342 lines
9.4 KiB
C
342 lines
9.4 KiB
C
#include "APPDEF.H"
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#include "main.h"
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#include "cmsis_os.h"
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float ADCData;
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float slope1,slope2;
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float SetmL = 20;
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float UseuL;
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_Bool CuiQuFlag = false;
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_Bool ZhongHeFlag = false;
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uint16_t CCRV = 300;
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float Blank = 0;
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const uint8_t SampleCupMax = 8;
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float ABSB; // 下吸光度
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struct RunSet
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{
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uint16_t Speed_Stirrer; // 搅拌器速度
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_Bool SampleCup[SampleCupMax]; // 样品杯是否存在
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float AbsU; // 上吸光度
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float ABSB; // 下吸光度
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float SetmL; // 添加萃取液体积
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float UseuL; // 中和液体积
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float Sample_g; // 样品重量
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_Bool RunFlag; // 启动标志位
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};
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float ABSBuf[200];
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float UseuLBuf[200];
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uint16_t BufIndex = 0;
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uint32_t step = 100;
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uint32_t ADCDataBuf[10];
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extern void StirrerCtrl( uint16_t CCRV );
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uint32_t AllStep = 51200;
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float ADCRef = 0;
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_Bool HasSample[8] = {false};
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_Bool SetSample[8] = {true,true,true,true,true,true,true,true};
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float WeigthSample[8];
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float UseduL[8] = {0};
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float mg_g[8] = {0};
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float uL_Blank = 50;
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_Bool SampleRunFlag = false;
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float AverageData()
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{
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return (
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(ADCDataBuf[0] >> 16) + (uint16_t)ADCDataBuf[0] +
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(ADCDataBuf[1] >> 16) + (uint16_t)ADCDataBuf[1] +
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(ADCDataBuf[2] >> 16) + (uint16_t)ADCDataBuf[2] +
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(ADCDataBuf[3] >> 16) + (uint16_t)ADCDataBuf[3] ) / 8.0f;
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}
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const uint16_t SingelCupStep = 6400;
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void HasSampleCheck()
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{
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SpeedSet[M3] = 10000;
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CoordinateSet[M3] = - SingelCupStep /2;
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do {
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osDelay(200);
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}
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while( (CoordinateSet[M3] != CoordinatePosition[M3]) );
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osDelay(100);
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ADCData =AverageData();
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ADCRef = Blank = ADCData;
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CoordinateSet[M3] = AllStep;
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uint8_t j = 0;
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while( CoordinateSet[M3] != CoordinatePosition[M3])
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{
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ADCData =AverageData();
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if( j < 8 )
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{
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if( CoordinatePosition[M3] > (- SingelCupStep / 4 + j * SingelCupStep - 850 )) // 正负850 共1700
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{
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if( CoordinatePosition[M3] < (- SingelCupStep / 4 + j * SingelCupStep + 850 ))
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{
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if( ADCRef - ADCData > 500 )
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{
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HasSample[j] = true;
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j++;
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}
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}
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else
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{
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HasSample[j] = false;
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j++;
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}
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}
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}
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printf( "%2f,%3f\n",CoordinatePosition[M3] / 100.0f,ADCData);
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osDelay(10);
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}
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do {
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osDelay(200);
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}
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while( (CoordinateSet[M3] != CoordinatePosition[M3]) );
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SpeedSet[M3] = 20000;
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}
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osThreadId_t SampleRunTaskHandle;
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const osThreadAttr_t SampleRunTask_attributes = {
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.name = "SampleRunTask",
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.stack_size = 128 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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#define ZHF 0.30f
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#define DDF 0.27f
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int16_t j = 0;
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float dlteamin = 0.3f;
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int16_t dlteaminCount = 0;;
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void SampleRunTask( void *arg)
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{
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uint8_t i;
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int count = 0;
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if( !HasSample[0] )
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{
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vTaskDelete( NULL );
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return;
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}
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for(i = 1; i < 8; i ++)
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{
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osDelay(1500);
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if( HasSample[i] && SetSample[i])
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{
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CoordinateSet[M3] = i* SingelCupStep;
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do {
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osDelay(200);
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}
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while( (CoordinateSet[M3] != CoordinatePosition[M3]) );
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osDelay(1500);
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Typestr("%d号杯萃取",i);
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CoordinateSet[M2] = SetmL *slope1;
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CuiQuFlag = false;
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StirrerCtrl(CCRV);
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do {
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osDelay(200);
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}
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while( (CoordinateSet[M2] != CoordinatePosition[M2]) );
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StirrerCtrl(0);
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osDelay(1500);
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CoordinateSet[M3] = 0;
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do {
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osDelay(200);
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}
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while( (CoordinateSet[M3] != CoordinatePosition[M3]) );
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osDelay(1000);
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SpeedSet[0] = 1000;
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CoordinateSet[M1] = 1000/slope2;
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do {
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osDelay(200);
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}
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while( (CoordinateSet[M1] != CoordinatePosition[M1]) );
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SpeedSet[0] = 20;
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osDelay(1000);
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CoordinateSet[M3] = i* SingelCupStep;
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do {
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osDelay(200);
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}
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while( (CoordinateSet[M3] != CoordinatePosition[M3]) );
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osDelay(1500);
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BufIndex = 0;
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UseuL = 0;
