void temperature() //电容器温度检测
{
u16 adc_tmp1=0,adc_tmp2=0;
adc_tmp1=Get_Adc_Average(ADC_Channel_5,10);
adc_tmp2=Get_Adc_Average(ADC_Channel_6,10);
tempshuzhi=(u8)(258-((adc_tmp1*255)/4096));
}
void Avoid_Confict(void)
{
infrared_data1 = Get_Adc_Average(0);
infrared_data2 = Get_Adc_Average(1);
distance1 = -17.59*log(infrared_data1)+ 146.48;
distance2 = -15.95*log(infrared_data2)+ 134.42;
infrared_data3 = Get_Adc_Average(2); //风扇机械臂红外数据
fanheight = -15.95*log(infrared_data3)+ 134.42; //最佳离跑道高度15
ave_distance = (distance1+distance2)/2.0 ;
xielv = (distance1-distance2)/50.0; //底盘机器人红外安装间距50mm
if(ave_distance<25)
{
if(ave_distance<10)
{
Speed.vy = -20;
}
else if(ave_distance>15)
{
Speed.vy = 20;
}
else
{
Speed.vy = 0;
}
if(xielv<0)
{
Speed.wz = -5;
}
else if(xielv>0)
{
Speed.wz = 5;
}
else
{
Speed.wz = 0;
}
}
else
{
Speed.vy = 0;
Speed.wz = 0;
}
}
/*
摇杆数据采集
输入参数为美国手和日本手
*/
void GetAD(unsigned char RomoteMode)
{
switch(RomoteMode)
{
/*以下为美国手的对应关系*/
case America:
Throttle=Throttle_Offest + 99- (100*Get_Adc_Average(3,15))/4096;//采集油门摇杆的位置，由于硬件原因，需要用100-采集值
Throttle=(Throttle<=0)?0:Throttle; //越界判断
Throttle=(Throttle>=99)?99:Throttle; //越界判断
Pitch=Pitch_Mid + Pitch_Offest + (100*Get_Adc_Average(1,15))/4096;//采集俯仰摇杆的位置，赋值给对应的俯仰变量
Pitch=(Pitch<=0)?0:Pitch; //越界判断
Pitch=(Pitch>=99)?99:Pitch; //越界判断
Roll=Roll_Mid + Roll_Offest + (100*Get_Adc_Average(0,15))/4096;//采集横滚摇杆位置，赋值给对应的横滚变量
Roll=(Roll<=0)?0:Roll; //越界判断
Roll=(Roll>=99)?99:Roll; //越界判断
Yaw=Yaw_Mid + Yaw_Offest + (100*Get_Adc_Average(2,15))/4096;//采集横滚摇杆位置，赋值给对应的偏航角
Yaw=(Yaw<=0)?0:Yaw; //越界判断
Yaw=(Yaw>=99)?99:Yaw; //越界判断
// Battery=(100*Get_Adc_Average(8,15))/2600;//采集遥控电池电压，赋值飞对应的电池变量
// Battery=(Battery>=99)?99:Battery; //越界判断
//
break;
/*以下为日本手的对应关系*/
case Japan:
Throttle=Pitch_Mid + Throttle_Offest + (100*Get_Adc_Average(1,15))/4096;//采集油门摇杆的位置，由于硬件原因，需要用100-采集值
Throttle=(Throttle<=0)?0:Throttle; //越界判断
Throttle=(Throttle>=99)?99:Throttle; //越界判断
Pitch=Pitch_Mid + Pitch_Offest+ 99 -(100*Get_Adc_Average(3,15))/4096;//采集俯仰摇杆的位置，赋值给对应的俯仰变量
Pitch=(Pitch<=0)?0:Pitch; //越界判断
Pitch=(Pitch>=99)?99:Pitch; //越界判断
Roll=Roll_Mid + Roll_Offest + (100*Get_Adc_Average(0,15))/4096;//采集横滚摇杆位置，赋值给对应的横滚变量
Roll=(Roll<=0)?0:Roll; //越界判断
Roll=(Roll>=99)?99:Roll; //越界判断
Yaw=Yaw_Mid + Yaw_Offest + (100*Get_Adc_Average(2,15))/4096;//采集横滚摇杆位置，赋值给对应的偏航角
Yaw=(Yaw<=0)?0:Yaw; //越界判断
Yaw=(Yaw>=99)?99:Yaw; //越界判断
