119 lines
2.8 KiB
C
119 lines
2.8 KiB
C
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/*
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* @Date: 2025-07-15 11:12:00
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* @Author: mypx
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* @LastEditors: mypx mypx_coder@163.com
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* @LastEditTime: 2025-09-24 14:24:04
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* @FilePath: data_sampling.c
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* @Description:
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* Copyright (c) 2025 by mypx, All Rights Reserved.
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*/
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#include "data_sampling.h"
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#include "et_encoder_utils.h"
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#include "et_log.h"
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#include "pm_common.h"
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#include "servo.h"
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#include <stdlib.h>
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#include <string.h>
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uint16_t adc_raw_buffer[DATA_PROCESS_UNIT_COUNT] = {0};
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float sampling_rate = 0;
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static void *mq_pool[8];
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struct rt_messagequeue adc_mq;
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/* 半缓冲完成回调 */
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// void HAL_ADC_ConvHalfCpltCallback(ADC_HandleTypeDef *hadc)
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// {
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// if (hadc->Instance == ADC1)
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// {
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// __HAL_DMA_CLEAR_FLAG(hadc->DMA_Handle, __HAL_DMA_GET_HT_FLAG_INDEX(hadc->DMA_Handle));
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// uint16_t *ptr = &adc_raw_buffer[0];
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// pm_system_led_on();
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// rt_mq_send(&adc_mq, &ptr, sizeof(ptr));
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// }
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// }
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/* 整个缓冲区完成回调 */
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void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc)
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{
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if (hadc->Instance == ADC1)
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{
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__HAL_DMA_CLEAR_FLAG(hadc->DMA_Handle, __HAL_DMA_GET_TC_FLAG_INDEX(hadc->DMA_Handle));
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uint16_t *ptr = &adc_raw_buffer[0];
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pm_system_led_toggle
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();
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if (rt_mq_send(&adc_mq, &ptr, sizeof(ptr)) != RT_EOK)
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{
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ET_ERR("ADC MQ full!");
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}
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}
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}
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void data_sampling_start(void)
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{
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pm_sampling_adc_start(adc_raw_buffer, DATA_PROCESS_UNIT_COUNT);
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pm_sampling_tim_start();
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//pm_timestamp_start();
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}
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void data_sampling_stop(void)
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{
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//pm_encoder_stop();
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// pm_sampling_tim_stop();
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// pm_timestamp_stop();
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pm_sampling_adc_stop();
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}
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int data_sampling_init(void)
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{
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pm_adc_init();
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pm_sampling_tim_init();
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pm_encoder_init();
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//pm_timestamp_tim_init();
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pm_encoder_start();
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encoder_cpr = pm_encoder_get_cpr();
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rt_mq_init(&adc_mq, "adc_mq", mq_pool, sizeof(void *), sizeof(mq_pool), RT_IPC_FLAG_FIFO);
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// test-> set state manually
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//pm_set_state(PM_CALIBRATION_STATE);
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sampling_rate = pm_sampling_tim_get_freq();
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ET_WARN("Sampling rate:%.2f", sampling_rate);
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data_sampling_start(); // test->start at init
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return 0;
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}
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void m_start(int argc, char **argv)
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{
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if (argc != 2)
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{
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rt_kprintf("Usage: my_cmd <int_value>\n");
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return;
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}
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int rpm = atof(argv[1]); // 字符串转整型
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//ET_INFO("rpm:%d", rpm);
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sv630p_speed_mode_start(&sv630p_handle, rpm);
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}
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MSH_CMD_EXPORT_ALIAS(m_start, m_start, test);
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void m_stop(void)
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{
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sv630p_speed_mode_stop(&sv630p_handle);
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}
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MSH_CMD_EXPORT(m_stop, motor stop);
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void m_back(void)
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{
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sv630p_speed_mode_stop(&sv630p_handle);
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sv630p_speed_mode_start(&sv630p_handle, -50);
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}
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MSH_CMD_EXPORT(m_back, motor backward);
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void m_fast(void)
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{
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sv630p_speed_mode_start(&sv630p_handle, 400);
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}
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MSH_CMD_EXPORT(m_fast, motor fast forward);
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