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合并蓝牙模块（待测试）

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EN 2024-07-15 20:10:12 +08:00
parent 3af55aae9d
commit 0116e8246d
21 changed files with 571 additions and 502 deletions
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4
.gitignore vendored
View File

@ -5,10 +5,6 @@ MDK-ARM/DebugConfig
MDK-ARM/CAR.uvguix.* MDK-ARM/CAR.uvguix.*
MDK-ARM/startup_stm32f103xb.lst MDK-ARM/startup_stm32f103xb.lst
MDK-ARM/RTE MDK-ARM/RTE
MDK-ARM/CAR.uvguix.Admin
MDK-ARM/car.uvguix.Administrator
MDK-ARM/CAR.uvguix.lenovo
build/ build/
cmake/ cmake/

13
CAR.ioc
View File

@ -69,7 +69,7 @@ Mcu.UserName=STM32F103C8Tx
MxCube.Version=6.12.0 MxCube.Version=6.12.0
MxDb.Version=DB.6.0.120 MxDb.Version=DB.6.0.120
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.DMA1_Channel6_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.DMA1_Channel6_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.EXTI15_10_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true NVIC.EXTI15_10_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=false NVIC.ForceEnableDMAVector=false
@ -79,9 +79,10 @@ NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_2 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_2
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.SysTick_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:false NVIC.SysTick_IRQn=true\:2\:0\:true\:false\:true\:false\:true\:false
NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.USART1_IRQn=true\:3\:1\:true\:false\:true\:true\:true\:true
NVIC.USART2_IRQn=true\:3\:0\:true\:false\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
PA0-WKUP.GPIOParameters=PinState,GPIO_Label PA0-WKUP.GPIOParameters=PinState,GPIO_Label
PA0-WKUP.GPIO_Label=FM_K2_POWERC PA0-WKUP.GPIO_Label=FM_K2_POWERC
@ -200,7 +201,7 @@ ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200 ProjectManager.HeapSize=0x200
ProjectManager.KeepUserCode=true ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=false ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1 ProjectManager.LibraryCopy=1
ProjectManager.MainLocation=Core/Src ProjectManager.MainLocation=Core/Src
ProjectManager.NoMain=false ProjectManager.NoMain=false
@ -209,7 +210,7 @@ ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=CAR.ioc ProjectManager.ProjectFileName=CAR.ioc
ProjectManager.ProjectName=CAR ProjectManager.ProjectName=CAR
ProjectManager.ProjectStructure= ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=TIM,USART ProjectManager.RegisterCallBack=TIM
ProjectManager.StackSize=0x400 ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=Makefile ProjectManager.TargetToolchain=Makefile
ProjectManager.ToolChainLocation= ProjectManager.ToolChainLocation=
@ -267,7 +268,7 @@ TIM3.Pulse-PWM\ Generation4\ CH4=255
TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2 TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2
TIM4.Period=100 TIM4.Period=0
TIM4.Prescaler=720 - 1 TIM4.Prescaler=720 - 1
TIM4.Pulse-PWM\ Generation1\ CH1=100 TIM4.Pulse-PWM\ Generation1\ CH1=100
TIM4.Pulse-PWM\ Generation2\ CH2=100 TIM4.Pulse-PWM\ Generation2\ CH2=100

2
Core/Inc/stm32f1xx_hal_conf.h
View File

@ -129,7 +129,7 @@
* @brief This is the HAL system configuration section * @brief This is the HAL system configuration section
*/ */
#define VDD_VALUE 3300U /*!< Value of VDD in mv */ #define VDD_VALUE 3300U /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY 3U /*!< tick interrupt priority (lowest by default) */ #define TICK_INT_PRIORITY 2U /*!< tick interrupt priority (lowest by default) */
#define USE_RTOS 0U #define USE_RTOS 0U
#define PREFETCH_ENABLE 1U #define PREFETCH_ENABLE 1U

60
Core/Src/main.c
View File

@ -18,9 +18,7 @@
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
#include "dma.h" #include "dma.h"
#include "gpio.h"
#include "i2c.h" #include "i2c.h"
#include "tim.h" #include "tim.h"
#include "usart.h" #include "usart.h"
@ -29,8 +27,6 @@
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
#include "bluetooth.h" #include "bluetooth.h"
#include "hcsr04.h" #include "hcsr04.h"
#include "led.h"
#include "motor.h"
#include "syscalls.h" #include "syscalls.h"
/* USER CODE END Includes */ /* USER CODE END Includes */
@ -95,39 +91,35 @@ int main(void)
/* USER CODE END SysInit */ /* USER CODE END SysInit */
/* Initialize all configured peripherals */ /* Initialize all configured peripherals */
MX_GPIO_Init(); MX_GPIO_Init();
MX_DMA_Init(); MX_DMA_Init();
MX_I2C2_Init(); MX_I2C2_Init();
MX_TIM2_Init(); MX_TIM2_Init();
MX_TIM3_Init(); MX_TIM3_Init();
MX_TIM4_Init(); MX_TIM4_Init();
MX_USART2_UART_Init(); // MX_USART1_UART_Init();
MX_USART1_UART_Init(); MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
HC_SR04_Init(); BLUETOOTH_Init();
BLUETOOTH_Init(); // HC_SR04_Init();
/* USER CODE END 2 */
/* USER CODE BEGIN 2 */ /* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
// if (sonor_state == 0)
// {
// sonar_mm();
// }
// HAL_Delay(300); // 延时300毫秒
/* USER CODE END 2 */ /* USER CODE END WHILE */
/* Infinite loop */ /* USER CODE BEGIN 3 */
/* USER CODE BEGIN WHILE */ }
while (1) /* USER CODE END 3 */
{
my_printf(HUART1, "test huart1 \r\n");
my_printf(HUART2, "test huart2\r\n");
// App_LineSeek();
// HAL_Delay(300); // 延时300毫秒
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
} }
/** /**

