diff --git a/Core/Src/adc.c b/Core/Src/adc.c index 422aee4..08ee03b 100644 --- a/Core/Src/adc.c +++ b/Core/Src/adc.c @@ -41,14 +41,27 @@ void MX_ADC_Init(void) LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC1); LL_IOP_GRP1_EnableClock(LL_IOP_GRP1_PERIPH_GPIOC); + LL_IOP_GRP1_EnableClock(LL_IOP_GRP1_PERIPH_GPIOB); /**ADC GPIO Configuration + PC0 ------> ADC_IN10 PC3 ------> ADC_IN13 + PB0 ------> ADC_IN8 */ + GPIO_InitStruct.Pin = LL_GPIO_PIN_0; + GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG; + GPIO_InitStruct.Pull = LL_GPIO_PULL_NO; + LL_GPIO_Init(GPIOC, &GPIO_InitStruct); + GPIO_InitStruct.Pin = MG_ADC_IN13_Pin; GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG; GPIO_InitStruct.Pull = LL_GPIO_PULL_NO; LL_GPIO_Init(MG_ADC_IN13_GPIO_Port, &GPIO_InitStruct); + GPIO_InitStruct.Pin = LL_GPIO_PIN_0; + GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG; + GPIO_InitStruct.Pull = LL_GPIO_PULL_NO; + LL_GPIO_Init(GPIOB, &GPIO_InitStruct); + /* ADC DMA Init */ /* ADC Init */ @@ -72,6 +85,14 @@ void MX_ADC_Init(void) /* USER CODE END ADC_Init 1 */ + /** Configure Regular Channel + */ + LL_ADC_REG_SetSequencerChAdd(ADC1, LL_ADC_CHANNEL_8); + + /** Configure Regular Channel + */ + LL_ADC_REG_SetSequencerChAdd(ADC1, LL_ADC_CHANNEL_10); + /** Configure Regular Channel */ LL_ADC_REG_SetSequencerChAdd(ADC1, LL_ADC_CHANNEL_13); diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c index cc30c5f..3cfc573 100644 --- a/Core/Src/gpio.c +++ b/Core/Src/gpio.c @@ -78,12 +78,6 @@ void MX_GPIO_Init(void) GPIO_InitStruct.Pull = LL_GPIO_PULL_NO; LL_GPIO_Init(GPIOC, &GPIO_InitStruct); - /**/ - GPIO_InitStruct.Pin = LL_GPIO_PIN_0; - GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG; - GPIO_InitStruct.Pull = LL_GPIO_PULL_NO; - LL_GPIO_Init(GPIOC, &GPIO_InitStruct); - /**/ GPIO_InitStruct.Pin = LL_GPIO_PIN_1; GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG; @@ -156,12 +150,6 @@ void MX_GPIO_Init(void) GPIO_InitStruct.Pull = LL_GPIO_PULL_NO; LL_GPIO_Init(GPIOC, &GPIO_InitStruct); - /**/ - GPIO_InitStruct.Pin = LL_GPIO_PIN_0; - GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG; - GPIO_InitStruct.Pull = LL_GPIO_PULL_NO; - LL_GPIO_Init(GPIOB, &GPIO_InitStruct); - /**/ GPIO_InitStruct.Pin = LL_GPIO_PIN_1; GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG; diff --git a/Core/Src/stm32l0xx_it.c b/Core/Src/stm32l0xx_it.c index b589740..7f780ab 100644 --- a/Core/Src/stm32l0xx_it.c +++ b/Core/Src/stm32l0xx_it.c @@ -68,8 +68,8 @@ extern motor_t *motor; /* Cortex-M0+ Processor Interruption and Exception Handlers */ /******************************************************************************/ /** - * @brief This function handles Non maskable Interrupt. - */ + * @brief This function handles Non maskable Interrupt. + */ void NMI_Handler(void) { /* USER CODE BEGIN NonMaskableInt_IRQn 0 */ @@ -83,8 +83,8 @@ void NMI_Handler(void) } /** - * @brief This function handles Hard fault interrupt. - */ + * @brief This