// Battery=(100*Get_Adc_Average(8,15))/2600; //采集遥控电池电压，赋值飞对应的电池变量
// Battery=(Battery>=99)?99:Battery; //越界判断
//
break;
}
}
int main(void)
{
u16 adcx;
float temp;
delay_init(); //延时函数初始化
uart_init(9600); //串口初始化为9600
LED_Init(); //初始化与LED连接的硬件接口
LCD_Init();
Adc_Init(); //ADC初始化
POINT_COLOR=RED;//设置字体为红色
LCD_ShowString(60,50,200,16,16,"Mini STM32");
LCD_ShowString(60,70,200,16,16,"ADC TEST");
LCD_ShowString(60,90,200,16,16,"ATOM@ALIENTEK");
LCD_ShowString(60,110,200,16,16,"2014/3/9");
//显示提示信息
POINT_COLOR=BLUE;//设置字体为蓝色
LCD_ShowString(60,130,200,16,16,"ADC_CH1_VAL:");
LCD_ShowString(60,150,200,16,16,"ADC_CH1_VOL:0.000V");
while(1)
{
adcx=Get_Adc_Average(ADC_Channel_1,10);
LCD_ShowxNum(156,130,adcx,4,16,0);//显示ADC的值
temp=(float)adcx*(3.3/4096);
adcx=temp;
LCD_ShowxNum(156,150,adcx,1,16,0);//显示电压值
temp-=adcx;
temp*=1000;
LCD_ShowxNum(172,150,temp,3,16,0X80);
LED0=!LED0;
delay_ms(250);
}
}
u16 get_angle(void)
{
u16 adcx;
adcx=Get_Adc_Average(ADC_Channel_5,2);
adcx=0.11613*adcx;
return adcx;
}
//获取模拟端口数据
void GetAngolags(u8 ch,int chNum)
{
adcx=Get_Adc_Average(ch,10);
PacketBuf[24+5*chNum]=ToHex(adcx/1000);
PacketBuf[25+5*chNum]=ToHex(adcx%1000/100);
PacketBuf[26+5*chNum]=ToHex(adcx%100/10);
PacketBuf[27+5*chNum]=ToHex(adcx%10);
}
//获取STM32内部温度传感器的温度
//temp:存放温度字符串的首地址.如"28.3";
//temp,最少得有5个字节的空间!
void get_temperature(u8 *temp)
{
u16 t;
float temperate;
temperate=Get_Adc_Average(ADC_CH_TEMP,10);
temperate=temperate*(3.3/4096);
temperate=(1.43-temperate)/0.0043+25; //计算出当前温度值
t=temperate*10;//得到温度
num2str(t/10,temp,2);
temp[2]='.';temp[3]=t%10+'0';temp[4]=0; //最后添加结束符
}
//返回值：电量等级
u8 GetBatteryPower(void)
{
u16 batteryValue; //电量AD值
batteryValue = Get_Adc_Average(ADC_Channel_9,5);
if(batteryValue > 3722) battery = 9; //>8v
else if((batteryValue > 3629) && (batteryValue <= 3722 )) battery = 8; //7.8v-8v
else if((batteryValue > 3542) && (batteryValue <= 3629)) battery = 7; //7.6v-7.8v
else if((batteryValue > 3447) && (batteryValue <= 3542)) battery = 6; //7.4v-7.6v
else if((batteryValue > 3352) && (batteryValue <= 3447)) battery = 5; //7.2v-7.4v
else if((batteryValue > 3261) && (batteryValue <= 3352)) battery = 4; //7.0v-7.2v
else if((batteryValue > 3168) && (batteryValue <= 3261)) battery = 3; //6.8v-7.0v
else if((batteryValue > 3076) && (batteryValue <= 3168)) battery = 2; //~6.6v-6.8v
else battery = 1;
return battery;
}
