562 lines
16 KiB
C
562 lines
16 KiB
C
#include "spi.h"
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#include "APPDEF.H"
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#include "math.h"
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// AD7190寄存器地址定义
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#define AD7190_REG_COMM 0x00 << 3
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#define AD7190_REG_STAT 0x00 << 3
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#define AD7190_REG_MODE 0x01 << 3
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#define AD7190_REG_CONF 0x02 << 3
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#define AD7190_REG_DATA 0x03 << 3
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#define AD7190_REG_GPOC 0x05 << 3
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// AD7190命令定义
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#define AD7190_CMD_NOP 0xFF
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#define AD7190_CMD_WR 0x00
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#define AD7190_CMD_RD 0x40
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// AD7190配置寄存器位掩码
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#define AD7190_CONF_CH_MASK 0x000F
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#define AD7190_CONF_BURNOUT 0x0800
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#define AD7190_CONF_REFSEL 0x0400
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#define AD7190_CONF_GAIN_MASK 0x0038
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#define AD7190_CONF_MODE_MASK 0x0C00
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// AD7190配置寄存器增益定义
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#define AD7190_CONF_GAIN_1 0x00
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#define AD7190_CONF_GAIN_8 0x08
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#define AD7190_CONF_GAIN_16 0x10
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#define AD7190_CONF_GAIN_32 0x18
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#define AD7190_CONF_GAIN_64 0x20
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#define AD7190_CONF_GAIN_128 0x28
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#define AD7190_CONF_GAIN_256 0x30
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// AD7190配置寄存器工作模式定义
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#define AD7190_CONF_MODE_CONT 0x000000
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#define AD7190_CONF_MODE_ZEROSEL 0x800000
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#define AD7190_CONF_MODE_FullSEL 0xA00000
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#define AD7190_CONF_MODE_FS9_0 0x0003FF
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// AD7190 电桥开关
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#define AD7190_GPOCON_BDPSW 0x40
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void AD7190_WriteRegister(uint8_t regAddr, uint32_t regValue)
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{
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SPI1_ReadWrite(AD7190_CMD_WR | regAddr);
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SPI1_ReadWrite((regValue >> 16) & 0xFF);
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SPI1_ReadWrite((regValue >> 8) & 0xFF);
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SPI1_ReadWrite(regValue & 0xFF);
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}
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uint32_t AD7190_ReadRegister(uint8_t regAddr)
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{
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uint32_t regValue = 0;
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SPI1_ReadWrite(AD7190_CMD_RD | regAddr);
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regValue = SPI1_ReadWrite(0xFF);
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regValue = (regValue << 8) + SPI1_ReadWrite(0xFF);
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regValue = (regValue << 8) + SPI1_ReadWrite(0xFF);
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return regValue;
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}
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void AD7190_WriteRegisterOnce(uint8_t regAddr, uint8_t regValue)
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{
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SPI1_ReadWrite(AD7190_CMD_WR | regAddr);
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SPI1_ReadWrite(regValue);
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}
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uint8_t AD7190_ReadRegisterOnce(uint8_t regAddr)
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{
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uint32_t regValue = 0;
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SPI1_ReadWrite(AD7190_CMD_RD | regAddr);
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regValue = SPI1_ReadWrite(0xFF);
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return regValue;
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}
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bool AD7190_WaitForReady(uint32_t timeout)
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{
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uint32_t count = 0;
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// SPI1_ReadWrite(AD7190_CMD_RD | AD7190_REG_STAT);
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// while ((SPI1_ReadWrite(0xFF) & 0x80) && (count < timeout)) {
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// delay_us(1);
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// count++;
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// }
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while (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_6) && (count < timeout))
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{
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delay_us(1);
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count++;
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}
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if (count >= timeout)
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{
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return false;
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}
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else
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{
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return true;
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}
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}
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//extern uint16_t Read_Internal_Temperature();
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//// AD7190函数：读取AD转换结果
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//float V25 = 1.43; // 25 度时的传感器电压(mV)
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// float Avg_Slope = 4.3; // 传感器电压与温度之间的平均斜率(mV/°C)
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// // 获取 ADC 参考电压值（一般为 3.3V）
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// float Vref = 3.3; // 参考电压值(V)
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//float TemperatureIn;
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uint8_t ErrCount;
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uint32_t AD7190_ReadData()
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{
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uint32_t data = 0;
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//uint16_t TempI;
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if(AD7190_WaitForReady(50000))
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{
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data = AD7190_ReadRegister(AD7190_REG_DATA);
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// TempI = Read_Internal_Temperature();
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// // 将 ADC 值转换为电压值
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// float V_ADC = (TempI * Vref) / 4095;
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// // 计算温度值（摄氏度）
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// TemperatureIn = ((V25 - V_ADC)*1000 / Avg_Slope) + 25.0;
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if(data > 15000000)
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{
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ErrCount++;
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}
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else
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{
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ErrCount = 0;
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}
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}
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else
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{
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ErrCount++;