function handles Hard fault interrupt. + */ void HardFault_Handler(void) { /* USER CODE BEGIN HardFault_IRQn 0 */ @@ -98,8 +98,8 @@ void HardFault_Handler(void) } /** - * @brief This function handles System service call via SWI instruction. - */ + * @brief This function handles System service call via SWI instruction. + */ void SVC_Handler(void) { /* USER CODE BEGIN SVC_IRQn 0 */ @@ -111,8 +111,8 @@ void SVC_Handler(void) } /** - * @brief This function handles Pendable request for system service. - */ + * @brief This function handles Pendable request for system service. + */ void PendSV_Handler(void) { /* USER CODE BEGIN PendSV_IRQn 0 */ @@ -124,8 +124,8 @@ void PendSV_Handler(void) } /** - * @brief This function handles System tick timer. - */ + * @brief This function handles System tick timer. + */ void SysTick_Handler(void) { /* USER CODE BEGIN SysTick_IRQn 0 */ @@ -145,8 +145,8 @@ void SysTick_Handler(void) /******************************************************************************/ /** - * @brief This function handles DMA1 channel 1 interrupt. - */ + * @brief This function handles DMA1 channel 1 interrupt. + */ void DMA1_Channel1_IRQHandler(void) { /* USER CODE BEGIN DMA1_Channel1_IRQn 0 */ @@ -159,8 +159,8 @@ void DMA1_Channel1_IRQHandler(void) } /** - * @brief This function handles DMA1 channel 2 and channel 3 interrupts. - */ + * @brief This function handles DMA1 channel 2 and channel 3 interrupts. + */ void DMA1_Channel2_3_IRQHandler(void) { /* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */ @@ -173,8 +173,8 @@ void DMA1_Channel2_3_IRQHandler(void) } /** - * @brief This function handles TIM6 global interrupt and DAC1/DAC2 underrun error interrupts. - */ + * @brief This function handles TIM6 global interrupt and DAC1/DAC2 underrun error interrupts. + */ void TIM6_DAC_IRQHandler(void) { /* USER CODE BEGIN TIM6_DAC_IRQn 0 */ @@ -191,14 +191,13 @@ void TIM6_DAC_IRQHandler(void) } /** - * @brief This function handles TIM21 global interrupt. - */ + * @brief This function handles TIM21 global interrupt. + */ void TIM21_IRQHandler(void) { /* USER CODE BEGIN TIM21_IRQn 0 */ /* USER CODE END TIM21_IRQn 0 */ - /* USER CODE BEGIN TIM21_IRQn 1 */ if (LL_TIM_IsActiveFlag_UPDATE(TIM21)) { @@ -209,8 +208,8 @@ void TIM21_IRQHandler(void) } /** - * @brief This function handles USART1 global interrupt / USART1 wake-up interrupt through EXTI line 25. - */ + * @brief This function handles USART1 global interrupt / USART1 wake-up interrupt through EXTI line 25. + */ void USART1_IRQHandler(void) { /* USER CODE BEGIN USART1_IRQn 0 */ diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex index 94bd9ad..ed5f096 100644 --- a/MDK-ARM/motor/motor.hex +++ b/MDK-ARM/motor/motor.hex @@ -1,34 +1,34 @@ :020000040800F2 -:10000000604700209D01000895200008650D00084C +:10000000884700209D010008C9200008650D0008F0 :1000100000000000000000000000000000000000E0 -:100020000000000000000000000000003523000870 -:100030000000000000000000EB210008372300084A +:10002000000000000000000000000000692300083C +:1000300000000000000000001F2200086B230008E1 :10004000AF010008AF010008AF010008AF010008D0 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:00000001FF diff --git a/User/app.h b/User/app.h index d9eff51..1f04332 100644 --- a/User/app.h +++ b/User/app.h @@ -14,9 +14,11 @@ typedef struct typedef struct { - calibration_sensor_data_t torsion_in13; // 扭力 - calibration_sensor_data_t pressure_in7; // 压力 - calibration_sensor_data_t pressure_in8; // 流量 + calibration_sensor_data_t torsion_in13; // 扭力 + calibration_sensor_data_t ipressure_in7; // 压力 + calibration_sensor_data_t iflow_in8; // 流量 + calibration_sensor_data_t opressure_in9; // 压力 + calibration_sensor_data_t oflow_in10; // 流量 } adcs_t; typedef struct diff --git a/User/app_flow.c b/User/app_flow.c index c31fe7c..1b2ebee 100644 --- a/User/app_flow.c +++ b/User/app_flow.c @@ -19,17 +19,25 @@ static uint8_t adc_inspection(struct flow *fl) for (;;) { // 扭力 - app.adc.torsion_in13.original_value = get_torsion_adc(); + app.adc.torsion_in13.original_value = get_sensor_adc(GET_TORSION_VALUE); app.adc.torsion_in13.calibration_value = torsion_detect(); sensor_adc[GET_TORSION_VALUE] = S2B_UINT16(app.adc.torsion_in13.original_value); - // 压力 - app.adc.pressure_in7.original_value = get_pressure_adc(); - app.adc.pressure_in7.calibration_value = pressure_detect(); - sensor_adc[GET_PRESSURE_VALUE] = S2B_UINT16(app.adc.pressure_in7.original_value); - // 流量 - app.adc.pressure_in8.original_value = get_flow_adc(); - app.adc.pressure_in8.calibration_value = flow_detect(); - sensor_adc[GET_FLOW_VALUE] = S2B_UINT16(app.adc.pressure_in8.original_value); + // 输入压力 + app.adc.ipressure_in7.original_value = get_sensor_adc(GET_INPUT_PRESS_VALUE); + app.adc.ipressure_in7.calibration_value = pressure_detect(GET_INPUT_PRESS_VALUE); + sensor_adc[GET_INPUT_PRESS_VALUE] = S2B_UINT16(app.adc.ipressure_in7.original_value); + // 输出压力 + app.adc.opressure_in9.original_value = get_sensor_adc(GET_OUTPUT_PRESS_VALUE); + app.adc.opressure_in9.calibration_value = pressure_detect(GET_OUTPUT_PRESS_VALUE); + sensor_adc[GET_OUTPUT_PRESS_VALUE] = S2B_UINT16(app.adc.opressure_in9.original_value); + // 输入流量 + app.adc.iflow_in8.original_value = get_sensor_adc(GET_INPUT_FLOW_VALUE); + app.adc.iflow_in8.calibration_value = flow_detect(GET_INPUT_FLOW_VALUE); + sensor_adc[GET_INPUT_FLOW_VALUE] = S2B_UINT16(app.adc.iflow_in8.original_value); + // 输出流量 + app.adc.oflow_in10.original_value = get_sensor_adc(GET_OUTPUT_FLOW_VALUE); + app.adc.oflow_in10.calibration_value = flow_detect(GET_OUTPUT_FLOW_VALUE); + sensor_adc[GET_OUTPUT_FLOW_VALUE] = S2B_UINT16(app.adc.oflow_in10.original_value); FL_LOCK_DELAY(fl, FL_CLOCK_100MSEC); /* 延时100毫秒 */ } diff --git a/User/board/board.c b/User/board/board.c index 37d39af..dc6d09a 100644 --- a/User/board/board.c +++ b/User/board/board.c @@ -272,10 +272,29 @@ adc_t adc1 = { .dma_channel = LL_DMA_CHANNEL_1, }; -// 扭力，单位：N·m -uint16_t