修复ADC模块的代码编译错误

main/BMS/ADC/batteryVoltage.h

@@ -4,29 +4,23 @@
  * Created Date: 2024-04-24 13:47:31
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-24 14:07:13
+ * Last Modified: 2024-04-24 17:54:26
  * Modified By:
  * -----
  * Copyright (c) 2024 Guoyi Inc.
  *
  * ------------------------------------
  */
 
-/*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#include "soc/soc_caps.h"
 #include "esp_log.h"
 #include "esp_adc/adc_oneshot.h"
 #include "esp_adc/adc_cali.h"
 #include "esp_adc/adc_cali_scheme.h"
 
-const static char *TAG = "EXAMPLE";
+const static char *BMS_ADC_LOG_TAG = "BMS_ADC";
 
 /*---------------------------------------------------------------
         ADC General Macros
@@ -38,38 +32,48 @@ const static char *TAG = "EXAMPLE";
 
 static int adc_raw[2][10];
 static int voltage[2][10];
+adc_oneshot_unit_handle_t adc1_handle;
 adc_cali_handle_t adc1_cali_handle = NULL;
+bool do_calibration1_chan0 = false;
+
 static bool battery_adc_calibration_init(adc_unit_t unit, adc_channel_t channel, adc_atten_t atten, adc_cali_handle_t *out_handle);
 static void battery_adc_calibration_deinit(adc_cali_handle_t handle);
 
 void BMS_ADC_Init(void)
 {
     //-------------ADC1 Init---------------//
-    adc_oneshot_unit_handle_t adc1_handle;
     adc_oneshot_unit_init_cfg_t init_config = {
         .unit_id = ADC_UNIT_1,
     };
     ESP_ERROR_CHECK(adc_oneshot_new_unit(&init_config, &adc1_handle));
 
     //-------------ADC1 Config---------------//
     adc_oneshot_chan_cfg_t config = {
-        .bitwidth = ADC_BITWIDTH_DEFAULT,
         .atten = BATTERY_ADC_ATTEN,
+        .bitwidth = ADC_BITWIDTH_DEFAULT,
     };
     ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, BATTERY_ADC1_CHANNEL, &config));
 
     //-------------ADC1 Calibration Init---------------//
-    bool do_calibration1_chan0 = battery_adc_calibration_init(ADC_UNIT_1, BATTERY_ADC1_CHANNEL, BATTERY_ADC_ATTEN, &adc1_cali_handle);
+     do_calibration1_chan0 = battery_adc_calibration_init(ADC_UNIT_1, BATTERY_ADC1_CHANNEL, BATTERY_ADC_ATTEN, &adc1_cali_handle);
 }
 
+// 如果读取数据时还未校准，那么返回-1
 int BMS_ADC_ReadBatteryVoltage()
 {
-    ESP_ERROR_CHECK(adc_oneshot_read(adc1_handle, BATTERY_ADC1_CHANNEL, &adc_raw[0][0]));
-    ESP_ERROR_CHECK(adc_cali_raw_to_voltage(adc1_cali_handle, adc_raw[0][0], &voltage[0][0]));
-    return voltage[0][0];
+    if (do_calibration1_chan0)
+    {
+        ESP_ERROR_CHECK(adc_oneshot_read(adc1_handle, BATTERY_ADC1_CHANNEL, &adc_raw[0][0]));
+        ESP_ERROR_CHECK(adc_cali_raw_to_voltage(adc1_cali_handle, adc_raw[0][0], &voltage[0][0]));
+        return voltage[0][0];
+    } else {
+        // 如果读取数据时还未校准，那么返回-1 
+        return -1;
+    }
+    return -1;
 }
 
-int BMS_ADC_Deinit()
+void BMS_ADC_Deinit()
 {
     // Tear Down
     ESP_ERROR_CHECK(adc_oneshot_del_unit(adc1_handle));
@@ -86,28 +90,9 @@ battery_adc_calibration_init(adc_unit_t unit, adc_channel_t channel, adc_atten_t
     esp_err_t ret = ESP_FAIL;
     bool calibrated = false;
 
-#if ADC_CALI_SCHEME_CURVE_FITTING_SUPPORTED
     if (!calibrated)
     {
-        ESP_LOGI(TAG, "calibration scheme version is %s", "Curve Fitting");
-        adc_cali_curve_fitting_config_t cali_config = {
-            .unit_id = unit,
-            .chan = channel,
-            .atten = atten,
-            .bitwidth = ADC_BITWIDTH_DEFAULT,
-        };
-        ret = adc_cali_create_scheme_curve_fitting(&cali_config, &handle);
-        if (ret == ESP_OK)
-        {
-            calibrated = true;
-        }
-    }
-#endif
-
-#if ADC_CALI_SCHEME_LINE_FITTING_SUPPORTED
-    if (!calibrated)
-    {
-        ESP_LOGI(TAG, "calibration scheme version is %s", "Line Fitting");
+        ESP_LOGI(BMS_ADC_LOG_TAG, "calibration scheme version is %s", "Line Fitting");
         adc_cali_line_fitting_config_t cali_config = {
             .unit_id = unit,
             .atten = atten,
@@ -119,33 +104,26 @@ battery_adc_calibration_init(adc_unit_t unit, adc_channel_t channel, adc_atten_t
             calibrated = true;
         }
     }
-#endif
 
