增加传感器

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);

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;

Core/Src/stm32l0xx_it.c

@@ -198,7 +198,6 @@ 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))
   {

User/app.h

@@ -15,8 +15,10 @@ typedef struct
 typedef struct
 {
     calibration_sensor_data_t torsion_in13;  // 扭力
-    calibration_sensor_data_t pressure_in7; // 压力
+    calibration_sensor_data_t ipressure_in7; // 压力
-    calibration_sensor_data_t pressure_in8; // 流量
+    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

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
+        // 输入压力
-        app.adc.pressure_in7.original_value = get_pressure_adc();
+        app.adc.ipressure_in7.original_value = get_sensor_adc(GET_INPUT_PRESS_VALUE);
-        app.adc.pressure_in7.calibration_value = pressure_detect();
+        app.adc.ipressure_in7.calibration_value = pressure_detect(GET_INPUT_PRESS_VALUE);
-        sensor_adc[GET_PRESSURE_VALUE] = S2B_UINT16(app.adc.pressure_in7.original_value);
+        sensor_adc[GET_INPUT_PRESS_VALUE] = S2B_UINT16(app.adc.ipressure_in7.original_value);
-        // 流量
+        // 输出压力
-        app.adc.pressure_in8.original_value = get_flow_adc();
+        app.adc.opressure_in9.original_value = get_sensor_adc(GET_OUTPUT_PRESS_VALUE);
-        app.adc.pressure_in8.calibration_value = flow_detect();
+        app.adc.opressure_in9.calibration_value = pressure_detect(GET_OUTPUT_PRESS_VALUE);
-        sensor_adc[GET_FLOW_VALUE] = S2B_UINT16(app.adc.pressure_in8.original_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 */
     }

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_sensor_adc(uint8_t id)
-uint16_t get_torsion_adc(void)
 {
-    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
+float32 pressure_detect(uint8_t id)
-uint16_t get_pressure_adc(void)
-{
-    uint16_t adc = adc_get_result_average(IN7);
-    return adc;
-}
-
-float32 pressure_detect(void)
 {
     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
+float32 flow_detect(uint8_t id)
-uint16_t get_flow_adc(void)
-{
-    uint16_t adc = adc_get_result_average(IN8);
-    return adc;
-}
-
-float32 flow_detect(void)
 {
     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;

User/board/board.h

@@ -69,8 +69,10 @@ typedef enum
 typedef enum
 {
     GET_TORSION_VALUE,      // 扭力
-    GET_PRESSURE_VALUE, // 压力
+    GET_INPUT_PRESS_VALUE,  // 输入压力
-    GET_FLOW_VALUE,     // 流量
+    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;
 
@@ -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(uint8_t id);
-extern float32 pressure_detect(void);
+extern float32 flow_detect(uint8_t id);
-extern uint16_t get_flow_adc(void);
-extern float32 flow_detect(void);
 extern void host_rx_msg_deal(void);
 extern void motor_process_init(void);
 extern void test_process(void);

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 = 0, /* 顺时针旋转 */
-    DIR_CW,      /* 顺时针旋转 */
+    DIR_CCW,    /* 逆时针旋转 */
 } dir_e;
 typedef enum
 {

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.Pin10=PA10
-Mcu.Pin11=VP_SYS_VS_Systick
+Mcu.Pin11=PA13
-Mcu.Pin12=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin12=PA14
-Mcu.Pin2=PC3
+Mcu.Pin13=VP_SYS_VS_Systick
-Mcu.Pin3=PB12
+Mcu.Pin14=VP_TIM6_VS_ClockSourceINT
-Mcu.Pin4=PB13
+Mcu.Pin2=PC0
-Mcu.Pin5=PB14
+Mcu.Pin3=PC3
-Mcu.Pin6=PB15
+Mcu.Pin4=PB0
-Mcu.Pin7=PA9
+Mcu.Pin5=PB12
-Mcu.Pin8=PA10
+Mcu.Pin6=PB13
-Mcu.Pin9=PA13
+Mcu.Pin7=PB14
-Mcu.PinsNb=13
+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