合并蓝牙模块(待测试)
This commit is contained in:
parent
3af55aae9d
commit
0116e8246d
6
.gitignore
vendored
6
.gitignore
vendored
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@ -5,10 +5,6 @@ MDK-ARM/DebugConfig
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MDK-ARM/CAR.uvguix.*
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MDK-ARM/CAR.uvguix.*
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MDK-ARM/startup_stm32f103xb.lst
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MDK-ARM/startup_stm32f103xb.lst
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MDK-ARM/RTE
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MDK-ARM/RTE
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MDK-ARM/CAR.uvguix.Admin
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MDK-ARM/car.uvguix.Administrator
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MDK-ARM/CAR.uvguix.lenovo
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build/
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build/
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cmake/
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cmake/
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13
CAR.ioc
13
CAR.ioc
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@ -69,7 +69,7 @@ Mcu.UserName=STM32F103C8Tx
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MxCube.Version=6.12.0
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MxCube.Version=6.12.0
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MxDb.Version=DB.6.0.120
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MxDb.Version=DB.6.0.120
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NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.DMA1_Channel6_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
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NVIC.DMA1_Channel6_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
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NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.EXTI15_10_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true
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NVIC.EXTI15_10_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true
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NVIC.ForceEnableDMAVector=false
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NVIC.ForceEnableDMAVector=false
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@ -79,9 +79,10 @@ NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.PriorityGroup=NVIC_PRIORITYGROUP_2
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NVIC.PriorityGroup=NVIC_PRIORITYGROUP_2
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NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.SysTick_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:false
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NVIC.SysTick_IRQn=true\:2\:0\:true\:false\:true\:false\:true\:false
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NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
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NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
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NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
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NVIC.USART1_IRQn=true\:3\:1\:true\:false\:true\:true\:true\:true
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NVIC.USART2_IRQn=true\:3\:0\:true\:false\:true\:true\:true\:true
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NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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PA0-WKUP.GPIOParameters=PinState,GPIO_Label
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PA0-WKUP.GPIOParameters=PinState,GPIO_Label
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PA0-WKUP.GPIO_Label=FM_K2_POWERC
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PA0-WKUP.GPIO_Label=FM_K2_POWERC
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@ -200,7 +201,7 @@ ProjectManager.FreePins=false
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ProjectManager.HalAssertFull=false
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ProjectManager.HalAssertFull=false
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ProjectManager.HeapSize=0x200
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ProjectManager.HeapSize=0x200
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ProjectManager.KeepUserCode=true
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ProjectManager.KeepUserCode=true
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ProjectManager.LastFirmware=false
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ProjectManager.LastFirmware=true
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ProjectManager.LibraryCopy=1
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ProjectManager.LibraryCopy=1
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ProjectManager.MainLocation=Core/Src
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ProjectManager.MainLocation=Core/Src
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ProjectManager.NoMain=false
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ProjectManager.NoMain=false
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@ -209,7 +210,7 @@ ProjectManager.ProjectBuild=false
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ProjectManager.ProjectFileName=CAR.ioc
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ProjectManager.ProjectFileName=CAR.ioc
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ProjectManager.ProjectName=CAR
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ProjectManager.ProjectName=CAR
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ProjectManager.ProjectStructure=
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ProjectManager.ProjectStructure=
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ProjectManager.RegisterCallBack=TIM,USART
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ProjectManager.RegisterCallBack=TIM
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ProjectManager.StackSize=0x400
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ProjectManager.StackSize=0x400
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ProjectManager.TargetToolchain=Makefile
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ProjectManager.TargetToolchain=Makefile
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ProjectManager.ToolChainLocation=
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ProjectManager.ToolChainLocation=
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@ -267,7 +268,7 @@ TIM3.Pulse-PWM\ Generation4\ CH4=255
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TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
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TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
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TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
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TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
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TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2
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TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2
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TIM4.Period=100
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TIM4.Period=0
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TIM4.Prescaler=720 - 1
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TIM4.Prescaler=720 - 1
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TIM4.Pulse-PWM\ Generation1\ CH1=100
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TIM4.Pulse-PWM\ Generation1\ CH1=100
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TIM4.Pulse-PWM\ Generation2\ CH2=100
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TIM4.Pulse-PWM\ Generation2\ CH2=100
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@ -129,7 +129,7 @@
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* @brief This is the HAL system configuration section
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* @brief This is the HAL system configuration section
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*/
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*/
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#define VDD_VALUE 3300U /*!< Value of VDD in mv */
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#define VDD_VALUE 3300U /*!< Value of VDD in mv */
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#define TICK_INT_PRIORITY 3U /*!< tick interrupt priority (lowest by default) */
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#define TICK_INT_PRIORITY 2U /*!< tick interrupt priority (lowest by default) */
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#define USE_RTOS 0U
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#define USE_RTOS 0U
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#define PREFETCH_ENABLE 1U
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#define PREFETCH_ENABLE 1U
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@ -18,9 +18,7 @@
