diff --git a/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c b/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c index 1e6229b..3d610a1 100644 --- a/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c +++ b/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c @@ -13,15 +13,12 @@ static XidiPowerMeterInstance *power_meter_instance = NULL; * @brief 功率计数据解码函数 * @param _instance FDCAN实例指针 * - * @note 新版数据格式 (大端模式): - * DATA[0]: 电压高8位 - * DATA[1]: 电压低8位 - * DATA[2]: 电流高8位 - * DATA[3]: 电流低8位 - * DATA[4]: 功率高8位 - * DATA[5]: 功率低8位 - * DATA[6]: 标识符 - * DATA[7]: 校验和 + * @note 依据实际硬件与官方示例代码 (小端模式): + * DATA[0]: 电压低8位 + * DATA[1]: 电压高8位 + * DATA[2]: 电流低8位 + * DATA[3]: 电流高8位 + * 功率使用 P = U * I 直接计算 */ void XidiPowerMeterDecode(FDCANInstance *_instance) { @@ -40,18 +37,17 @@ void XidiPowerMeterDecode(FDCANInstance *_instance) // 计算时间间隔 measure->dt = DWT_GetDeltaT(&power_meter_instance->feed_cnt); - // 1. 解析电压 (高8位在前，低8位在后) - uint16_t voltage_raw = (rxbuff[0] << 8) | rxbuff[1]; + // 1. 按照图片解析电压 (小端模式：[1]为高位，[0]为低位) + // 使用 int16_t 强转是为了兼容可能出现的负数波动 + int16_t voltage_raw = (int16_t) ((rxbuff[1] << 8) | rxbuff[0]); measure->voltage = (float) voltage_raw / 100.0f; - // 2. 解析电流 (高8位在前，低8位在后) - uint16_t current_raw = (rxbuff[2] << 8) | rxbuff[3]; + // 2. 按照图片解析电流 (小端模式：[3]为高位，[2]为低位) + int16_t current_raw = (int16_t) ((rxbuff[3] << 8) | rxbuff[2]); measure->current = (float) current_raw / 100.0f; - // 3. 解析功率 (高8位在前，低8位在后) - // 既然协议里直接发了功率，我们就直接读硬件算好的，比自己用 U*I 算更准 - uint16_t power_raw = (rxbuff[4] << 8) | rxbuff[5]; - measure->power = (float) power_raw / 100.0f; + // 3. 按照图片直接计算功率 (电压 * 电流) + measure->power = measure->voltage * measure->current; // 4. 计算累计能量 (功率 × 时间) measure->energy += measure->power * measure->dt * 0.001f; // dt单位是ms，转换为秒 diff --git a/ozonedeb/windebnewestux.jdebug.user b/ozonedeb/windebnewestux.jdebug.user index ac797d2..4e667ac 100644 --- a/ozonedeb/windebnewestux.jdebug.user +++ b/ozonedeb/windebnewestux.jdebug.user @@ -1,52 +1,63 @@ +Breakpoint=D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c:24, State=BP_STATE_ON +Breakpoint=D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c:28:14, State=BP_STATE_DISABLED +Breakpoint=D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c:32:29, State=BP_STATE_DISABLED +Breakpoint=D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c:73:1, State=BP_STATE_DISABLED +Breakpoint=D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c:77:1, State=BP_STATE_DISABLED GraphedExpression="(QEKF_INS).Roll", Color=#a00909 -OpenDocument="xidipwmeter.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c", Line=21 +OpenDocument="bsp_dwt.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/bsp/dwt/bsp_dwt.c", Line=59 +OpenDocument="stm32h7xx_hal_spi.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c", Line=1553 +OpenDocument="tasks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=2295 +OpenDocument="delayticks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/bsp/delayticks/delayticks.c", Line=4 +OpenDocument="dev_cmd.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/user_task/dev_tasks/dev_cmd.c", Line=23 +OpenDocument="main.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/main.c", Line=71 +OpenDocument="xidipwmeter.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c", Line=28 OpenDocument="stm32h7xx_hal.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c", Line=404 OpenDocument="stm32h7xx_it.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/stm32h7xx_it.c", Line=306 -OpenDocument="stm32h7xx_hal_spi.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c", Line=1505 +OpenDocument="QuaternionEKF.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/algorithm/ekf/QuaternionEKF.c", Line=436 OpenDocument="buzzer.cpp", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/buzzer/buzzer.cpp", Line=319 OpenDocument="rc.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/remote_control/rc.c", Line=0 -OpenDocument="delayticks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/bsp/delayticks/delayticks.c", Line=4 +OpenDocument="bsp_fdcan.h", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/bsp/fdcan/bsp_fdcan.h", Line=51 OpenDocument="port.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c", Line=217 -OpenDocument="bsp_dwt.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/bsp/dwt/bsp_dwt.c", Line=15 +OpenDocument="daemon.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/software/daemon/daemon.c", Line=23 OpenDocument="robot.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/application/robot.c", Line=33 OpenDocument="cmsis_os2.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=871 -OpenDocument="dev_cmd.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/user_task/dev_tasks/dev_cmd.c", Line=12 +OpenDocument="bsp_fdcan.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/bsp/fdcan/bsp_fdcan.c", Line=280 OpenDocument="list.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/list.c", Line=144 OpenDocument="cmsis_gcc.h", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/CMSIS/Include/cmsis_gcc.h", Line=264 OpenDocument="freertos.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/freertos.c", Line=366 -OpenDocument="stm32h7xx_hal_fdcan.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c", Line=2945 +OpenDocument="stm32h7xx_hal_fdcan.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c", Line=2032 OpenDocument="ws2812.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/ws2812/ws2812.c", Line=0 OpenDocument="ins_task.