hm
b49c9ab0c6
完整实现了以下模块： - 系统数据总线(sys_data_bus)模块间通信 - UART/USART/LPUART驱动 + RS485半双工 - I2C驱动(AS5600角度传感器 + AT24C02 EEPROM) - Modbus RTU从站协议 - 步进电机微步进控制(正弦/余弦换相+S曲线加减速) - 到位开关驱动(DI_MIN/DI_MAX) - PGA+ADC电流检测 - 系统监控任务(内存/串口/传感器/任务状态) - LED/Key外设驱动 - 基于CMake + arm-none-eabi-gcc构建系统
78 lines
1.5 KiB
C
78 lines
1.5 KiB
C
#include "pga_driver.h"
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#include "adc_driver.h"
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#include "py32md530.h"
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#include "config.h"
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#include "sys_data_bus.h"
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#include <stddef.h>
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static uint8_t pga_gain = PGA_GAIN_1;
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static float pga_shunt = PGA_SHUNT_RESISTOR;
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static float pga_vref = PGA_VREF;
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static uint8_t pga_initialized = 0;
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ret_code_t pga_init(const pga_config_t *config)
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{
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if (config == NULL) {
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return RET_INVALID_PARAM;
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}
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pga_gain = config->gain;
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pga_shunt = config->shunt_resistor;
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pga_vref = config->vref;
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RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
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COMP->CR &= ~COMP_CR_EN_Msk;
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COMP->CR = COMP_CR_EN_Msk
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| COMP_CR_PGA_MODE_Msk
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| ((uint32_t)pga_gain << COMP_CR_PGA_GAIN_Pos);
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while (!(COMP->CSR & COMP_CSR_OUT_Msk));
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pga_initialized = 1;
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return RET_OK;
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}
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ret_code_t pga_deinit(void)
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{
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COMP->CR &= ~COMP_CR_EN_Msk;
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pga_initialized = 0;
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return RET_OK;
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}
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uint16_t pga_read_raw(void)
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{
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if (!pga_initialized) {
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return 0;
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}
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return adc_read_channel(PGA_ADC_CH);
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}
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float pga_read_current(void)
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{
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uint16_t raw;
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float voltage;
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float current;
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if (!pga_initialized) {
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return 0.0f;
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}
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raw = adc_read_channel(PGA_ADC_CH);
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voltage = (float)raw * pga_vref / PGA_ADC_RESOLUTION;
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current = voltage / ((float)pga_gain * pga_shunt);
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{
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sys_data_bus_value_t val;
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val.f = current;
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sys_data_bus_write(SYS_DATA_BUS_MOTOR_CURRENT, val);
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}
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return current;
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}
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