v0.1

yaokon/Core/Src/AbsDrive_OLED.c

@@ -385,6 +385,43 @@ void ABS_OLED_ShowNum(u8 x,u8 y,u32 num,u8 len,u8 size1,u8 mode)
   }
 }
 
+
+//z_len为整数显示位数，f_len为小数显示位数，size2为字体大小
+void ABS_OLED_Showdecimal(u8 x,u8 y,float num,u8 z_len,u8 f_len,u8 size2,u8 mode)
+{         	
+	u8 t,temp;
+	u8 enshow;
+	int z_temp,f_temp;      
+	z_temp=(int)num;
+	//整数部分
+	for(t=0;t<z_len;t++)
+	{
+		temp=(z_temp/ABS_OLED_Pow(10,z_len-t-1))%10;
+		if(enshow==0 && t<(z_len-1))
+		{
+			if(temp==0)
+			{
+				ABS_OLED_ShowChar(x+(size2/2)*t,y,' ',size2,mode);
+				continue;
+			}
+			else
+			enshow=1;
+		}
+		ABS_OLED_ShowChar(x+(size2/2)*t,y,temp+'0',size2,mode); 
+	}
+	//小数点
+	ABS_OLED_ShowChar(x+(size2/2)*(z_len),y,'.',size2,mode); 
+	
+	f_temp=(int)((num-z_temp)*(ABS_OLED_Pow(10,f_len)));
+  //小数部分
+	for(t=0;t<f_len;t++)
+	{
+		temp=(f_temp/ABS_OLED_Pow(10,f_len-t-1))%10;
+		ABS_OLED_ShowChar(x+(size2/2)*(t+z_len)+5,y,temp+'0',size2,mode); 
+	}
+}
+
+
 /*函数：ABS_OLED_ShowChinese
 **描述：在指定位置打印中文字符
 **参数1：x1：起始x坐标	取值返回小于ABS_OLED_WIDTH
@@ -571,6 +608,7 @@ ABS_OLED_Drive Create_OLED(void){
 	drive.ShowString=ABS_OLED_ShowString;
 	drive.ShowChinese=ABS_OLED_ShowChinese;
 	drive.ShowNum=ABS_OLED_ShowNum;
+	drive.Showdecimal=ABS_OLED_Showdecimal;
 	drive.ShowImage=ABS_OLED_ShowPicture;
 	ABS_OLED_Init();
 	return drive;

yaokon/Core/Src/AbsDrive_OLED.h

@@ -73,6 +73,7 @@
 typedef struct _ABS_OLED_Drive{
 	void (*ShowString)(u8 x,u8 y,char *chr,u8 size1,u8 mode);
 	void (*ShowNum)(u8 x,u8 y,u32 num,u8 len,u8 size1,u8 mode);
+	void (*Showdecimal)(u8 x,u8 y,float num,u8 z_len,u8 f_len,u8 size2,u8 mode);
 	void (*ShowChinese)(u8 x,u8 y,u8 num,u8 size1,u8 mode);
 	
 	void (*DrawPoint)(u8 x,u8 y,u8 t);
@@ -129,6 +130,7 @@ void ABS_OLED_DrawCircle(u8 x,u8 y,u8 r);
 void ABS_OLED_ShowChar(u8 x,u8 y,u8 chr,u8 size1,u8 mode);
 void ABS_OLED_ShowString(u8 x,u8 y,char *chr,u8 size1,u8 mode);
 void ABS_OLED_ShowNum(u8 x,u8 y,u32 num,u8 len,u8 size1,u8 mode);
+void ABS_OLED_Showdecimal(u8 x,u8 y,float num,u8 z_len,u8 f_len,u8 size2,u8 mode);
 void ABS_OLED_ShowChinese(u8 x,u8 y,u8 num,u8 size1,u8 mode);
 void ABS_OLED_ScrollDisplay(u8 num,u8 space,u8 mode);
 void ABS_OLED_ShowPicture(u8 x,u8 y,u8 sizex,u8 sizey,u8 BMP[],u8 mode);

yaokon/Core/Src/adc.c

@@ -44,8 +44,9 @@ void MX_ADC1_Init(void)
   */
   hadc1.Instance = ADC1;
   hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
-  hadc1.Init.ContinuousConvMode = ENABLE;
-  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = ENABLE;
+  hadc1.Init.NbrOfDiscConversion = 1;
   hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
   hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
   hadc1.Init.NbrOfConversion = 2;

yaokon/Core/Src/main.c

@@ -27,6 +27,7 @@
 /* USER CODE BEGIN Includes */
 #include "stdio.h"
 #include "AbsDrive_OLED.h"
+#include "RockingBar.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -68,7 +69,7 @@ void SystemClock_Config(void);
 int main(void)
 {
   /* USER CODE BEGIN 1 */
-	u16 adcv[]={};
+	uint32_t adcv[2]={};
   /* USER CODE END 1 */
 
