/* * ALS308.c * * Created on: 2022年4月11日 * Author: amos */ #include "rgb381.h" #include "TCA9548A.h" #include #define I2C_TIMEOUT_1000MS 16000000 // 定义超时时间（毫秒） #define CARD_NO_ALIGN 3 #define CARD_NO_MIN 10 /****************Result define*******************/ #define ResultInvalid 0 //无效 #define ResultNegative 1 //阴 #define ResultPositive 2 //阳 ColorSensor CS[CS_MAX] = {0}; //检测孔 uint8_t SensorState1=0,SensorState2=0,SensorState3=0,SensorState4=0,SensorState5=0, SensorState6=0,SensorState7=0,SensorState8=0,SensorState9=0,SensorState10=0; //extern uint8_t I2C_data; int8_t I2CWriteOneByte(I2C_HandleTypeDef *hi2c, uint8_t u8SlaveAddr, uint8_t u8DataAddr, uint8_t data) { // HAL 库返回值：HAL_OK 表示成功 HAL_StatusTypeDef status = HAL_I2C_Mem_Write(hi2c, (uint16_t)(u8SlaveAddr << 1), // 7位地址左移1位，HAL内部会处理读写位 (uint16_t)u8DataAddr, // 寄存器地址（8位） I2C_MEMADD_SIZE_8BIT, // 寄存器地址宽度 8 位 &data, // 要写入的数据 1, // 数据长度（字节） 100); // 超时时间 ms if (status == HAL_OK) return 0; // 成功 else return 3; // 统一返回 3（或按原函数错误码细化） } uint8_t I2CReadOneByte(I2C_HandleTypeDef *hi2c, uint8_t u8SlaveAddr, uint8_t u8DataAddr) { uint8_t rdata = 0; HAL_StatusTypeDef status = HAL_I2C_Mem_Read(hi2c, (uint16_t)(u8SlaveAddr << 1), (uint16_t)u8DataAddr, I2C_MEMADD_SIZE_8BIT, &rdata, 1, 100); if (status == HAL_OK) return rdata; else return 0; // 失败返回 0（与原函数一致） } uint8_t I2C_data = 0; void TCA9548A_SetChannel(uint8_t ID) { /********************************************************/ /**************background light--PA0*********************/ /*********************WIFI_EN--PA12**********************/ /**********************I2C_S0--PB3***********************/ /***********************I2C_S1--PB2**********************/ /**********************I2C_S2--PB1***********************/ /**********************I2C_S3--PB0***********************/ /**********************I2C_S4--PF5***********************/ /******************Device_num1--PB15*********************/ /******************Device_num2--PB14*********************/ /******************Device_num3--PB13*********************/ /******************Device_num4--PB12*********************/ /***********************LED--PF4*************************/ /***********************DEC--PB15************************/ switch(ID) { case 0: I2C_data = TCA9548A_CHANNEL_0; I2CWriteOneByte(&hi2c1,TCA9548A_SLAVE_ADDR,I2C_data,ID); break; case 1: I2C_data = TCA9548A_CHANNEL_0; I2CWriteOneByte(&hi2c1,TCA9548A_SLAVE_ADDR,I2C_data,I2C_data); HAL_Delay(50); I2C_data = TCA9548A_CHANNEL_2; I2CWriteOneByte(&hi2c1,TCA9548A_SLAVE_ADDR,I2C_data,I2C_data); break; case 2: I2C_data = TCA9548A_CHANNEL_3; I2CWriteOneByte(&hi2c1,TCA9548A_SLAVE_ADDR,I2C_data,I2C_data); break; case 