智慧牧场数据 7-编程知识

1 体征数据采集

需求:获取奶牛记步信息

三轴加速度测量：加速度测量计反应的加速向量与当前的受力方向是相反，单位为g

陀螺仪，是用来测量角速度的，单位为度每秒（deg/s） 2000deg/s 相当于1秒钟多少转

1.1 原理图

IIC的地址最后一1位

一键还原原理图d1、d2连接在核心板底座的con1和con2

同时，这两个引脚pb7、8可以直接使用IIC

1.2 驱动流程

陀螺仪测量范围是+-2000，加速度测量范围是+-2G，读取初始值是为了便于校准。每次读取到xyz要减去这个值

获取两个字节数据

1.3 修改cubmx工程

I2C使能 pb7和pb8引脚配置

IIC标准工程

建立sensor文件夹，用于放置传感器相关文件

查看芯片手册

采样频率参考MPU-6050寄存器映射

1.4 修改工程代码

使用i2c的阅读函数HAL_I2C_Mem_Read()、write

#include "mpu6050.h"#include "string.h"
#include "stdio.h"#include "i2c.h"
int16_t Accx,Accy,Accz;//**********************************//
//函数名称：  InitMpu6050 
//函数描述：   初始化MPU6050
//函数参数：   无
//返回值：     无
//*******************************//void InitMpu6050(void)
{uint8_t WriteCmd = 0;//解除休眠状态WriteCmd = 0x00;HAL_I2C_Mem_Write(&hi2c1, ADDRESS_Write, PWR_MGMT_1, I2C_MEMADD_SIZE_8BIT, &WriteCmd, 1, 0x10);//时钟速率0x06(1Khz)陀螺仪采样率0x07(125Hz)WriteCmd = 0x07;HAL_I2C_Mem_Write(&hi2c1, ADDRESS_Write, SMPLRT_DIV, I2C_MEMADD_SIZE_8BIT, &WriteCmd, 1, 0x10);      WriteCmd = 0x06;HAL_I2C_Mem_Write(&hi2c1, ADDRESS_Write, CONFIG, I2C_MEMADD_SIZE_8BIT, &WriteCmd, 1, 0x10);//不自检，2000deg/sWriteCmd = 0x18;HAL_I2C_Mem_Write(&hi2c1, ADDRESS_Write, GYRO_CONFIG, I2C_MEMADD_SIZE_8BIT, &WriteCmd, 1, 0x10);//(不自检，2G，5Hz)WriteCmd = 0x01;HAL_I2C_Mem_Write(&hi2c1, ADDRESS_Write, ACCEL_CONFIG, I2C_MEMADD_SIZE_8BIT, &WriteCmd, 1, 0x10);HAL_Delay(10);mpu6050_verify(&Accx, &Accy, &Accz); //读取第一次的值}//**********************************//
//函数名称：   mpu6050_verify
//函数描述：   MPU6050校验
//函数参数：   int16_t *x, int16_t *y, int16_t *z
//返回值：     无
//*******************************//void  mpu6050_verify(int16_t *x, int16_t *y, int16_t *z)
{uint8_t ReadBuffer[10] = {0};HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read, ACCEL_XOUT_L, I2C_MEMADD_SIZE_8BIT,&ReadBuffer[0],1, 0x10);HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read, ACCEL_XOUT_H, I2C_MEMADD_SIZE_8BIT,&ReadBuffer[1],1, 0x10);  *x = (ReadBuffer[1]<<8)+ReadBuffer[0] ;HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read, ACCEL_YOUT_L, I2C_MEMADD_SIZE_8BIT,&ReadBuffer[0],1, 0x10);HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read, ACCEL_YOUT_H, I2C_MEMADD_SIZE_8BIT,&ReadBuffer[1],1, 0x10);  *y = (ReadBuffer[1]<<8)+ReadBuffer[0] ;HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read, ACCEL_ZOUT_L, I2C_MEMADD_SIZE_8BIT,&ReadBuffer[0],1, 0x10);HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read, ACCEL_ZOUT_H, I2C_MEMADD_SIZE_8BIT,&ReadBuffer[1],1, 0x10);  *z = (ReadBuffer[1]<<8)+ReadBuffer[0] ;}//**********************************//
//函数名称：   mpu6050_ReadData
//函数描述：   MPU6060获取三轴数据
//函数参数：   int16_t *x, int16_t *y, int16_t *z
//返回值：     无
//*******************************//void  mpu6050_ReadData(float *Mx, float *My, float *Mz)
{int16_t x,y,z;uint8_t ReadBuffer[10] = {0};HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read, ACCEL_XOUT_L, I2C_MEMADD_SIZE_8BIT,&ReadBuffer[0],1, 0x10);HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read, ACCEL_XOUT_H, I2C_MEMADD_SIZE_8BIT,&ReadBuffer[1],1, 0x10);  x = (ReadBuffer[1]<<8)+ReadBuffer[0] ;x -= Accx;*Mx = ((float)x)/16384;HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read, ACCEL_YOUT_L, I2C_MEMADD_SIZE_8BIT,&ReadBuffer[0],1, 0x10);HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read, ACCEL_YOUT_H, I2C_MEMADD_SIZE_8BIT,&ReadBuffer[1],1, 0x10);  y = (ReadBuffer[1]<<8)+ReadBuffer[0] ;y -= Accy;*My = ((float)y)/16384;HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read, ACCEL_ZOUT_L, I2C_MEMADD_SIZE_8BIT,&ReadBuffer[0],1, 0x10);HAL_I2C_Mem_Read(&hi2c1, ADDRESS_Read, ACCEL_ZOUT_H, I2C_MEMADD_SIZE_8BIT,&ReadBuffer[1],1, 0x10);  z = (ReadBuffer[1]<<8)+ReadBuffer[0] ;z -= Accz;*Mz = ((float)z)/16384;}