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}
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if(ErrCount > 10)
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{
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SPI1_Configuration();
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SPI1_ReadWrite(0xFF);
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SPI1_ReadWrite(0xFF);
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SPI1_ReadWrite(0xFF);
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SPI1_ReadWrite(0xFF);
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SPI1_ReadWrite(0xFF);
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osDelay(50);
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uint32_t modeReg;
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// 配置寄存器：通道选择、参考电压源、增益和工作模式
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// 打开PSW
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uint8_t GPOC = AD7190_ReadRegisterOnce(AD7190_REG_GPOC);
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GPOC |= AD7190_GPOCON_BDPSW;
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AD7190_WriteRegisterOnce(AD7190_REG_GPOC, GPOC);
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osDelay(5);
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uint32_t config = 0x0000011F;
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AD7190_WriteRegister(AD7190_REG_CONF, config);
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osDelay(5);
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modeReg |= AD7190_CONF_MODE_FS9_0; // 滤波器最低速率输出
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AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
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osDelay(5);
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// 执行上电校准
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modeReg = AD7190_ReadRegister(AD7190_REG_MODE);
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modeReg &= ~0x00E00000;
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modeReg |= AD7190_CONF_MODE_ZEROSEL;
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AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
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osDelay(5);
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AD7190_WaitForReady(1000000);
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modeReg &= ~0x00E00000;
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modeReg |= AD7190_CONF_MODE_FullSEL;
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AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
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osDelay(5);
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AD7190_WaitForReady(1000000);
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// 校准完成 切换回连续转换模式
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modeReg = 0x000803FF;
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AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
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ErrCount = 0;
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osDelay(500);
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if(AD7190_WaitForReady(50000))
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{
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data = AD7190_ReadRegister(AD7190_REG_DATA);
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}
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}
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return data;
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}
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// AD7190函数：读取AD转换结果并转换为实际电压值
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// static void bubbleSort2(float *num)
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//{
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// float temp;
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// int i, j;
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// for (i = 0; i < 5; i++) {
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// for (j = 0; j < 5 - i; j++) {
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// if (num[j] > num[j + 1]) {
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// // 交换相邻元素的值
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// temp = num[j];
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// num[j] = num[j + 1];
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// num[j + 1] = temp;
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// }
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// }
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// }
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//} // 定义卡尔曼滤波器的参数结构体
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typedef struct
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{
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float x; // 状态估计值
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float P; // 状态协方差
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float Q; // 过程噪声协方差
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float R; // 观测噪声协方差
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float K; // 卡尔曼增益
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} KalmanFilter;
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KalmanFilter kf2;
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// 初始化卡尔曼滤波器
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void kalman_filter_init2(KalmanFilter *kf, float initial_x, float initial_P, float process_noise, float measurement_noise)
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{
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kf->x = initial_x;
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kf->P = initial_P;
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kf->Q = process_noise;
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kf->R = measurement_noise;
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}
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// 更新卡尔曼滤波器状态
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void kalman_filter_update2(KalmanFilter *kf, float measurement)
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{
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// 预测步骤
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float x_pred = kf->x; // 预测的状态值
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float P_pred = kf->P + kf->Q; // 预测的状态协方差
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// 更新步骤
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kf->K = P_pred / (P_pred + kf->R); // 计算卡尔曼增益
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kf->x = x_pred + kf->K * (measurement - x_pred); // 更新状态估计值
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kf->P = (1 - kf->K) * P_pred; // 更新状态协方差
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}
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float WeightData2 = 0.0f;
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float ADvalue2filter = 0.0f;
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// static float bufferdata2[5];
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// static float dataout2[5];
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static float WeightData2Temp = 0.0f;
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int32_t ADvalue2filterOld = 0;
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int32_t ADvalue2 = 0;
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uint8_t ic2 = 0;
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uint8_t i;
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int32_t data2 = 0;
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struct uCalibrateWeight CalibrateWeight2;
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uint8_t FollowCount = 0;
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uint8_t TimeCount = 0;
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int32_t WeightZeroOld = 0;
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uint32_t modeRega;
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uint32_t configa;
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uint32_t configao;
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bool weightChanging = false;
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#include "APPDEF.H"
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void AD7190_Run(const void *p_arg)
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{
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osDelay(600);
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ADvalue2 = AD7190_ReadData();
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osDelay(200);
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ADvalue2 = AD7190_ReadData();
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ADvalue2filterOld = ADvalue2filter = ADvalue2;
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kalman_filter_init2(&kf2, ADvalue2, 1.0, 0.001, 0.1);
