double HY3131DMMLib::Measure2(int8_t index){
busyState=true;
RawData=0.0;ADCDigital=0;
if(index==AC50mV || index==AC500mV ||index==AC5V || index==AC50V ||index==AC500V ||index==AC1000V || index==AC500uA || index==AC5mA ||index==AC50mA || index==AC500mA || index==AC10A){
if(minus==true)
minus=false;
RMSData=readRMS();
if(reg4>0)// && index!=AC5V && index!=AC500uA && index!=AC5mA && index!=AC50mA && index!=AC500mA && index!=AC10A)
return 999999999;
else
RawData = (double)RMSData;
}
else{
ADCDigital=readADC1();
if ((ADCDigital < 0) || (ADCDigital > 0x800000)) {
ADCDigital = ~(ADCDigital | 0xFF000000);
minus=true;
}else
minus=false;
if(ADCDigital==0x7ffffe)
return 999999999;
else
RawData=(double)ADCDigital;
}
if(minus==true)
RawData=RawData*-1;
busyState=false;
qDebug()<<"Raw Data- Before GAin & Offset:"<<RawData;
return RawData;
}
uint8_t readDIPSwitch(void)
{
/*
Voltage step for each ADC division (4095 divisions) = 0.00080586 V
VOLTAGE = ADC*(3.3/4095.0)
ADC resolution is 12bit => 4096 values
Dipswitch with 3 contact
000 = 0 = 3.3 V => readADC = 4095
001 = 1 = 2.27 V => readADC = 2816
010 = 2 = 1.96 V => readADC = 2432
011 = 3 = 1.54 V => readADC = 1911
100 = 4 = 1.32 V => readADC = 1638
101 = 5 = 1.12 V => readADC = 1389
110 = 6 = 1.04 V => readADC = 1290
111 = 7 = 0.9075 V => readADC = 1126
*/
uint32_t k=0;
uint8_t i;
// Average 30 readings
for (i=0; i<30; i++)
k += readADC1(ADC_Channel_0);
k /= 30;
if (k>3500) return 0;
if ((k>2750)&&(k<3500)) return 1;
if ((k>2200)&&(k<2750)) return 2;
if ((k>1800)&&(k<2200)) return 3;
if ((k>1550)&&(k<1800)) return 4;
if ((k>1350)&&(k<1550)) return 5;
if ((k>1250)&&(k<1350)) return 6;
if (k<1250) return 7;
// Else return value 8, ERROR
return 8;
}
int main(void) {
leds_init();
adc_init();
unsigned int bin_code;
double voltage_x,voltage_y,voltage_z;
do {
bin_code = readADC1(ADC_Channel_1);
voltage_x = bin_code*2.96 / 0xfff;
//Delay(500000);
bin_code = readADC1(ADC_Channel_3);
voltage_y = bin_code*2.96 / 0xfff;
//Delay(500000);
bin_code = readADC1(ADC_Channel_5);
voltage_z = bin_code*2.96 / 0xfff;
//Delay(500000);
} while (1);
}
float readPorcentajeADC1(){
uint16_t valorVoltaje;
float valorPorcentaje;
valorVoltaje= readADC1();
valorPorcentaje= ((float)valorVoltaje/VALOR_MAX_ADC )*100;
return valorPorcentaje;
return valorVoltaje;
}
void TIM2_IRQHandler()
{
char str[10];
uint16_t data;
if(TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
{
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
GPIOB->ODR ^= 0x02;
data = readADC1(10);
sprintf(str, "%d\n", data);
UART_puts(str);
}
}
//----------------------------------------------------------------------------------------------------
int main(void)
{
Initialization_All();
uint8_t pat_count, counter1, meandre_ok = 0;
SysTick_Config(SystemCoreClock / 1000);//200000
if (Button_test() == false) state_err[4] = 0x04; //button on test
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_0) == 0) state_err[6] = 0x06; //LV1 error