     *out_handle = handle;
     if (ret == ESP_OK)
     {
-        ESP_LOGI(TAG, "Calibration Success");
+        ESP_LOGI(BMS_ADC_LOG_TAG, "Calibration Success");
     }
     else if (ret == ESP_ERR_NOT_SUPPORTED || !calibrated)
     {
-        ESP_LOGW(TAG, "eFuse not burnt, skip software calibration");
+        ESP_LOGW(BMS_ADC_LOG_TAG, "eFuse not burnt, skip software calibration");
     }
     else
     {
-        ESP_LOGE(TAG, "Invalid arg or no memory");
+        ESP_LOGE(BMS_ADC_LOG_TAG, "Invalid arg or no memory");
     }
 
     return calibrated;
 }
 
 static void battery_adc_calibration_deinit(adc_cali_handle_t handle)
 {
-#if ADC_CALI_SCHEME_CURVE_FITTING_SUPPORTED
-    ESP_LOGI(TAG, "deregister %s calibration scheme", "Curve Fitting");
-    ESP_ERROR_CHECK(adc_cali_delete_scheme_curve_fitting(handle));
-
-#elif ADC_CALI_SCHEME_LINE_FITTING_SUPPORTED
-    ESP_LOGI(TAG, "deregister %s calibration scheme", "Line Fitting");
+    ESP_LOGI(BMS_ADC_LOG_TAG, "deregister %s calibration scheme", "Line Fitting");
     ESP_ERROR_CHECK(adc_cali_delete_scheme_line_fitting(handle));
-#endif
 }

main/main.c

@@ -29,16 +29,22 @@
 #include "FlightController/motor/motor.h"
 /* 各任务 */
 #include "tasks/controllerTickLoop.h"
+#include "tasks/BMSTaskLoop.h"
 
+// 任务优先级数值越小，任务优先级越低
 #define tskHIGH_PRIORITY 10
+#define tskMEDIUM_PRIORITY 5
 
 TaskHandle_t controllerTickLoopHandle = NULL;
+TaskHandle_t BMSTaskLoopHandle = NULL;
 
 /* 启动任务 */
 void Tasks_Init()
 {
     xTaskCreatePinnedToCore(controllerTickLoop, "controllerTickLoop",
                             4096, NULL, tskHIGH_PRIORITY, controllerTickLoopHandle, 1);
+    xTaskCreatePinnedToCore(BMSTaskLoop, "BMSTaskLoop",
+                            4096, NULL, tskMEDIUM_PRIORITY, BMSTaskLoopHandle, 1);
 }
 
 void app_main(void)

main/tasks/BMSTaskLoop.h

@@ -0,0 +1,35 @@
+/*
+ * File: \BMSTask.h
+ * Project: tasks
+ * Created Date: 2024-04-24 17:28:06
+ * Author: Guoyi
+ * -----
+ * Last Modified: 2024-04-24 17:31:36
+ * Modified By:
+ * -----
+ * Copyright (c) 2024 Guoyi Inc.
+ *
+ * ------------------------------------
+ */
+
+#ifndef TASKS_BMS_H
+#define TASKS_BMS_H
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#include "../BMS/ADC/batteryVoltage.h"
+
+void BMSTaskLoop(void *argument)
+{
+    BMS_ADC_Init();
+    while (1)
+    {
+        BMS_ADC_ReadBatteryVoltage();
+        int volt = BMS_ADC_ReadBatteryVoltage();
+        printf("volt=%d", volt);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
+    }
+}
+
+#endif

main/tasks/controllerTickLoop.h

@@ -4,7 +4,7 @@
  * Created Date: 2024-03-11 13:27:21
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-12 18:58:00
+ * Last Modified: 2024-04-24 17:36:38
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -21,15 +21,13 @@
 
 #include "mpu6050/motionData.h"
 
-#define INTERVAL_MS (5)
-
 void controllerTickLoop(void *argument)
 {
     MotionData_Init();
     vTaskDelay(200 / portTICK_PERIOD_MS);
     while (1)
     {
-        vTaskDelay(INTERVAL_MS / portTICK_PERIOD_MS);
+        vTaskDelay(5 / portTICK_PERIOD_MS);
         controllerTick();
     }
 }