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/* USER CODE END Header */
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "main.h"
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#include "dma.h"
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#include "dma.h"
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#include "gpio.h"
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#include "i2c.h"
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#include "i2c.h"
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#include "tim.h"
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#include "tim.h"
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#include "usart.h"
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#include "usart.h"
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@ -29,8 +27,6 @@
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/* USER CODE BEGIN Includes */
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/* USER CODE BEGIN Includes */
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#include "bluetooth.h"
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#include "bluetooth.h"
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#include "hcsr04.h"
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#include "hcsr04.h"
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#include "led.h"
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#include "motor.h"
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#include "syscalls.h"
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#include "syscalls.h"
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/* USER CODE END Includes */
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/* USER CODE END Includes */
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@ -95,39 +91,35 @@ int main(void)
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/* USER CODE END SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_DMA_Init();
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MX_I2C2_Init();
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MX_I2C2_Init();
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MX_TIM2_Init();
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MX_TIM2_Init();
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MX_TIM3_Init();
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MX_TIM3_Init();
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MX_TIM4_Init();
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MX_TIM4_Init();
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MX_USART2_UART_Init();
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// MX_USART1_UART_Init();
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MX_USART1_UART_Init();
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MX_USART2_UART_Init();
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/* USER CODE BEGIN 2 */
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/* USER CODE BEGIN 2 */
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HC_SR04_Init();
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BLUETOOTH_Init();
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BLUETOOTH_Init();
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// HC_SR04_Init();
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/* USER CODE END 2 */
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/* USER CODE BEGIN 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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// if (sonor_state == 0)
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// {
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// sonar_mm();
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// }
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// HAL_Delay(300); // 延时300毫秒
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/* USER CODE END 2 */
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/* USER CODE END WHILE */
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/* Infinite loop */
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/* USER CODE BEGIN 3 */
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/* USER CODE BEGIN WHILE */
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}
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while (1)
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/* USER CODE END 3 */
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{
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my_printf(HUART1, "test huart1 \r\n");
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my_printf(HUART2, "test huart2\r\n");
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// App_LineSeek();
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// HAL_Delay(300); // 延时300毫秒
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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}
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}
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/**
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/**
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@ -114,6 +114,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/* USART1 interrupt Init */
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HAL_NVIC_SetPriority(USART1_IRQn, 3, 1);
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HAL_NVIC_EnableIRQ(USART1_IRQn);
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/* USER CODE BEGIN USART1_MspInit 1 */
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/* USER CODE BEGIN USART1_MspInit 1 */
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/* USER CODE END USART1_MspInit 1 */
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/* USER CODE END USART1_MspInit 1 */
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@ -159,7 +162,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
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__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
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__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
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/* USART2 interrupt Init */
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/* USART2 interrupt Init */
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HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
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HAL_NVIC_SetPriority(USART2_IRQn, 3, 0);
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HAL_NVIC_EnableIRQ(USART2_IRQn);
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HAL_NVIC_EnableIRQ(USART2_IRQn);
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/* USER CODE BEGIN USART2_MspInit 1 */
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/* USER CODE BEGIN USART2_MspInit 1 */
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@ -215,4 +218,5 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
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/* USER CODE BEGIN 1 */
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* USER CODE END 1 */
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@ -135,7 +135,7 @@
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<SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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<Number>0</Number>
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<Key>CMSIS_AGDI</Key>
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<Key>CMSIS_AGDI</Key>
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<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($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
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<Name>-X"" -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
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</SetRegEntry>
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</SetRegEntry>
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<SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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<Number>0</Number>
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@ -157,70 +157,54 @@
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<Bp>
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<Bp>
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<Number>0</Number>
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<Number>0</Number>
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<Type>0</Type>
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<Type>0</Type>
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<LineNumber>39</LineNumber>
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<LineNumber>34</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<EnabledFlag>1</EnabledFlag>
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<Address>134225148</Address>
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<Address>134226582</Address>
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<ByteObject>0</ByteObject>
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<ByteObject>0</ByteObject>
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<HtxType>0</HtxType>
