diff --git a/Core/Inc/sts_weight_scale.h b/Core/Inc/sts_weight_scale.h
index 2223e8b..debde98 100644
--- a/Core/Inc/sts_weight_scale.h
+++ b/Core/Inc/sts_weight_scale.h
@@ -47,6 +47,7 @@ typedef struct
void sts_weight_scale_init(void);
void sts_weight_scale(sts_sensor_t *sensor_data);
+uint32_t KalmanFilter(uint32_t inData);
void HX711_Init(void);
void Init_HX711pin(void);
uint32_t HX711_Read(void);
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index 914db3c..7cb5eb7 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -84,7 +84,7 @@ void MX_GPIO_Init(void)
// HX711_SCK
GPIO_InitStruct.Pin = HX711_SCK_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
- GPIO_InitStruct.Pull = GPIO_PULLUP;
+ GPIO_InitStruct.Pull = GPIO_PULLUP; //GPIO_NOPULL
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
HAL_GPIO_Init(HX711_SCK_PORT, &GPIO_InitStruct);
diff --git a/Core/Src/sts_weight_scale.c b/Core/Src/sts_weight_scale.c
index bdee0a7..dbc84a0 100644
--- a/Core/Src/sts_weight_scale.c
+++ b/Core/Src/sts_weight_scale.c
@@ -148,6 +148,7 @@ uint32_t HX711_Read(void) //增益128
void Get_GrossWeight(void)
{
gross_weight = HX711_Read();
+ gross_weight = KalmanFilter(gross_weight);
APP_LOG(TS_OFF, VLEVEL_M, "\r\n ##### Gross Weight =%d <<<<<< \r\n",gross_weight);
}
@@ -167,11 +168,30 @@ void Get_NetWeight(void)
//因为不同的传感器特性曲线不一样，因此，每一个传感器需要矫正这里的GapValue这个除数。
//当发现测试出来的重量偏大时，增加该数值。
+ net_weight = KalmanFilter(net_weight);
APP_LOG(TS_OFF, VLEVEL_M, "\r\n ##### Net Weight =%d \r\n", net_weight);//如果测试出来的重量偏小时，减小改数值。
}
}
+//卡尔曼滤波
+uint32_t KalmanFilter(uint32_t inData)
+{
+ static float prevData = 0; //先前数值
+ static float p = 10, q = 0.001, r = 0.001, kGain = 0; // q控制误差 r控制响应速度
+
+ p = p + q;
+ kGain = p / ( p + r ); //计算卡尔曼增益
+ inData = prevData + ( kGain * ( inData - prevData ) ); //计算本次滤波估计值
+ p = ( 1 - kGain ) * p; //更新测量方差
+ prevData = inData;
+ return inData; //返回滤波值
+
+
+}
+
+//原文链接：https://blog.csdn.net/m0_63629044/article/details/138615848
+
//延时nus
//nus为要延时的us数.
static uint8_t fac_us=0;//us延时倍乘数
diff --git a/STM32CubeIDE/.settings/language.settings.xml b/STM32CubeIDE/.settings/language.settings.xml
index 90666d3..7768bdb 100644
--- a/STM32CubeIDE/.settings/language.settings.xml
+++ b/STM32CubeIDE/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+