暂存

BC3S.ATWP

@@ -53,7 +53,7 @@
         <FLASH_IRQHandler>0;0;0</FLASH_IRQHandler>
         <CRM_IRQHandler>0;0;0</CRM_IRQHandler>
         <CAN1_TX_IRQHandler>0;0;0</CAN1_TX_IRQHandler>
-        <CAN1_RX0_IRQHandler>0;0;0</CAN1_RX0_IRQHandler>
+        <CAN1_RX0_IRQHandler>1;0;0</CAN1_RX0_IRQHandler>
         <CAN1_RX1_IRQHandler>0;0;0</CAN1_RX1_IRQHandler>
         <CAN1_SE_IRQHandler>0;0;0</CAN1_SE_IRQHandler>
         <TMR1_OVF_TMR10_IRQHandler>0;0;0</TMR1_OVF_TMR10_IRQHandler>
@@ -67,7 +67,6 @@
         <Signal SignalName="GPIO_Output" PinName="PB6">
             <Parameters name="GPIO_Outputlevel" value="GPIO_OUTPUTLEVEL_HIGH"/>
             <Parameters name="GPIO_Type" value="GPIO_OUTPUT_OPEN_DRAIN"/>
-            <Parameters name="GPIO_DriverCapability" value="GPIO_DRIVE_STRENGTH_STRONGER"/>
         </Signal>
         <Signal SignalName="GPIO_Output" PinName="PB7">
             <Parameters name="GPIO_Outputlevel" value="GPIO_OUTPUTLEVEL_HIGH"/>

app/by_measure.c

@@ -0,0 +1,37 @@
+#include "by_measure.h"
+
+#include "by_debug.h"
+#include "vl53l0x_wmd_api.h"
+
+void by_measure_init(void)
+{
+  VL53L0X_Init();
+}
+
+void by_measure_run(void)
+{
+  float x                    = VL53L0X_GetValue();
+  float distance             = x;
+  static float distance_last = 0;
+
+  if (x < 270) {
+    distance = x - 80.0f;
+  } else if (x < 330) {
+    distance = 2.0755f * x - 368.85f;
+  }
+
+  // 错误值
+  if (distance <= 20 || distance > 330) {
+    distance = distance_last;
+  }
+  
+  //   if (distance <= 20) {
+  //     distance = distance_last;
+  //   } else if (distance > 330) {
+  //     distance = 330;
+  //   }
+
+  distance_last = distance;
+
+  LOGI("distance:%f", distance);
+}

app/by_measure.h

@@ -0,0 +1,8 @@
+#ifndef _BY_MEASURE_H__
+#define _BY_MEASURE_H__
+
+
+void by_measure_init(void);
+void by_measure_run(void);
+
+#endif

project/inc/at32f415_int.h

@@ -65,6 +65,7 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 
+void CAN1_RX0_IRQHandler(void);
 void TMR4_GLOBAL_IRQHandler(void);
 
 /* add user code begin exported functions */

project/src/at32f415_int.c

@@ -204,6 +204,25 @@ void PendSV_Handler(void)
   /* add user code end PendSV_IRQ 1 */
 }
 
+/**
+  * @brief  this function handles CAN1 RX0 handler.
+  * @param  none
+  * @retval none
+  */
+void CAN1_RX0_IRQHandler(void)
+{
+  /* add user code begin CAN1_RX0_IRQ 0 */
+  if (SET == can_interrupt_flag_get(CAN1, CAN_RF0MN_FLAG)){
+    can_rx_message_type can_rx_message;
+    can_message_receive(CAN1, CAN_RX_FIFO0, &can_rx_message);
+    can_flag_clear(CAN1, CAN_RF0MN_FLAG);
+  }
+  /* add user code end CAN1_RX0_IRQ 0 */
+  /* add user code begin CAN1_RX0_IRQ 1 */
+
+  /* add user code end CAN1_RX0_IRQ 1 */
+}
+
 /**
   * @brief  this function handles TMR4 handler.
   * @param  none

project/src/at32f415_wk_config.c

@@ -189,6 +189,7 @@ void wk_nvic_config(void)
 {
   nvic_priority_group_config(NVIC_PRIORITY_GROUP_4);
 
+  nvic_irq_enable(CAN1_RX0_IRQn, 0, 0);
   nvic_irq_enable(TMR4_GLOBAL_IRQn, 0, 0);
 }
 
@@ -224,14 +225,7 @@ void wk_gpio_config(void)
   gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
   gpio_init_struct.gpio_out_type = GPIO_OUTPUT_OPEN_DRAIN;
   gpio_init_struct.gpio_mode = GPIO_MODE_OUTPUT;
-  gpio_init_struct.gpio_pins = GPIO_PINS_6;
+  gpio_init_struct.gpio_pins = GPIO_PINS_6 | GPIO_PINS_7;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init(GPIOB, &gpio_init_struct);
-
-  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
-  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_OPEN_DRAIN;
-  gpio_init_struct.gpio_mode = GPIO_MODE_OUTPUT;
-  gpio_init_struct.gpio_pins = GPIO_PINS_7;
   gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
   gpio_init(GPIOB, &gpio_init_struct);
 
@@ -457,8 +451,16 @@ void wk_can1_init(void)
 
   can_filter_init(CAN1, &can_filter_init_struct);
 
-  /* add user code begin can1_init 2 */
+  /**
+   * Users need to configure CAN1 interrupt functions according to the actual application.
+   * 1. Call the below function to enable the corresponding CAN1 interrupt.
+   *     --can_interrupt_enable(...)
+   * 2. Add the user's interrupt handler code into the below function in the at32f415_int.c file.
+   *     --void CAN1_RX0_IRQHandler(void)
+   */
 
+  /* add user code begin can1_init 2 */
+  can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE);
   /* add user code end can1_init 2 */
 }
 

project/src/main.c

@@ -29,9 +29,9 @@
 
 /* private includes ----------------------------------------------------------*/
 /* add user code begin private includes */
-#include "vl53l0x_wmd_api.h"
 #include "by_debug.h"
 #include "by_led.h"
+#include "by_measure.h"
 /* add user code end private includes */
 
 /* private typedef -----------------------------------------------------------*/
@@ -105,25 +105,15 @@ int main(void)
   /* add user code begin 2 */
   delay_init();
   by_led_set(10);
-  delay_ms(1000);
+  by_measure_init();
-  VL53L0X_Init();
-  delay_ms(1000);
 
   by_led_set(0);
   /* add user code end 2 */
 
   while (1) {
     /* add user code begin 3 */
-    // gpio_bits_write(GPIOB, GPIO_PINS_8, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_8));
+    gpio_bits_write(GPIOA, GPIO_PINS_4, !gpio_output_data_bit_read(GPIOA, GPIO_PINS_4));
-    // gpio_bits_set(GPIOA, GPIO_PINS_4);
+    by_measure_run();
-    // delay_ms(250);
-    // gpio_bits_reset(GPIOA, GPIO_PINS_4);
-    // delay_ms(250);
-    by_led_set(40);
-    delay_ms(10);
-    LOGI("distance:%d", VL53L0X_GetValue());
-    by_led_set(0);
-    delay_ms(10);
     /* add user code end 3 */
   }
 }