From d5f6744fc8bd8ca5222b21d2d936016b590548dc Mon Sep 17 00:00:00 2001 From: chenxin Date: Wed, 18 Jun 2025 09:13:39 +0800 Subject: [PATCH] main --- .gitignore | 5 + .vscode/extensions.json | 10 ++ include/README | 37 ++++++ lib/README | 46 ++++++++ platformio.ini | 26 +++++ src/STP-23L.c | 237 ++++++++++++++++++++++++++++++++++++++ src/STP-23L.h | 43 +++++++ src/i2c_communication.cpp | 116 +++++++++++++++++++ src/i2c_communication.h | 36 ++++++ src/main.cpp | 148 ++++++++++++++++++++++++ src/main.h | 37 ++++++ test/README | 11 ++ 12 files changed, 752 insertions(+) create mode 100644 .gitignore create mode 100644 .vscode/extensions.json create mode 100644 include/README create mode 100644 lib/README create mode 100644 platformio.ini create mode 100644 src/STP-23L.c create mode 100644 src/STP-23L.h create mode 100644 src/i2c_communication.cpp create mode 100644 src/i2c_communication.h create mode 100644 src/main.cpp create mode 100644 src/main.h create mode 100644 test/README diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..89cc49c --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..080e70d --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,10 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack" + ] +} diff --git a/include/README b/include/README new file mode 100644 index 0000000..49819c0 --- /dev/null +++ b/include/README @@ -0,0 +1,37 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the convention is to give header files names that end with `.h'. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/lib/README b/lib/README new file mode 100644 index 0000000..9379397 --- /dev/null +++ b/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into the executable file. + +The source code of each library should be placed in a separate directory +("lib/your_library_name/[Code]"). + +For example, see the structure of the following example libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +Example contents of `src/main.c` using Foo and Bar: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +The PlatformIO Library Dependency Finder will find automatically dependent +libraries by scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/platformio.ini b/platformio.ini new file mode 100644 index 0000000..22b95b7 --- /dev/null +++ b/platformio.ini @@ -0,0 +1,26 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:nucleo_l476rg] +platform = ststm32 +board = nucleo_l476rg + +; change microcontroller +board_build.mcu = stm32l476rgt6 + +; change MCU frequency +board_build.f_cpu = 80000000L + +upload_protocol = stlink + +lib_deps = mikalhart/TinyGPSPlus@^1.1.0 + +framework = arduino + diff --git a/src/STP-23L.c b/src/STP-23L.c new file mode 100644 index 0000000..03b97aa --- /dev/null +++ b/src/STP-23L.c @@ -0,0 +1,237 @@ +#include "STP-23L.h" +#include +#include + +LidarPointTypedef Pack_Data[12]; /* 雷达接收的数据储存在这个变量之中 */ +LidarPointTypedef Pack_sum; /* 输出结果储存 */ + +extern uint16_t receive_cnt; +extern uint8_t confidence; +extern uint16_t distance,noise,reftof; +extern uint32_t peak,intg; + +void parseData(uint8_t temp_data) { + static uint8_t state = 0; // 状态位 + static uint8_t