▌01 存在的问题

1.问题描述

在 第十六届全国大学智能汽车竞赛竞速比赛 中的节能无线信标组中的 信标控制模块 在2021-04-10测试的时候发现存在以下问题：

问题描述： 当信标灯被串联在一起的时候，与主控制器相连，发现在进入测试状态的的时候，信标灯大约每隔一段时间就会自动切换到下一个信标。

这个自动切换的时间间隔大约是5秒钟。

^{▲ 测试中的信标灯在主控器控制下点亮} ^{他们会自动过一段时间自动完成切换}

2.初步排除

（1）MCU固件排除

龙邱公司对于信标做了如下的实验，初步将问题确定在控制器中的U6（也就是控制无线充电控制MCU）部分：

将原来旧的U1（通讯控制MCU）固件下载，发现故障依然存在；
将U6从电路板拆除，故障消失；

（2）信号测试

U6影响U1是通过KEY1引线，来模拟之前的线圈放大信号。使用示波器测量KEY1信号，初步没有看到特别的且囊括。

▌02 修改U6的程序

1.简化U6程序

将U6的主函数简化成只剩下对于看门狗喂狗的过程。上面的自动切换过程依然存在！！！

那么这个问题究竟是在什么地方呢？

^{▲ 主控制盒显示每隔5秒钟信标灯在自动切换}

这与前面判断与U6有关的结论相互矛盾。

2.将U6单片机拆除下来

将U6拆除下来，重新观察，会看到自动切换现象消除了。

^{▲ 将U6单片机拆除下来}

3.临时将ADC0_PIN修改成IN

将ADC0_PIN临时修改成输入管脚。此时故障消失了。所以判断对于U1造成自动切换的问题仍然来自于U6的ADC0_PIN管脚。

但是由于ADC0_PIN成为输入，所以程序在无法对于U1发送触发信号了。

那么怎么办呢？

4.将ADC0_PIN的逻辑修改成与HALL一样

也就是将ADC0_PIN的状态，平时修改高电平。当信号板中的AHLL被磁铁触发之后，HALL管脚下降，那么再将ADC0_PIN修改低电平。

问题神奇的解决了！！！

到此为止，通过试凑获得解决问题的办法，但原因是什么？还不得而知！

▌【结论】

有些故障就像迷一样，来无踪去无影。我们总是在有限的时间、精力、测量手段下悲壮的往前行。

另外有同学询问，发光灯盘是否可以独自工作，而不需要控制盒。此时，只需要将发光盘上的4PIN控制端口中的ION与GDN短接即可。

^{▲ 灯盘自动点亮的设置}

■ 相关文献链接:

第十六届全国大学智能汽车竞赛竞速比赛规则
无线节能信标核心板V4-测试-2021-4-3

/********************************************************************************* File Name          : main.c* Description        : Main program body******************************************************************************** COPYRIGHT(c) 2021 STMicroelectronics** Redistribution and use in source and binary forms, with or without modification,* are permitted provided that the following conditions are met:*   1. Redistributions of source code must retain the above copyright notice,*      this list of conditions and the following disclaimer.*   2. Redistributions in binary form must reproduce the above copyright notice,*      this list of conditions and the following disclaimer in the documentation*      and/or other materials provided with the distribution.*   3. Neither the name of STMicroelectronics nor the names of its contributors*      may be used to endorse or promote products derived from this software*      without specific prior written permission.** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.********************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "stm32f0xx_hal.h"/* USER CODE BEGIN Includes */
#include "math.h"
#include "stm32f0xxa.h"
#include "serialtxt.h"
#include "control.h"/* USER CODE END Includes *//* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc;
DMA_HandleTypeDef hdma_adc;IWDG_HandleTypeDef hiwdg;TIM_HandleTypeDef htim3;UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*//* USER CODE END PV *//* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_ADC_Init(void);
static void MX_IWDG_Init(void);
static void MX_TIM3_Init(void);
static void MX_USART1_UART_Init(void);/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*//* USER CODE END PFP *//* USER CODE BEGIN 0 *//* USER CODE END 0 */int main(void)
{/* USER CODE BEGIN 1 *//* USER CODE END 1 *//* MCU Configuration----------------------------------------------------------*//* Reset of all peripherals, Initializes the Flash interface and the Systick. */HAL_Init();/* Configure the system clock */SystemClock_Config();/* Initialize all configured peripherals */MX_GPIO_Init();MX_DMA_Init();MX_ADC_Init();MX_IWDG_Init();MX_TIM3_Init();MX_USART1_UART_Init();/* USER CODE BEGIN 2 */STM32F0XXAInit();ControlInit();printf("BEACON Wireless Driver. -- by Dr.ZhuoQing[%d] %s,%s\r\n", SystemCoreClock, __DATE__, __TIME__);/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */int nCount = 0;int nShowCount = 0;g_nAdjustFlag = 1;                        // Begin Adjust Iint nOutFlag = 0;PWMOff();WaitTime(150);//----------------------------------------------------------------------------
//  while(1) {//    HAL_IWDG_Refresh(&hiwdg);//  }//----------------------------------------------------------------------------while (1){if(nOutFlag == 0) {if(++nCount & 0x200) ON(LED);else OFF(LED);} else {if(++nCount & 0x40) ON(LED);else OFF(LED);}WaitTime(1);HAL_IWDG_Refresh(&hiwdg);//--------------------------------------------------------------------------    if(VAL(HALL_PIN) != 0x0) {ON(ADC0_PIN);if(g_ucLastHall != 0) {PWMOff();nOutFlag = 0;}g_ucLastHall = 0;} else {OFF(ADC0_PIN);PWMOn();g_ucLastHall = 1;nOutFlag = 1;}//--------------------------------------------------------------------------if(VAL(CTRL_PIN) != 0x0) {PWMOn();nOutFlag = 1;if(VAL(HALL_PIN) == 0) {OFF(ADC0_PIN);WaitTime(50);ON(ADC0_PIN);WaitTime(50);OFF(ADC0_PIN);WaitTime(50);ON(ADC0_PIN);WaitTime(50);}} else {if(VAL(HALL_PIN) != 0) {PWMOff();nOutFlag = 0;}}//--------------------------------------------------------------------------//--------------------------------------------------------------------------if(++nShowCount >= 500) {nShowCount = 0;                }//------------------------------------------------------------------CONSOLE_DEBUG;/* USER CODE END WHILE *//* USER CODE BEGIN 3 */}/* USER CODE END 3 */}/** System Clock Configuration
*/
void SystemClock_Config(void)
{RCC_OscInitTypeDef RCC_OscInitStruct;RCC_ClkInitTypeDef RCC_ClkInitStruct;RCC_PeriphCLKInitTypeDef PeriphClkInit;RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI14|RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;RCC_OscInitStruct.HSEState = RCC_HSE_ON;RCC_OscInitStruct.HSI14State = RCC_HSI14_ON;RCC_OscInitStruct.HSI14CalibrationValue = 16;RCC_OscInitStruct.LSIState = RCC_LSI_ON;RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;HAL_RCC_OscConfig(&RCC_OscInitStruct);RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK;RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1);PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1;PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_SYSCLK;HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);/* SysTick_IRQn interrupt configuration */HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}/* ADC init function */
void MX_ADC_Init(void)
{ADC_ChannelConfTypeDef sConfig;/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) */hadc.Instance = ADC1;hadc.Init.ClockPrescaler = ADC_CLOCK_ASYNC;hadc.Init.Resolution = ADC_RESOLUTION12b;hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;hadc.Init.EOCSelection = EOC_SINGLE_CONV;hadc.Init.LowPowerAutoWait = DISABLE;hadc.Init.LowPowerAutoPowerOff = DISABLE;hadc.Init.ContinuousConvMode = DISABLE;hadc.Init.DiscontinuousConvMode = DISABLE;hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;hadc.Init.DMAContinuousRequests = DISABLE;hadc.Init.Overrun = OVR_DATA_PRESERVED;HAL_ADC_Init(&hadc);/**Configure for the selected ADC regular channel to be converted. */sConfig.Channel = ADC_CHANNEL_0;sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;sConfig.SamplingTime = ADC_SAMPLETIME_7CYCLES_5;HAL_ADC_ConfigChannel(&hadc, &sConfig);/**Configure for the selected ADC regular channel to be converted. */sConfig.Channel = ADC_CHANNEL_1;HAL_ADC_ConfigChannel(&hadc, &sConfig);}/* IWDG init function */
void MX_IWDG_Init(void)
{hiwdg.Instance = IWDG;hiwdg.Init.Prescaler = IWDG_PRESCALER_4;hiwdg.Init.Window = 4095;hiwdg.Init.Reload = 4095;HAL_IWDG_Init(&hiwdg);}/* TIM3 init function */
void MX_TIM3_Init(void)
{TIM_ClockConfigTypeDef sClockSourceConfig;TIM_MasterConfigTypeDef sMasterConfig;TIM_OC_InitTypeDef sConfigOC;htim3.Instance = TIM3;htim3.Init.Prescaler = 0;htim3.Init.CounterMode = TIM_COUNTERMODE_UP;htim3.Init.Period = 239;htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;HAL_TIM_Base_Init(&htim3);sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig);HAL_TIM_PWM_Init(&htim3);sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig);sConfigOC.OCMode = TIM_OCMODE_PWM1;sConfigOC.Pulse = 120;sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1);}/* USART1 init function */
void MX_USART1_UART_Init(void)
{huart1.Instance = USART1;huart1.Init.BaudRate = 500000;huart1.Init.WordLength = UART_WORDLENGTH_8B;huart1.Init.StopBits = UART_STOPBITS_1;huart1.Init.Parity = UART_PARITY_NONE;huart1.Init.Mode = UART_MODE_TX_RX;huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;huart1.Init.OverSampling = UART_OVERSAMPLING_16;huart1.Init.OneBitSampling = UART_ONEBIT_SAMPLING_DISABLED ;huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;HAL_UART_Init(&huart1);}/** * Enable DMA controller clock*/
void MX_DMA_Init(void)
{/* DMA controller clock enable */__DMA1_CLK_ENABLE();/* DMA interrupt init */HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 0, 0);HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);}/** Configure pins as * Analog * Input * Output* EVENT_OUT* EXTI
*/
void MX_GPIO_Init(void)
{GPIO_InitTypeDef GPIO_InitStruct;/* GPIO Ports Clock Enable */__GPIOF_CLK_ENABLE();__GPIOA_CLK_ENABLE();/*Configure GPIO pins : PA2 PA4 */GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_4;GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;GPIO_InitStruct.Speed = GPIO_SPEED_LOW;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);/*Configure GPIO pins : PA3 PA7 */GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_7;GPIO_InitStruct.Mode = GPIO_MODE_INPUT;GPIO_InitStruct.Pull = GPIO_PULLUP;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);}/* USER CODE BEGIN 4 *//* USER CODE END 4 */#ifdef USE_FULL_ASSERT/*** @brief Reports the name of the source file and the source line number* where the assert_param error has occurred.* @param file: pointer to the source file name* @param line: assert_param error line source number* @retval None*/
void assert_failed(uint8_t* file, uint32_t line)
{/* USER CODE BEGIN 6 *//* User can add his own implementation to report the file name and line number,ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) *//* USER CODE END 6 */}#endif/*** @}*/ /*** @}
*/ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