void controlClibra(void)
{
static u8 i;
uint16_t sum[4]={0,0,0,0};
static int8_t lednum=1;
static int8_t clibrasumNum = 20;
if((ClibraFlag == FAIL))//校准失败
{
for(i=0;i<clibrasumNum;i++)
{
#ifdef AMERICAN_RC_MODE
sum[0] += 1000 + (1000 - (1000*Get_Adc_Average(3,15))/4096);
sum[1] += 1000 + (1000*Get_Adc_Average(1,15))/4096;
#else
sum[0] += 1000 + (1000*Get_Adc_Average(1,15))/4096;
sum[1] += 1000 + (1000 - (1000*Get_Adc_Average(3,15))/4096);
#endif
sum[2] += 1000 + (1000*Get_Adc_Average(0,15))/4096;
sum[3] += 1000 + (1000*Get_Adc_Average(2,15))/4096;
delay_ms(100);
if(++lednum == led5 + 2)lednum = 2;
LedSet(lednum - 1,0);
LedSet(lednum ,1);
}
Throttle_Calibra = sum[0]/i;
Pitch_Calibra = sum[1]/i;
Roll_Calibra = sum[2]/i;
Yaw_Calibra = sum[3]/i;
// Throttle_Calibra = 1500;
// Pitch_Calibra = 1500;
// Roll_Calibra = 1500;
// Yaw_Calibra = 1500;
LoadRCdata(); //摇杆赋值
if((Throttle>=1510)||(Throttle<1490)||(Pitch>=1510)||(Pitch<=1490)||(Roll>=1510)||(Roll<=1490)||(Yaw>=1510)||(Yaw<=1490))
ClibraFlag = FAIL;//校准失败
else ClibraFlag = OK;//校准成功标志
SaveParamsToEEPROM();
LedSet(led2,0);LedSet(led3,0);LedSet(led4,0);LedSet(led5,0);
}
}
/*
摇杆数据采集
输入参数为美国手和日本手
*/
void LoadRCdata(void)
{
/*以下为美国手的对应关系*/
#ifdef AMERICAN_RC_MODE
Throttle=1500 - (Throttle_Calibra-(1000 + (1000 - (1000*Get_Adc_Average(3,15))/4096)));//采集油门摇杆的位置，由于硬件原因，需要用100-采集值
Throttle=(Throttle<=1000)?1000:Throttle; //越界判断
Throttle=(Throttle>=2000)?2000:Throttle; //越界判断
Pitch= 1500 - (Pitch_Calibra - (1000 + (1000*Get_Adc_Average(1,15))/4096));//采集俯仰摇杆的位置，赋值给对应的俯仰变量
Pitch=(Pitch<=1000)?1000:Pitch; //越界判断
Pitch=(Pitch>=2000)?2000:Pitch; //越界判断
Roll= 1500 - (Roll_Calibra - (1000 + (1000*Get_Adc_Average(0,15))/4096));//采集横滚摇杆位置，赋值给对应的横滚变量
Roll=(Roll<=1000)?1000:Roll; //越界判断
Roll=(Roll>=2000)?2000:Roll; //越界判断
Yaw= 1500 - (Yaw_Calibra - (1000 + (1000*Get_Adc_Average(2,15))/4096));//采集横滚摇杆位置，赋值给对应的偏航角
Yaw=(Yaw<=1000)?1000:Yaw; //越界判断
Yaw=(Yaw>=2000)?2000:Yaw; //越界判断
#else
/*以下为日本手的对应关系*/
Throttle=1500 - (Throttle_Calibra - (1000 + (1000*Get_Adc_Average(1,15))/4096));//采集油门摇杆的位置，由于硬件原因，需要用100-采集值
Throttle=(Throttle<=1000)?1000:Throttle; //越界判断
Throttle=(Throttle>=2000)?2000:Throttle; //越界判断
Pitch= 1500 - (Pitch_Calibra-(1000 + (1000 - (1000*Get_Adc_Average(3,15))/4096)));//采集俯仰摇杆的位置，赋值给对应的俯仰变量
Pitch=(Pitch<=1000)?1000:Pitch; //越界判断
Pitch=(Pitch>=2000)?2000:Pitch; //越界判断