crc = 0; // 校验和 + static uint8_t cnt = 0; // 用于一帧12个点的计数 + static uint8_t PACK_FLAG = 0; // 命令标志位 + static uint8_t data_len = 0; // 数据长度 + static uint32_t timestamp = 0; // 时间戳 + static uint8_t state_flag = 1; // 转入数据接收标志位 + + if(state < 4) { // 起始符验证 前4个数据均为0xAA + if(temp_data == HEADER) state++; + else state = 0; + } + else if(state < 10 && state > 3) { + switch(state) { + case 4: + if(temp_data == device_address) { // 设备地址验证 + state++; + crc += temp_data; + break; + } + else state = 0, crc = 0; + case 5: + if(temp_data == PACK_GET_DISTANCE) { // 获取测量数据命令 + PACK_FLAG = PACK_GET_DISTANCE; + state++; + crc += temp_data; + break; + } + else if(temp_data == PACK_RESET_SYSTEM) { // 复位命令 + PACK_FLAG = PACK_RESET_SYSTEM; + state++; + crc += temp_data; + break; + } + else if(temp_data == PACK_STOP) { // 停止测量数据传输命令 + PACK_FLAG = PACK_STOP; + state++; + crc += temp_data; + break; + } + else if(temp_data == PACK_ACK) { // 应答码命令 + PACK_FLAG = PACK_ACK; + state++; + crc += temp_data; + break; + } + else if(temp_data == PACK_VERSION) { // 获取传感器信息命令 + PACK_FLAG = PACK_VERSION; + state++; + crc += temp_data; + break; + } + else state = 0, crc = 0; + case 6: + if(temp_data == chunk_offset) { // 偏移地址 + state++; + crc += temp_data; + break; + } + else state = 0, crc = 0; + case 7: + if(temp_data == chunk_offset) { + state++; + crc += temp_data; + break; + } + else state = 0, crc = 0; + case 8: + data_len = (uint16_t)temp_data; // 数据长度低八位 + state++; + crc += temp_data; + break; + case 9: + data_len = data_len + ((uint16_t)temp_data << 8); // 数据长度高八位 + state++; + crc += temp_data; + break; + default: break; + } + } + else if(state == 10) state_flag = 0; // 由switch跳出来时state为10，但temp_data仍为距离长度高八位数据，需跳过一次中断 + + if(PACK_FLAG == PACK_GET_DISTANCE && state_flag == 0) { // 获取一帧数据并校验 + if(state > 9) { + if(state < 190) { + static uint8_t state_num; + state_num = (state - 10) % 15; + switch(state_num) { + case 0: + Pack_Data[cnt].distance = (uint16_t)temp_data; // 距离数据低八位 + crc += temp_data; + state++; + break; + case 1: + Pack_Data[cnt].distance = ((uint16_t)temp_data << 8) + Pack_Data[cnt].distance; // 距离数据 + crc += temp_data; + state++; + break; + case 2: + Pack_Data[cnt].noise = (uint16_t)temp_data; // 环境噪音低八位 + crc += temp_data; + state++; + break; + case 3: + Pack_Data[cnt].noise = ((uint16_t)temp_data << 8) + Pack_Data[cnt].noise; // 环境噪音 + crc += temp_data; + state++; + break; + case 4: + Pack_Data[cnt].peak = (uint32_t)temp_data; // 接受强度信息低八位 + crc += temp_data; + state++; + break; + case 5: + Pack_Data[cnt].peak = ((uint32_t)temp_data << 8) + Pack_Data[cnt].peak; + crc += temp_data; + state++; + break; + case 6: + Pack_Data[cnt].peak = ((uint32_t)temp_data << 16) + Pack_Data[cnt].peak; + crc += temp_data; + state++; + break; + case 7: + Pack_Data[cnt].peak = ((uint32_t)temp_data << 24) + Pack_Data[cnt].peak; // 接受强度信息 + crc += temp_data; + state++; + break; + case 8: + Pack_Data[cnt].confidence = temp_data; // 置信度 + crc += temp_data; + state++; + break; + case 9: + Pack_Data[cnt].intg = (uint32_t)temp_data; // 积分次数低八位 + crc += temp_data; + state++; + break; + case 10: + Pack_Data[cnt].intg = ((uint32_t)temp_data << 8) + Pack_Data[cnt].intg; + crc += temp_data; + state++; + break; + case 11: + Pack_Data[cnt].intg = ((uint32_t)temp_data << 16) + Pack_Data[cnt].intg; + crc += temp_data; + state++; + break; + case 12: + Pack_Data[cnt].intg = ((uint32_t)temp_data << 24) + Pack_Data[cnt].intg; // 积分次数 + crc += temp_data; + state++; + break; + case 13: + Pack_Data[cnt].reftof = (int16_t)temp_data; // 温度表征值低八位 + crc += temp_data; + state++; + break; + case 14: + Pack_Data[cnt].reftof = ((int16_t)temp_data << 8) + Pack_Data[cnt].reftof; // 温度表征值 + crc += temp_data; + state++; + cnt++; // 进入下一个测量点 + break; + default: break; + } + } + + // 时间戳 + if(state == 191) timestamp = temp_data, state++, crc += temp_data; + else if(state == 192) timestamp = ((uint32_t)temp_data << 8) + timestamp, state++, crc += temp_data; + else if(state == 193) timestamp = ((uint32_t)temp_data << 16) + timestamp, state++, crc += temp_data; + else if(state == 194) timestamp = ((uint32_t)temp_data << 24) + timestamp, state++, crc += temp_data; + else if(state == 195) { + if(temp_data == crc) { // 校验成功 + data_process(); // 数据处理函数，完成一帧之后可进行数据处理 + receive_cnt++; // 输出接收到正确数据的次数 + } + distance = Pack_Data[0].distance; + crc = 0; + state = 0; + state_flag = 1; + cnt = 0; // 复位 + } + if(state == 190) state++; // state等于190的数据实际是第12个测距点的最后一位数据，数据已经取走使用 + } + } +} + +void data_process(void) { + static uint8_t cnt = 0; + uint8_t i; + static uint16_t count = 0; + static uint32_t sum = 0; + LidarPointTypedef Pack_sum; + + for(i = 0; i < 12; i++) { // 12个点取平均 + if(Pack_Data[i].distance != 0) { // 去除0的点 + count++; + Pack_sum.distance += Pack_Data[i].distance; + Pack_sum.noise += Pack_Data[i].noise; + Pack_sum.peak += Pack_Data[i].peak; + Pack_sum.confidence += Pack_Data[i].confidence; + Pack_sum.intg += Pack_Data[i].intg; + Pack_sum.reftof += Pack_Data[i].reftof; + } + } + + if(count != 0) { + distance = Pack_sum.distance / count; + noise = Pack_sum.noise / count; + peak = Pack_sum.peak / count; + confidence = Pack_sum.confidence / count; + intg = Pack_sum.intg / count; + reftof = Pack_sum.reftof / count; + Pack_sum.distance = 0; + Pack_sum.noise = 0; + Pack_sum.peak = 0; + Pack_sum.confidence = 0; + Pack_sum.intg = 0; + Pack_sum.reftof = 0; + count = 0; + } +} \ No newline at end of file diff --git a/src/STP-23L.h b/src/STP-23L.h new file mode 100644 index 0000000..3e426fd --- /dev/null +++ b/src/STP-23L.h @@ -0,0 +1,43 @@ +#ifndef __STP23L_H +#define __STP23L_H + +#include + +// 如果是 C++ 编译器，使用 extern "C" +#ifdef __cplusplus +extern "C" { +#endif + + +#define HEADER 0xAA /* 起始符 */ +#define device_address 0x00 /* 设备地址 */ +#define chunk_offset 0x00 /* 偏移地址命令 */ +#define PACK_GET_DISTANCE 0x02 /* 获取测量数据命令 */ +#define PACK_RESET_SYSTEM 0x0D /* 复位命令 */ +#define PACK_STOP 0x0F /* 停止测量数据传输命令 */ +#define PACK_ACK 0x10 /* 应答码命令 */ +#define PACK_VERSION 0x14 /* 获取传感器信息命令 */ + +typedef struct { + int16_t distance; /* 距离数据：测量目标距离单位 mm */ + uint16_t noise; /* 环境噪声：当前测量环境下的外部环境噪声，越大说明噪声越大 */ + uint32_t peak; /* 接收强度信息：测量目标反射回的光强度 */ + uint8_t confidence; /* 置信度：由环境噪声和接收强度信息融合后的测量点的可信度 */ + uint32_t intg; /* 积分次数：当前传感器测量的积分次数 */ + int16_t reftof; /* 