6
Core/Src/usart.c
View File

@ -114,6 +114,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART1_IRQn, 3, 1);
HAL_NVIC_EnableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspInit 1 */ /* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */ /* USER CODE END USART1_MspInit 1 */
@ -159,7 +162,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx); __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
/* USART2 interrupt Init */ /* USART2 interrupt Init */
HAL_NVIC_SetPriority(USART2_IRQn, 0, 0); HAL_NVIC_SetPriority(USART2_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(USART2_IRQn); HAL_NVIC_EnableIRQ(USART2_IRQn);
/* USER CODE BEGIN USART2_MspInit 1 */ /* USER CODE BEGIN USART2_MspInit 1 */
@ -215,4 +218,5 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */

371
MDK-ARM/CAR.uvoptx
View File

@ -135,7 +135,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>CMSIS_AGDI</Key> <Key>CMSIS_AGDI</Key>
<Name>-X"" -O206 -S8 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name> <Name>-X"" -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@ -157,70 +157,54 @@
<Bp> <Bp>
<Number>0</Number> <Number>0</Number>
<Type>0</Type> <Type>0</Type>
<LineNumber>39</LineNumber> <LineNumber>34</LineNumber>
<EnabledFlag>1</EnabledFlag> <EnabledFlag>1</EnabledFlag>
<Address>134225148</Address> <Address>134226582</Address>
<ByteObject>0</ByteObject> <ByteObject>0</ByteObject>
<HtxType>0</HtxType> <HtxType>0</HtxType>
<ManyObjects>0</ManyObjects> <ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject> <SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess> <BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount> <BreakIfRCount>1</BreakIfRCount>
<Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename> <Filename>..\Peripheral\Src\bluetooth.c</Filename>
<ExecCommand></ExecCommand> <ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/hcsr04.c\39</Expression> <Expression>\\CAR\../Peripheral/Src/bluetooth.c\34</Expression>
</Bp> </Bp>
<Bp> <Bp>
<Number>1</Number> <Number>1</Number>
<Type>0</Type> <Type>0</Type>
<LineNumber>98</LineNumber> <LineNumber>32</LineNumber>
<EnabledFlag>1</EnabledFlag> <EnabledFlag>1</EnabledFlag>
<Address>134229854</Address> <Address>134221102</Address>
<ByteObject>0</ByteObject> <ByteObject>0</ByteObject>
<HtxType>0</HtxType> <HtxType>0</HtxType>
<ManyObjects>0</ManyObjects> <ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject> <SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess> <BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount> <BreakIfRCount>1</BreakIfRCount>
<Filename>../Core/Src/main.c</Filename> <Filename>..\Peripheral\Src\control.c</Filename>
<ExecCommand></ExecCommand> <ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/main.c\98</Expression> <Expression>\\CAR\../Peripheral/Src/control.c\32</Expression>
</Bp> </Bp>
<Bp> <Bp>
<Number>2</Number> <Number>2</Number>
<Type>0</Type> <Type>0</Type>
<LineNumber>45</LineNumber> <LineNumber>24</LineNumber>
<EnabledFlag>1</EnabledFlag> <EnabledFlag>1</EnabledFlag>
<Address>134220846</Address> <Address>0</Address>
<ByteObject>0</ByteObject> <ByteObject>0</ByteObject>
<HtxType>0</HtxType> <HtxType>0</HtxType>
<ManyObjects>0</ManyObjects> <ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject> <SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess> <BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount> <BreakIfRCount>0</BreakIfRCount>
<Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename> <Filename>..\Peripheral\Src\bluetooth.c</Filename>
<ExecCommand></ExecCommand> <ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/hcsr04.c\45</Expression> <Expression></Expression>
</Bp> </Bp>
<Bp> <Bp>
<Number>3</Number> <Number>3</Number>
<Type>0</Type> <Type>0</Type>
<LineNumber>32</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134229764</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/hcsr04.c\32</Expression>
</Bp>
<Bp>
<Number>4</Number>
<Type>0</Type>
<LineNumber>99</LineNumber> <LineNumber>99</LineNumber>
<EnabledFlag>1</EnabledFlag> <EnabledFlag>1</EnabledFlag>
<Address>0</Address> <Address>0</Address>
@ -235,7 +219,7 @@
<Expression></Expression> <Expression></Expression>
</Bp> </Bp>
<Bp> <Bp>
<Number>5</Number> <Number>4</Number>
<Type>0</Type> <Type>0</Type>
<LineNumber>97</LineNumber> <LineNumber>97</LineNumber>
<EnabledFlag>1</EnabledFlag> <EnabledFlag>1</EnabledFlag>
@ -255,22 +239,25 @@
<Ww> <Ww>
<count>0</count> <count>0</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>time</ItemText> <ItemText>num,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>distance</ItemText>
</Ww> </Ww>
</WatchWindow1> </WatchWindow1>
<MemoryWindow1> <MemoryWindow1>
<Mm> <Mm>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<SubType>0</SubType> <SubType>8</SubType>
<ItemText>&amp;rxSize</ItemText> <ItemText>rxBuffer</ItemText>
<AccSizeX>0</AccSizeX> <AccSizeX>0</AccSizeX>
</Mm> </Mm>
</MemoryWindow1> </MemoryWindow1>
<MemoryWindow2>
<Mm>
<WinNumber>2</WinNumber>
<SubType>0</SubType>
<ItemText>num</ItemText>
<AccSizeX>0</AccSizeX>
</Mm>
</MemoryWindow2>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>
</Tracepoint> </Tracepoint>
@ -315,7 +302,7 @@
<pMultCmdsp></pMultCmdsp> <pMultCmdsp></pMultCmdsp>
<DebugDescription> <DebugDescription>
<Enable>1</Enable> <Enable>1</Enable>
<EnableFlashSeq>0</EnableFlashSeq> <EnableFlashSeq>1</EnableFlashSeq>
<EnableLog>0</EnableLog> <EnableLog>0</EnableLog>
<Protocol>2</Protocol> <Protocol>2</Protocol>
<DbgClock>10000000</DbgClock> <DbgClock>10000000</DbgClock>
@ -344,8 +331,8 @@
</Group> </Group>
<Group> <Group>
<GroupName>Core</GroupName> <GroupName>Application/User/App</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -356,14 +343,34 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>..\App\Src\app_line_seek.c</PathWithFileName>
<FilenameWithoutPath>app_line_seek.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>
<GroupName>Application/User/Core</GroupName>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>3</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Core/Src/main.c</PathWithFileName> <PathWithFileName>../Core/Src/main.c</PathWithFileName>
