release:(1.0.1)添加涡流传感器温度标定方法和标定命令

Src/command.c

@@ -74,6 +74,15 @@
 #define RESP_TYPE_LEN_ERR         0xF4  /**< 长度错误 */
 /** @} */
 
+/* 温度补偿参数定义
+ * TEMP_COMP_REF_TEMP_X10000: 参考温度，单位 0.0001°C
+ * TEMP_COMP_COEFF_NUMERATOR / TEMP_COMP_COEFF_DENOMINATOR: 温漂系数，默认表示 counts/°C
+ * 补偿公式: compensated = raw - (temp - ref) * coeff
+ */
+#define TEMP_COMP_REF_TEMP_X10000      (250000L)
+#define TEMP_COMP_COEFF_NUMERATOR      (0L)
+#define TEMP_COMP_COEFF_DENOMINATOR    (10000L)
+
 /* ============================================================================
  * 模块内部变量
  * ============================================================================ */
@@ -95,6 +104,9 @@ static const uint8_t s_report_status_ok[]  = { 'o', 'k' };   /**< 成功响应
 static const uint8_t s_report_status_err[] = { 'e','r','r' }; /**< 错误响应数据 */
 /** @} */
 
+static int32_t tmp112_get_temperature_x10000(void);
+static int64_t calculate_temperature_compensation_offset(int32_t temperature_x10000);
+
 /* ============================================================================
  * 公共接口函数
  * ============================================================================ */
@@ -332,6 +344,14 @@ void handle_command(const uint8_t *frame, uint8_t len) {
                 temperature_raw_value_report();
                 return;
 
+            case 5u:
+                eddy_current_compensated_report();
+                return;
+
+            case 6u:
+                calibration_data_report();
+                return;
+
             // case 201u: // M201命令
             //     send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
             //     return;
@@ -513,20 +533,82 @@ void eddy_current_report(void) {
     send_response(RESP_TYPE_OK, sensor_data, sizeof(sensor_data));
 }
 
-void temperature_raw_value_report(void) {
-    // if (!g_temperature_sensor_report_enabled) return;
-    uint8_t raw_result[4];
+static int32_t tmp112_get_temperature_x10000(void)
+{
     uint8_t value[2] = {0};
-    uint32_t raw_value = 0;
+    int16_t temp_raw;
 
-    // i2c_read_16bits(TMP112A_ADDR, TMP112A_TEMP_REG, value);
     tmp112a_get_raw_temperature_value(value);
-    raw_value = (uint32_t)((uint16_t) (value[0] << 4) | (value[1]>>4)) * 625;
-    raw_result[0] = (uint8_t)(raw_value >> 24);
-    raw_result[1] = (uint8_t)(raw_value >> 16);
-    raw_result[2] = (uint8_t)(raw_value >> 8);
-    raw_result[3] = (uint8_t)(raw_value & 0xFF);
+
+    temp_raw = (int16_t)(((uint16_t)value[0] << 8) | value[1]);
+    temp_raw >>= 4;
+
+    return (int32_t)temp_raw * 625;
+}
+
+static int64_t calculate_temperature_compensation_offset(int32_t temperature_x10000)
+{
+    int32_t delta_temp_x10000 = temperature_x10000 - TEMP_COMP_REF_TEMP_X10000;
+
+    return ((int64_t)delta_temp_x10000 * TEMP_COMP_COEFF_NUMERATOR) /
+           TEMP_COMP_COEFF_DENOMINATOR;
+}
+
+void temperature_raw_value_report(void) {
+    uint8_t raw_result[4];
+    int32_t raw_value = tmp112_get_temperature_x10000();
+
+    raw_result[0] = (uint8_t)((uint32_t)raw_value >> 24);
+    raw_result[1] = (uint8_t)((uint32_t)raw_value >> 16);
+    raw_result[2] = (uint8_t)((uint32_t)raw_value >> 8);
+    raw_result[3] = (uint8_t)((uint32_t)raw_value & 0xFF);
 
     send_response(RESP_TYPE_OK, raw_result, sizeof(raw_result));
 }
+
+void eddy_current_compensated_report(void)
+{
+    uint8_t sensor_data[4];
+    uint32_t raw_result = ldc1612_get_raw_channel_result(CHANNEL_0);
+
+    if ((raw_result & 0xF0000000u) == 0u) {
+        int32_t temperature_x10000 = tmp112_get_temperature_x10000();
+        int64_t compensated_value = (int64_t)raw_result -
+                                    calculate_temperature_compensation_offset(temperature_x10000);
+
+        if (compensated_value < 0) {
+            raw_result = 0;
+        } else if (compensated_value > 0x0FFFFFFFLL) {
+            raw_result = 0x0FFFFFFFu;
+        } else {
+            raw_result = (uint32_t)compensated_value;
+        }
+    }
+
+    sensor_data[0] = (uint8_t)(raw_result >> 24);
+    sensor_data[1] = (uint8_t)(raw_result >> 16);
+    sensor_data[2] = (uint8_t)(raw_result >> 8);
+    sensor_data[3] = (uint8_t)(raw_result & 0xFF);
+
+    send_response(RESP_TYPE_OK, sensor_data, sizeof(sensor_data));
+}
+
+void calibration_data_report(void)
+{
+    uint8_t payload[9];
+    uint32_t eddy_raw_value = ldc1612_get_raw_channel_result(CHANNEL_0);
+    int32_t temperature_raw_value = tmp112_get_temperature_x10000();
+
+    payload[0] = (uint8_t)(eddy_raw_value >> 24);
+    payload[1] = (uint8_t)(eddy_raw_value >> 16);
+    payload[2] = (uint8_t)(eddy_raw_value >> 8);
+    payload[3] = (uint8_t)(eddy_raw_value & 0xFF);
+    payload[4] = 0xFF;
+    payload[5] = (uint8_t)((uint32_t)temperature_raw_value >> 24);
+    payload[6] = (uint8_t)((uint32_t)temperature_raw_value >> 16);
+    payload[7] = (uint8_t)((uint32_t)temperature_raw_value >> 8);
+    payload[8] = (uint8_t)((uint32_t)temperature_raw_value & 0xFF);
+
+    send_response(RESP_TYPE_OK, payload, sizeof(payload));
+}