413 lines
8.2 KiB
C
413 lines
8.2 KiB
C
#include "basic.h"
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int led_flag = 0 ;
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int Mode_turn = 0 ; //安全栅模式/电流模式切换
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float temp = 0; //温度
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float length = 0; //长度
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float zero_length; //零点位置长度
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float act_length = 0;//实际长度
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float v = 0; //电压设定值
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int ts= 0,te = 0;
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int n = 0;
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int adc_num = 0;
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u8 array[8] = {0x02,0x03,0x00,0x00,0x00,0x02,0xC4,0x38};//位移传感器读命令
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u16 Tstar[20] = {0};//启动延时时间
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u8 Terror[20] = {0};//错误信号持续时间
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u16 T_flag[20] = {0};
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//系统初始化
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void Sys_Init()
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{
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//SysTick_Init();
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//初始化串口
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usart_Init();
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//串口数据初始化
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InitUart_Data();
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//ADC初始化
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ADC_AllInit();
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//初始化定时器3
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TIM3_Configuration();
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//TIM8_IC_Init();
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//初始化DAC，开始DAC转换
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DAC_Config();
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//安全栅端口初始化
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safe_gpio_Init();
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Gpio_Init();
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EXTI_Key_Config();
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//SPI通讯初始化
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MAX31865_Init();
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MAX31865_Cfg();
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//串口3相关
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UART_Receive_flg = 0;
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TIM4_PWM_Init(1999,90);
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}
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//LED灯闪烁
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void led()
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{
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if(it_1s_flag == 1)
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{
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it_1s_flag = 0;
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GPIO_ToggleBits(GPIOG,GPIO_Pin_1); //LED电平翻转
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}
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}
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int u = 0;
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//主程序运行函数
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void main_do()
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{
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switch(Mode_Flag)
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{
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case 1:
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mode_one();
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break;
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case 2:
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mode_two();
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break;
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case 3:
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mode_thr();
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break;
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default:
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break;
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}
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Deal_Uart_Data_For_Module(); //处理接收的数据
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v = (((float)(Set_Vol - 10 ) / 100) - 5 ) / 2;
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DAC1_SetVol(v); //DAC输出电压
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}
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/*****************************************************
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*函数名称: mode_one
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*函数功能: 模式1，控制电机转动，实现置零，实现位移数据收集
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*参数说明：
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*****************************************************/
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void mode_one()
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{
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u++;
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if(u>50)
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{
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ADC_SoftwareStartConv(ADC1); //触发ADC转换
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get_adcnum(); //ADC滤波
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u=0;
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}
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if(zero_flag == 2)
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Deal_Motor(); //根据接收的数据控制电机
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else
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set_zero(); //设置零点
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if(UART_Receive_flg)
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{
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UART_Receive_flg = 0;
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}
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if(it_100ms_flag == 1)
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{
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it_100ms_flag = 0;
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temp = MAX31865_GetTemp(); //软件模拟spi读取max31865合成温度
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Uart3_SendStr(array,8); //发送命令，是位移传感器回传数据
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}
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get_state(); //得到安全栅状态
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if(zero_length == 0)
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{
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act_length = length - zero_length; //转化为实际距离
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}
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else
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{
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act_length = zero_length - length; //转化为实际距离
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}
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data_deal(send_data,V_Channel,act_length,temp); //ADC数据、温度、位移数据整理打包
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}
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/*****************************************************
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*函数名称: mode_two
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*函数功能: 模式2，计算传感器的启动延时时间以及错误信号持续时间
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*参数说明：
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*****************************************************/
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void mode_two()
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{
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ADC_SoftwareStartConv(ADC1); //触发ADC转换
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if(get_time_flag == 1)
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{
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if(it_100ms_flag == 1)
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{
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it_100ms_flag = 0;
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//temp = MAX31865_GetTemp(); //软件模拟spi读取max31865合成温度
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Uart3_SendStr(array,8); //发送命令，是位移传感器回传数据
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}
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//get_state(); //得到安全栅状态