<FilenameWithoutPath>main.c</FilenameWithoutPath> <FilenameWithoutPath>main.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>3</FileNumber> <FileNumber>4</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -374,8 +381,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>4</FileNumber> <FileNumber>5</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -386,8 +393,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>5</FileNumber> <FileNumber>6</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -398,8 +405,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>6</FileNumber> <FileNumber>7</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -410,8 +417,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>7</FileNumber> <FileNumber>8</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -422,8 +429,20 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>8</FileNumber> <FileNumber>9</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Core\Src\syscalls.c</PathWithFileName>
<FilenameWithoutPath>syscalls.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>10</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -434,8 +453,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>9</FileNumber> <FileNumber>11</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -445,15 +464,83 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
</Group>
<Group>
<GroupName>Application/User/Peripheral</GroupName>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>4</GroupNumber>
<FileNumber>10</FileNumber> <FileNumber>12</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>..\Core\Src\syscalls.c</PathWithFileName> <PathWithFileName>..\Peripheral\Src\bluetooth.c</PathWithFileName>
<FilenameWithoutPath>syscalls.c</FilenameWithoutPath> <FilenameWithoutPath>bluetooth.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>4</GroupNumber>
<FileNumber>13</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Peripheral\Src\control.c</PathWithFileName>
<FilenameWithoutPath>control.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>4</GroupNumber>
<FileNumber>14</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Peripheral\Src\hcsr04.c</PathWithFileName>
<FilenameWithoutPath>hcsr04.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>4</GroupNumber>
<FileNumber>15</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Peripheral\Src\led.c</PathWithFileName>
<FilenameWithoutPath>led.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>4</GroupNumber>
<FileNumber>16</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Peripheral\Src\line_seek.c</PathWithFileName>
<FilenameWithoutPath>line_seek.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>4</GroupNumber>
<FileNumber>17</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Peripheral\Src\motor.c</PathWithFileName>
<FilenameWithoutPath>motor.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
@ -466,8 +553,8 @@
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>11</FileNumber> <FileNumber>18</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -478,8 +565,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>12</FileNumber> <FileNumber>19</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -490,8 +577,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>13</FileNumber> <FileNumber>20</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -502,8 +589,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>14</FileNumber> <FileNumber>21</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -514,8 +601,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>15</FileNumber> <FileNumber>22</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -526,8 +613,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>16</FileNumber> <FileNumber>23</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -538,8 +625,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>17</FileNumber> <FileNumber>24</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -550,8 +637,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>18</FileNumber> <FileNumber>25</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -562,8 +649,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>19</FileNumber> <FileNumber>26</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -574,8 +661,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>20</FileNumber> <FileNumber>27</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -586,8 +673,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>21</FileNumber> <FileNumber>28</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -598,8 +685,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>22</FileNumber> <FileNumber>29</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -610,8 +697,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>23</FileNumber> <FileNumber>30</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -622,8 +709,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>24</FileNumber> <FileNumber>31</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -634,8 +721,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>25</FileNumber> <FileNumber>32</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -653,106 +740,6 @@
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File>
<GroupNumber>4</GroupNumber>
<FileNumber>26</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Core/Src/system_stm32f1xx.c</PathWithFileName>
<FilenameWithoutPath>system_stm32f1xx.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>
<GroupName>User</GroupName>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>27</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\Src\bluetooth.c</PathWithFileName>
<FilenameWithoutPath>bluetooth.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>28</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\Src\control.c</PathWithFileName>
<FilenameWithoutPath>control.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>29</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\Src\hcsr04.c</PathWithFileName>
<FilenameWithoutPath>hcsr04.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>30</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\Src\led.c</PathWithFileName>
<FilenameWithoutPath>led.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>31</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\Src\motor.c</PathWithFileName>
<FilenameWithoutPath>motor.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>32</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\Src\line_seek.c</PathWithFileName>
<FilenameWithoutPath>line_seek.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>
<GroupName>App</GroupName>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>6</GroupNumber> <GroupNumber>6</GroupNumber>
<FileNumber>33</FileNumber> <FileNumber>33</FileNumber>
@ -760,8 +747,8 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>..\App\Src\app_line_seek.c</PathWithFileName> <PathWithFileName>../Core/Src/system_stm32f1xx.c</PathWithFileName>
<FilenameWithoutPath>app_line_seek.c</FilenameWithoutPath> <FilenameWithoutPath>system_stm32f1xx.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>