get_torsion_adc(void) +uint16_t get_sensor_adc(uint8_t id) { - uint16_t adc = adc_get_result_average(IN13); + uint16_t adc = 0; + + switch (id) + { + case GET_TORSION_VALUE: // 扭力，单位：N·m + adc = adc_get_result_average(IN13); + break; + case GET_INPUT_PRESS_VALUE: // 输入压力，单位：kPa + adc = adc_get_result_average(IN7); + break; + case GET_OUTPUT_PRESS_VALUE: // 输出压力，单位：kPa + adc = adc_get_result_average(IN9); + break; + case GET_INPUT_FLOW_VALUE: // 输入流量，单位：SLPM + adc = adc_get_result_average(IN8); + break; + case GET_OUTPUT_FLOW_VALUE: // 输出流量，单位：SLPM + adc = adc_get_result_average(IN10); + break; + } + return adc; } @@ -283,43 +302,29 @@ float32 torsion_detect(void) { float32 adc = 0.0, val = 0.0; - adc = get_torsion_adc(); + adc = get_sensor_adc(GET_TORSION_VALUE); val = adc / 4096 * 3000; val = (val - 1500) / 101 / (1.934 * 3) * 10; return val; } -// 压力，单位：kPa -uint16_t get_pressure_adc(void) -{ - uint16_t adc = adc_get_result_average(IN7); - return adc; -} - -float32 pressure_detect(void) +float32 pressure_detect(uint8_t id) { float32 adc = 0.0, val = 0.0; - adc = get_pressure_adc(); + adc = get_sensor_adc(id); val = adc / 4096 * 3000; val = (val - 600) / (10 * 15) / 16 * 1000; return val; } -// 流量，单位：SLPM -uint16_t get_flow_adc(void) -{ - uint16_t adc = adc_get_result_average(IN8); - return adc; -} - -float32 flow_detect(void) +float32 flow_detect(uint8_t id) { float32 adc = 0.0, val = 0.0; - adc = get_flow_adc(); + adc = get_sensor_adc(id); val = adc / 4096 * 3000; val = (val - 600) / (10 * 15) / 16 * 300; @@ -368,6 +373,8 @@ uint8_t test_buffer[UART_RXSIZE] = {0}; // 数据接收缓存 // 传感器测试指令 static uint8_t test_sensor_cmd(uint8_t cmd, uint8_t *buf) { + osel_memset(buf, 0, UART_RXSIZE); + uint8_t ver_len = 0; uint8_t index = 0; frame_msg_t msg; @@ -376,15 +383,56 @@ static uint8_t test_sensor_cmd(uint8_t cmd, uint8_t *buf) msg.dev_no = ADC_SENSOR; msg.cmd_no = cmd; msg.len = 0; - index = DATA_INDEX; - osel_memset(buf, 0, UART_RXSIZE); osel_memcpy(buf, (uint8_t *)&msg, index); - buf[index] = xor_compute((uint8_t *)&buf[1], (index - 1)); + // 校验 + buf[index] = xor_compute((uint8_t *)&buf[1], (index - 1)); // 减掉包头 index += 1; + // 包尾 buf[index] = PACKET_ETX; index += 1; + // 帧长度 + ver_len = index; + return ver_len; +} +// 电机测试指令 +static uint8_t test_motor_cmd(uint8_t cmd, uint8_t *buf) +{ + uint8_t ver_len = 0; + uint8_t index = 0; + frame_msg_t msg; + motor_ctrl_t motor_param; + msg.head = PACKET_STX; + msg.state = ST_DEV_NORMAL; + msg.dev_no = ADC_SENSOR; + msg.cmd_no = cmd; + switch (cmd) + { + case MOTOR_MOVE: + msg.len = 5; // 方向1个字节，角度4个字节 + break; + case MOTOR_STOP: + msg.len = 0; + break; + } + index = DATA_INDEX; + osel_memcpy(buf, (uint8_t *)&msg, index); + + if (cmd == MOTOR_MOVE) + { + motor_param.dir = DIR_CW; + motor_param.angle = 1.2; + } + osel_memcpy((uint8_t *)&buf[index], (uint8_t *)&motor_param, sizeof(motor_ctrl_t)); + index += sizeof(motor_ctrl_t); + // 校验 + buf[index] = xor_compute((uint8_t *)&buf[1], (index - 