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/imu/ins_task.c", Line=0 OpenToolbar="Debug", Floating=0, x=0, y=0 OpenToolbar="Breakpoints", Floating=0, x=1, y=0 -OpenWindow="Call Stack", DockArea=RIGHT, x=0, y=0, w=681, h=258, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Call Stack", DockArea=RIGHT, x=0, y=0, w=681, h=260, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Registers 1", DockArea=BOTTOM, x=1, y=0, w=361, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1 -OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=551, h=273, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=663, h=273, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Disassembly", DockArea=BOTTOM, x=2, y=0, w=629, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=551, h=216, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254 +OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=663, h=224, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254 OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=465, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x2000B98C -OpenWindow="Global Data", DockArea=RIGHT, x=0, y=3, w=681, h=301, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=2, w=551, h=344, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Functions", DockArea=LEFT, x=0, y=3, w=551, h=239, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Call Graph", DockArea=LEFT, x=0, y=3, w=551, h=239, TabPos=2, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Global Data", DockArea=RIGHT, x=0, y=3, w=681, h=297, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=2, w=663, h=334, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Functions", DockArea=LEFT, x=0, y=3, w=663, h=241, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Call Graph", DockArea=LEFT, x=0, y=3, w=663, h=241, TabPos=2, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=1102, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 -OpenWindow="Timeline", DockArea=RIGHT, x=0, y=2, w=681, h=295, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="435;0", PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="459;-65", CodeGraphLegendShown=0, CodeGraphLegendPosition="475;0" -OpenWindow="Console", DockArea=LEFT, x=0, y=3, w=551, h=239, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="FreeRTOS", DockArea=RIGHT, x=0, y=1, w=681, h=238, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing="Task List" +OpenWindow="Timeline", DockArea=RIGHT, x=0, y=2, w=681, h=292, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="435;0", PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="459;-65", CodeGraphLegendShown=0, CodeGraphLegendPosition="475;0" +OpenWindow="Console", DockArea=LEFT, x=0, y=3, w=663, h=241, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="FreeRTOS", DockArea=RIGHT, x=0, y=1, w=681, h=243, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing="Task List" TableHeader="Call Graph", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Stack Total";"Stack Local";"Code Total";"Code Local";"Depth";"Called From"], ColWidths=[384;100;100;100;100;100;118] TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1164;100;100;100;100] TableHeader="Global Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[222;130;100;54;95;486] TableHeader="Vector Catches", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Vector Catch";"Description"], ColWidths=[50;300;500] -TableHeader="Break & Tracepoints", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Type";"Location";"Extras"], ColWidths=[100;100;142;209] +TableHeader="Break & Tracepoints", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Type";"Location";"Extras"], ColWidths=[100;100;142;342] TableHeader="Call Stack", SortCol="Function", SortOrder="ASCENDING", VisibleCols=["Function";"Stack Frame";"Source";"PC";"Return Address";"Stack Used"], ColWidths=[110;126;190;100;190;100] TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[229;100;100;100;1046] TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (QEKF_INS).Roll"], ColWidths=[100;100;100] -TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[320;100;110;110;100;110;102;118;118] +TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[320;100;110;102;100;110;102;118;118] TableHeader="Power Sampling", SortCol="Index", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100] TableHeader="Task List", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info (Free / Size)";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110] TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;105;294] -TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location"], ColWidths=[171;101;258] +TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Type";"Location";"Refresh"], ColWidths=[171;101;162;112;117] TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;38] WatchedExpression="QEKF_INS", RefreshRate=2, Window=Watched Data 1 @@ -56,4 +67,7 @@ WatchedExpression="power_meter_instance", RefreshRate=2, Window=Watched Data 1 WatchedExpression="pm_voltage", RefreshRate=2, Window=Watched Data 1 WatchedExpression="pm_current", RefreshRate=2, Window=Watched Data 1 WatchedExpression="measure.voltage", Window=Watched Data 1 -WatchedExpression="PowerMeterInstance", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file +WatchedExpression="PowerMeterInstance", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="idx", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="rxbuff", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="voltage_raw", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file