三轴数据读取，减去初始值校准

主程序中定义全局变量的xyz坐标

初始化I2C
初始化mpu6050

while(1)之前又写了一个while(1)

2 饲养环境采集

lora中集成温湿度传感器

2.1 原理图

D2连接到核心板con2

D2就是pb8

2.2 驱动分析

获取数据。
如果继续拉高就是70us说明时1，否则是0.
读取5个字节，获取稳定数据、湿度数据和校验码

2.3 修改工程代码

dh11.c

#include "stdint.h"
#include "tim.h"
#include "gpio.h"
#include "dht11.h"
#include "delay.h"//温湿度定义uint8_t ucharT_data_H=0,ucharT_data_L=0,ucharRH_data_H=0,ucharRH_data_L=0,ucharcheckdata=0;void DHT11_TEST(void)   //温湿传感启动
{uint8_t ucharT_data_H_temp,ucharT_data_L_temp,ucharRH_data_H_humidity,ucharRH_data_L_humidity,ucharcheckdata_temp;uint8_t ucharFLAG = 0,uchartemp=0;uint8_t ucharcomdata;uint8_t i;  {D2_OUT_GPIO_Init();                                  //根据时序图配置为输出模式，拉低等待18毫秒HAL_GPIO_WritePin(GPIOB,GPIO_PIN_8,GPIO_PIN_RESET);HAL_Delay_ms(18);HAL_GPIO_WritePin(GPIOB,GPIO_PIN_8,GPIO_PIN_SET);    //拉高，配置为输入模式，等待40usD2_IN_GPIO_Init();HAL_Delay_10us(4);         }if(!HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))              //如果响应信号是低电平 ，是否应答____{ucharFLAG=2;                                                //无符号char型，超时保护，最多255，再+到0，如果=1设置为超时判断while((!HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))&&ucharFLAG++);  //__--80us等待拉高ucharFLAG=2;while(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8)&&ucharFLAG++);     //--__80us等待拉低for(i=0;i<8;i++)                                             //读取数据{ucharFLAG=2; while((!HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))&&ucharFLAG++);     //判断是否拉高HAL_Delay_10us(3);                                             //如果拉高延时30us等待磐石是否拉低uchartemp=0;if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))uchartemp=1;          //如果还是高，代表1，否则代表0ucharFLAG=2;while(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8)&&ucharFLAG++);       //判断是否拉低，或者超时if(ucharFLAG==1)break;                                        //无符号char型，超时保护，最多255，再+到0，如果=1设置为超时判断ucharcomdata<<=1;                                             //左移1位ucharcomdata|=uchartemp; }ucharRH_data_H_humidity = ucharcomdata;                      //赋值给湿度高8位for(i=0;i<8;i++)    {ucharFLAG=2; while((!HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))&&ucharFLAG++);HAL_Delay_10us(3);uchartemp=0;if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))uchartemp=1;ucharFLAG=2;while(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8)&&ucharFLAG++);   if(ucharFLAG==1)break;    ucharcomdata<<=1;ucharcomdata|=uchartemp; }ucharRH_data_L_humidity = ucharcomdata;                     //赋值给湿度低8位for(i=0;i<8;i++)    {ucharFLAG=2; while((!HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))&&ucharFLAG++);HAL_Delay_10us(3);uchartemp=0;if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))uchartemp=1;ucharFLAG=2;while((HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))&&ucharFLAG++);   if(ucharFLAG==1)break;    ucharcomdata<<=1;ucharcomdata|=uchartemp; }ucharT_data_H_temp      = ucharcomdata;                   //赋值给温度高8位for(i=0;i<8;i++)    {ucharFLAG=2; while((!HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))&&ucharFLAG++);HAL_Delay_10us(3);uchartemp=0;if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))uchartemp=1;ucharFLAG=2;while((HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))&&ucharFLAG++);   if(ucharFLAG==1)break;    ucharcomdata<<=1;ucharcomdata|=uchartemp; }ucharT_data_L_temp      = ucharcomdata;                 //赋值给温度低8位for(i=0;i<8;i++)    {ucharFLAG=2; while((!HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))&&ucharFLAG++);HAL_Delay_10us(3);uchartemp=0;if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))uchartemp=1;ucharFLAG=2;while((HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_8))&&ucharFLAG++);   if(ucharFLAG==1)break;    ucharcomdata<<=1;ucharcomdata|=uchartemp; }ucharcheckdata_temp     = ucharcomdata;                            //读取校验和
//            humiture=1; uchartemp=(ucharT_data_H_temp+ucharT_data_L_temp+ucharRH_data_H_humidity+ucharRH_data_L_humidity);if(uchartemp==ucharcheckdata_temp)                    //判断校验和是否和读取的数据相同{          ucharT_data_H  = ucharT_data_H_temp;          //进去赋值ucharT_data_L  = ucharT_data_L_temp;ucharRH_data_H = ucharRH_data_H_humidity;ucharRH_data_L = ucharRH_data_L_humidity;ucharcheckdata = ucharcheckdata_temp;                    } } else //没用成功读取，返回0                              {ucharT_data_H  = 0;ucharT_data_L  = 0;ucharRH_data_H = 0;ucharRH_data_L = 0; } HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);          //重新调用systick的config，因为用到的延时毫秒和微妙都是systick，用完后要恢复}

delay.c

#include "stm32f0xx_hal.h"
#include "delay.h"/*** @}*/
void HAL_Delay_10us(__IO uint32_t Delay)
{HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);uint32_t temp;uint8_t fac_us=60;	        SysTick->LOAD=Delay*fac_us; //时间加载	  		 SysTick->VAL=0x00;        //清空计数器SysTick->CTRL=0x01 ;      //开始倒数 	 do{temp=SysTick->CTRL;}while(temp&0x01&&!(temp&(1<<16)));//等待时间到达   SysTick->CTRL=0x00;       //关闭计数器SysTick->VAL =0X00;       //清空计数器	
}
/*** @}*/
void HAL_Delay_ms(__IO uint32_t Delay)
{HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);uint32_t temp;uint16_t fac_ms=6000;	        SysTick->LOAD=Delay*fac_ms; //时间加载	  		 SysTick->VAL=0x00;        //清空计数器SysTick->CTRL=0x01 ;      //开始倒数 	 do{temp=SysTick->CTRL;}while(temp&0x01&&!(temp&(1<<16)));//等待时间到达   SysTick->CTRL=0x00;       //关闭计数器SysTick->VAL =0X00;       //清空计数器	
}
/*** @}*/
void HAL_Delay_us(__IO uint32_t Delay)
{HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);uint32_t temp;uint8_t fac_us=6;	        SysTick->LOAD=Delay*fac_us; //时间加载	  		 SysTick->VAL=0x00;        //清空计数器SysTick->CTRL=0x01 ;      //开始倒数 	 do{temp=SysTick->CTRL;}while(temp&0x01&&!(temp&(1<<16)));//等待时间到达   SysTick->CTRL=0x00;       //关闭计数器SysTick->VAL =0X00;       //清空计数器	
}