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if(zero_length == 0)
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{
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act_length = length - zero_length; //转化为实际距离
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}
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else
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{
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act_length = zero_length - length; //转化为实际距离
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}
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if(act_length > dis)
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FWD();
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else
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REV();
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motor_start();
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motor_mov_slow();
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if(act_length < (dis + 0.05f) && act_length > (dis - 0.05f))
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{
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motor_stop();
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for(int i= 0;i<20;i++)
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{
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T_flag[i] = 0;
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Tstar[i] = 0; //启动延时时间
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Terror[i] = 0; //错误信号持续时间
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V_time_test[i] = ((uint16_t)(ADC_ConvertedValue[0][num_array[i]])*10000/4096) ; //当前位置稳定电流V_Channel[i]
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}
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GPIO_ResetBits(GPIOF,GPIO_Pin_11); //关闭使能，ADC掉电
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adc_num = 0;
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get_time_flag = 2;
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}
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}
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if(get_time_flag == 4)
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{
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get_time_flag = 0;
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deal_time(); //时间数据整合
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send_set_resp(0xF002, OBJ_DEVICE_ADDR, 60, time_data);//数据发送
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Mode_Flag = 1;
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}
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}
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/*****************************************************
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*函数名称: mode_thr
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*函数功能: 模式3，控制无刷电机，实现装置频率测试
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*参数说明：
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*****************************************************/
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void mode_thr()
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{
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u++;
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if(u>10)
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{
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ADC_SoftwareStartConv(ADC1); //触发ADC转换
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u=0;
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}
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frequency_test(); //频率测试
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if(it_100ms_flag == 1) //&& Run_State == 1
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{
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it_100ms_flag = 0;
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Fre_data[0] = (((uint16_t)MOT_Fre) & 0xff00) >> 8;
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Fre_data[1] = ((uint16_t)MOT_Fre) & 0x00ff;
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Fre_data[2] = (((uint16_t)ADC_Fre) & 0xff00) >> 8;
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Fre_data[3] = ((uint16_t)ADC_Fre) & 0x00ff;
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send_set_resp(0xF003, OBJ_DEVICE_ADDR, 4, Fre_data);//数据发送
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if(ADC_Fre > 1000 && MOT_Fre > 1000)
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Run_State = 0;
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}
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}
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/*****************************************************
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*函数名称: get_length
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*函数功能: 位移数据处理
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*参数说明：
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*****************************************************/
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char get_length_flag = 0;
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unsigned int data = 0;
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float d = 0;
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void get_length(uint8_t *D_array)
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{
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get_length_flag = 1;
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/*
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位移数据正常情况为 00 02 03 起始
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偶有 00 A0 20 起始
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两种情况位移数据位置不同
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*/
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if(D_array[1] == 0x02 && D_array[2] == 0x03)
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{
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data = D_array[6] << 8;
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data |= D_array[7];
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d = ((float)data) / 1000;
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}
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else if(D_array[1] == 0xA0 && D_array[2] == 0x20)
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{
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data = D_array[5] << 8;
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data |= D_array[6];
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d = ((float)data) / 1000;
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}
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length = d;
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}
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//启动延时时间和错误信号持续时间计算
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void time_test(int i)
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{
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//启动延时时间指ADC数据达到掉电前稳定数据的±5%所需时间，为避免错误信号的影响，设定其最小值为0.3ms
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if(((uint16_t)(ADC_ConvertedValue[0][num_array[i]])*10000/4096) <= (V_time_test[i]* 105 /100)
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&& ((uint16_t)(ADC_ConvertedValue[0][num_array[i]])*10000/4096) >= (V_time_test[i]* 95 /100)
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&& Tstar[i] == 0 && ts > 3)
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{
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Tstar[i] = ts;///10
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}
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else
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{
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ts++;
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if(ts > 30000)
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ts = 0xffff;
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}
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//错误信号持续时间指上电后过高瞬时电压的持续时间，这里以超过稳定电压的105%为阈值
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if(((uint16_t)(ADC_ConvertedValue[0][num_array[i]])*10000/4096) >(V_time_test[i]* 105 /100)
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&& T_flag[i] == 0)
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{
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T_flag[i] = 1;
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}
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if(T_flag[i] == 1)
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{
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if(((uint16_t)(ADC_ConvertedValue[0][num_array[i]])*10000/4096) <= (V_time_test[i]* 105 /100)
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&& Terror[i] == 0)
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{