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_1) == 0) state_err[8] = 0x08; //LV2 error
if (meandr_test(GPIOB, GPIO_Pin_0) == true) state_err[7] = 0x07; //short-circuit K1
if (meandr_test(GPIOB, GPIO_Pin_1) == true) {state_err[9] = 0x09; //emission in process \/ monoblok isn't connected
Emission(true); Beeper(true);} //вкл индикатор излучение, вкл бипер
Display(&display, struct_sample.voltage_correction*struct_sample.man_exposition*20);//длительность экспозиции мс
//main loop
while(1)
{
wait_label:
// while B_SAFE and B_FILM is ON, do get voltage and output to display
if (Button_OnClick(B_SAFE) && Button_OnClick(B_FILM)) {
DI_Display(&display, readADC1(), 0);
}
meandr_auto();
// Выбор пациента
if(Button_OnClick(B_PAT) == 1) ++pat_count;
if (pat_count > 3) pat_count = 1;
switch(pat_count) {
case 1: {GPIO_SetBits(GPIOB, GPIO_Pin_3); GPIO_ResetBits(GPIOD, GPIO_Pin_6); GPIO_ResetBits(GPIOD, GPIO_Pin_4); \
DI_Display(&display, 3, 0);\
struct_sample.patient_type = PAT1;} break;
case 2: {GPIO_ResetBits(GPIOB, GPIO_Pin_3); GPIO_SetBits(GPIOD, GPIO_Pin_6); GPIO_ResetBits(GPIOD, GPIO_Pin_4);\
DI_Display(&display, 33, 0);\
struct_sample.patient_type = PAT2;} break;
case 3: {GPIO_ResetBits(GPIOB, GPIO_Pin_3); GPIO_ResetBits(GPIOD, GPIO_Pin_6); GPIO_SetBits(GPIOD, GPIO_Pin_4);\
DI_Display(&display, 111, 0);\
struct_sample.patient_type = PAT3;} break;
default:{GPIO_ResetBits(GPIOB, GPIO_Pin_3); GPIO_ResetBits(GPIOD, GPIO_Pin_6); GPIO_ResetBits(GPIOD, GPIO_Pin_4);} break;
}
//Выбор пленки
if(Button_OnClick(B_FILM) == 1) ++film_count;
if (film_count > 3) film_count = 1;
switch(pat_count) {
case 1: {GPIO_SetBits(GPIOA, GPIO_Pin_15); GPIO_ResetBits(GPIOA, GPIO_Pin_13); GPIO_ResetBits(GPIOA, GPIO_Pin_9);\
struct_sample.film = FILM_1;} break;
case 2: {GPIO_ResetBits(GPIOA, GPIO_Pin_15);GPIO_SetBits(GPIOA, GPIO_Pin_13); GPIO_ResetBits(GPIOA, GPIO_Pin_9);\
struct_sample.film = FILM_2;} break;
case 3: {GPIO_ResetBits(GPIOA, GPIO_Pin_15);GPIO_ResetBits(GPIOA, GPIO_Pin_13); GPIO_SetBits(GPIOA, GPIO_Pin_9);\
struct_sample.film = FILM_3;} break;
default:{GPIO_ResetBits(GPIOA, GPIO_Pin_15);GPIO_ResetBits(GPIOA, GPIO_Pin_13); GPIO_ResetBits(GPIOA, GPIO_Pin_9);} break;
}
// Кнопка безопасности
if(Button_OnClick(B_SAFE) == 1) {
if (!b_Safe) {
GPIO_SetBits(GPIOC, GPIO_Pin_9);
b_Safe = 1;// safe
}
else if(b_Safe) {
GPIO_ResetBits(GPIOC, GPIO_Pin_9);
b_Safe = 0;// safe
}
}
//buttons released
Button_OnClick(B_EXP)? (b_Exp = 1):(b_Exp = 0);
Button_OnClick(B_PLUS)? (b_Plus = 1):(b_Plus = 0);
Button_OnClick(B_MINUS)?(b_Minus = 1):(b_Minus = 0);
Button_OnClick(B_FILM)? (b_Film = 1):(b_Film = 0);
Button_OnClick(B_UIN)? (b_Uin = 1):(b_Uin = 0);
/*if (Button_OnClick(B_EXP) == 1)
b_Exp = 1;
if (Button_OnClick(B_PLUS) == 1)
b_Plus = 1;
if (Button_OnClick(B_MINUS) == 1)
b_Minus = 1;
if (Button_OnClick(B_FILM) == 1)
b_Film = 1;
if (Button_OnClick(B_UIN) == 1)
b_Uin = 1;
*/
//Выбор зуба
if (Button_OnClick(B_UPM) == 1){
TOOTH_IND_ON('upm') ;
struct_sample.tooth = UPM;
}
if (Button_OnClick( B_UMO) == 1){