温度表征值：测量芯片内部温度变化表征值，只是一个温度变化量无法与真实温度对应 */ +} LidarPointTypedef; + +extern uint16_t receive_cnt; +extern uint8_t confidence; +extern uint16_t distance, noise, reftof; +extern uint32_t peak, intg; +extern LidarPointTypedef Pack_sum; + +void parseData(uint8_t temp_data); +void data_process(void); + +#ifdef __cplusplus +} +#endif + +#endif /* __STP_23L_H */ \ No newline at end of file diff --git a/src/i2c_communication.cpp b/src/i2c_communication.cpp new file mode 100644 index 0000000..773595c --- /dev/null +++ b/src/i2c_communication.cpp @@ -0,0 +1,116 @@ +#include "i2c_communication.h" +#include +#include "main.h" + +extern uint16_t receive_cnt; + +extern TinyGPSPlus gps; +extern uint16_t distance; +// 缓冲区用于发送结构体数据 +uint8_t i2c_tx_buffer[sizeof(hh3_slave_data)]; + +// 初始化 I2C 从机 +void init_i2c_slave() { + Wire.setSDA(I2C_SDA_PIN); + Wire.setSCL(I2C_SCL_PIN); + //Wire.Pins(16,17); + Wire.begin(SLAVE_ADDRESS); // 设置从机地址为 0x55 + Wire.onRequest(onRequestEvent); // 注册请求回调 ***改用主机命令0x01 + Wire.onReceive(onReceiveEvent); // 注册接收回调 +} + +// 当主机请求数据时调用 +void onRequestEvent() { + update_sensor_data(); // 确保数据是最新的 + memcpy(i2c_tx_buffer, &sensor_data, sizeof(sensor_data)); + Wire.write(i2c_tx_buffer, sizeof(sensor_data)); +} + +void power_init(){ + pinMode(RANGING_POWER_PIN, OUTPUT); + pinMode(GPS_POWER_PIN, OUTPUT); +} + +// 当主机发送命令时调用 +void onReceiveEvent(int bytes) { + while (Wire.available()) { + uint8_t cmd = Wire.read(); + switch (cmd) { + case CMD_GPS_POWER_OFF: + turn_off_gps(); + break; + case CMD_RANGING_POWER_OFF: + turn_off_ranging(); + break; + case CMD_GPS_POWER_ON: + turn_on_gps(); + break; + case CMD_RANGING_POWER_ON: + turn_on_ranging(); + break; + case CMD_MASTER_GET_SLAVE_DATA: + onRequestEvent(); // 主动调用一次数据发送 + break; + default: + Serial.printf("Unknown command received: 0x%02X\n", cmd); + break; + } + } +} + +// 更新传感器状态和数据 +static uint8_t last_receive_cnt = 0; +void update_sensor_data() { + //gps + if (millis() > 5000 && gps.charsProcessed() < 10 && digitalRead(GPS_POWER_PIN) == HIGH) { + sensor_data.gps_sta = 0x00; // 无设备 + sensor_data.gps_lat = 0.0f; + sensor_data.gps_lon = 0.0f; + } else if (digitalRead(GPS_POWER_PIN) == LOW){ + sensor_data.gps_sta = 0x01; // 关机 + sensor_data.gps_lat = 0.0f; + sensor_data.gps_lon = 0.0f; + }else if (!gps.location.isUpdated()) { + sensor_data.gps_sta = 0x02; // 未搜到信号 + sensor_data.gps_lat = 0.0f; + sensor_data.gps_lon = 0.0f; + } else { + sensor_data.gps_sta = 0x03; // 正常工作 + sensor_data.gps_lat = gps.location.lat(); + sensor_data.gps_lon = gps.location.lng(); + } + + //测距 + if (receive_cnt == last_receive_cnt && digitalRead(RANGING_POWER_PIN) == HIGH) { + sensor_data.height_sta = 0x00; // 无设备 + sensor_data.height = 0.0f; + }else if (digitalRead(RANGING_POWER_PIN) == LOW){ + sensor_data.height_sta = 0x01; // 关机 + sensor_data.height = 0.0f; + }else { + last_receive_cnt = receive_cnt; + sensor_data.height_sta = 0x02; // 有效高度 + sensor_data.height = (float)distance / 1000.0f; // mm -> m + } +} + +// 电源控制 +void turn_off_gps() { + digitalWrite(GPS_POWER_PIN, LOW); + //Serial.println("Turning OFF GPS Power"); +} + +void turn_on_gps() { + digitalWrite(GPS_POWER_PIN, HIGH); + //Serial.println("Turning