163
MDK-ARM/CAR.uvprojx
View File

@ -16,9 +16,9 @@
<TargetCommonOption> <TargetCommonOption>
<Device>STM32F103C8</Device> <Device>STM32F103C8</Device>
<Vendor>STMicroelectronics</Vendor> <Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F1xx_DFP.2.2.0</PackID> <PackID>Keil.STM32F1xx_DFP.2.4.1</PackID>
<PackURL>http://www.keil.com/pack/</PackURL> <PackURL>https://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3") TZ</Cpu> <Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3") TZ</Cpu>
<FlashUtilSpec></FlashUtilSpec> <FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile> <StartupFile></StartupFile>
<FlashDriverDll></FlashDriverDll> <FlashDriverDll></FlashDriverDll>
@ -48,8 +48,8 @@
<NotGenerated>0</NotGenerated> <NotGenerated>0</NotGenerated>
<InvalidFlash>1</InvalidFlash> <InvalidFlash>1</InvalidFlash>
</TargetStatus> </TargetStatus>
<OutputDirectory>car\</OutputDirectory> <OutputDirectory>CAR\</OutputDirectory>
<OutputName>car</OutputName> <OutputName>CAR</OutputName>
<CreateExecutable>1</CreateExecutable> <CreateExecutable>1</CreateExecutable>
<CreateLib>0</CreateLib> <CreateLib>0</CreateLib>
<CreateHexFile>1</CreateHexFile> <CreateHexFile>1</CreateHexFile>
@ -81,7 +81,7 @@
</BeforeMake> </BeforeMake>
<AfterMake> <AfterMake>
<RunUserProg1>0</RunUserProg1> <RunUserProg1>0</RunUserProg1>
<RunUserProg2>1</RunUserProg2> <RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name> <UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name> <UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode> <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
@ -339,7 +339,7 @@
<MiscControls></MiscControls> <MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F103xB</Define> <Define>USE_HAL_DRIVER,STM32F103xB</Define>
<Undefine></Undefine> <Undefine></Undefine>
<IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include;../User/Inc;../App/Inc</IncludePath> <IncludePath>../App/Inc;../Core/Inc;../Peripheral/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include</IncludePath>
</VariousControls> </VariousControls>
</Cads> </Cads>
<Aads> <Aads>
@ -352,7 +352,7 @@
<NoWarn>0</NoWarn> <NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc> <uSurpInc>0</uSurpInc>
<useXO>0</useXO> <useXO>0</useXO>
<ClangAsOpt>4</ClangAsOpt> <ClangAsOpt>1</ClangAsOpt>
<VariousControls> <VariousControls>
<MiscControls></MiscControls> <MiscControls></MiscControls>
<Define></Define> <Define></Define>
@ -391,7 +391,17 @@
</Files> </Files>
</Group> </Group>
<Group> <Group>
<GroupName>Core</GroupName> <GroupName>Application/User/App</GroupName>
<Files>
<File>
<FileName>app_line_seek.c</FileName>
<FileType>1</FileType>
<FilePath>..\App\Src\app_line_seek.c</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>Application/User/Core</GroupName>
<Files> <Files>
<File> <File>
<FileName>main.c</FileName> <FileName>main.c</FileName>
@ -407,57 +417,6 @@
<FileName>dma.c</FileName> <FileName>dma.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Core/Src/dma.c</FilePath> <FilePath>../Core/Src/dma.c</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File> </File>
<File> <File>
<FileName>i2c.c</FileName> <FileName>i2c.c</FileName>
@ -474,6 +433,11 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Core/Src/usart.c</FilePath> <FilePath>../Core/Src/usart.c</FilePath>
</File> </File>
<File>
<FileName>syscalls.c</FileName>
<FileType>1</FileType>
<FilePath>..\Core\Src\syscalls.c</FilePath>
</File>
<File> <File>
<FileName>stm32f1xx_it.c</FileName> <FileName>stm32f1xx_it.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
@ -484,10 +448,40 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Core/Src/stm32f1xx_hal_msp.c</FilePath> <FilePath>../Core/Src/stm32f1xx_hal_msp.c</FilePath>
</File> </File>
</Files>
</Group>
<Group>
<GroupName>Application/User/Peripheral</GroupName>
<Files>
<File> <File>
<FileName>syscalls.c</FileName> <FileName>bluetooth.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>..\Core\Src\syscalls.c</FilePath> <FilePath>..\Peripheral\Src\bluetooth.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
<FileType>1</FileType>
<FilePath>..\Peripheral\Src\control.c</FilePath>
</File>
<File>
<FileName>hcsr04.c</FileName>
<FileType>1</FileType>
<FilePath>..\Peripheral\Src\hcsr04.c</FilePath>
</File>
<File>
<FileName>led.c</FileName>
<FileType>1</FileType>
<FilePath>..\Peripheral\Src\led.c</FilePath>
</File>
<File>
<FileName>line_seek.c</FileName>
<FileType>1</FileType>
<FilePath>..\Peripheral\Src\line_seek.c</FilePath>
</File>
<File>
<FileName>motor.c</FileName>
<FileType>1</FileType>
<FilePath>..\Peripheral\Src\motor.c</FilePath>
</File> </File>
</Files> </Files>
</Group> </Group>
@ -581,51 +575,6 @@
</File> </File>
</Files> </Files>
</Group> </Group>
<Group>
<GroupName>User</GroupName>
<Files>
<File>
<FileName>bluetooth.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\Src\bluetooth.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\Src\control.c</FilePath>
</File>
<File>
<FileName>hcsr04.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\Src\hcsr04.c</FilePath>
</File>
<File>
<FileName>led.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\Src\led.c</FilePath>
</File>
<File>
<FileName>motor.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\Src\motor.c</FilePath>
</File>
<File>
<FileName>line_seek.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\Src\line_seek.c</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>App</GroupName>
<Files>
<File>
<FileName>app_line_seek.c</FileName>
<FileType>1</FileType>
<FilePath>..\App\Src\app_line_seek.c</FilePath>
</File>
</Files>
</Group>
<Group> <Group>
<GroupName>::CMSIS</GroupName> <GroupName>::CMSIS</GroupName>
</Group> </Group>

