91 lines
2.6 KiB
C
91 lines
2.6 KiB
C
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/*
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* @Author: mypx
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* @Date: 2025-07-18 08:53:22
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* @LastEditTime: 2025-09-24 14:24:19
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* @LastEditors: mypx mypx_coder@163.com
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* @Description:
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*/
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#include "pm_common.h"
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#include "et_encoder_utils.h"
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#include "et_log.h"
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struct rt_event pm_event;
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uint32_t encoder_cpr;
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/**
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* @brief Correct specific rotation for temperature using linear coefficient
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*
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* @param specific_rotation_ref Specific rotation at reference temperature (°)
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* @param tref Reference temperature (°C)
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* @param temp Target temperature (°C)
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* @param temp_coeff Temperature coefficient (° per °C)
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* @return Corrected specific rotation at target temperature (°)
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*/
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float pm_correct_specific_rotation_temperature(float specific_rotation_ref, float tref, float temp, float temp_coeff)
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{
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/* Simple linear correction: [α](T) = [α](Tref) + coeff * (T - Tref) */
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return specific_rotation_ref + temp_coeff * (temp - tref);
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}
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/**
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* @brief Convert concentration from g/100mL to g/mL
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*/
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float pm_convert_g_per_100ml_to_g_per_ml(float conc_g_per_100ml)
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{
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return conc_g_per_100ml / 100.0f; /* g/100mL -> g/mL */
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}
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/**
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* @brief Convert concentration from g/100mL to mol/L
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*/
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float pm_convert_g_per_100ml_to_molar(float conc_g_per_100ml, float molar_mass_g_per_mol)
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{
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/* g/100mL -> g/L: multiply by 10 */
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float g_per_l = conc_g_per_100ml * 10.0f;
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if (molar_mass_g_per_mol == 0.0f)
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{
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ET_ERR("molar mass cannot be zero\n");
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return NAN;
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}
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return g_per_l / molar_mass_g_per_mol; /* mol/L */
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}
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float pm_deg_to_rad(float deg)
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{
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return deg * (3.14159265358979323846f / 180.0f);
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}
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float pm_rad_to_deg(float rad)
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{
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return rad * (180.0f / 3.14159265358979323846f);
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}
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static double calculate_real_time_angle_degree(int64_t encoder_cnt_total)
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{
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return (double)(encoder_cnt_total) * 360.0f / encoder_cpr;
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}
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double get_real_time_angle_degree(void)
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{
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int64_t total_encoder_cnt = 0;
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int32_t curent_encoder_cnt = 0;
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curent_encoder_cnt = pm_encoder_get_count();
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//curent_encoder_cnt = 65535 - curent_encoder_cnt; // 反向计数,或者更改AB线序
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total_encoder_cnt = et_encoder_get_whole_count(curent_encoder_cnt, &encoder_tim_overflow_count,
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ENCODER_MAX_COUNT);
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//ET_DBG("encoder_cnt: %lld\n", (long long)total_encoder_cnt);
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return calculate_real_time_angle_degree(total_encoder_cnt);
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}
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rt_uint32_t convert_encoder_angle_rpm_to_to_time(double angle, float m_rpm)
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{
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rt_uint32_t delay = 0;
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double m_r = angle * MOTOR_TO_ENCODER_RATIO / 360.0;
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delay = (fabs(m_r) * 60.0 * 1000 / fabs(m_rpm)); // ms
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return delay;
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}
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