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WeightZeroOld = CalibrateWeight2.WeightZero;
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uint8_t FilterQOld, SensorQOld, ZeroTrackOld, RuBianLiangOld, ruBianTimeOld;
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int8_t RubianLiang, RubianTime;
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float ZeroTrackTime, ZeroTrackRange;
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for (;;)
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{
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if (FilterQOld != Set.FilterQ)
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{
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FilterQOld = Set.FilterQ;
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switch (Set.FilterQ) // 滤波器信任度 信任度越高 反应越慢数据显示越稳定
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{
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case 0:
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kf2.Q = 0.1;
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break;
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case 1:
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kf2.Q = 0.08;
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break;
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case 2:
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kf2.Q = 0.06;
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break;
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case 3:
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kf2.Q = 0.04;
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break;
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case 4:
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kf2.Q = 0.02;
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break;
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case 5:
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kf2.Q = 0.009;
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break;
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case 6:
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kf2.Q = 0.007;
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break;
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case 7:
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kf2.Q = 0.005;
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break;
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case 8:
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kf2.Q = 0.003;
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break;
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case 9:
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kf2.Q = 0.001;
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break;
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default:
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break;
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}
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}
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if (SensorQOld != Set.SensorQ)
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{
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SensorQOld = Set.SensorQ;
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switch (Set.SensorQ) // 传感器信任度 信任度越高 反应越迅速，数据波动越大 显示越不稳定
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{
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case 0:
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kf2.R = 0.5;
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break;
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case 1:
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kf2.R = 0.3;
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break;
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case 2:
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kf2.R = 0.1;
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break;
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case 3:
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kf2.R = 0.08;
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break;
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case 4:
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kf2.R = 0.06;
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break;
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case 5:
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kf2.R = 0.04;
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break;
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case 6:
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kf2.R = 0.02;
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break;
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case 7:
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kf2.R = 0.009;
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break;
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case 8:
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kf2.R = 0.005;
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break;
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case 9:
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kf2.R = 0.001;
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break;
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default:
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break;
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}
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}
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if (ZeroTrackOld != Set.ZeroTrack) // 零点跟踪 跟踪级别越高 原始数据发生缓慢变化时，最终数据不会发生变化的可能性越大。例如 当跟踪级别设置为9时，那么如果原始数据在4秒内变化小于2.5mg，那么最终数据不会发生变化。原理是cpu会将这4秒内变化的数据叠加到零点上，相当于动态调零了。
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{
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ZeroTrackOld = Set.ZeroTrack;
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switch (ZeroTrackOld)
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{
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case 0:
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ZeroTrackTime = 20;
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ZeroTrackRange = 0;
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break;
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case 1:
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ZeroTrackTime = 15;
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ZeroTrackRange = 0.0005;
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break;
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case 2:
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ZeroTrackTime = 10;
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ZeroTrackRange = 0.0005;
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break;
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case 3:
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ZeroTrackTime = 7;
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ZeroTrackRange = 0.0005;
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break;
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case 4:
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ZeroTrackTime = 4;
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ZeroTrackRange = 0.0005;
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break;
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case 5:
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ZeroTrackTime = 4;
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ZeroTrackRange = 0.0008;
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break;
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case 6:
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ZeroTrackTime = 4;
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ZeroTrackRange = 0.001;
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break;
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case 7:
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ZeroTrackTime = 4;
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ZeroTrackRange = 0.0015;
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break;
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case 8:
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ZeroTrackTime = 4;
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ZeroTrackRange = 0.002;
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break;
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case 9:
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ZeroTrackTime = 4;
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ZeroTrackRange = 0.0025;
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break;
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default:
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break;
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}
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}
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if (ruBianTimeOld != Set.RuBianTime) // 蠕变时间 级别越高 蠕变时间越短，蠕变越快 零为不蠕变
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{