Roll= 1500 - (Roll_Calibra - (1000 + (1000*Get_Adc_Average(0,15))/4096));//采集横滚摇杆位置，赋值给对应的横滚变量
Roll=(Roll<=1000)?1000:Roll; //越界判断
Roll=(Roll>=2000)?2000:Roll; //越界判断
Yaw= 1500 - (Yaw_Calibra - (1000 + (1000*Get_Adc_Average(2,15))/4096));//采集横滚摇杆位置，赋值给对应的偏航角
Yaw=(Yaw<=1000)?1000:Yaw; //越界判断
Yaw=(Yaw>=2000)?2000:Yaw; //越界判断
#endif
}
void joystickScan_View(void)
{
uint16_t AdcValue;
float Voltage;
uint8_t key;
static uint8_t ciri = 0, cirj = 0;
key = (JoyStick_Scan(0));
if(key)
{
ciri = 0;
AdcValue = Get_Adc_Average(ADC1, ADC_Channel_0); //读取摇杆的ADC值
OLED_ShowxNum(32, 16, AdcValue, 3, 16, 0x03); //显示ADC的值
Voltage = (float)AdcValue * (3.3 / 4096);
AdcValue = Voltage;
OLED_ShowxNum(64, 16, AdcValue, 1, 16, 0x01); //显示电压值
Voltage -= AdcValue;
Voltage *= 1000;
OLED_ShowxNum(80, 16, Voltage, 3, 16, 0x81);
switch(key)
{
case KEY_CENTER:
OLED_ShowString(0, 32, "KEY_CENTER");
break;
case KEY_UP:
OLED_ShowString(0, 32, "KEY_UP ");
break;
case KEY_LEFT:
OLED_ShowString(0, 32, "KEY_LEFT ");
break;
case KEY_DOWN:
OLED_ShowString(0, 32, "KEY_DOWN ");
break;
case KEY_RIGHT:
OLED_ShowString(0, 32, "KEY_RIGHT ");
break;
case KEY_NONE:
break;
default:
break;
}
}
OLED_Refresh_Gram();
delay_ms(10);
ciri++;
if(ciri > 25)
{
cirj++;
if(!key && cirj > 4)
{
cirj = 0;
AdcValue = Get_Adc_Average(ADC1, ADC_Channel_0); //读取摇杆的ADC值
OLED_ShowxNum(32, 16, AdcValue, 3, 16, 0x03); //显示ADC的值
Voltage = (float)AdcValue * (3.3 / 4096);
AdcValue = Voltage;
OLED_ShowxNum(64, 16, AdcValue, 1, 16, 0x01); //显示电压值
Voltage -= AdcValue;
Voltage *= 1000;
OLED_ShowxNum(80, 16, Voltage, 3, 16, 0x81);
OLED_ShowString(0, 32, "KEY_NONE ");
}
ciri = 0;
}
}
//返回电池电压AD值
int GetBatteryAD()
{
return Get_Adc_Average(8,5);
}
void gonglvyinshu()
{
u16 i;
u32 tempa,tempb;
u16 adc_vx,adc_vmax=0,adc_ix,adc_imax=0;
u8 phase_zhi;
float temp;
id_num=AT24CXX_ReadOneByte(0x0010);
// key_idset();
for(i=0;i<120;i++)
{
adc_vx=Get_Adc_Average(ADC_Channel_1,10);
// adc_vx=Get_Adc(ADC_Channel_1);
if(adc_vx>adc_vmax)
adc_vmax=adc_vx;
}
for(i=0;i<120;i++)
{
adc_ix=Get_Adc_Average(ADC_CH4,10);
if(adc_ix>adc_imax)
adc_imax=adc_ix;
}
temp=(float)adc_vmax*(3.3/4096);
dianya_zhi=(u16)(518*temp-679);
temp=(float)adc_imax*(3.3/4096);
dianliuzhi=(u32)(60*temp-80);
adc_vmax=0;
adc_imax=0;
if(dianliuzhi<7){dianliuzhi=0;gonglvshishu=100;}//滤除杂波，小于7时，说明已经无负载
else{
if(TIM3CH1_CAPTURE_STA&0X80)//完成一次采集
{
tempa=TIM3CH1_CAPTURE_STA&0X3F;