TOOTH_IND_ON('umo') ;
struct_sample.tooth = UMO;
}
if (Button_OnClick(B_DIN) == 1){
TOOTH_IND_ON('din') ;
struct_sample.tooth = DIN;
}
if (Button_OnClick(B_DPM) == 1){
TOOTH_IND_ON('dpm') ;
struct_sample.tooth = DPM;
}
if (Button_OnClick(B_UIN) == 1){
TOOTH_IND_ON('uin') ;
struct_sample.tooth = UIN;
}
if (Button_OnClick(B_DMO) == 1){
TOOTH_IND_ON('dmo') ;
struct_sample.tooth = DMO;
}
//====================================================================================
// starting mode
//====================================================================================
if (mode_emit == starting)
{
//ошибка при преждевременном отпускании кнопки экспозиции
if (Button_OnClick(B_EXP) == 1){
uint8_t i = 0;
for(i = 0; i <= 5; i++){
voltage += readADC1();
delay_ms(20);
}
if ((voltage = voltage/i) < 2)//volt < 192V
{state_err[1] = 0x01; mode_emit = idle; goto wait_label;}
if ((voltage = voltage/i) > 3)//volt > 247V
{state_err[2] = 0x02; mode_emit = idle; goto wait_label;}
delay_ms(100);
if (meandr_test(GPIOB, GPIO_Pin_0) == false)
{state_err[1] = 0x01; mode_emit = idle; goto wait_label;}
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_1) == 0)
{state_err[6] = 0x06; mode_emit = idle; goto wait_label;}
if (meandr_test(GPIOB, GPIO_Pin_1) == 1)
{state_err[9] = 0x09; mode_emit = idle;
Emission(true); Beeper(true);}//light ON, beeper ON
if ((GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_1) == 1)&(meandr_test(GPIOB, GPIO_Pin_0) == true))
{mode_emit = emit;}
}
}
// starting mode
if (mode_emit == emit)
{
Display(&display, struct_sample.voltage_correction);
if (cntr_imp >= imp_len)
{
// stopEmission();
mode_emit = idle;
goto wait_label;
}
}
}//while(1)
}//main()
u_int32_t HY3131DMMLib::readPKHMAX(){
return (readADC1(0x11,0x12,0x13));
}
u_int32_t HY3131DMMLib::readPKHMIN(){
return (readADC1(0x0E,0x0F,0x10));
}
u_int32_t HY3131DMMLib::readLPF(){
return (readADC1(0x06,0x07,0x08));
}
u_int32_t HY3131DMMLib::readADC2(){
return (readADC1(0x03,0x04,0x05));
}
int main(void)
{
Delay_ms(100);
Periph_clock_enable();
GPIO_Config();
Usart4Init();
I2C_Config();
ADC_Config();
MPU6050_Init();
Timer1_Config();
Timer8_Config();
Timer2_Config();
Timer5_Config();
Timer4_Config();
Timer3_Config();//RC control timer
NVIC_Configuration();
EXTI_Config();
TIM_Cmd(TIM5, ENABLE);
TIM_CtrlPWMOutputs(TIM5, ENABLE);
for (i = 1 ; i < 1 ; i++) ; //small delay before starting Timer4
TIM_Cmd(TIM4, ENABLE);
TIM_CtrlPWMOutputs(TIM4, ENABLE);
Delay_ms(100);
for (i = 0; i < configDataSize; i++) //reads configuration from eeprom
{
ReadFromEEPROM(i);
configData[i] = EepromData;
Delay_ms(5);
}
I2C_AcknowledgeConfig(I2C2, ENABLE);
Delay_ms(100);
while (1)
{
LEDon;
DEBUG_LEDon;
while (ConfigMode == 1)
{
TimerOff(); //Configuration loop
}
MPU6050_ACC_get();//Getting Accelerometer data
acc_roll_angle = -(atan2(accADC_x, accADC_z)) + (configData[11] - 50.00) * 0.0035; //Calculating pitch ACC angle+callibration
acc_pitch_angle = +(atan2(accADC_y, accADC_z)); //Calculating roll ACC angle
