v0.1

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);
+}