   /* MCU Configuration--------------------------------------------------------*/
@@ -94,25 +95,20 @@ int main(void)
   MX_SPI2_Init();
   /* USER CODE BEGIN 2 */
 	ABS_OLED_Drive OLED=Create_OLED();
-	HAL_ADC_Start(&hadc1);
-	HAL_ADC_PollForConversion(&hadc1,10);
+	RockingBarInit();
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1)
   {
-		
-		HAL_Delay(500);
-		for(int i=0;i<2;i++){
-			
-			adcv[i] = HAL_ADC_GetValue(&hadc1);
-			OLED.ShowNum(0,0,adcv[0],4,8,1);
-			OLED.ShowNum(0,9,adcv[1],4,8,1);
-			OLED.Refresh();
-		}
-		
-//		HAL_ADC_Stop(&hadc1);
+	
+		RockingBar_GetValue();
+		OLED.ShowNum(0,32,RockingBar_Value[0],4,8,1);
+		OLED.ShowNum(0,40,RockingBar_Value[1],4,8,1);
+    OLED.Showdecimal(0,0,-12.5,3,1,16,1);
+		OLED.Showdecimal(0,16,RockingBar_Value[1],3,1,16,1);
+		OLED.Refresh();
 
     /* USER CODE END WHILE */
 

yaokon/Core/Src/queue.c

@@ -0,0 +1,85 @@
+/*
+*@文件:queue.c
+*@作者:‘你遇了我’
+*@time:2022/11/13
+*@联系:QQ:321640253
+*@描述:
+*/
+//
+// Created by 86186 on 2022/11/13.
+//
+
+#include "queue.h"
+
+/*
+ * @简介：初始化一个空队列
+ * @参数：void
+ * @返回值：初始化队列的指针
+ * */
+void InitQuecu(SqQuecu *Q){ 
+    Q->front=Q->rear=-1;
+    Q->size=0;
+}
+
+// /*
+//  * @简介：销毁队列
+//  * @参数：队列指针
+//  * @返回值：void
+//  * */
+// void DestroyQueue(SqQuecu *Q){
+//     free(Q);
+// }
+
+/*
+ * @简介：判断队列为空
+ * @参数：队列指针
+ * @返回值：布尔值
+ * */
+bool QueueEmpty(SqQuecu *Q){
+    if(Q->size==0)return true;
+    else return false;
+}
+
+/*
+ * @简介：判断队列为满
+ * @参数：队列指针
+ * @返回值：布尔值
+ * */
+bool QueueFull(SqQuecu *Q){
+    if(Q->size==Maxsize)return true;
+    else return false;
+}
+
+/*
+ * @简介：进队
+ * @参数：队列指针
+ *      进队元素
+ * @返回值：布尔值
+ * */
+bool enQueue(SqQuecu *Q,quecuElemtype e){
+    if(QueueFull(Q))return false;
+    if(Q->rear==Maxsize-1)Q->rear=-1;
+    Q->rear++;
+    Q->data[Q->rear]=e;
+    Q->size++;
+    return true;
+}
+
+quecuElemtype deQueue(SqQuecu *Q){
+    if(QueueEmpty(Q))return NULL;
+    quecuElemtype e=Q->data[Q->front];
+    if(Q->front==Maxsize)Q->front=0;
+    Q->front++;
+    Q->size--;
+	return e;
+}
+
+
+void DispQuecu(SqQuecu *Q){
+    int i;
+    for(i=0;i<Q->rear-Q->front;i++){
+        printf("%d",Q->data[i+Q->front+1]);
+        printf(",");
+    }
+    printf("\n");
+}

yaokon/Core/Src/queue.h

@@ -0,0 +1,37 @@
+/*
+*@文件:queue.h
+*@作者:‘你遇了我’
+*@time:2022/11/13
+*@联系:QQ:321640253
+*@描述:
+*/
+//
+// Created by 86186 on 2022/11/13.
+//
+
+#ifndef LIST_QUEUE_H
+#define LIST_QUEUE_H
+
+#include "stdint.h"
+#include "stdbool.h"
+#include "stdlib.h"
+#include "stdio.h"
+
+#define Maxsize			20
+
+typedef uint32_t quecuElemtype;
+
+typedef struct{
+    quecuElemtype data[Maxsize];
+    int front,rear;
+    uint16_t size;
+} SqQuecu;
+
+void InitQuecu(SqQuecu *Q);
+quecuElemtype deQueue(SqQuecu *Q);
+bool enQueue(SqQuecu *Q,quecuElemtype e);
+bool QueueEmpty(SqQuecu *Q);
+// void DestroyQueue(SqQuecu *Q);
+void DispQuecu(SqQuecu *Q);
+
+#endif //LIST_QUEUE_H

