無線節能組信標為什么會自動切換? 排查故障的過程真的像謎一樣無法解釋

▌

01

存在的問題

1.問題描述

在 第十六屆全國大學智能汽車競賽競速比賽 中的節能無線信標組中的 信標控制模塊 在2021-04-10測試的時候發現存在以下問題：

問題描述： 當信標燈被串聯在一起的時候，與主控制器相連，發現在進入測試狀態的的時候，信標燈大約每隔一段時間就會自動切換到下一個信標。

這個自動切換的時間間隔大約是5秒鐘。

2.初步排除

龍邱公司對于信標做了如下的實驗，初步將問題確定在控制器中的U6（也就是控制無線充電控制MCU）部分：

將原來舊的U1（通訊控制MCU）固件下載，發現故障依然存在；

將U6從電路板拆除，故障消失；

U6影響U1是通過KEY1引線，來模擬之前的線圈放大信號。使用示波器測量KEY1信號，初步沒有看到特別的且囊括。

▌

02

修改U6的程序

1.簡化U6程序

將U6的主函數簡化成只剩下對于看門狗喂狗的過程。上面的自動切換過程依然存在！！！

那么這個問題究竟是在什么地方呢？

這與前面判斷與U6有關的結論相互矛盾。

2.將U6單片機拆除下來

將U6拆除下來，重新觀察，會看到自動切換現象消除了。

3.臨時將ADC0_PIN修改成IN

將ADC0_PIN臨時修改成輸入管腳。此時故障消失了。所以判斷對于U1造成自動切換的問題仍然來自于U6的ADC0_PIN管腳。

但是由于ADC0_PIN成為輸入，所以程序在無法對于U1發送觸發信號了。

那么怎么辦呢？

4.將ADC0_PIN的邏輯修改成與HALL一樣

也就是將ADC0_PIN的狀態，平時修改高電平。當信號板中的AHLL被磁鐵觸發之后，HALL管腳下降，那么再將ADC0_PIN修改低電平。

問題神奇的解決了！！！

到此為止，通過試湊獲得解決問題的辦法，但原因是什么？還不得而知！

▌【結論】

有些故障就像迷一樣，來無蹤去無影。我們總是在有限的時間、精力、測量手段下悲壯的往前行。

另外有同學詢問，發光燈盤是否可以獨自工作，而不需要控制盒。此時，只需要將發光盤上的4PIN控制端口中的ION與GDN短接即可。

■ 相關文獻鏈接:

第十六屆全國大學智能汽車競賽競速比賽規則

無線節能信標核心板V4-測試-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 I int 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****/

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

50

51

52

53

54

55

56

57

58

59

60

61

62

63

64

65

66

67

68

69

70

71

72

73

74

75

76

77

78

79

80

81

82

83

84

85

86

87

88

89

90

91

92

93

94

95

96

97

98

99

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

153

154

155

156

157

158

159

160

161

162

163

164

165

166

167

168

169

170

171

172

173

174

175

176

177

178

179

180

181

182

183

184

185

186

187

188

189

190

191

192

193

194

195

196

197

198

199

200

201

202

203

204

205

206

207

208

209

210

211

212

213

214

215

216

217

218

219

220

221

222

223

224

225

226

227

228

229

230

231

232

233

234

235

236

237

238

239

240

241

242

243

244

245

246

247

248

249

250

251

252

253

254

255

256

257

258

259

260

261

262

263

264

265

266

267

268

269

270

271

272

273

274

275

276

277

278

279

280

281

282

283

284

285

286

287

288

289

290

291

292

293

294

295

296

297

298

299

300

301

302

303

304

305

306

307

308

309

310

311

312

313

314

315

316

317

318

319

320

321

322

323

324

325

326

327

328

329

330

331

332

333

334

335

336

337

338

339

340

341

342

343

344

345

346

347

348

349

350

351

352

353

354

355

356

357

358

359

360

361

362

363

364

365

366

367

368

369

370

371

372

373

374

375

376

377

378

379

380

381

382

383

384

385

386

387

388

389

390

391

392

393

394

395

396

397

398

399

400

401

402

403

404

405

406

407

408

409

410

411

412

413

414

415

416

417

418

419

420

421

422

423

/* **============================================================================== ** 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 //------------------------------------------------------------------------------

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

50

51

52

53

54

55

56

57

58

59

60

61

62

63

64

65

66

67

68

69

70

71

72

73

74

75

76

77

78

79

80

81

82

83

84

85

86

87

88

89

90

91

92

93

94

95

96

97

98

99

100

單片機

版權聲明：本文內容由網絡用戶投稿，版權歸原作者所有，本站不擁有其著作權，亦不承擔相應法律責任。如果您發現本站中有涉嫌抄襲或描述失實的內容，請聯系我們jiasou666@gmail.com 處理，核實后本網站將在24小時內刪除侵權內容。