0
User/Inc/bluetooth.h → Peripheral/Inc/bluetooth.h
View File

21
Peripheral/Inc/control.h Normal file
View File

@ -0,0 +1,21 @@
#ifndef __CONTROL_H
#define __CONTROL_H
#include "main.h"
#define MODE_STOP 0
// 遥控模式
#define MODE_REMOTE 1
// 巡线模式
#define MODE_PATROL 2
// 避障模式
#define MODE_AVOID 3
// 小车运行模式
extern uint8_t mode;
void CONTROL_CommonCmd(uint8_t type, uint8_t state);
void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b);
void CONTROL_Mode(uint8_t new_mode, uint8_t state);
#endif

4
User/Inc/hcsr04.h → Peripheral/Inc/hcsr04.h
View File

@ -4,12 +4,12 @@
#include "main.h" #include "main.h"
extern uint32_t sonor_distance; // 测量出的距离，单位mm extern uint32_t sonor_distance; // 测量出的距离，单位mm
extern uint8_t sonor_state; // 测距状态变量，0：未测量，1：正在测量，2：已测量 extern uint8_t sonor_state; // 测距状态变量，0：未测量，1：正在测量，2：已测量
void HC_SR04_Init(void); void HC_SR04_Init(void);
uint32_t sonar_mm(void); uint32_t sonar_mm(void);
// 测距完毕回调，执行完自定义任务后将sonor_state置0 // 测距完毕回调，执行完自定义任务后将sonor_state置0
void Sonar_CP_Callback(void); void Sonar_CP_Callback(void);
#endif #endif

0
User/Inc/led.h → Peripheral/Inc/led.h
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2
User/Inc/line_seek.h → Peripheral/Inc/line_seek.h
View File

@ -1,6 +1,8 @@
#ifndef __LINE_SEEK_H__ #ifndef __LINE_SEEK_H__
#define __LINE_SEEK_H__ #define __LINE_SEEK_H__
#include "main.h"
// 获取巡线状态 // 获取巡线状态
void LineSeek_Get(int *p_iL1, int *p_iL2, int *p_iR1, int *p_iR2); void LineSeek_Get(int *p_iL1, int *p_iL2, int *p_iR1, int *p_iR2);

0
User/Inc/motor.h → Peripheral/Inc/motor.h
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56
User/Src/bluetooth.c → Peripheral/Src/bluetooth.c
View File

