1.引入电源管理系统 2.增加校准用时，提高校准精度

g122622 · Apr 29, 2024 · d7bc818 · d7bc818
1 parent 7bbb390
commit d7bc818
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Showing 5 changed files with 52 additions and 11 deletions.
diff --git a/main/BMS/BMSTick.h b/main/BMS/BMSTick.h
@@ -0,0 +1,32 @@
+/*
+ * File: \BMSTick.h
+ * Project: BMS
+ * Created Date: 2024-04-28 22:52:22
+ * Author: Guoyi
+ * -----
+ * Last Modified: 2024-04-28 23:10:33
+ * Modified By: Guoyi
+ * -----
+ * Copyright (c) 2024 Guoyi Inc.
+ *
+ * ------------------------------------
+ */
+
+#include "../BMS/ADC/batteryVoltage.h"
+#include "../globalStates/BMSState.h"
+#include "../globalStates/controllerState.h"
+#include "FlightController/motor/motor.h"
+#include "LED/StatusLED.h"
+
+#define BATTERY_VOLTAGE_LOW_THR (3200)
+#define BATTERY_VOLTAGE_EXTREMELY_LOW_THR (3000)
+
+void BMSTick()
+{
+    batteryVoltage = BMS_ADC_ReadBatteryVoltage();
+    if (batteryVoltage != -1 && batteryVoltage < BATTERY_VOLTAGE_EXTREMELY_LOW_THR){
+        flightState = 0;
+        stopAllMotors(); // 多余的一步。在这里是为了万无一失，确保关停所有电机。
+        flashStatusLED(10, 500);
+    }
+}
diff --git a/main/LED/StatusLED.h b/main/LED/StatusLED.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-04-28 15:07:32
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-28 15:19:25
+ * Last Modified: 2024-04-28 23:00:13
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -19,7 +19,7 @@
 #include "freertos/task.h"
 #include "driver/gpio.h"
 
-static gpio_num_t gpio_led_num = GPIO_NUM_32; // 连接LED的GPIO
+static gpio_num_t gpio_led_num = GPIO_NUM_23; // 连接LED的GPIO
 
 void StatusLED_Init()
 {
@@ -37,4 +37,15 @@ void disableStatusLED()
     gpio_set_level(gpio_led_num, 0);
 }
 
+void flashStatusLED(int count, int duration)
+{
+    for (int i = 0; i < count; i++)
+    {
+        enableStatusLED();
+        vTaskDelay(duration / portTICK_PERIOD_MS);
+        disableStatusLED();
+        vTaskDelay(duration / portTICK_PERIOD_MS);
+    }
+}
+
 #endif
diff --git a/main/globalStates/controllerState.h b/main/globalStates/controllerState.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-04-05 21:25:11
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-28 00:38:58
+ * Last Modified: 2024-04-28 23:08:52
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.

diff --git a/main/mpu6050/motionData.h b/main/mpu6050/motionData.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-03-07 22:51:03
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-28 15:19:41
+ * Last Modified: 2024-04-29 18:50:44
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -73,7 +73,7 @@ void MotionData_Calibrate()
     // 开始校准
     enableStatusLED();
     float gyroZ_SUM = 0;
-    for (int i = 0; i < 10; i++)
+    for (int i = 0; i < 30; i++)
     {
         vTaskDelay(30 / portTICK_PERIOD_MS);
         // F3D accel = getAccelData();

diff --git a/main/tasks/BMSTaskLoop.h b/main/tasks/BMSTaskLoop.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-04-24 17:28:06
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-27 13:00:59
+ * Last Modified: 2024-04-28 23:02:35
  * Modified By:
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -17,17 +17,15 @@
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
-
-#include "../BMS/ADC/batteryVoltage.h"
-#include "../globalStates/BMSState.h"
+#include "BMS/BMSTick.h"
 
 void BMSTaskLoop(void *argument)
 {
     BMS_ADC_Init();
     while (1)
     {
-        batteryVoltage = BMS_ADC_ReadBatteryVoltage();
-        vTaskDelay(500 / portTICK_PERIOD_MS);
+        vTaskDelay(50 / portTICK_PERIOD_MS);
+        BMSTick();
     }
 }