3: I2C_data = TCA9548A_CHANNEL_4; I2CWriteOneByte(&hi2c1,TCA9548A_SLAVE_ADDR,I2C_data,I2C_data); break; case 4: I2C_data = TCA9548A_CHANNEL_5; I2CWriteOneByte(&hi2c1,TCA9548A_SLAVE_ADDR,I2C_data,I2C_data); break; case 5: I2C_data = TCA9548A_CHANNEL_6; I2CWriteOneByte(&hi2c1,TCA9548A_SLAVE_ADDR,I2C_data,I2C_data); break; case 6: I2C_data = TCA9548A_CHANNEL_7; I2CWriteOneByte(&hi2c1,TCA9548A_SLAVE_ADDR,I2C_data,I2C_data); break; case 7: I2C_data = TCA9548A_CHANNEL_8; I2CWriteOneByte(&hi2c1,TCA9548A_SLAVE_ADDR,I2C_data,I2C_data); break; case 8: I2C_data = TCA9548A_CHANNEL_1; I2CWriteOneByte(&hi2c1,TCA9548A_SLAVE_ADDR,I2C_data,I2C_data); HAL_Delay(50); I2C_data = TCA9548A_CHANNEL_0; I2CWriteOneByte(&hi2c1,TCA9548A_SLAVE_ADDR1,I2C_data,I2C_data); HAL_Delay(50); I2C_data = TCA9548A_CHANNEL_2; I2CWriteOneByte(&hi2c1,TCA9548A_SLAVE_ADDR1,I2C_data,I2C_data); break; case 9: // I2C_data = TCA9548A_CHANNEL_0; // I2CWriteOneByte(I2C0,TCA9548A_SLAVE_ADDR1,I2C_data,I2C_data); // DelayMS(100); I2C_data = TCA9548A_CHANNEL_3; I2CWriteOneByte(&hi2c1,TCA9548A_SLAVE_ADDR1,I2C_data,I2C_data); break; case 10: // I2C_data = TCA9548A_CHANNEL_0; // I2CWriteOneByte(I2C0,TCA9548A_SLAVE_ADDR1,I2C_data,I2C_data); // DelayMS(100); I2C_data = TCA9548A_CHANNEL_4; I2CWriteOneByte(&hi2c1,TCA9548A_SLAVE_ADDR1,I2C_data,I2C_data); break; default: break; } } void SensorMeasurementFactor(uint8_t measfactor) { I2CWriteOneByte(&hi2c1,RGB381_ADDR,RGB381_MeasRate,measfactor); } void SensorSetGain(uint8_t gain) { I2CWriteOneByte(&hi2c1,RGB381_ADDR,RGB381_Gain,gain); } uint8_t SensorGetID(uint8_t ID) { TCA9548A_SetChannel(ID); HAL_Delay(100); return I2CReadOneByte(&hi2c1,RGB381_ADDR,RGB381_PartID); // return I2CReadOneByte(I2C0,RGB381_ADDR,RGB381_PartID); } void SensorGetRawData(ColorSensor *CS) { uint32_t u32Timeout = I2C_TIMEOUT_1000MS; // 转换为时钟周期数 uint32_t u32StartTick = sysinf.ms_conter; uint32_t u32LastTick; uint32_t time; TCA9548A_SetChannel(CS->ID); HAL_Delay(40); u32LastTick = sysinf.ms_conter; time = u32LastTick - u32StartTick; while((I2CReadOneByte(&hi2c1,RGB381_ADDR,RGB381_MainState)&0x08)==0x08){ // 超时检测 u32LastTick = sysinf.ms_conter; time = u32LastTick - u32StartTick; if(u32LastTick < u32StartTick){ time = u32LastTick + 0x1000000 - u32StartTick; } if ((time) > u32Timeout) { CS->RDR = 0; Van_Device_Printf(VAN_LOG_ERROR, "error_state :%d\n",time); return; // 返回超时错误码 } }; HAL_Delay(10); // LOG_E("error_state :%d\n",time); CS->RDR=(I2CReadOneByte(&hi2c1,RGB381_ADDR,RGB381_R_DataLow)| (I2CReadOneByte(&hi2c1,RGB381_ADDR,RGB381_R_DataMid)<<8)| (I2CReadOneByte(&hi2c1,RGB381_ADDR,RGB381_R_DataHIG)<<16)); if(CS->RDR == 0){ HAL_Delay(10); CS->RDR=(I2CReadOneByte(&hi2c1,RGB381_ADDR,RGB381_R_DataLow)| (I2CReadOneByte(&hi2c1,RGB381_ADDR,RGB381_R_DataMid)<<8)| (I2CReadOneByte(&hi2c1,RGB381_ADDR,RGB381_R_DataHIG)<<16)); if(CS->RDR == 0){ Van_Device_Printf(VAN_LOG_ERROR, "error_Data\n"); } } // CS->RDG=(I2CReadOneByte(I2C0,RGB381_ADDR,RGB381_G_DataLow)| // (I2CReadOneByte(I2C0,RGB381_ADDR,RGB381_G_DataMid)<<8)| // (I2CReadOneByte(I2C0,RGB381_ADDR,RGB381_G_DataHIG)<<16)); // CS->RDB=(I2CReadOneByte(I2C0,RGB381_ADDR,RGB381_B_DataLow)| // (I2CReadOneByte(I2C0,RGB381_ADDR,RGB381_B_DataMid)<<8)| // (I2CReadOneByte(I2C0,RGB381_ADDR,RGB381_B_DataHIG)<<16)); } void SensorEnable(void) { I2CWriteOneByte(&hi2c1,RGB381_ADDR,RGB381_MainCtrl,CS_Modle|ALS_Active); HAL_Delay(10); } uint8_t SensorInit(ColorSensor *CS) { if(SensorGetID(CS->ID)==0xC2)// device id is 0xC2 { SensorEnable(); SensorMeasurementFactor(ALS_MeasRes_17B|ALS_MeasRate_50ms); SensorSetGain(ALS_Gain_9X); CS->TtMax=0.0; // CS->TtNow=0.0; // CS->ColDifInit=0.0; // CS->ColDifNow=0.0; // CS->ColDifMax=0.0; CS->Tt=30.0; CS->STD=0.0; CS->average=0.0; memset(CS->SAMP, 0, sizeof(CS->SAMP)); CS->std_num=0; CS->gain=0; SensorGetRawData(CS); for(int i = 0; i < 10; i++) { if(CS->RDR > CS_RDR_MIN) return 0; HAL_Delay(100); SensorGetRawData(CS); } return 1; } else return 1; } int SensorSelfCheck(void) { SensorState1=SensorInit(&CS[0]); SensorState2=SensorInit(&CS[1]); SensorState3=SensorInit(&CS[2]); SensorState4=SensorInit(&CS[3]); SensorState5=SensorInit(&CS[4]); SensorState6=SensorInit(&CS[5]); SensorState7=SensorInit(&CS[6]); SensorState8=SensorInit(&CS[7]); SensorState9=SensorInit(&CS[8]); SensorState10=SensorInit(&CS[9]); if(SensorState1|SensorState2|SensorState3|SensorState4|SensorState5|SensorState6|SensorState7|SensorState8|SensorState9|SensorState10) return -1; else return 0; } void SensorGetCalData(ColorSensor *CS) { // SensorGetRawData(CS); //CS->AccArea+=CS->RtR; } void SensorInitial(void) { CS[0].ID = Sensor1; CS[1].ID = Sensor2; CS[2].ID = Sensor3; CS[3].ID = Sensor4; CS[4].ID = Sensor5; CS[5].ID = Sensor6; CS[6].ID = Sensor7; CS[7].ID = Sensor8; CS[8].ID = Sensor9; CS[9].ID = Sensor10; } int Returntozero(ColorSensor *CS) //lxx-add-2022.12.26 { //lxx-add-2023.03.27 SensorGetRawData(CS); CS->CDR = (float)CS->RDR; if(CS->RDR < CARD_NO_MIN){ return 1; } if(CS->RDC/CS->RDR > CARD_NO_ALIGN){ return 1; } return 0; } void Get_SAMP_DATA(ColorSensor *CS) { CS->SAMP[0] = CS->RtR; // CS->CALCU_SAMP[samp_num] = (uint16_t)CS->RtR; } void Get_Tt(ColorSensor *CS) { if(CS->Tt == 