ON GPS Power"); +} + +void turn_off_ranging() { + digitalWrite(RANGING_POWER_PIN, LOW); + //Serial.println("Turning OFF Ranging Module"); +} + +void turn_on_ranging() { + digitalWrite(RANGING_POWER_PIN, HIGH); + //Serial.println("Turning ON Ranging Module"); +} \ No newline at end of file diff --git a/src/i2c_communication.h b/src/i2c_communication.h new file mode 100644 index 0000000..422f89f --- /dev/null +++ b/src/i2c_communication.h @@ -0,0 +1,36 @@ +#pragma once + +#include +#include +#include + +// 命令定义 +#define CMD_MASTER_GET_SLAVE_DATA 0x01 +#define CMD_GPS_POWER_OFF 0x02 +#define CMD_RANGING_POWER_OFF 0x03 +#define CMD_GPS_POWER_ON 0x04 +#define CMD_RANGING_POWER_ON 0x05 + +// 数据结构定义 +typedef struct { + uint8_t gps_sta; // 0x00 ~ 0x03 + uint8_t height_sta; // 0x00 ~ 0x01 + float gps_lat; + float gps_lon; + float height; +} hh3_slave_data; + +extern hh3_slave_data sensor_data; + +// 函数声明 +void power_init(); +void update_sensor_data(); +void turn_off_gps(); +void turn_on_gps(); +void turn_off_ranging(); +void turn_on_ranging(); + +// I²C 从机接口 +void init_i2c_slave(); +void onRequestEvent(); +void onReceiveEvent(int bytes); \ No newline at end of file diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..a1a020e --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,148 @@ +#include "main.h" + + +HardwareSerial rangingSerial(RANGING_RX_PIN, RANGING_TX_PIN); +HardwareSerial gpsSerial(GPS_RX_PIN, GPS_TX_PIN); +HardwareSerial printSerial(PRINT_RX_PIN,PRINT_TX_PIN); + +TinyGPSPlus gps; + + +// 全局变量 +uint16_t receive_cnt = 0; // 计算成功接收数据帧次数 +uint8_t confidence = 0; +uint16_t distance = 0, noise = 0, reftof = 0; +uint32_t peak = 0, intg = 0; +extern LidarPointTypedef Pack_sum; // 输出结果储存 + + +// 实例化共享数据结构体 +hh3_slave_data sensor_data = {0}; + + +// //每当主机请求数据时,该函数便会执行 +// //在setup()中,该函数被注册为一个事件 +// void requestEvent() { +// Wire.write("hello "); // 用6B的信息回应主机的请求，hello后带一个空格 +// } + +void setup() { + + // Wire.begin(8); // Wire初始化, 并以从设备地址#8的身份加入i2c总线 + // Wire.onRequest(requestEvent); // 注册一个IIC事件，用于响应主机的数据请求 + // 初始化 I2C 从机通信 + init_i2c_slave(); + + rangingSerial.begin(RANGING_BAUDRATE); // 激光雷达 + gpsSerial.begin(GPS_BAUDRATE); //RX引脚、TX引脚 + printSerial.begin(PRINT_BAUDRATE); // 调试输出串口（RX, TX） + + power_init(); + // pinMode(PD14, OUTPUT); + // pinMode(PD15, OUTPUT); + digitalWrite(RANGING_POWER_PIN, HIGH); + digitalWrite(GPS_POWER_PIN, HIGH); + + printSerial.println("Initialized..."); +} + + + +void loop() { + // 处理主串口（激光雷达数据） + while (rangingSerial.available()) { + parseData(rangingSerial.read()); + //ranging_displayInfo(); + } + + // 处理 GPS 数据 + while (gpsSerial.available() > 0) + gps.encode(gpsSerial.read()); + //gps_displayInfo(); + + // If 5000 milliseconds pass and there are no characters coming in + // over the software serial port, show a "No GPS detected" error + // if (millis() > 5000 && gps.charsProcessed() < 10) + // { + // Serial.println("No GPS detected"); + // while(true); + // } + } + +void ranging_displayInfo() +{ + // 定期打印数据 + static unsigned long lastPrintTime = 0; + if (millis() - lastPrintTime > 100) { + lastPrintTime = millis(); + + printSerial.printf("Successfully