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T_flag[i] = 2;
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Terror[i] = te;///10
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}
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else
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{
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if(te > 255)
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te = 0xff;
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else
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te++;
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}
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}
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}
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//时间测试
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void get_time()
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{
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GPIO_SetBits(GPIOF,GPIO_Pin_11); //打开使能，ADC上电
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if(it_100us_flag == 1)
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{
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it_100us_flag = 0;
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n++;
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//每个传感器设定1s的时间来计算
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if(n > 10000)
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{
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adc_num++;
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n = 0;
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ts = 0;
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te = 0;
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if(adc_num >= 20)
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{
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get_time_flag = 4;
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adc_num = 0;
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}
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else
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get_time_flag = 3;
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}
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else
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{
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time_test(adc_num);
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}
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}
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}
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//整理时间测试数据
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void deal_time()
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{
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//启动延时时间
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for(int i= 0;i<20;i++)
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{
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time_data[2*i] = (Tstar[i] & 0xff00) >> 8;
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time_data[2*i+1] = Tstar[i] & 0x00ff;
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}
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//错误信号持续时间
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for(int i=0;i < 20;i++)
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{
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time_data[i+40] = Terror[i];
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}
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}
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/*****************************************************
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*函数名称: data_deal
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*函数功能: 整合处理数据
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*参数说明：
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*****************************************************/
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void data_deal(unsigned char *send_array,uint16_t *V_array,float l,float t)
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{
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if(Mode_turn == 0)
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{
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//ADC电流
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//由20个传感器电流值、总电流值和设定电压值组成
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for(int i = 0,j = 0;i < 22;i++,j+=2)
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{
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send_array[j] = (V_Channel[i] & 0xff00) >> 8;
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send_array[j+1] = V_Channel[i] & 0x00ff;
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}
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}
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else
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{
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//安全栅状态
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//由20个安全栅状态决定，规定安全栅断开（0）时，电流数值定为3mA，否则为0.5mA
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//使用安全栅时ADC不可用，总电流和设定电压规定为0
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for(int i = 0,j = 0;i < 20;i++,j+=2)
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{
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if(state[i] == 0)
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{
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send_array[j] = (0x0BB8 & 0xff00) >> 8;
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send_array[j+1] =0x0BB8 & 0x00ff;
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}
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else
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{
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send_array[j] = 0x01;
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send_array[j+1] =0xF4;
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}
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}
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for(int i = 40;i < 44;i++)
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send_array[i] = 0;
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}
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//温度
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if(t >= 0)//零上
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{
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send_array[44] = 00;
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send_array[45] = (((uint16_t)(t*100)) & 0xff00) >> 8;
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send_array[46] = ((uint16_t)(t*100)) & 0x00ff;
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}
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else//零下
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{
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send_array[44] = 01;
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t = fabsf(t);
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send_array[45] = (((uint16_t)(t*100)) & 0xff00) >> 8;
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send_array[46] = ((uint16_t)(t*100)) & 0x00ff;
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}
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//位移
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send_array[47] = (((uint16_t)(l*1000)) & 0xff00) >> 8;;
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send_array[48] = ((uint16_t)(l*1000)) & 0x00ff;
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//发送成功标志，为上位机服务
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send_array[49] = 01;
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}
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//float A1 = 0,A2 = 0,A3 = 0,A4 = 0;
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//int zero_deal()
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//{
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// if(get_length_flag == 1)
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// {
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// get_length_flag = 0;
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// A4 = A3;
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// A3 = A2;
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// A2 = A1;
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// A1 = length;
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// }
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// if(fabsf(A3-A2)<0.03f && fabsf(A2-A1)<0.02f)
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// return 1;
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// else
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// return 0;
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//
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//}
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