
-          if (array[j] > array[j + 1])
+          int count = part02.toInt();
+          int delay = part03.toInt();
+
+          array = (float *)malloc(count * sizeof(float));
+          memset(array, 0, sizeof(array));
+          for (i = 0; i < count; i++)
           {
-            temp = array[j];
-            array[j] = array[j + 1];
-            array[j + 1] = temp;
+            array[i] = adc1256_read();
+            vTaskDelay(delay);
           }
+          // 对array[i]从小到大排序后取中间一个值
+          for (i = 0; i < count - 1; i++)
+          {
+            for (j = 0; j < count - 1 - i; j++)
+            {
+              if (array[j] > array[j + 1])
+              {
+                temp = array[j];
+                array[j] = array[j + 1];
+                array[j + 1] = temp;
+              }
+            }
+          }
+          Serial.printf("r,%.4f", array[count / 2]);
+          free(array);
+        }
+        else
+        {
+          Serial.println("Error: Invalid input");
         }
       }
 
-      Serial.println(array[count / 2], 8);
+      read_val = "";
+
       task_adc1256_flag = false;
-
-      free(array);
+      break;
     }
-
     vTaskDelay(100); // 延时100ms
   }
 }
@@ -86,15 +96,23 @@ void task_serial(void *pt)
 {
   for (;;)
   {
-    while (Serial.available() > 0)
+    if (task_adc1256_flag == false)
     {
-      read_val = read_val + char(Serial.read()); // 接收串口数据
-      vTaskDelay(20);
+      while (Serial.available() > 0)
+      {
+        read_val = read_val + char(Serial.read()); // 接收串口数据
+        vTaskDelay(20);
+      }
+      if (read_val.length() > 0)
+      {
+        task_adc1256_flag = true;
+      }
     }
-    if (read_val.length() > 0)
+    else
     {
-      task_adc1256_flag = true;
+      Serial.read();
     }
+
     vTaskDelay(100); // 延时100ms
   }
 }

src/motor.cpp

@@ -0,0 +1,13 @@
+#include <Arduino.h>
+#include "motor.h"
+
+void motor_init(void)
+{
+    pinMode(PUL, OUTPUT);
+    pinMode(DIR, OUTPUT);
+}
+
+void motor_loop(void)
+{
+    digitalWrite(DIR, LOW); // 先让arduino向驱动板输出一个低电平使其反转。
+}

src/motor.h

@@ -0,0 +1,8 @@
+#ifndef MOTOR_H
+#define MOTOR_H
+#define PUL 35 // CLK  定义9输出端口为 PUL（脉冲信号）
+#define DIR 34 // CW  定义10输出端口为DIR（方向信号）
+// Function declarations
+void motor_init(void);
+void motor_loop(void);
+#endif // MOTOR_H