received: %d times\n", receive_cnt); + printSerial.printf("Distance: %d mm\n", distance); + printSerial.printf("Environment noise: %d\n", noise); + printSerial.printf("Received signal strength: %d\n", peak); + printSerial.printf("Confidence: %d\n", confidence); + printSerial.printf("Integration count: %d\n", intg); + printSerial.printf("Temperature characterization: %d\n", reftof); + + + + printSerial.println("----------------------------"); + } +} + +void gps_displayInfo() +{ + if (gps.location.isValid()) + { + printSerial.print("Latitude: "); + printSerial.println(gps.location.lat(), 6); + printSerial.print("Longitude: "); + printSerial.println(gps.location.lng(), 6); + printSerial.print("Altitude: "); + printSerial.println(gps.altitude.meters()); + } + else + { + printSerial.println("Location: Not Available"); + } + + printSerial.print("Date: "); + if (gps.date.isValid()) + { + printSerial.print(gps.date.month()); + printSerial.print("/"); + printSerial.print(gps.date.day()); + printSerial.print("/"); + printSerial.println(gps.date.year()); + } + else + { + printSerial.println("Not Available"); + } + + printSerial.print("Time: "); + if (gps.time.isValid()) + { + if (gps.time.hour() < 10) Serial.print(F("0")); + printSerial.print(gps.time.hour()); + printSerial.print(":"); + if (gps.time.minute() < 10) Serial.print(F("0")); + printSerial.print(gps.time.minute()); + printSerial.print(":"); + if (gps.time.second() < 10) Serial.print(F("0")); + printSerial.print(gps.time.second()); + printSerial.print("."); + if (gps.time.centisecond() < 10) Serial.print(F("0")); + printSerial.println(gps.time.centisecond()); + } + else + { + printSerial.println("Not Available"); + } + + printSerial.println(); + printSerial.println(); + delay(1000); +} + + diff --git a/src/main.h b/src/main.h new file mode 100644 index 0000000..ae2b381 --- /dev/null +++ b/src/main.h @@ -0,0 +1,37 @@ +#ifndef MAIN_H +#define MAIN_H + +#include +#include +#include "STP-23L.h" +#include +#include +#include "i2c_communication.h" + + +// 全局引脚常量,// 使用 constexpr 定义编译时常量 +constexpr int RANGING_BAUDRATE = 230400; +constexpr int GPS_BAUDRATE = 9600; +constexpr int PRINT_BAUDRATE = 115200; + +//测距 +constexpr int RANGING_POWER_PIN = PB0; +constexpr int RANGING_RX_PIN = PC5; //USART3_RX +constexpr int RANGING_TX_PIN = PC4; //USART3_TX +//gps +constexpr int GPS_POWER_PIN = PB1; +constexpr int GPS_RX_PIN = PA3; //USART2_RX +constexpr int GPS_TX_PIN = PA2; //USART2_TX +//串口 +constexpr int PRINT_RX_PIN = PA1; //UART4_RX +constexpr int PRINT_TX_PIN = PA0; //UART4_TX +//IIC +constexpr int I2C_SDA_PIN = PB7; // I2C1_SDA +constexpr int I2C_SCL_PIN = PB6; // I2C1_SCL +constexpr int SLAVE_ADDRESS = 0x55; + +// 函数声明 +void ranging_displayInfo(); +void gps_displayInfo(); + +#endif // MAIN_H \ No newline at end of file diff --git a/test/README b/test/README new file mode 100644 index 0000000..9b1e87b --- /dev/null +++ b/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PlatformIO Test Runner and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PlatformIO Unit Testing: +- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html