@ -1,29 +1,41 @@
#include "bluetooth.h" #include "bluetooth.h"
#include "usart.h"
#include "control.h"
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
#include "syscalls.h"
#include "control.h"
#include "usart.h"
#define BUFFER_SIZE 100 #define BUFFER_SIZE 100
#define MESSAGE_SIZE 19 #define MESSAGE_SIZE 19
#define CMD_NUM 9 #define CMD_NUM 9
static int8_t rxBuffer[BUFFER_SIZE], txBuffer[BUFFER_SIZE]; static int8_t rxBuffer[BUFFER_SIZE], txBuffer[10000];
static uint16_t txLen;
static uint8_t cmdIndex; static uint8_t cmdIndex;
void BLUETOOTH_Init(void) void BLUETOOTH_Init(void)
{ {
HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100); HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100);
// HAL_UART_Receive_IT(&huart2, txBuffer + txLen, 1);
} }
// void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
// {
// if (huart == &huart2)
// {
// ++txLen;
// if (txLen == 10000)
// txLen = 0;
// }
// }
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{ {
if (huart == &huart2 && rxBuffer[0] == '$' && rxBuffer[Size - 1] == '#') if (huart == &huart2 && rxBuffer[0] == '$' && rxBuffer[Size - 1] == '#')
{ {
rxBuffer[Size] = '\0';
// 通用协议 // 通用协议
if (rxBuffer[2] == ',') if (mode == MODE_REMOTE && rxBuffer[2] == ',')
{ {
cmdIndex = 0; cmdIndex = 0;
for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2) for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2)
@ -33,13 +45,21 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
break; break;
if (cmdIndex == CMD_NUM) if (cmdIndex == CMD_NUM)
cmdIndex = 0; cmdIndex = 0;
CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1]); CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1] - '0');
} }
else else
{ {
static uint16_t num[6]; static uint16_t num[6];
switch (rxBuffer[5])
// 模式选择
if (rxBuffer[5] == 'M')
{ {
sscanf(rxBuffer + 5, "%*4s%c%c", num, num + 1);
CONTROL_Mode(num[0] - '0', num[1] - '0');
}
else if (mode == MODE_REMOTE)
switch (rxBuffer[5])
{
// 机械手 // 机械手
case 'S': case 'S':
break; break;
@ -51,17 +71,17 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2); sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
CONTROL_RGB(num[0], num[1], num[2]); CONTROL_RGB(num[0], num[1], num[2]);
break; break;
}
// 模式选择
case 'M':
sscanf(rxBuffer + 5, "%*4s%c%c", num, num + 1);
CONTROL_Mode(num[0] - '0', num[1] - '0');
break;
}
} }
memcpy(txBuffer, rxBuffer, Size); // my_printf(&huart2, rxBuffer);
printf("%s", txBuffer); // strcpy(txBuffer + txLen, rxBuffer);
HAL_UART_Transmit_IT(&huart2, txBuffer, Size); // if (txLen + Size >= 9999)
// txLen = 0;
// else
// txLen += Size;
// txBuffer[txLen] = '\0';
// if (strcmp(rxBuffer, "$send#") == 0)
// my_printf(&huart2, txBuffer);
BLUETOOTH_Init(); BLUETOOTH_Init();
} }
} }