MPU6050_Gyro_get();//Getting Gyroscope data
acc_roll_angle_vid = ((acc_roll_angle_vid * 99.00) + acc_roll_angle) / 100.00; //Averaging pitch ACC values
acc_pitch_angle_vid = ((acc_pitch_angle_vid * 99.00) + acc_pitch_angle) / 100.00; //Averaging roll ACC values
sinus = sinusas[(int)(rc4)]; //Calculating sinus
cosinus = sinusas[90 - (int)(rc4)]; //Calculating cosinus
ROLL = -gyroADC_z * sinus + gyroADC_y * cosinus;
roll_angle = (roll_angle + ROLL * dt) + 0.0002 * (acc_roll_angle_vid - roll_angle); //Roll Horizon
//ROLL=-gyroADC_z*sinus+gyroADC_y*cosinus;
yaw_angle = (yaw_angle + gyroADC_z * dt); //Yaw
pitch_angle_true = ((pitch_angle_true + gyroADC_x * dt) + 0.0002 * (acc_pitch_angle_vid - pitch_angle_true)); //Pitch Horizon
ADC1Ch1_vid = ((ADC1Ch1_vid * 99.00) + (readADC1(1) / 4000.00)) / 100.00; //Averaging ADC values
ADC1Ch1_vid = 0.00;
rc4_avg = ((rc4_avg * 499.00) + (rc4)) / 500.00; //Averaging RC4 values
pitch_angle = pitch_angle_true - rc4_avg / 57.3; //Adding angle
pitch_angle_correction = pitch_angle * 150.0;
if (pitch_angle_correction > 2.0)
{
pitch_angle_correction = 2.0;
}
if (pitch_angle_correction < -2.0)
{
pitch_angle_correction = -2.0;
}
pitch_setpoint = pitch_setpoint + pitch_angle_correction; //Pitch return to zero after collision
roll_angle_correction = roll_angle * 200.0;
if (roll_angle_correction > 2.0)
{
roll_angle_correction = 2.0;
}
if (roll_angle_correction < -2.0)
{
roll_angle_correction = -2.0;
}
roll_setpoint = roll_setpoint + roll_angle_correction; //Roll return to zero after collision
ADC1Ch13_vid = ((ADC1Ch13_vid * 99.00) + ((readADC1(13) - 2000) / 4000.00)) / 100.00; //Averaging ADC values
if (configData[10] == '0')
{
yaw_angle = (yaw_angle + gyroADC_z * dt) + 0.01 * (ADC1Ch13_vid - yaw_angle); //Yaw AutoPan
}
if (configData[10] == '1')
{
yaw_angle = (yaw_angle + gyroADC_z * dt); //Yaw RCPan
}
yaw_angle_correction = yaw_angle * 50.0;
if (yaw_angle_correction > 1.0)
{
yaw_angle_correction = 1.0;
}
if (yaw_angle_correction < -1.0)
{
yaw_angle_correction = -1.0;
}
yaw_setpoint = yaw_setpoint + yaw_angle_correction; //Yaw return to zero after collision
pitch_PID();//Pitch axis pid
roll_PID(); //Roll axis pid
yaw_PID(); //Yaw axis pid
printcounter++; //Print data to UART
if (printcounter >= 100)
{
//sprintf (buff, " %d %d %c Labas\n\r", ACCread[0], ACCread[1], ACCread[2]);
//sprintf (buff, " %x %x %x %x %x %x Labas\n\r", ACCread[0], ACCread[1], ACCread[2], ACCread[3], ACCread[4], ACCread[5]);
//sprintf (buff, "Labas %d %d\n\r", ACCread[0], ACCread[1]);
//sprintf (buff, "%3.1f %f\n\r", ADC1Ch1_vid*57.3, sinus);
//sprintf (buff, "Labas %f %f %f \n\r", accADC_x, accADC_y, accADC_z);
//sprintf (buff, "%3.1f %3.1f \n\r", acc_roll_angle_vid*57.3, acc_pitch_angle_vid *57.3);
//sprintf (buff, "%3.1f %3.1f \n\r", pitch_angle*57.3, roll_angle*57.3);
//sprintf (buff, "%d\n\r", rc4);
//USART_PutString(buff);
printcounter = 0;
}
stop = 0;
LEDoff;
watchcounter = 0;
while (stop == 0) {} //Closed loop waits for interrupt
}
}
