#include "soft_flow.h" #include "gpio.h" #include "common.h" #include "soft_uart.h" #include "soft_flash.h" #include "soft_p_2_c.h" #include "string.h" #include "soft_water_device.h" #include "soft_seed_device.h" #include "soft_timer.h" #include "soft_test.h" #include "tim.h" flow_hl flow_dev1; flow_hl flow_dev2; void HAL_GPIO_EXTI_Callback( uint16_t GPIO_Pin ) { //__HAL_GPIO_EXTI_CLEAR_IT(GPIO_Pin); if ( GPIO_Pin == EXIT_1T_Pin ) { if(HAL_GPIO_ReadPin( GPIOB, EXIT_1T_Pin ) == GPIO_PIN_SET) { flow_count_add(1,EXTI_UP); } else if (HAL_GPIO_ReadPin( GPIOB, EXIT_1T_Pin ) == GPIO_PIN_RESET) { flow_count_add(1,EXTI_FALL); } } if ( GPIO_Pin == EXIT_2T_Pin ) { if(HAL_GPIO_ReadPin( GPIOB, EXIT_2T_Pin ) == GPIO_PIN_SET) { flow_count_add(2,EXTI_UP); } else if (HAL_GPIO_ReadPin( GPIOB, EXIT_2T_Pin ) == GPIO_PIN_RESET) { flow_count_add(2,EXTI_FALL); } } } /** * @file flow_count_add * @brief 外部中断计算触发数 * @param none * @details * @author Zhang Sir **/ void flow_count_add(uint8_t flow_num,uint8_t exti_status) { flow_hl *flow_temp = NULL; if(flow_num == 1) { flow_temp = &flow_dev1; } else { flow_temp = &flow_dev2; } if(exti_status == EXTI_UP) { if(Get_Systimer_Us() - flow_temp->falling_delay_time > 700) { flow_temp->falling_delay_falg = true; if(flow_temp->falling_delay_falg == true && flow_temp->rising_delay_flag == true) { flow_temp->falling_delay_falg = false; flow_temp->rising_delay_flag = false; flow_temp->irq_count++; if ( flow_temp->irq_count - flow_temp->irq_last_count >= 5 && flow_temp->irq_flag == 0) { flow_temp->speed = ( 1000.0f * ( flow_temp->irq_count - flow_temp->irq_last_count ) ) / FlOW_KP * ( 1000000.0f / ( Get_Systimer_Us() - flow_temp->last_time ) ); //ml/min flow_temp->irq_last_count = flow_temp->irq_count; flow_temp->last_time = Get_Systimer_Us(); } } flow_temp->rising_delay_time = Get_Systimer_Us(); } } else if(exti_status == EXTI_FALL) { if(Get_Systimer_Us() - flow_temp->rising_delay_time > 700) { flow_temp->rising_delay_flag = true; flow_temp->falling_delay_time = Get_Systimer_Us(); } } } /** * @file L1L2_GPIO_check * @brief 34IO端口检测 * @param none * @details * @author Zhang Sir **/ GPIO_PinState L3_status = GPIO_PIN_SET; GPIO_PinState L4_status = GPIO_PIN_SET; void L1L2_GPIO_check() { static int l1l2_time = 0; if ( HAL_GetTick() - l1l2_time < 100 ) { return; } l1l2_time = HAL_GetTick(); // 抛球信号 接PMUA1 // 抛球反馈信号接 L1 // 断药L2 if(uavinf.uavtype == JET_UAV_TYPE) { static bool jet_active = false; static uint32_t jet_time = 0; static bool jet_ack_flag = false; GPIO_PinState Dev_ack = HAL_GPIO_ReadPin( GPIOB, EXIT_3T_Pin ); L3_status = GPIO_PIN_SET;//L3给默认值 L4_status = HAL_GPIO_ReadPin( GPIOB, EXIT_4T_Pin ); //上电持续高电平检测 if (Dev_ack == 1 && jet_active == false) { //持续一段时间2s if (HAL_GetTick() - jet_time > 2000) { jet_active = true; } } //检测到低电平 else if (Dev_ack == 0 && jet_active == true) { //抛物机回应已抛出 