yaokon/Core/User_Drivers/Filtering.c

@@ -0,0 +1,13 @@
+#include "Filtering.h"
+
+
+
+
+Mean_Filtering_DataType Mean_filtering(Mean_Filtering_DataType *dat,uint32_t Dsize){
+		Mean_Filtering_DataType sum=0;
+		for(int i=0;i<Dsize;i++){
+			sum+=*dat;
+			dat++;
+		}	
+		return (sum/Dsize);
+}

yaokon/Core/User_Drivers/Filtering.h

@@ -0,0 +1,27 @@
+#ifndef _FILTERING_H
+#define _FILTERING_H
+
+#include "stdint.h"
+#include "queue.h"
+
+/*******你需要均值滤波处理的数据类型(BEGIN)*******/
+/*--按需更改--*/
+typedef uint32_t Mean_Filtering_DataType;
+/*******你需要均值滤波处理的数据类型(END)*********/
+
+
+
+
+
+
+
+
+
+
+Mean_Filtering_DataType Mean_filtering(Mean_Filtering_DataType *dat,uint32_t Dsize);			//均值滤波函数
+
+
+
+
+
+#endif 

yaokon/Core/User_Drivers/RockingBar.c

@@ -0,0 +1,52 @@
+#include "RockingBar.h"
+#include "Filtering.h"
+
+//static uint32_t RockingBar_ADC_Value[ROCKING_BAR_CH][FILLTERING_NUM];
+float RockingBar_Value[ROCKING_BAR_CH];
+SqQuecu RockingBar_ADC_Value_0;
+SqQuecu RockingBar_ADC_Value_1;
+SqQuecu RockingBar_ADC_Value_2;
+SqQuecu *P[ROCKING_BAR_CH]={&RockingBar_ADC_Value_0,&RockingBar_ADC_Value_1};
+/*函数RockingBar_ADC_GetValue
+*	功能：获取ADC转换的值存在数组中
+*/
+void RockingBarInit(void){
+	InitQuecu(&RockingBar_ADC_Value_0);
+	InitQuecu(&RockingBar_ADC_Value_1);
+}
+
+
+void RockingBar_ADC_GetValue(void){
+	uint32_t sum=0;
+	uint8_t num=0;
+	uint32_t adcv=0;
+
+	for(int i=0;i<ROCKING_BAR_CH;i++){
+		HAL_ADC_Start(&hadc1);												//启动ADC转换
+		HAL_ADC_PollForConversion(&hadc1,10);								//等待ADC转换完成
+		if(HAL_IS_BIT_SET(HAL_ADC_GetState(&hadc1),HAL_ADC_STATE_REG_EOC))
+			{
+				adcv = HAL_ADC_GetValue(&hadc1);
+				if(enQueue(P[i],adcv)==false)deQueue(P[i]);
+				enQueue(P[i],adcv);
+			}
+			
+		}
+	HAL_ADC_Stop(&hadc1);
+	
+	for(int i=0;i<ROCKING_BAR_CH;i++){
+		sum=0;
+		num=0;
+		for(int n=0;n<P[i]->size;n++){
+			num+=1;
+			sum += P[i]->data[n];
+		}
+		RockingBar_Value[i]=sum/num;
+	}
+}
+
+void RockingBar_GetValue(void){
+	RockingBar_ADC_GetValue();
+	RockingBar_Value[0] = THRUST_MIN + ((THRUST_MAX-THRUST_MIN)/(4096))*(RockingBar_Value[0]-0);
+	RockingBar_Value[1] = YAW_MIN + ((YAW_MAX-YAW_MIN)/(4096))*(RockingBar_Value[1]-0);
+}

yaokon/Core/User_Drivers/RockingBar.h

@@ -0,0 +1,32 @@
+#ifndef _ROCKING_BAR_H
+#define _ROCKING_BAR_H
+
+/*----stm32相关头文件(BEGIN)-------*/
+#include "main.h"
+#include "adc.h"
+/*----stm32相关头文件(END)---------*/
+#include "stdint.h"
+#include "queue.h"
+
+
+
+#define ROCKING_BAR_CH	2							//采集的通道数
+#define FILLTERING_NUM  100						//均值滤波
+
+#define THRUST_MAX (float)100
+#define THRUST_MIN (float)-100
+#define YAW_MAX (float)200
+#define YAW_MIN (float)-200
+
+
+extern float RockingBar_Value[ROCKING_BAR_CH];
+
+void RockingBarInit(void);
+void RockingBar_ADC_GetValue(void);
+void RockingBar_GetValue(void);
+
+
+
+
+
+#endif