質問編集履歴
1
質問の解答
test
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test
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@@ -21,3 +21,463 @@
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main.c:40:18: fatal error: main.h そのようなファイルやディレクトリはありません
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```
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###ソース
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入りきらないため、一部割愛しています。
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31
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Lidarってゆうセンサのコードです。
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```main.c
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/* Includes ------------------------------------------------------------------*/
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40
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41
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#include "main.h"
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42
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43
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#include "stm32f1xx_hal.h"
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44
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45
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#include "can.h"
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46
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47
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#include "i2c.h"
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48
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49
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#include "tim.h"
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50
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51
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#include "usart.h"
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52
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53
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#include "gpio.h"
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54
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55
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56
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57
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/* USER CODE BEGIN Includes */
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58
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59
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#include "oled.h"
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60
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61
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#include "sensor.h"
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62
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63
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#include "util.h"
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64
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65
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#include <stdbool.h>
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66
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67
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/* USER CODE END Includes */
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68
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69
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70
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75
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/* USER CODE END 0 */
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76
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77
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78
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79
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int main(void)
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80
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81
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{
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82
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83
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84
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85
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/* USER CODE BEGIN 1 */
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86
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87
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CAN_FilterConfTypeDef sFilterConfig;
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88
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89
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uint16_t mag_i = 0;
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90
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91
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uint8_t mag_exp = 0;
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92
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93
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uint8_t data_buff[32] = {0};
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94
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char str_buff[32] = {0};
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96
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97
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/* USER CODE END 1 */
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98
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99
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100
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101
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/* MCU Configuration----------------------------------------------------------*/
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102
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+
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103
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+
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104
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+
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105
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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106
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107
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HAL_Init();
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108
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109
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110
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+
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111
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/* USER CODE BEGIN Init */
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112
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+
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113
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114
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115
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/* USER CODE END Init */
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116
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117