3 饲养环境控制

通过5v 二次回路AC驱动380风扇。试验里面采用了5v微型风扇

3.1 修改工程代码

gpio D1初始化

#include "gpio.h"
#include "fan.h"
#include <stdbool.h>static uint8_t FanStaus = false;//**********************************//
//函数名称：   FanOn
//函数描述：   开启风扇
//函数参数：   无
//返回值：     无
//*******************************//void FanOn(void)
{HAL_GPIO_WritePin( FAN_GPIO_PORT, FAN_PIN, FAN_ON );FanStaus = true;
}//**********************************//
//函数名称：   FanOff
//函数描述：   关闭风扇
//函数参数：   无
//返回值：     无
//*******************************//void FanOff(void)
{HAL_GPIO_WritePin( FAN_GPIO_PORT, FAN_PIN, FAN_OFF ); FanStaus = false;
}//**********************************//
//函数名称：   FanReadStaus
//函数描述：   读取风扇状态
//函数参数：   无
//返回值：     无
//*******************************//uint8_t FanReadStaus( void )
{return FanStaus;
}

主程序

SLCD_SHOW

4 项目集成开发

定时采集上传数据

修改RTC文件

因为IIC，重新使用了cubmx，把IIC初始化更改了，要重新恢复
修改数据处理任务
传感器定时上传函数

把之前rtc文件复制过来

上传节点传感器函数，可以通过main函数查找，因为开发了3个设备的传感器，要进行区分。之前放在main函数的while1中
根据协议文件，修改数据包

修改上传代码

//**********************************//
//函数名称：   SendSensorDataUP
//函数描述：   上传节点传感器数据
//函数参数：   无
//返回值：     无
//*******************************//void SendSensorDataUP(void)
{printf("SendSensorDataUP\n");//传感器类型6050
#if defined(MPU6050)mpu6050_ReadData(&Mx,&My,&Mz);printf("Mx = %.3f\n",Mx);printf("My = %3f\n",My);printf("Mz = %3f\n",Mz);DataPacke_t.netmsgHead = 'N';DataPacke_t.netPanid[0] = HI_UINT16(PAN_ID);DataPacke_t.netPanid[1] = LO_UINT16(PAN_ID);DataPacke_t.msgHead = 0x21;DataPacke_t.dataLength = 0x08;    //不含包头DataPacke_t.dataType = 0x00;DataPacke_t.deviceAddr[0] = HI_UINT16(ADDR);DataPacke_t.deviceAddr[1] = LO_UINT16(ADDR);DataPacke_t.sensorType  = 0x3;DataPacke_t.buff[0]  = int8_t(Mx*10)   //-127 128DataPacke_t.buff[1]  = int8_t(My*10)DataPacke_t.buff[2]  = int8_t(Mz*10)//校验码DataPacke_t.crcCheck = crc8((uint8_t *)&DataPacke_t,DataPacke_t.dataLength + 4);//发送数据包Radio->SetTxPacket((uint8_t *)&DataPacke_t, DataPacke_t.dataLength + 5);//传感器类型dht11
#if defined(DHT11)DHT11_TEST();printf("TEMP = %d\n",ucharT_data_H);printf("HUM = %d\n",ucharRH_data_H);DataPacke_t.netmsgHead = 'N';DataPacke_t.netPanid[0] = HI_UINT16(PAN_ID);DataPacke_t.netPanid[1] = LO_UINT16(PAN_ID);DataPacke_t.msgHead = 0x21;DataPacke_t.dataLength = 0x07;    //不含包头DataPacke_t.dataType = 0x00;DataPacke_t.deviceAddr[0] = HI_UINT16(ADDR);DataPacke_t.deviceAddr[1] = LO_UINT16(ADDR);DataPacke_t.sensorType  = 0x1;DataPacke_t.buff[0]  = int8_t(ucharT_data_H)   //-127 128DataPacke_t.buff[1]  = int8_t(ucharRH_data_H)//校验码DataPacke_t.crcCheck = crc8((uint8_t *)&DataPacke_t,DataPacke_t.dataLength + 4);//发送数据包Radio->SetTxPacket((uint8_t *)&DataPacke_t, DataPacke_t.dataLength + 5);//传感器类型FAN
#if defined(FAN)FanStaus = FanReadStaus();DataPacke_t.netmsgHead = 'N';DataPacke_t.netPanid[0] = HI_UINT16(PAN_ID);DataPacke_t.netPanid[1] = LO_UINT16(PAN_ID);DataPacke_t.msgHead = 0x21;DataPacke_t.dataLength = 0x06;    //不含包头DataPacke_t.dataType = 0x01;DataPacke_t.deviceAddr[0] = HI_UINT16(ADDR);DataPacke_t.deviceAddr[1] = LO_UINT16(ADDR);DataPacke_t.sensorType  = 0x3;DataPacke_t.buff[0]  = int8_t(FanStaus)   //校验码DataPacke_t.crcCheck = crc8((uint8_t *)&DataPacke_t,DataPacke_t.dataLength + 4);//发送数据包Radio->SetTxPacket((uint8_t *)&DataPacke_t, DataPacke_t.dataLength + 5);#endif   }