tempa*=65536; //溢出时间总和
tempa+=TIM3CH1_CAPTURE_VAL; //得到TI1端信号周期时间
tempb=TIM3CH1_CAPTURE_STA&0X3F;
tempb*=65536; //溢出时间总和
tempb+=TIM3CH1_CAPTURE_PHA; //得到TI2 TI1上升沿时间差值即相位差时间
if(tempb<=5000) //感性负载正接
{
phase_zhi=tempb*360/tempa;
gonglvshishu=si[phase_zhi];
L_C_flag=1;
}
if((10000<=tempb)&&(tempb<=15000)) //感性负载反接
{
phase_zhi=((tempb*360)/tempa)-180;
gonglvshishu=si[phase_zhi];
L_C_flag=1;
}
if((5000<tempb)&&(tempb<10000)) //容性负载正接
{
/*显示容性功率符号*/
phase_zhi=180-tempb*360/tempa;
gonglvshishu=si[phase_zhi];
L_C_flag=0;
}
if((15000<tempb)&&(tempb<20000)) //容性负载反接
{
/*显示容性功率符号*/
phase_zhi=360-tempb*360/tempa;
gonglvshishu=si[phase_zhi];
L_C_flag=0;
}
}
wugongkvar=(uint16_t)((1.732*dianliuzhi*dianya_zhi*k*co[phase_zhi])/1000000);
wugong_95= (uint16_t)((17.32*dianliuzhi*dianya_zhi*k*31)/1000000);//功率因素在0.95时的，无功功�
wugong_computer=(uint16_t)((17.32*dianliuzhi*dianya_zhi*k*co[phase_zhi])/1000000);
wugongkvar=wugong_computer;
TIM3CH1_CAPTURE_STA=0; //开启下一次捕获
}
//无功功率
}
u16 power_computer()
{
u16 i;
u32 tempa=0,tempb=0;
u16 adc_vx=0,adc_vmax=0,adc_ix=0,adc_imax=0;
u8 phase_zhi=0;
float temp=0;
id_num=AT24CXX_ReadOneByte(0x0010);
key_idset();
for(i=0;i<120;i++)
{
adc_vx=Get_Adc_Average(ADC_Channel_1,10);
// adc_vx=Get_Adc(ADC_Channel_1);
if(adc_vx>adc_vmax)
adc_vmax=adc_vx;
}
for(i=0;i<120;i++)
{
adc_ix=Get_Adc_Average(ADC_CH4,10);
if(adc_ix>adc_imax)
adc_imax=adc_ix;
}
temp=(float)adc_vmax*(3.3/4096);
dianya_zhi=(u16)(518*temp-660);
temp=(float)adc_imax*(3.3/4096);
dianliuzhi=(u32)(60*temp-80);
adc_vmax=0;
adc_imax=0;
if(TIM3CH1_CAPTURE_STA&0X80)//完成一次采集
{
tempa=TIM3CH1_CAPTURE_STA&0X3F;
tempa*=65536; //溢出时间总和
tempa+=TIM3CH1_CAPTURE_VAL; //得到TI1端信号周期时间
tempb=TIM3CH1_CAPTURE_STA&0X3F;
tempb*=65536; //溢出时间总和
tempb+=TIM3CH1_CAPTURE_PHA; //得到TI2 TI1上升沿时间差值即相位差时间
if(tempb<=5000) //感性负载正接
{
phase_zhi=tempb*360/tempa;
gonglvshishu=si[phase_zhi];
}
if((10000<=tempb)&&(tempb<=15000)) //感性负载反接
{
phase_zhi=((tempb*360)/tempa)-180;
gonglvshishu=si[phase_zhi];
}
if((5000<tempb)&&(tempb<10000)) //容性负载正接
{
/*显示容性功率符号*/
phase_zhi=180-tempb*360/tempa;
gonglvshishu=si[phase_zhi];
}
if((15000<tempb)&&(tempb<20000)) //容性负载反接
{
/*显示容性功率符号*/
phase_zhi=360-tempb*360/tempa;
gonglvshishu=si[phase_zhi];
}
// wugongkvar=(uint16_t)(1.732*dianliuzhi*dianya_zhi*k*co[phase_zhi]);
TIM3CH1_CAPTURE_STA=0; //开启下一次捕获
return gonglvshishu;
}
return gonglvshishu;
//无功功率
}