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118
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+
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119
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/* Configure the system clock */
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120
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121
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SystemClock_Config();
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122
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123
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124
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125
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/* USER CODE BEGIN SysInit */
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126
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127
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+
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128
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129
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/* USER CODE END SysInit */
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130
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+
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131
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132
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133
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/* Initialize all configured peripherals */
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134
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135
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MX_GPIO_Init();
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136
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+
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137
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MX_I2C1_Init();
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138
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+
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139
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MX_CAN_Init();
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140
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+
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141
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MX_USART1_UART_Init();
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142
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+
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143
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MX_USART2_UART_Init();
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144
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+
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145
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MX_TIM2_Init();
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146
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+
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147
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+
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148
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+
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149
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/* USER CODE BEGIN 2 */
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150
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+
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151
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hcan.pRxMsg = &RxMessage;
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152
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+
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153
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hcan.pTxMsg = &TxMessage;
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154
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+
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155
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//��ʼ��CAN Filter
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156
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+
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157
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sFilterConfig.FilterIdHigh = 0;
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158
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+
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159
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sFilterConfig.FilterIdLow = 0;
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160
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+
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161
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sFilterConfig.FilterMaskIdHigh = 0;
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162
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+
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163
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sFilterConfig.FilterMaskIdLow = 0;
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164
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+
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165
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+
sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
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166
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+
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167
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sFilterConfig.FilterNumber = 1;
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168
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+
|
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169
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sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
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170
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+
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171
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sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
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172
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+
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173
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sFilterConfig.FilterActivation = ENABLE;
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174
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+
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175
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sFilterConfig.BankNumber = 1;
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176
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+
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177
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+
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178
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+
|
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179
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if(HAL_OK != HAL_CAN_ConfigFilter(&hcan, &sFilterConfig))
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180