189
Peripheral/Src/control.c Normal file
View File

@ -0,0 +1,189 @@
#include "control.h"
#include "hcsr04.h"
#include "led.h"
#include "motor.h"
#define CMD_MOVE 0
#define CMD_ROTATE 1
#define CMD_BUZZER 2
#define CMD_SPEED 3
// #define CMD_SHAKE 4
// #define CMD_SING 5
#define CMD_LED 6
// #define CMD_FIRE 7
// #define CMD_SERVO 8
// 小车默认速度
static int8_t speed = 20;
uint8_t mode = MODE_REMOTE;
void carMove(uint8_t state);
void carSpin(uint8_t state);
void callBuzzer(uint8_t state);
void setSpeed(uint8_t state);
// void shake(uint8_t state);
// void sing(uint8_t state);
void setLed(uint8_t state);
// void fire(uint8_t state);
// void servo(uint8_t state);
void CONTROL_CommonCmd(uint8_t type, uint8_t state)
{
switch (type)
{
case CMD_MOVE:
carMove(state);
break;
case CMD_ROTATE:
carSpin(state);
break;
case CMD_BUZZER:
callBuzzer(state);
break;
case CMD_SPEED:
setSpeed(state);
break;
// case CMD_SHAKE:
// break;
// case CMD_SING:
// break;
case CMD_LED:
setLed(state);
break;
// case CMD_FIRE:
// break;
// case CMD_SERVO:
// break;
}
}
void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b)
{
LED_Start(LED_ALL);
LED_SetDuty(r, g, b);
}
void CONTROL_Mode(uint8_t new_mode, uint8_t state)
{
if (state == 0)
{
mode = MODE_STOP;
MOTOR_Stop();
}
else
{
mode = new_mode;
switch (new_mode)
{
case MODE_REMOTE:
speed = 20;
MOTOR_SetDuty(speed, speed);
MOTOR_Start();
break;
case MODE_PATROL:
break;
case MODE_AVOID:
break;
default:
mode = MODE_STOP;
MOTOR_Stop();
break;
}
}
}
void carMove(uint8_t state)
{
if (state == 0)
MOTOR_Stop();
else
{
MOTOR_Start();
switch (state)
{
// 前进
case 1:
MOTOR_SetDuty(speed, speed);
break;
// 后退
case 2:
MOTOR_SetDuty(-speed, -speed);
break;
// 左转
case 3:
MOTOR_SetDuty(0, speed);
break;
// 右转
case 4:
MOTOR_SetDuty(speed, 0);
break;
}
}
}
void carSpin(uint8_t state)
{
if (state == 1)
MOTOR_SetDuty(speed, -speed);
else if (state == 2)
MOTOR_SetDuty(-speed, speed);
}
void callBuzzer(uint8_t state)
{
HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_RESET);
HAL_Delay(200);
HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_SET);
}
void setSpeed(uint8_t state)
{
if (state == 1)
speed += 10;
else if (state == 2)
speed -= 10;
if (speed > 100)
speed = 100;
else if (speed < 20)
speed = 20;
}
void setLed(uint8_t state)
{
LED_Start(LED_ALL);
switch (state)
{
// 白
case 1:
LED_SetDuty(255, 255, 255);
break;
// 红
case 2:
LED_SetDuty(255, 0, 0);
break;
// 绿
case 3:
LED_SetDuty(0, 255, 0);
break;
// 蓝
case 4:
LED_SetDuty(0, 0, 255);
break;
// 青
case 5:
LED_SetDuty(0, 255, 255);
break;
// 品红
case 6:
LED_SetDuty(255, 0, 255);
break;
// 黄
case 7:
LED_SetDuty(255, 255, 0);
break;
// 关
default:
LED_SetDuty(0, 0, 0);
break;
}
}

32
User/Src/hcsr04.c → Peripheral/Src/hcsr04.c
View File

@ -1,14 +1,13 @@
#include "hcsr04.h" #include "hcsr04.h"
#include "stm32f1xx_hal_tim.h"
#include "tim.h" #include "tim.h"
#include "syscalls.h"
uint64_t time; // 声明变量，用来计时 static uint64_t time_start; // 声明变量，用来计时
uint64_t time_end; // 声明变量，存储回波信号时间 static uint64_t time_end; // 声明变量，存储回波信号时间
uint8_t sonor_state = 1; // 测距状态变量，0：未测量，1：正在测量，2：已测量 uint8_t sonor_state; // 测距状态变量，0：未测量，1：正在测量，2：已测量
uint32_t sonor_distance; // 测量出的距离，单位mm uint32_t sonor_distance; // 测量出的距离，单位mm
void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim); void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim);
// 初始化超声波测距 // 初始化超声波测距
void HC_SR04_Init(void) void HC_SR04_Init(void)
@ -36,11 +35,12 @@ uint32_t sonar_mm(void)
return sonor_distance; return sonor_distance;
} }
void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim) void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{ {
if (htim == &htim2) if (htim == &htim2)
{ // 每10us自增一 {
time++; // 每10us自增一
++time_start;
} }
} }
@ -50,22 +50,22 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{ {
if (HAL_GPIO_ReadPin(Echo_GPIO_Port, Echo_Pin)) if (HAL_GPIO_ReadPin(Echo_GPIO_Port, Echo_Pin))
{ {
time_start = 0;
HAL_TIM_Base_Start_IT(&htim2); HAL_TIM_Base_Start_IT(&htim2);
time = 0;
} }
else else
{ {
time_end = time; time_end = time_start;
HAL_TIM_Base_Stop_IT(&htim2); HAL_TIM_Base_Stop_IT(&htim2);
sonor_state = 2; sonor_state = 2;
Sonar_CP_Callback(); Sonar_CP_Callback();
sonor_state = 0;
} }
} }
} }
// 测距完毕回调，执行完自定义任务后将sonor_state置0void // 测距完毕回调，执行完自定义任务后将sonor_state置0
__attribute__((weak)) void Sonar_CP_Callback(void) __attribute__((weak)) void Sonar_CP_Callback()
{ {
printf("distance = %d (mm)\n", sonor_distance); my_printf(HUART2, "distance = %d (mm)\n", sonor_distance);
sonor_state = 0;
} }

0
User/Src/led.c → Peripheral/Src/led.c
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3
User/Src/line_seek.c → Peripheral/Src/line_seek.c
View File

@ -1,8 +1,5 @@
#include "line_seek.h" #include "line_seek.h"
#include "main.h"
/** /**
* @brief 获取巡线状态 * @brief 获取巡线状态
* @param[in] int *p_iL1, int *p_iL2, int *p_iR1, int *p_iR2 四路巡线位指针 * @param[in] int *p_iL1, int *p_iL2, int *p_iR1, int *p_iR2 四路巡线位指针