/*
**==============================================================================
** CONTROL.C:             -- by Dr. ZhuoQing, 2015-11-29
**
**==============================================================================
*/
#include "stm32f0xx_hal.h"
#include "stm32f0xxa.h"
#include "math.h"
#define CONTROL_GLOBALS        1                       // Define the global variables
#include "CONTROL.H"
//==============================================================================
//
//------------------------------------------------------------------------------
extern TIM_HandleTypeDef htim3;
extern ADC_HandleTypeDef hadc;
extern IWDG_HandleTypeDef hiwdg;
void ControlInit(void) {//--------------------------------------------------------------------------IN(HALL_PIN);OFF(HALL_PIN);OUT(ADC0_PIN);ON(ADC0_PIN);IN(CTRL_PIN);OFF(CTRL_PIN);PWMOff();//--------------------------------------------------------------------------HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);    HAL_ADC_Start_DMA(&hadc, (uint32_t *)g_nADCBuffer, ADC_BUFFER);//--------------------------------------------------------------------------SetPWMARR(320);                         // Set PWM frequency 150kHz//--------------------------------------------------------------------------g_fLastD = 0.1;g_nADCI = 0;    g_nAdjustFlag = 0;g_ucLastHall = 0;//--------------------------------------------------------------------------HAL_IWDG_Start(&hiwdg);
}
//------------------------------------------------------------------------------
void GetADCAverage(unsigned short * pADC) {unsigned int nSigma[ADC_CHANNEL];int i;for(i = 0; i < ADC_CHANNEL; i ++) nSigma[i] = 0;unsigned short * p = g_nADCBuffer;for(i = 0; i < ADC_BUFFER; i ++) {int j;for(j = 0; j < ADC_CHANNEL; j ++)nSigma[j] += *(p ++);}for(i = 0; i < ADC_CHANNEL; i ++)*(pADC + i) = nSigma[i] / ADC_BUFFER;
}
//------------------------------------------------------------------------------
void SetPWMARR(unsigned int nDivide) {htim3.Instance->ARR = nDivide-1;htim3.Instance->CCR1 = nDivide / 2;
}
void SetPWMCCR(unsigned int nCCR) {if(nCCR >= htim3.Instance->ARR)nCCR = htim3.Instance->ARR - 1;htim3.Instance->CCR1 = nCCR;
}
//------------------------------------------------------------------------------
void AdjustIBus(void) {unsigned short nADC[ADC_CHANNEL];if(g_nAdjustFlag == 0) return;//--------------------------------------------------------------------------GetADCAverage(nADC);short nI = nADC[0];g_nADCI = nI;float dnew = 0.5;float f_pi = 3.1415926;if(nI > 10) {float a = sqrt(I_BUS_ADC_SET / (float)nI) * sin(f_pi * g_fLastD);if(a <= 1.0) {dnew = asin(a) / f_pi;}} dnew = dnew * ADJUST_I_BETA + (1 - ADJUST_I_BETA) * g_fLastD;g_fLastD = dnew;if(g_fLastD < 0.01) g_fLastD = 0.01;unsigned int nCCR = (int)(320 * dnew);if(nCCR < 10) nCCR = 10;else if(nCCR > 160) nCCR = 160;SetPWMCCR(nCCR);
}
//------------------------------------------------------------------------------
void PWMOn(void) {g_nAdjustFlag = 1;
}
void PWMOff(void) {g_nAdjustFlag = 0;SetPWMCCR(0);g_fLastD = 0.0;
}
//==============================================================================
//                END OF THE FILE : CONTROL.C
//------------------------------------------------------------------------------

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