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+
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181
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{
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182
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+
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183
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//uart2_write("init can filter failed\n", 23);
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184
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+
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185
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+
}
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186
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+
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187
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+
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188
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+
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189
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+
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190
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+
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191
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if(HAL_OK != HAL_CAN_WakeUp(&hcan))
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192
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+
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193
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+
{
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194
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+
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195
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//uart2_write("init can filter failed\n", 23);
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196
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+
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197
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+
}
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198
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+
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199
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HAL_TIM_Base_Stop_IT(&htim2);
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200
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+
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201
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+
HAL_Delay(500);//�ȴ���������ʼ������
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202
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+
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203
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+
OLED_Init(); //???OLED
|
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204
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+
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205
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+
OLED_ShowString(0,0,"CVER:",0);//small front
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206
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+
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207
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OLED_ShowString(0,1,"DIST:",0);
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208
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+
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209
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+
OLED_ShowString(0,2,"MAGN:",0);
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210
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+
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211
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+
//OLED_ShowString(0,3,"TVER:",0);
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212
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+
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213
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+
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214
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+
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215
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+
//��ȡCAN ������ID��
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216
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217
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hcan.pTxMsg->StdId = 0x731 & 0x7ff;//
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218
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+
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219
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hcan.pTxMsg->IDE = CAN_ID_STD;//
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220
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+
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221
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hcan.pTxMsg->RTR = CAN_RTR_DATA;
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222
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+
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223
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hcan.pTxMsg->DLC = 8;
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224
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+
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225
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hcan.pTxMsg->Data[0] = 0xf0;;
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226
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+
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227
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hcan.pTxMsg->Data[1] = 0xff;
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228
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+
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229
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hcan.pTxMsg->Data[2] = 0x00;
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230
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+
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231
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+
hcan.pTxMsg->Data[3] = 0xb0;
|
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232
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+
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233
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+
HAL_CAN_Transmit(&hcan, 100);
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234
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+
|
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235
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+
if(HAL_OK == HAL_CAN_Receive(&hcan, CAN_FIFO0, 300))
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236
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+
|
|
237
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+
{
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238
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+
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239
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+