47
User/Src/motor.c → Peripheral/Src/motor.c
View File

@ -3,6 +3,7 @@
#include "tim.h" #include "tim.h"
#define MAX_SPEED 100 #define MAX_SPEED 100
#define MIN_SPEED 15
#define MOTOR_L 1 #define MOTOR_L 1
#define MOTOR_R 2 #define MOTOR_R 2
#define MOTOR_TIM (&htim4) #define MOTOR_TIM (&htim4)
@ -37,30 +38,21 @@ void MOTOR_Stop(void)
/// @brief 控制电机占空比 /// @brief 控制电机占空比
/// @param leftDuty 绝对值 20-100, 支持正负 /// @param leftDuty 绝对值 0或20-100, 支持正负
/// @param rightDuty 绝对值 20-100，支持正负 /// @param rightDuty 绝对值 0或20-100，支持正负
void MOTOR_SetDuty(int8_t leftDuty, int8_t rightDuty) void MOTOR_SetDuty(int8_t leftDuty, int8_t rightDuty)
{ {
leftDuty = preProcess(leftDuty, MOTOR_L); leftDuty = preProcess(leftDuty, MOTOR_L);
rightDuty = preProcess(rightDuty, MOTOR_R); rightDuty = preProcess(rightDuty, MOTOR_R);
uint16_t leftSpeed = (uint32_t)MAX_SPEED * leftDuty / 100; __HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_L_CHAN, leftDuty);
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_L_CHAN, leftSpeed); __HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, rightDuty);
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, leftSpeed);
uint16_t rightSpeed = (uint32_t)MAX_SPEED * rightDuty / 100;
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_L_CHAN, rightSpeed);
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, rightSpeed);
} }
int8_t preProcess(int8_t duty, uint8_t motor) int8_t preProcess(int8_t duty, uint8_t motor)
{ {
if (duty >= 0) if (duty > 0)
{ {
if (duty > 100)
duty = 100;
else if (duty < 20)
duty = 20;
if (motor & MOTOR_L) if (motor & MOTOR_L)
{ {
HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_SET);
@ -71,13 +63,11 @@ int8_t preProcess(int8_t duty, uint8_t motor)
HAL_GPIO_WritePin(R_FORWARD_GPIO_Port, R_FORWARD_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(R_FORWARD_GPIO_Port, R_FORWARD_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_RESET);
} }
} }
else else if (duty < 0)
{ {
if (duty < -100) duty = -duty;
duty = -100;
else if (duty > -20)
duty = -20;
if (motor & MOTOR_L) if (motor & MOTOR_L)
{ {
HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_RESET);
@ -89,5 +79,24 @@ int8_t preProcess(int8_t duty, uint8_t motor)
HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_SET);
} }
} }
else
{
duty = MAX_SPEED;
if (motor & MOTOR_L)
{
HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(L_BACKWARD_GPIO_Port, L_BACKWARD_Pin, GPIO_PIN_RESET);
}
if (motor & MOTOR_R)
{
HAL_GPIO_WritePin(R_FORWARD_GPIO_Port, R_FORWARD_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_RESET);
}
}
if (duty > MAX_SPEED)
duty = MAX_SPEED;
if (duty < MIN_SPEED)
duty = MIN_SPEED;
return duty; return duty;
} }

10
User/Inc/control.h
View File

@ -1,10 +0,0 @@
#ifndef __CONTROL_H
#define __CONTROL_H
#include "main.h"
void CONTROL_CommonCmd(uint8_t type, uint8_t state);
void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b);
void CONTROL_Mode(uint8_t mode, uint8_t state);
#endif

88
User/Src/control.c
View File

@ -1,88 +0,0 @@
#include "control.h"
#include "hcsr04.h"
#include "led.h"
#include "motor.h"
#define CMD_MOVE 0
#define CMD_ROTATE 1
#define CMD_BUZZER 2
#define CMD_SPEED 3
// #define CMD_SHAKE 4
// #define CMD_SING 5
#define CMD_LED 6
// #define CMD_FIRE 7
// #define CMD_SERVO 8
void move(uint8_t state);
void rotate(uint8_t state);
void buzzer(uint8_t state);
void speed(uint8_t state);
// void shake(uint8_t state);
// void sing(uint8_t state);
void led(uint8_t state);
// void fire(uint8_t state);
// void servo(uint8_t state);
void CONTROL_CommonCmd(uint8_t type, uint8_t state)
{
switch (type)
{
case CMD_MOVE:
move(state);
break;
case CMD_ROTATE:
rotate(state);
break;
case CMD_BUZZER:
buzzer(state);
break;
case CMD_SPEED:
speed(state);
break;
// case CMD_SHAKE:
// break;
// case CMD_SING:
// break;
case CMD_LED:
led(state);
break;
// case CMD_FIRE:
// break;
// case CMD_SERVO:
// break;
}
}
void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b)
{
LED_Start(LED_ALL);
LED_SetDuty(r, g, b);
}
void CONTROL_Mode(uint8_t mode, uint8_t state)
{
}
void move(uint8_t state)
{
}
void rotate(uint8_t state)
{
}
void buzzer(uint8_t state)
{
if (state)
HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_RESET);
else
HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_SET);
}
void speed(uint8_t state)
{
}
void led(uint8_t state)
{
}