修改解析代码

//**********************************//
//
//函数名称：   SlaveProtocolAnalysis
//
//函数描述：   从机协议解析
//
//函数参数：   uint8_t *buff,uint8_t len
//
//返回值：     uint8_t
//
//*******************************//uint8_t SlaveProtocolAnalysis(uint8_t *buff,uint8_t len)
{uint8_t Crc8Data;printf("SlaveProtocolAnalysis\n");for (int i = 0; i < len; i++){printf("0x%x  ",buff[i]);}printf("\n");if (buff[0] == NETDATA){if (buff[1] == HI_UINT16(PAN_ID) && buff[2] == LO_UINT16(PAN_ID)){Crc8Data = crc8(&buff[0], len - 1);if (Crc8Data != buff[len - 1]){memset(buff, 0, len);return 0;}if (buff[3] == 0x21){printf("Slave_NETDATA\n");if( buff[5] == 0x01){if(buff[6] == HI_UINT16(ADDR) && buff[7] == LO_UINT16(ADDR)){if(buff[8] == 0x03){
#if defined(FAN)if(buff[9] == true){FanON();}else{FanOff();}
#endif  }}}}return 0;}}else if((buff[0] == 0x3C) && (buff[2] == 'A')){if (DataCrcVerify(buff, len) == 0){return 0;}if (buff[3] == HI_UINT16(PAN_ID) && buff[4] == LO_UINT16(PAN_ID)){if (buff[5] == jionPacke_t.deviceAddr[0] && buff[6] == jionPacke_t.deviceAddr[1]){slaveNativeInfo_t.deviceId = buff[7];printf("Slave_ACK\n");return 0xFF;}}}else if((buff[0] == 0x3C) && (buff[2] == 'T')){if (DataCrcVerify(buff, len) == 0){return 0;}if (buff[3] == HI_UINT16(PAN_ID) && buff[4] == LO_UINT16(PAN_ID)){uint32_t alarmTime = 0;startUpTimeHours = buff[5];startUpTimeMinute = buff[6];startUpTimeSeconds = buff[7];startUpTimeSubSeconds = buff[8] <<8 | buff[9];printf("Slave_CLOCK\n");printf("H:%d,M:%d,S:%d,SUB:%d\n", startUpTimeHours, startUpTimeMinute, startUpTimeSeconds, startUpTimeSubSeconds);alarmTime = ((DataUpTimeHours * 60 + DataUpTimeMinute) * 60 + DataUpTimeSeconds) * 1000 + (DataUpTimeSubSeconds / 2) + DataUpTime;GetTimeHMS(alarmTime, &DataUpTimeHours, &DataUpTimeMinute, &DataUpTimeSeconds, &DataUpTimeSubSeconds);printf("DataUpTime->H:%d,M:%d,S:%d,SUB:%d\n", DataUpTimeHours, DataUpTimeMinute, DataUpTimeSeconds, DataUpTimeSubSeconds);//使能RTCMX_RTC_Init();return 0xFF;}}return 1;
}

CRC借用工具