57 lines
1.9 KiB
C
57 lines
1.9 KiB
C
/*
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ForceSensor Task
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力传感器
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "device/ADS1115.h"
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/* USER INCLUDE END */
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* USER STRUCT BEGIN */
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int16_t adcDataTemp[4] = {0};
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float SensorData[4] = {0}; // 定义传感器数据数组
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_ForceSensor(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / FORCESENSOR_FREQ;
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osDelay(FORCESENSOR_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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//单次
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ADS1115_UserConfig_Single();
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ADS1115_ScanChannel(0);// 让通道0开始第一次转换，内部会设置 OS=Start 并写入
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//连续
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//ADS1115_UserConfig_Continue();
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/* USER CODE INIT END */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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static uint8_t chan = 0;
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if(ADS1115_ReadRawData(&adcDataTemp[chan]) != 0) {
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SensorData[chan] = ADS1115_RawDataToVoltage(adcDataTemp[chan]);
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}
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chan++;if(chan >= 2)chan=0;
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ADS1115_ScanChannel(chan);
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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} |