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/****************************************************************
*文件名稱：
*文件標示：
*摘要：
*
*
*當前版本：v1.0
*作者：蘋安
*****************************************************************/
#include "includes.h"
#include "math.h"
__align(8) static OS_STK TaskStartStk[500];
__align(8) static OS_STK TaskLedStk[500];
#define START_PRIO 1u
#define LED_PRIO 5u
OS_EVENT * spk;
OS_EVENT * lcd;
OS_EVENT * time_10;
static void TaskStart( void *parg);
static void TaskLed(void *parg);
void MenusTask( void *parg);
int main()
{
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
OSInit();
spk=OSSemCreate( 1 );
lcd=OSSemCreate( 1 );
time_10=OSSemCreate( 1 );
OSTaskCreateExt( TaskStart,
(void *)0,
&TaskStartStk[500-1],
START_PRIO,
START_PRIO,
TaskStartStk,
500,
( void *)0,
OS_TASK_OPT_STK_CHK+OS_TASK_OPT_STK_CLR);
OSStart();
return 0;
}
//#include "math.h"
static float x_est_last1 = 0;
static float P_last1 = 0;
/*/the noise in the system */
static float Q1 = 0.1;
static float R1 = 0.8;
static float K1;
static float P1;
static float P_temp1;
static float x_temp_est1;
static float x_est1;
static float z_measured1; /*/the 'noisy' value we measured */
// float z_real = 0.5; /*/the ideal value we wish to measure */
static float sum_error_kalman1 = 0;
static float sum_error_measure1 = 0;
static float kalman1(float z_real)
{
/*/do a prediction */
x_temp_est1 = x_est_last1;
P_temp1 = P_last1 + Q1;
/*/calculate the Kalman gain */
K1 = P_temp1 * (1.0/(P_temp1 + R1));
/*/measure*/
z_measured1 = z_real ;
x_est1 = x_temp_est1 + K1 * (z_measured1 - x_temp_est1);
P1 = (1- K1) * P_temp1;
sum_error_kalman1 += fabs(z_real - x_est1);
sum_error_measure1 += fabs(z_real-z_measured1);
P_last1 = P1;
x_est_last1 = x_est1;
return x_est1;
}
void halfword(FP32 j);
static void TaskStart( void *parg)
{
INT16U i=0,j=0,l=0;
FP32 vbat=0,k=0,oldk=0,dianliu=0,wendu=0;
(void)parg;
OS_CPU_SysTickInit();
OSStatInit();
OSTaskCreateExt( TaskLed,
(void *)0,
&TaskLedStk[500-1],
LED_PRIO,
LED_PRIO,
TaskLedStk,
500,
( void*)0,
OS_TASK_OPT_STK_CHK+OS_TASK_OPT_STK_CLR );
LedInit(); //初始化LED指示燈燈
PWMTimer(25000); //初始化PWM
DCOut(ENABLE);
ADC1_Configuration(); //采樣初始化
Getk_adc();
ReadCanShu();
OSTimeDlyHMSM( 0, 0, 1, 0 );
vbat=GetDC310();
gotoxy(0,0);
dprintf8("12");
k=310/vbat;
k=kalman1(k);
if(k<1)
{
halfword(k);
ban();
}
Time1Config(); //SPWM
SPWMState(ENABLE );
//halfword();
while(1)
{
OSTimeDlyHMSM( 0, 0, 0, 50 );
vbat=GetBATE();
if((vbat<10.5)||(vbat>14.5))
{
i++;
if(i==60)
while(1)
{
LedGreen(0);
WenKong(0);
DCOut(DISABLE);
SPWMState(DISABLE );
}
}
else
i=0;
dianliu=GetElectric();
if(dianliu>32)
{
j++;
if(j==40)
while(1)
{
LedGreen(0);
WenKong(0);
DCOut(DISABLE);
SPWMState(DISABLE );
}
}
else
j=0;
if(dianliu>55)
{
while(1)
{
LedGreen(0);
WenKong(0);
DCOut(DISABLE);
SPWMState(DISABLE );
}
}
if(dianliu>2)
WenKong(1);
if(dianliu<1.5)
WenKong(0);
vbat=GetDC310();
vbat=kalman1(vbat);
k=310/vbat;
//k=kalman1(k);
if(k<1)
{
halfword(k);
}
else
halfword(1);
}
}
float k_dianya=0.14143920; //電池電壓比例
extern volatile FP32 vref;
static void TaskLed(void *parg) //測試任務
{
INT32U j=0,b=0;
FP32 vbat=0,k=0;
//ADC_Config();
Init_ST7576();
//Usart1Init(9600);
DianLiuInit();
while(1)
{
LedGreen(1);
OSTimeDlyHMSM( 0, 0, 0, 500 );
LedGreen(0);
OSTimeDlyHMSM( 0, 0, 0, 500 );
Getk_adc();
vbat=GetBATE();
gotoxy(0,0);
dprintf("vbat=%0.2f ",vbat);
vbat=GetDC310();
gotoxy(0,2);
dprintf("DC=%0.2f ",vbat);
k=310/vbat;
gotoxy(0,4);
dprintf("k=%0.1f ",k);
k=GetWenDu();
gotoxy(0,6);
dprintf("wen=%0.1f",k);
k=GetElectric();
dprintf(" %0.1f",k);
if(GetAnJian()==0)
{
DCOut(DISABLE);
SPWMState(DISABLE );
OSTimeDlyHMSM( 0, 0, 3, 500 );
Getele();
SaveCanShu();
DCOut(ENABLE);
SPWMState(ENABLE );
}
}
}

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