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Typestr("%d号杯中和",i);
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ADCData =AverageData();
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Blank = ADCData;
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CoordinateSet[M1] = 6550000;
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StirrerCtrl(CCRV);
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do {
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ADCData = AverageData();
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ABSB = (uint16_t)(log10(Blank/ADCData) *1000 ) / 1000.0f;
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UseuL = (uint32_t)(PluseCount[M1] * slope2 * 1000) / 1000.0f;
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ABSBuf[BufIndex] = ABSB;
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UseuLBuf[BufIndex] = UseuL;
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pfp( "%.3f,%3f\n",ABSB,ADCData);
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if(ABSB > ZHF)
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{
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count ++;
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if( count >= 5)
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{
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dlteamin = ZHF;
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CoordinateSet[M1] = 0;
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ZhongHeFlag = false;
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StirrerCtrl(100);
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osDelay(1000);
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j = BufIndex;
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while( j > 0)
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{
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j--;
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if( fabs(ABSBuf[j] - DDF) < dlteamin )
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{
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dlteamin = fabs(ABSBuf[j] - DDF);
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dlteaminCount = j;
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}
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if( ABSBuf[j] < DDF )
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{
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UseduL[i] = UseuLBuf[j];
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j = -1;
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break;
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}
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}
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if( j == 0 )
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{
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for( j = 199; j > BufIndex; j -- )
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{
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if( fabs(ABSBuf[j] - DDF) < dlteamin )
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{
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dlteamin = fabs(ABSBuf[j] - DDF);
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dlteaminCount = j;
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}
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if( ABSBuf[j] < DDF )
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{
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UseduL[i] = UseuLBuf[j];
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j = -1;
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break;
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}
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}
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if( j == BufIndex )
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{
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if( fabs(ABSBuf[j] - DDF) < dlteamin )
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{
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dlteamin = fabs(ABSBuf[j] - DDF);
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dlteaminCount = j;
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}
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UseduL[i] = UseuLBuf[dlteaminCount];
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//没有小于0.27的数则取最接近的数
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}
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}
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}
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}
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else
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{
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count = 0;
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}
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if(++BufIndex >=200)
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BufIndex = 0;
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osDelay(50);
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} while( CoordinateSet[M1] != CoordinatePosition[M1] );
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if(WeigthSample[i]!= 0)
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{
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mg_g[i] = (int32_t)((UseduL[i] - uL_Blank)*0.02*56.1/WeigthSample[i] * 1000 ) /1000000.0f;
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}
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else
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{
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uL_Blank = UseduL[i];
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}
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}
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else
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{
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Typestr("空位");
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CoordinateSet[M1] = 0;
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}
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}
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StirrerCtrl(0);
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osDelay(1500);
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CoordinateSet[M3] = 0;
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do {
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osDelay(200);
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}
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while( (CoordinateSet[M3] != CoordinatePosition[M3]) );
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osDelay(1000);
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vTaskDelete( NULL );
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}
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_Bool FillFlag = false;
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void YouSuanRun( void )
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{
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Typestr("进入系统" );
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MODBUS_Init(1);
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Debuglog("");
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slope1 = 82700;
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slope2 = 0.01166;
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MotorCTRLInitiate();
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Debuglog("");
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CoordinateSet[M1] = 0;
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CoordinateSet[M2] = 0;
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CoordinateSet[M3] = 0;
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MotorZero_Init(M3);
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Debuglog("");
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HasSampleCheck();
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Debuglog("n");
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SpeedSet[0] = 20;
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SpeedSet[0] = 1000;
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SpeedSet[3] = 5000;
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ADCData =AverageData();
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Blank = ADCData;
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for(;;)
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{
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if(FillFlag)
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{
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FillFlag = 0;
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CoordinateSet[M3] = 0;
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do {
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osDelay(200);
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}
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while( (CoordinateSet[M3] != CoordinatePosition[M3]) );
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CoordinateSet[M2] = 1 *slope1;
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CuiQuFlag = false;
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do {
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osDelay(200);
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}
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while( (CoordinateSet[M2] != CoordinatePosition[M2]) );
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SpeedSet[0] = 1000;
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CoordinateSet[M1] = 1000 / slope2;
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do {
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osDelay(200);
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}
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while( (CoordinateSet[M1] != CoordinatePosition[M1]) );
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SpeedSet[0] = 20;
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}
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if(SampleRunFlag)
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{
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SampleRunTaskHandle = osThreadNew( SampleRunTask, NULL, &SampleRunTask_attributes);
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SampleRunFlag = false;
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}
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else
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{
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if( FindZero[M3] )
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{
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Typestr("找零")
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Debuglog("");
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MotorZero_Init(M3);
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Debuglog("");
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}
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}
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osDelay(200);
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}
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}
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