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<HtxType>0</HtxType>
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<ManyObjects>0</ManyObjects>
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<ManyObjects>0</ManyObjects>
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<SizeOfObject>0</SizeOfObject>
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>1</BreakIfRCount>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename>
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<Filename>..\Peripheral\Src\bluetooth.c</Filename>
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<ExecCommand></ExecCommand>
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<ExecCommand></ExecCommand>
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<Expression>\\car\../Core/Src/hcsr04.c\39</Expression>
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<Expression>\\CAR\../Peripheral/Src/bluetooth.c\34</Expression>
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</Bp>
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</Bp>
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<Bp>
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<Bp>
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<Number>1</Number>
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<Number>1</Number>
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<Type>0</Type>
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<Type>0</Type>
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<LineNumber>98</LineNumber>
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<LineNumber>32</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<EnabledFlag>1</EnabledFlag>
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<Address>134229854</Address>
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<Address>134221102</Address>
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<ByteObject>0</ByteObject>
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<ByteObject>0</ByteObject>
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<HtxType>0</HtxType>
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<HtxType>0</HtxType>
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<ManyObjects>0</ManyObjects>
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<ManyObjects>0</ManyObjects>
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<SizeOfObject>0</SizeOfObject>
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>1</BreakIfRCount>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>../Core/Src/main.c</Filename>
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<Filename>..\Peripheral\Src\control.c</Filename>
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<ExecCommand></ExecCommand>
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<ExecCommand></ExecCommand>
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<Expression>\\car\../Core/Src/main.c\98</Expression>
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<Expression>\\CAR\../Peripheral/Src/control.c\32</Expression>
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</Bp>
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</Bp>
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<Bp>
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<Bp>
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<Number>2</Number>
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<Number>2</Number>
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<Type>0</Type>
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<Type>0</Type>
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<LineNumber>45</LineNumber>
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<LineNumber>24</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<EnabledFlag>1</EnabledFlag>
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<Address>134220846</Address>
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<Address>0</Address>
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<ByteObject>0</ByteObject>
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<ByteObject>0</ByteObject>
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<HtxType>0</HtxType>
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<HtxType>0</HtxType>
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<ManyObjects>0</ManyObjects>
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<ManyObjects>0</ManyObjects>
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<SizeOfObject>0</SizeOfObject>
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>1</BreakIfRCount>
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<BreakIfRCount>0</BreakIfRCount>
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<Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename>
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<Filename>..\Peripheral\Src\bluetooth.c</Filename>
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<ExecCommand></ExecCommand>
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<ExecCommand></ExecCommand>
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<Expression>\\car\../Core/Src/hcsr04.c\45</Expression>
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<Expression></Expression>
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</Bp>
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</Bp>
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<Bp>
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<Bp>
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<Number>3</Number>
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<Number>3</Number>
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<Type>0</Type>
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<Type>0</Type>
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<LineNumber>32</LineNumber>
|
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<EnabledFlag>1</EnabledFlag>
|
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<Address>134229764</Address>
|
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<ByteObject>0</ByteObject>
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<HtxType>0</HtxType>
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<ManyObjects>0</ManyObjects>
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename>
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<ExecCommand></ExecCommand>
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|
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<Expression>\\car\../Core/Src/hcsr04.c\32</Expression>
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</Bp>
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<Bp>
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<Number>4</Number>
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<Type>0</Type>
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<LineNumber>99</LineNumber>
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<LineNumber>99</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<EnabledFlag>1</EnabledFlag>
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<Address>0</Address>
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<Address>0</Address>
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@ -235,7 +219,7 @@
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<Expression></Expression>
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<Expression></Expression>
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</Bp>
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</Bp>
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<Bp>
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<Bp>
|
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<Number>5</Number>
|
<Number>4</Number>
|
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<Type>0</Type>
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<Type>0</Type>
|
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<LineNumber>97</LineNumber>
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<LineNumber>97</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<EnabledFlag>1</EnabledFlag>
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@ -255,22 +239,25 @@
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<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>&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>
|
||||||
|
|
|
@ -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>
|
||||||
|
|
21
Peripheral/Inc/control.h
Normal file
21
Peripheral/Inc/control.h
Normal 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
|
|
@ -4,12 +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
|
|
@ -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);
|
||||||
|
|
|
@ -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
189
Peripheral/Src/control.c
Normal 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;
|
||||||
|
}
|
||||||
|
}
|
|
@ -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;
|
||||||
}
|
}
|
|
@ -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
|
|
@ -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;
|
||||||
}
|
}
|
|
@ -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
|
|
|
@ -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)
|
|
||||||
{
|
|
||||||
}
|
|
Loading…
Reference in New Issue
Block a user