1)); // 减掉包头 + index += 1; + // 包尾 + buf[index] = PACKET_ETX; + index += 1; + // 帧长度 ver_len = index; return ver_len; } @@ -421,6 +469,7 @@ void test_process(void) len = test_sensor_cmd(self_test.cmd_id, buf); break; case TEST_DEV_MOTOR: + len = test_motor_cmd(self_test.cmd_id, buf); break; default: break; diff --git a/User/board/board.h b/User/board/board.h index d878daa..9b3cb67 100644 --- a/User/board/board.h +++ b/User/board/board.h @@ -68,10 +68,12 @@ typedef enum // 传感器命令号 typedef enum { - GET_TORSION_VALUE, // 扭力 - GET_PRESSURE_VALUE, // 压力 - GET_FLOW_VALUE, // 流量 - GET_ALL_VALUE, // 全部 + GET_TORSION_VALUE, // 扭力 + GET_INPUT_PRESS_VALUE, // 输入压力 + GET_OUTPUT_PRESS_VALUE, // 输出压力 + GET_INPUT_FLOW_VALUE, // 输入流量 + GET_OUTPUT_FLOW_VALUE, // 输出流量 + GET_ALL_VALUE, // 全部 } sensor_cmd_e; // 状态码 @@ -117,12 +119,10 @@ typedef struct extern uint16_t sensor_adc[GET_ALL_VALUE]; extern void board_init(void); -extern uint16_t get_torsion_adc(void); +extern uint16_t get_sensor_adc(uint8_t id); extern float32 torsion_detect(void); -extern uint16_t get_pressure_adc(void); -extern float32 pressure_detect(void); -extern uint16_t get_flow_adc(void); -extern float32 flow_detect(void); +extern float32 pressure_detect(uint8_t id); +extern float32 flow_detect(uint8_t id); extern void host_rx_msg_deal(void); extern void motor_process_init(void); extern void test_process(void); diff --git a/User/board/motor.h b/User/board/motor.h index 7b639b0..ee6cd75 100644 --- a/User/board/motor.h +++ b/User/board/motor.h @@ -15,8 +15,8 @@ typedef struct MOTOR motor_t; typedef enum { - DIR_CCW = 0, /* 逆时针旋转 */ - DIR_CW, /* 顺时针旋转 */ + DIR_CW = 0, /* 顺时针旋转 */ + DIR_CCW, /* 逆时针旋转 */ } dir_e; typedef enum { diff --git a/motor.ioc b/motor.ioc index 065765a..9cdc193 100644 --- a/motor.ioc +++ b/motor.ioc @@ -57,18 +57,20 @@ Mcu.Name=STM32L072R(B-Z)Tx Mcu.Package=LQFP64 Mcu.Pin0=PH0-OSC_IN Mcu.Pin1=PH1-OSC_OUT -Mcu.Pin10=PA14 -Mcu.Pin11=VP_SYS_VS_Systick -Mcu.Pin12=VP_TIM6_VS_ClockSourceINT -Mcu.Pin2=PC3 -Mcu.Pin3=PB12 -Mcu.Pin4=PB13 -Mcu.Pin5=PB14 -Mcu.Pin6=PB15 -Mcu.Pin7=PA9 -Mcu.Pin8=PA10 -Mcu.Pin9=PA13 -Mcu.PinsNb=13 +Mcu.Pin10=PA10 +Mcu.Pin11=PA13 +Mcu.Pin12=PA14 +Mcu.Pin13=VP_SYS_VS_Systick +Mcu.Pin14=VP_TIM6_VS_ClockSourceINT +Mcu.Pin2=PC0 +Mcu.Pin3=PC3 +Mcu.Pin4=PB0 +Mcu.Pin5=PB12 +Mcu.Pin6=PB13 +Mcu.Pin7=PB14 +Mcu.Pin8=PB15 +Mcu.Pin9=PA9 +Mcu.PinsNb=15 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32L072RBTx @@ -93,6 +95,8 @@ PA14.Mode=Serial_Wire PA14.Signal=SYS_SWCLK PA9.Mode=Asynchronous PA9.Signal=USART1_TX +PB0.Mode=IN8 +PB0.Signal=ADC_IN8 PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_Label PB12.GPIO_Label=ENA PB12.GPIO_Speed=GPIO_SPEED_FREQ_HIGH @@ -110,6 +114,8 @@ PB15.GPIOParameters=GPIO_PuPd,GPIO_Label PB15.GPIO_Label=STOPPER PB15.GPIO_PuPd=GPIO_PULLUP PB15.Signal=GPXTI15 +PC0.Mode=IN10 +PC0.Signal=ADC_IN10 PC3.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_Mode PC3.GPIO_Label=MG_ADC_IN13 PC3.GPIO_Mode=GPIO_MODE_ANALOG