30.0) { if(CS->RtR>(10*fabs(CS->STD)+CS->average)) { CS->std_num++; if(CS->std_num==5) //连续5次 { // CS->Tt = (sampleTimes-(5-1))/6.0f; //每分钟6次; } } else { CS->std_num=0; } } } void Get_average(ColorSensor *CS) { float sum= 0; int i = 0; for(i=0;iSAMP[i]; } CS->average = sum/(SAMP_SIZE); } void Get_STD(ColorSensor *CS) { int i = 0; float sum = 0; for(i=0;iSAMP[i]-CS->average)*(CS->SAMP[i]-CS->average); } CS->STD = sqrtf(sum / (SAMP_SIZE - 1)); } void Get_GAIN(ColorSensor *CS) //lxx_add_2023.07.27 { SensorGetRawData(CS); CS->RDC = (float)CS->RDR; if(CS->RDC < CS_RDR_MIN) { // error_set(ERROR_SENSOR_SELF_CHECK); return; } CS->gain = 1000.0/(float)CS->RDC; } void Sensor_calibration_data(ColorSensor *CS) //lxx_add_2023.07.27 { CS->RtR = (CS->CDR-CS->RDR)*CS->gain; } void sample_first_zero(void) { for (int i = 0; i < CS_MAX; i++) { Returntozero(&CS[i]); //从零点输出 Sensor_calibration_data(&CS[i]); } } int check_first_zero(void) { int noAlignNum = 0; for (int i = 0; i < CS_MAX; i++) { if(Returntozero(&CS[i]) == 1){ noAlignNum ++; } } if(noAlignNum == 0){ error_clear(); return 0; }else{ error_set(ERROR_SENSOR_SELF_CHECK); return 1; } } void sample_calibrate_calc(uint32_t times) { for (int i = 0; i < CS_MAX; i++) { SensorGetRawData(&CS[i]); // get the original data every 1S if(CS->RDR == 0){ // if(!(g_cfg.skip_CheckOrRun & SKIP_CHECK_CARDINSERT)){ // error_set(ERROR_SENSOR_SELF_CHECK); // return; // } } Sensor_calibration_data(&CS[i]); } if (times < 19) { for (int i = 0; i < CS_MAX; i++) { Get_SAMP_DATA(&CS[i]);// save the returntozero data in 30minutes } // samp_num++; } } void sample_calc_avg_std(void) { for (int i = 0; i < CS_MAX; i++) { Get_average(&CS[i]); Get_STD(&CS[i]); } } void sample_calc_tt(void) { for (int i = 0; i < CS_MAX; i++) { Get_Tt(&CS[i]); } } void SingleChannelJudge(ColorSensor *CS) { if(CS->TtMin < CS->Tt && CS->Tt < CS->TtMax) { CS->Result=ResultPositive; } else { CS->Result=ResultNegative; } } void SystemResaultJudge(void) { int nc_index = 0; //内参 uint8_t *p = &result.hole1_result; //孔结果 result.Devicenum = 0; strcpy(result.card_num,sysinf.psmMaster.card_param_info.pid); // result.card_num = card_param_info.pid; result.hole1_item = sysinf.psmMaster.card_param_info.hole_info[0].item; result.hole2_item = sysinf.psmMaster.card_param_info.hole_info[1].item; result.hole3_item = sysinf.psmMaster.card_param_info.hole_info[2].item; result.hole4_item = sysinf.psmMaster.card_param_info.hole_info[3].item; result.hole5_item = sysinf.psmMaster.card_param_info.hole_info[4].item; result.hole6_item = sysinf.psmMaster.card_param_info.hole_info[5].item; result.hole7_item = sysinf.psmMaster.card_param_info.hole_info[6].item; result.hole8_item = sysinf.psmMaster.card_param_info.hole_info[7].item; result.hole9_item = sysinf.psmMaster.card_param_info.hole_info[8].item; result.hole10_item = sysinf.psmMaster.card_param_info.hole_info[9].item; result.hole1_Tt[0] = (uint8_t)CS[0].Tt; result.hole1_Tt[1] = (uint8_t)((CS[0].Tt-(uint8_t)CS[0].Tt)*100); result.hole2_Tt[0] = (uint8_t)CS[1].Tt; result.hole2_Tt[1] = (uint8_t)((CS[1].Tt-(uint8_t)CS[1].Tt)*100); result.hole3_Tt[0] = (uint8_t)CS[2].Tt; result.hole3_Tt[1] = (uint8_t)((CS[2].Tt-(uint8_t)CS[2].Tt)*100); result.hole4_Tt[0] = (uint8_t)CS[3].Tt; result.hole4_Tt[1] = (uint8_t)((CS[3].Tt-(uint8_t)CS[3].Tt)*100); result.hole5_Tt[0] = (uint8_t)CS[4].Tt; result.hole5_Tt[1] = (uint8_t)((CS[4].Tt-(uint8_t)CS[4].Tt)*100); result.hole6_Tt[0] = (uint8_t)CS[5].Tt; result.hole6_Tt[1] = (uint8_t)((CS[5].Tt-(uint8_t)CS[5].Tt)*100); result.hole7_Tt[0] = (uint8_t)CS[6].Tt; result.hole7_Tt[1] = (uint8_t)((CS[6].Tt-(uint8_t)CS[6].Tt)*100); result.hole8_Tt[0] = (uint8_t)CS[7].Tt; result.hole8_Tt[1] = (uint8_t)((CS[7].Tt-(uint8_t)CS[7].Tt)*100); result.hole9_Tt[0] = (uint8_t)CS[8].Tt; result.hole9_Tt[1] = (uint8_t)((CS[8].Tt-(uint8_t)CS[8].Tt)*100); result.hole10_Tt[0] = (uint8_t)CS[9].Tt; result.hole10_Tt[1] = (uint8_t)((CS[9].Tt-(uint8_t)CS[9].Tt)*100); //判断孔结果 for (int i = 0; i < CS_MAX; i++) { SingleChannelJudge(&CS[i]); *p = CS[i].Result; p += 5; } //找id == -1 for(nc_index = 0; nc_index < 10; nc_index++) { if(sysinf.psmMaster.card_param_info.hole_info[nc_index].item == 0xFF) break; } if(nc_index == 10) { nc_index = 0; } //判断最终检测结果 p = &result.hole1_item_result; //检测结果 if(CS[nc_index].Result == ResultPositive) //内参结果为阳 { for (int i = 0; i < CS_MAX; i++) { if(CS[i].Result==ResultPositive) //孔结果为阳，最终结果为阳 { *p = ResultPositive; } else //否则，最终结果为阴 { *p = ResultNegative; } p += 5; } } else //内参结果为阴 { for (int i = 0; i < CS_MAX; i++) { if(CS[i].Result==ResultPositive) //孔结果为阳，最终结果为阳 { *p = ResultPositive; } else //否则，最终结果无效 { *p = ResultInvalid; } p += 5; } } //内参自身检测结果，等于孔结果 p = &result.hole1_item_result; //检测结果 p += 5*nc_index; *p = CS[nc_index].Result; } void sample_calc_result(void) { for (int i = 0; i < CS_MAX; i++) { //从二维码获取Tt范围 CS[i].TtMax = sysinf.psmMaster.card_param_info.hole_info[i].TtMax[0] + sysinf.psmMaster.card_param_info.hole_info[i].TtMax[1] / 100.0f; CS[i].TtMin = sysinf.psmMaster.card_param_info.hole_info[i].TtMin[0] + sysinf.psmMaster.card_param_info.hole_info[i].TtMin[1] / 100.0f; } SystemResaultJudge(); } void calc_balance(void) { // 获取插卡前白平衡值 for (int i = 0; i < CS_MAX; i++) { Get_GAIN(&CS[i]); } }