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ruBianTimeOld = Set.RuBianTime;
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switch (Set.RuBianTime)
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{
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case 0:
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RubianTime = 100;
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break;
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case 1:
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RubianTime = 60;
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break;
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case 2:
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RubianTime = 30;
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break;
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case 3:
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RubianTime = 20;
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break;
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case 4:
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RubianTime = 15;
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break;
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case 5:
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RubianTime = 10;
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break;
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case 6:
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RubianTime = 8;
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break;
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case 7:
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RubianTime = 6;
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break;
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case 8:
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RubianTime = 4;
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break;
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case 9:
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RubianTime = 2;
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break;
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default:
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break;
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}
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}
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if (RuBianLiangOld != Set.RuBianLiang) //蠕变量 可分正向蠕变和反向蠕变 零为不蠕变 当零点跟踪为0时 调零后观察一段时间的数据变化 如果数据持续变化为负数 则为负蠕变。反之为正蠕变。 负蠕变调整蠕变量为负数级别（谨慎调整 建议不调整）
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{
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RuBianLiangOld = Set.RuBianLiang;
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switch (Set.RuBianLiang)
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{
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case 0:
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RubianLiang = -5;
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break;
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case 1:
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RubianLiang = -4;
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break;
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case 2:
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RubianLiang = -3;
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break;
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case 3:
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RubianLiang = -2;
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break;
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case 4:
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RubianLiang = -1;
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break;
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case 5:
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RubianLiang = 0;
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break;
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case 6:
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RubianLiang = 1;
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break;
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case 7:
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RubianLiang = 2;
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break;
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case 8:
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RubianLiang = 3;
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break;
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case 9:
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RubianLiang = 4;
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break;
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case 10:
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RubianLiang = 5;
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break;
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default:
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break;
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}
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}
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osDelay(190);
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ADvalue2 = AD7190_ReadData();
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kalman_filter_update2(&kf2, ADvalue2); // 更新步骤
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ADvalue2filter = kf2.x;
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WeightData2Temp = CalibrateWeight2.WeightSlope * ((int32_t)ADvalue2filter - (int32_t)CalibrateWeight2.WeightZero);
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if( RubianLiang != 0 )
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{
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if (TimeCount++ > 4 * RubianTime) // 动态称重时蠕变跟踪
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{
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TimeCount = 0;
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if (CalibrateWeight2.WeightZero == WeightZeroOld)
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{
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CalibrateWeight2.WeightZero += RubianLiang;
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}
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WeightZeroOld = CalibrateWeight2.WeightZero;
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}
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}
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if (fabs(WeightData2 - WeightData2Temp) < ZeroTrackRange)
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{
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if (FollowCount++ > 4 * ZeroTrackTime) // 零点动态跟踪
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{
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FollowCount = 0;
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TimeCount = 0;
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CalibrateWeight2.WeightZero += ADvalue2filter - ADvalue2filterOld;
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ADvalue2filterOld = ADvalue2filter;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
FollowCount = 0;
|
||
ADvalue2filterOld = ADvalue2filter;
|
||
}
|
||
if (fabs(WeightData2 - WeightData2Temp) > 0.01f)
|
||
{
|
||
weightChanging = 1;
|
||
}
|
||
else
|
||
{
|
||
weightChanging = 0;
|
||
}
|
||
if (fabs(WeightData2 - WeightData2Temp) > 0.001f) // 数据滤波
|
||
{
|
||
|
||
WeightData2Temp = (int32_t)(WeightData2Temp * 10000) / 10000.0f;
|
||
WeightData2 = WeightData2Temp;
|
||
}
|
||
}
|
||
}
|
||
|
||
osThreadDef(AD7190_Run, osPriorityNormal, 1, 0);
|
||
// AD7190函数：初始化AD7190
|
||
void AD7190_Init()
|
||
{
|
||
SPI1_Configuration();
|
||
SPI1_ReadWrite(0xFF);
|
||
SPI1_ReadWrite(0xFF);
|
||
SPI1_ReadWrite(0xFF);
|
||
SPI1_ReadWrite(0xFF);
|
||
SPI1_ReadWrite(0xFF);
|
||
osDelay(50);
|
||
uint32_t modeReg;
|
||
// 配置寄存器：通道选择、参考电压源、增益和工作模式
|
||
// 打开PSW
|
||
uint8_t GPOC = AD7190_ReadRegisterOnce(AD7190_REG_GPOC);
|
||
GPOC |= AD7190_GPOCON_BDPSW;
|
||
AD7190_WriteRegisterOnce(AD7190_REG_GPOC, GPOC);
|
||
osDelay(5);
|
||
uint32_t config = 0x0000011F;
|
||
AD7190_WriteRegister(AD7190_REG_CONF, config);
|
||
osDelay(5);
|
||
modeReg |= AD7190_CONF_MODE_FS9_0; // 滤波器最低速率输出
|
||
AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
|
||
osDelay(5);
|
||
// 执行上电校准
|
||
modeReg = AD7190_ReadRegister(AD7190_REG_MODE);
|
||
modeReg &= ~0x00E00000;
|
||
modeReg |= AD7190_CONF_MODE_ZEROSEL;
|
||
AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
|
||
osDelay(5);
|
||
AD7190_WaitForReady(1000000);
|
||
modeReg &= ~0x00E00000;
|
||
modeReg |= AD7190_CONF_MODE_FullSEL;
|
||
AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
|
||
osDelay(5);
|
||
AD7190_WaitForReady(1000000);
|
||
// 校准完成 切换回连续转换模式
|
||
modeReg = 0x000803FF;
|
||
AD7190_WriteRegister(AD7190_REG_MODE, modeReg);
|
||
|
||
CalibrateWeight2.WeightSlope = 0.0000818f;
|
||
CalibrateWeight2.WeightZero = 745430;
|
||
|
||
osThreadCreate(osThread(AD7190_Run), NULL);
|
||
}
|