if(jet_ack_flag == true) { pmu_set_ack(JET_UAV_TYPE,1,0,0); jet_ack_flag = false; } } else { jet_time = HAL_GetTick(); jet_ack_flag = true; } } else if(uavinf.uavtype == VK_ALL_IN_ONE) { //Tim4_init_pwmout(); //pwm输出初始化 Dev.Arm_Link.connect_status = COMP_NORMAL; Dev.Arm.facid = FAC_VK_ALLINONE; Dev.Arm_Link.recv_time = HAL_GetTick(); } else { L3_status = HAL_GPIO_ReadPin( GPIOB, EXIT_3T_Pin ); L4_status = HAL_GPIO_ReadPin( GPIOB, EXIT_4T_Pin ); } } /** * @file flow_function * @brief 流量计相关函数 * @param none * @details * @author Zhang Sir **/ void flow_function(void) { if ( Get_Systimer_Us() - flow_dev1.last_time >= 300000 ) { if(Get_Systimer_Us() - flow_dev1.cal_delay_time > 200000)//在增加一个延时，中断里赋值lasttime有问题 { flow_dev1.irq_flag = 1; flow_dev1.speed = ( 1000.0f * ( flow_dev1.irq_count - flow_dev1.irq_last_count ) ) / FlOW_KP * ( 1000000.0f / ( Get_Systimer_Us() - flow_dev1.last_time ) ); //ml/min *60 /60 flow_dev1.irq_last_count = flow_dev1.irq_count; flow_dev1.last_time = Get_Systimer_Us(); flow_dev1.irq_flag = 0; } } else { flow_dev1.cal_delay_time = Get_Systimer_Us(); } if ( Get_Systimer_Us() - flow_dev2.last_time >= 300000 ) { if(Get_Systimer_Us() - flow_dev2.cal_delay_time > 200000) { flow_dev2.irq_flag = 1; flow_dev2.speed = ( 1000.0f * ( flow_dev2.irq_count - flow_dev2.irq_last_count ) ) / FlOW_KP * ( 1000000.0f / ( Get_Systimer_Us() - flow_dev2.last_time ) ); //ml/min flow_dev2.irq_last_count = flow_dev2.irq_count; flow_dev2.last_time = Get_Systimer_Us(); flow_dev2.irq_flag = 0; } } else { flow_dev2.cal_delay_time = Get_Systimer_Us(); } } mimo_flow flow_mimo1; mimo_flow flow_mimo2; /** * @file can_recv_mimor_flow_function * @brief 恩曌流量计检测 * @param none * @details * @author Zhang Sir **/ void can_recv_mimor_flow_function(uint32_t CanID, uint8_t data[], uint8_t len) { Dev.Flow.facid = FAC_MIMO_SIG; Dev.Flow_Link1.connect_status = COMP_NORMAL; Dev.Flow_Link1.recv_time = HAL_GetTick(); if(Dev.Flow_Link2.connect_status == COMP_NORMAL) { Dev.Flow.facid = FAC_MIMO_DOU; } if(CanID == CAN_MIMO_FLOW) { switch (data[0]) { case 0: memcpy(&flow_mimo1.ch,&data[0],8); if(flow_mimo1.last_total_ml > flow_mimo1.total_ml) { flow_mimo1.overturn_count++; } flow_mimo1.last_total_ml = flow_mimo1.total_ml; break; case 1: Dev.Flow_Link2.connect_status = COMP_NORMAL; Dev.Flow_Link2.recv_time = HAL_GetTick(); memcpy(&flow_mimo2.ch,&data[0],8); if(flow_mimo2.last_total_ml > flow_mimo2.total_ml) { flow_mimo2.overturn_count++; } flow_mimo2.last_total_ml = flow_mimo2.total_ml; break; default: break; } } else if(CanID == CAN_MIMO_FLOW_K) { if(data[1] == 0xFB && data[2] == 0x01) switch (data[2]) { case 0: if(data[4] == 0XD1) { flow_mimo1.flow_k = data[5] * 256 + data[6]; } break; case 1: if(data[4] == 0XD1) { flow_mimo2.flow_k = data[5] * 256 + data[6]; } break; default: break; } } } vk_flow flow_vkdev1; vk_flow flow_vkdev2;