From 316365657481b85f52221e91a0d8c66db3610281 Mon Sep 17 00:00:00 2001 From: maakshishov Date: Mon, 31 Jan 2022 18:52:06 +0300 Subject: [PATCH] Worked version 1kHz --- Core/Src/gyro_mes.c | 14 ++++++-------- Core/Src/main.c | 30 +++++++++++++----------------- 2 files changed, 19 insertions(+), 25 deletions(-) diff --git a/Core/Src/gyro_mes.c b/Core/Src/gyro_mes.c index 231740d..fbafe21 100644 --- a/Core/Src/gyro_mes.c +++ b/Core/Src/gyro_mes.c @@ -154,10 +154,8 @@ int8_t comand_mes(uint8_t* pOut, size_t nLen) int8_t status_mes(uint8_t* pMes, size_t nLen, struct sData *pOut) { uint8_t rate_range_val = 0; - uint8_t scale_rate = 0; uint16_t rate_val = 0; uint16_t temp_val = 0; - float scale_temp = 2.75; if (nLen < 6u) return (-ERROR_SIZE_SMALL); @@ -185,13 +183,13 @@ int8_t status_mes(uint8_t* pMes, size_t nLen, struct sData *pOut) temp_val = ((uint16_t)pMes[3] << 8) | pMes[4]; - if(COM_MES_RATE_RANGE_VAL == COM_MES_RATE_RANGE_75) scale_rate = SCALE_RATE_RANGE_75; - else if(COM_MES_RATE_RANGE_VAL == COM_MES_RATE_RANGE_150) scale_rate = SCALE_RATE_RANGE_150; - else if(COM_MES_RATE_RANGE_VAL == COM_MES_RATE_RANGE_300) scale_rate = SCALE_RATE_RANGE_300; - else if(COM_MES_RATE_RANGE_VAL == COM_MES_RATE_RANGE_900) scale_rate = SCALE_RATE_RANGE_900; + if(COM_MES_RATE_RANGE_VAL == COM_MES_RATE_RANGE_75) pOut->rate = (int16_t)rate_val / SCALE_RATE_RANGE_75; + else if(COM_MES_RATE_RANGE_VAL == COM_MES_RATE_RANGE_150) pOut->rate = (int16_t)rate_val / SCALE_RATE_RANGE_150; + else if(COM_MES_RATE_RANGE_VAL == COM_MES_RATE_RANGE_300) pOut->rate = (int16_t)rate_val / SCALE_RATE_RANGE_300; + else if(COM_MES_RATE_RANGE_VAL == COM_MES_RATE_RANGE_900) pOut->rate = (int16_t)rate_val / SCALE_RATE_RANGE_900; - pOut->temp = (temp_val - 531) / scale_temp; - pOut->rate = (int16_t)rate_val / scale_rate; + pOut->temp = (temp_val - 531) / 2.75; return 0; } + diff --git a/Core/Src/main.c b/Core/Src/main.c index 8e950ba..0411f37 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -72,7 +72,7 @@ static void MX_USART1_UART_Init(void); /* USER CODE BEGIN 0 */ uint8_t data_out[18] = {0}; uint8_t flag_receive = 0; -uint8_t flag_cs = 0; +uint8_t flag_transmit = 0; /* USER CODE END 0 */ /** @@ -114,43 +114,41 @@ int main(void) /* Infinite loop */ /* USER CODE BEGIN WHILE */ struct sData data[3]; + char str[19]; + memset(str, 0, sizeof(str)); int8_t res = comand_mes(data_in, sizeof(data_in) / sizeof(data_in[0])); if(res != 0) return res; while (1) { - flag_cs = 1; CS1_ON(); res = HAL_SPI_TransmitReceive_IT(&hspi1, data_in, data_out, sizeof(data_in) / sizeof(data_in[0])); while(!flag_receive && res == 0); CS1_OFF(); flag_receive = 0; - flag_cs = 2; CS2_ON(); res = HAL_SPI_TransmitReceive_IT(&hspi1, data_in, &data_out[6], sizeof(data_in) / sizeof(data_in[0])); while(!flag_receive && res == 0); CS2_OFF(); flag_receive = 0; - flag_cs = 3; CS3_ON(); res = HAL_SPI_TransmitReceive_IT(&hspi1, data_in, &data_out[12], sizeof(data_in) / sizeof(data_in[0])); while(!flag_receive && res == 0) ; CS3_OFF(); flag_receive = 0; - int8_t res = status_mes(&data_out[0], 6u, &data[0]); + res = status_mes(&data_out[0], 6u, &data[0]); res += status_mes(&data_out[6], 6u, &data[1]); res += status_mes(&data_out[12], 6u, &data[2]); + if(res == 0) { - char str[19]; - memset(str, 0, sizeof(str)); sprintf (str, "%i;%i;%i;%i;%i;%i\r\n", data[0].rate, data[1].rate, data[2].rate, data[0].temp, data[1].temp, data[2].temp); res = HAL_UART_Transmit_DMA(&huart1, (uint8_t*)str, sizeof(str) / sizeof(str[0])); - while(!flag_receive && res == 0) { - HAL_Delay(1); - } + while(flag_transmit); + flag_transmit = 1; + HAL_UART_Transmit_DMA(&huart1, (uint8_t*)str, res); } /* USER CODE END WHILE */ @@ -335,18 +333,16 @@ static void MX_GPIO_Init(void) /* USER CODE BEGIN 4 */ void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) { - if(hspi == &hspi1) - { + flag_receive = 1; - } + } void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) { - if(huart == &huart1) - { - flag_receive = 1; - } + + flag_transmit = 0; + } /* USER CODE END 4 */