126 lines
3.5 KiB
C
126 lines
3.5 KiB
C
#include "BSP.H"
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#define MAX6675_SCK_GPIO GPIOB
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#define MAX6675_SCK_PIN GPIO_Pin_5
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#define MAX6675_CS_GPIO GPIOB
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#define MAX6675_CS_PIN GPIO_Pin_4
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#define MAX6675_SO_GPIO GPIOB
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#define MAX6675_SO_PIN GPIO_Pin_3
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uint16_t MAX6675_ReadData(void)
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{
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uint16_t data = 0;
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int8_t i = 0;
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// 选中传感器
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GPIO_ResetBits(MAX6675_CS_GPIO, MAX6675_CS_PIN);
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// 从SO引脚读取数据
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for (i = 15; i >= 0; i--) {
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// 将SCK引脚拉低
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GPIO_ResetBits(MAX6675_SCK_GPIO, MAX6675_SCK_PIN);
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// 延时一段时间
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delay_us(1);
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// 读取SO引脚状态
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if (GPIO_ReadInputDataBit(MAX6675_SO_GPIO, MAX6675_SO_PIN)) {
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data |= (1 << i); // 设置对应位为1
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}
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// 将SCK引脚拉高
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GPIO_SetBits(MAX6675_SCK_GPIO, MAX6675_SCK_PIN);
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// 延时一段时间
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delay_us(1);
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}
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// 解除传感器选中状态
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GPIO_SetBits(MAX6675_CS_GPIO, MAX6675_CS_PIN);
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return data;
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}
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float Temperature;
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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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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 kf;
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// 初始化卡尔曼滤波器
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void kalman_filter_init(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_update(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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#include "APPDEF.H"
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void MAX6675_ConvertTemperature(const void *P_arg)
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{
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kalman_filter_init(&kf, 0.0, 1.0, 0.01, 0.3);
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for (;;) {
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osDelay(250);
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uint16_t data = MAX6675_ReadData();
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// 提取温度数据部分（高位14位）
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uint16_t temperatureData = data >> 3;
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// 判断正负号位
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uint8_t sign = (data & 0x04) >> 2;
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// 温度转换为摄氏度
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float temperature = (float)temperatureData * 0.25f;
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// 如果为负温度，取补码并添加负号
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if (sign == 1) {
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temperature = -((~temperatureData + 1) * 0.25f);
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}
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kalman_filter_update(&kf, temperature); // 更新步骤
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Temperature = kf.x + Set.TempDelta;
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/* code */
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}
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}
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osThreadDef(MAX6675_ConvertTemperature, osPriorityNormal, 1, 0);
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void MAX6675_Init(void)
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{
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// 初始化CS引脚为高电平（不选中传感器）
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GPIO_SetBits(MAX6675_CS_GPIO, MAX6675_CS_PIN);
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// 初始化GPIO引脚和延时函数
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GPIO_InitTypeDef GPIO_InitStruct;
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GPIO_InitStruct.GPIO_Pin = MAX6675_SCK_PIN;
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GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
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GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(MAX6675_SCK_GPIO, &GPIO_InitStruct);
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GPIO_InitStruct.GPIO_Pin = MAX6675_CS_PIN;
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GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
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GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(MAX6675_CS_GPIO, &GPIO_InitStruct);
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GPIO_InitStruct.GPIO_Pin = MAX6675_SO_PIN;
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GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN_FLOATING;
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GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(MAX6675_SO_GPIO, &GPIO_InitStruct);
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osThreadCreate(osThread(MAX6675_ConvertTemperature), NULL);
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}
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