sensorID_CAN = hcan.pRxMsg->Data[0] & 0xf0;//������ID��
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|
240
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+
|
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241
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+
//����CAN�жϽ�������
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242
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+
|
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243
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+
if(HAL_OK != HAL_CAN_Receive_IT(&hcan, CAN_FIFO0))
|
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244
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+
|
|
245
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+
{
|
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246
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+
|
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247
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+
//uart2_write("init can filter failed\n", 23);
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248
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+
|
|
249
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+
}
|
|
250
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+
|
|
251
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+
//CAN�̼��汾
|
|
252
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+
|
|
253
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+
hcan.pTxMsg->StdId = 0x731 & 0x7ff;//
|
|
254
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+
|
|
255
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+
hcan.pTxMsg->IDE = CAN_ID_STD;//
|
|
256
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+
|
|
257
|
+
hcan.pTxMsg->RTR = CAN_RTR_DATA;
|
|
258
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+
|
|
259
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+
hcan.pTxMsg->DLC = 8;
|
|
260
|
+
|
|
261
|
+
hcan.pTxMsg->Data[0] = sensorID_CAN | 0x0;;
|
|
262
|
+
|
|
263
|
+
hcan.pTxMsg->Data[1] = 0xfe;
|
|
264
|
+
|
|
265
|
+
HAL_CAN_Transmit(&hcan, 100);
|
|
266
|
+
|
|
267
|
+
|
|
268
|
+
|
|
269
|
+
//ToF�̼���Ϣ
|
|
270
|
+
|
|
271
|
+
hcan.pTxMsg->StdId = 0x731 & 0x7ff;//
|
|
272
|
+
|
|
273
|
+
hcan.pTxMsg->IDE = CAN_ID_STD;//
|
|
274
|
+
|
|
275
|
+
hcan.pTxMsg->RTR = CAN_RTR_DATA;
|
|
276
|
+
|
|
277
|
+
hcan.pTxMsg->DLC = 8;
|
|
278
|
+
|
|
279
|
+
hcan.pTxMsg->Data[0] = sensorID_CAN | 0x0;;
|
|
280
|
+
|
|
281
|
+
hcan.pTxMsg->Data[1] = 0x2e;
|
|
282
|
+
|
|
283
|
+
HAL_CAN_Transmit(&hcan, 100);
|
|
284
|
+
|
|
285
|
+
|
|
286
|
+
|
|
287
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+
//Τ��CANЭ����Ҫ�����ض������????���������������������
|
|
288
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+
|
|
289
|
+
hcan.pTxMsg->StdId = 0x731 & 0x7ff;//
|
|
290
|
+
|
|
291
|
+
hcan.pTxMsg->IDE = CAN_ID_STD;//
|
|
292
|
+
|
|
293
|
+
hcan.pTxMsg->RTR = CAN_RTR_DATA;
|
|
294
|
+
|
|
295
|
+
hcan.pTxMsg->DLC = 8;
|
|
296
|
+
|
|
297
|
+
hcan.pTxMsg->Data[0] = sensorID_CAN | 0x0;;
|
|
298
|
+
|
|
299
|
+
hcan.pTxMsg->Data[1] = 0xf7;
|
|
300
|
+
|
|
301
|
+
hcan.pTxMsg->Data[2] = 0xf5;
|
|
302
|
+
|
|
303
|
+
hcan.pTxMsg->Data[3] = 0x1;
|
|
304
|
+
|
|
305
|
+
HAL_CAN_Transmit(&hcan, 100);
|
|
306
|
+
|
|
307
|
+
|
|
308
|
+
|
|
309
|
+
|
|
310
|
+
|
|
311
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+
|
|
312
|
+
|
|
313
|
+
|
|
314
|
+
|
|
315
|
+
//������������ģʽ
|
|
316
|
+
|
|
317
|
+
hcan.pTxMsg->StdId = 0x731 & 0x7ff;//
|
|
318
|
+
|
|
319
|
+
hcan.pTxMsg->IDE = CAN_ID_STD;//
|
|
320
|
+
|
|
321
|
+
hcan.pTxMsg->RTR = CAN_RTR_DATA;
|
|
322
|
+
|
|
323
|
+
hcan.pTxMsg->DLC = 8;
|
|
324
|
+
|
|
325
|
+
hcan.pTxMsg->Data[0] = sensorID_CAN | 0x0;
|
|
326
|
+
|
|
327
|
+
hcan.pTxMsg->Data[1] = 0x24;
|
|
328
|
+
|
|
329
|
+
HAL_CAN_Transmit(&hcan, 100);
|
|
330
|
+
|
|
331
|
+
|
|
332
|
+
|
|
333
|
+
}
|
|
334
|
+
|
|
335
|
+
else
|
|
336
|
+
|
|
337
|
+
{
|
|
338
|
+
|
|
339
|
+
//����CAN�жϽ�������
|
|
340
|
+
|
|
341
|
+
if(HAL_OK != HAL_CAN_Receive_IT(&hcan, CAN_FIFO0))
|
|
342
|
+
|
|
343
|
+
{
|
|
344
|
+
|
|
345
|
+
//uart2_write("init can filter failed\n", 23);
|
|
346
|
+
|
|
347
|
+
}
|
|
348
|
+
|
|
349
|
+
}
|
|
350
|
+
|
|
351
|
+
|
|
352
|
+
|
|
353
|
+
|
|
354
|
+
|
|
355
|
+
|
|
356
|
+
|
|
357
|
+
//����UART1��UART2�Ĵ�������������ģʽ
|
|
358
|
+
|
|
359
|
+
continuous_Stop(USE_UART1);
|
|
360
|
+
|
|
361
|
+
uart1_read(buff, 8, 200);//���ܻ���������Ϣ(Hypersen)��Ҫ�˵�
|
|
362
|
+
|
|
363
|
+
if(sensor_get_DeviceInfo(buff, USE_UART1) == 1)
|
|
364
|
+
|
|
365
|
+
{
|
|
366
|
+
|
|
367
|
+
sprintf(str_buff, "20%d-%d-%d V%d.%d", buff[17], buff[18], buff[19], buff[20], buff[21]);
|
|
368
|
+
|
|
369
|
+
OLED_ShowString(0,3, (uint8_t *)str_buff,0);
|
|
370
|
+
|
|
371
|
+
}
|
|
372
|
+
|
|
373
|
+
sensor_continuous_start(USE_UART1);
|
|
374
|
+
|
|
375
|
+
continuous_Stop(USE_UART2);
|
|
376
|
+
|
|
377
|
+
uart2_read(buff, 8, 200); //���ܻ���������Ϣ(Hypersen)��Ҫ�˵�
|
|
378
|
+
|
|
379
|
+
if(sensor_get_DeviceInfo(buff, USE_UART2) == 1)
|
|
380
|
+
|
|
381
|
+
{
|
|
382
|
+
|
|
383
|
+
sprintf(str_buff, "20%d-%d-%d V%d.%d", buff[17], buff[18], buff[19], buff[20], buff[21]);
|
|
384
|
+
|
|
385
|
+
OLED_ShowString(0,3, (uint8_t *)str_buff,0);
|
|
386
|
+
|
|
387
|
+
}
|
|
388
|
+
|
|
389
|
+
sensor_continuous_start(USE_UART2);
|
|
390
|
+
|
|
391
|
+
HAL_TIM_Base_Start_IT(&htim2);
|
|
392
|
+
|
|
393
|
+
|
|
394
|
+
|
|
395
|
+
|
|
396
|
+
|
|
397
|
+
/* USER CODE END 2 */
|
|
398
|
+
|
|
399
|
+
|
|
400
|
+
|
|
401
|
+
/* Infinite loop */
|
|
402
|
+
|
|
403
|
+
/* USER CODE BEGIN WHILE */
|
|
404
|
+
|
|
405
|
+
while (1)
|
|
406
|
+
|
|
407
|
+
{
|
|
408
|
+
|
|
409
|
+
/* USER CODE END WHILE */
|
|
410
|
+
|
|
411
|
+
|
|
412
|
+
|
|
413
|
+
/* USER CODE BEGIN 3 */
|
|
414
|
+
|
|
415
|
+
uart2_rx_done = false;
|
|
416
|
+
|
|
417
|
+
HAL_UART_Receive_IT(&huart2 ,buff, 2);
|
|
418
|
+
|
|
419
|
+
while(!uart2_rx_done);
|
|
420
|
+
|
|
421
|
+
if(buff[0] == 0x0a && buff[1] == 0x0d)
|
|
422
|
+
|
|
423
|
+
{
|
|
424
|
+
|
|
425
|
+
HAL_NVIC_DisableIRQ(TIM2_IRQn);
|
|
426
|
+
|
|
427
|
+
if(HAL_OK == HAL_UART_Receive(&huart2, buff+2, 0x0d, 10))
|
|
428
|
+
|
|
429
|
+
{
|
|
430
|
+
|
|
431
|
+
if(packet_parser(buff, data_buff) == 1)
|
|
432
|
+
|
|
433
|
+
{
|
|
434
|
+
|
|
435
|
+
dist = (data_buff[3]<<8)+data_buff[4];
|
|
436
|
+
|
|
437
|
+
mag_i = (data_buff[5] <<8) + data_buff[6];
|
|
438
|
+
|
|
439
|
+
mag_exp = data_buff[7];
|
|
440
|
+
|
|
441
|
+
mag = ((uint32_t)mag_i)<<(mag_exp);
|
|
442
|
+
|
|
443
|
+
ambient = data_buff[8];
|
|
444
|
+
|
|
445
|
+
dev[0] = 'U';
|
|
446
|
+
|
|
447
|
+
dev[1] = 'A';
|
|
448
|
+
|
|
449
|
+
dev[2] = 'R';
|
|
450
|
+
|
|
451
|
+
dev[3] = 'T';
|
|
452
|
+
|
|
453
|
+
dev[4] = '2';
|
|
454
|
+
|
|
455
|
+
dev[5] = 0;
|
|
456
|
+
|
|
457
|
+
}
|
|
458
|
+
|
|
459
|
+
}
|
|
460
|
+
|
|
461
|
+
HAL_NVIC_EnableIRQ(TIM2_IRQn);
|
|
462
|
+
|
|
463
|
+
}
|
|
464
|
+
|
|
465
|
+
buff[0] = 0;
|
|
466
|
+
|
|
467
|
+
buff[1] = 0;
|
|
468
|
+
|
|
469
|
+
}
|
|
470
|
+
|
|
471
|
+
/* USER CODE END 3 */
|
|
472
|
+
|
|
473
|
+
|
|
474
|
+
|
|
475
|
+
}
|
|
476
|
+
|
|
477
|
+
|
|
478
|
+
|
|
479
|
+
|
|
480
|
+
|
|
481
|
+
|
|
482
|
+
|
|
483
|
+
```
|