From 01df4763ade009114c9ec49664275d9cb4b945ce Mon Sep 17 00:00:00 2001
From: EN <none>
Date: Tue, 16 Jul 2024 22:39:49 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E8=88=B5=E6=9C=BA=E6=A8=A1?=
 =?UTF-8?q?=E5=9D=97?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 CAR.ioc                        |   4 +-
 Core/Src/tim.c                 |   4 +-
 MDK-ARM/CAR.uvoptx             | 158 +++++++++++++++++++--------------
 MDK-ARM/CAR.uvprojx            | 129 +++++++++++++++------------
 MDK-ARM/EventRecorderStub.scvd |   9 ++
 Peripheral/Inc/servo.h         |  12 +++
 Peripheral/Src/hcsr04.c        |   8 +-
 Peripheral/Src/servo.c         |  15 ++++
 8 files changed, 207 insertions(+), 132 deletions(-)
 create mode 100644 MDK-ARM/EventRecorderStub.scvd
 create mode 100644 Peripheral/Inc/servo.h
 create mode 100644 Peripheral/Src/servo.c

diff --git a/CAR.ioc b/CAR.ioc
index 13989ae..fbc58ae 100644
--- a/CAR.ioc
+++ b/CAR.ioc
@@ -272,8 +272,8 @@ SH.S_TIM4_CH2.0=TIM4_CH2,PWM Generation2 CH2
 SH.S_TIM4_CH2.ConfNb=1
 TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM1.IPParameters=Prescaler,Period,Channel-PWM Generation4 CH4
-TIM1.Period=20000 - 1
-TIM1.Prescaler=72 - 1
+TIM1.Period=2000 - 1
+TIM1.Prescaler=720 - 1
 TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
 TIM2.IPParameters=Prescaler,Period,AutoReloadPreload
 TIM2.Period=72 - 1
diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index 2ea1948..5ff3c10 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -46,9 +46,9 @@ void MX_TIM1_Init(void)
 
   /* USER CODE END TIM1_Init 1 */
   htim1.Instance = TIM1;
-  htim1.Init.Prescaler = 72 - 1;
+  htim1.Init.Prescaler = 720 - 1;
   htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim1.Init.Period = 20000 - 1;
+  htim1.Init.Period = 2000 - 1;
   htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim1.Init.RepetitionCounter = 0;
   htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
diff --git a/MDK-ARM/CAR.uvoptx b/MDK-ARM/CAR.uvoptx
index 4243c51..b3285ad 100644
--- a/MDK-ARM/CAR.uvoptx
+++ b/MDK-ARM/CAR.uvoptx
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8"?>
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
 <ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
 
   <SchemaVersion>1.0</SchemaVersion>
@@ -45,7 +45,7 @@
         <PageWidth>79</PageWidth>
         <PageLength>66</PageLength>
         <TabStop>8</TabStop>
-        <ListingPath />
+        <ListingPath></ListingPath>
       </OPTLEX>
       <ListingPage>
         <CreateCListing>1</CreateCListing>
@@ -104,16 +104,16 @@
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
         <nTsel>3</nTsel>
-        <sDll />
-        <sDllPa />
-        <sDlgDll />
-        <sDlgPa />
-        <sIfile />
-        <tDll />
-        <tDllPa />
-        <tDlgDll />
-        <tDlgPa />
-        <tIfile />
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
         <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
@@ -130,7 +130,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMDBGFLAGS</Key>
-          <Name />
+          <Name></Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -140,7 +140,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name />
+          <Name></Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -167,7 +167,7 @@
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>1</BreakIfRCount>
           <Filename>..\Peripheral\Src\bluetooth.c</Filename>
-          <ExecCommand />
+          <ExecCommand></ExecCommand>
           <Expression>\\CAR\../Peripheral/Src/bluetooth.c\34</Expression>
         </Bp>
         <Bp>
@@ -183,7 +183,7 @@
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>1</BreakIfRCount>
           <Filename>..\Peripheral\Src\control.c</Filename>
-          <ExecCommand />
+          <ExecCommand></ExecCommand>
           <Expression>\\CAR\../Peripheral/Src/control.c\32</Expression>
         </Bp>
         <Bp>
@@ -199,8 +199,8 @@
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>0</BreakIfRCount>
           <Filename>..\Peripheral\Src\bluetooth.c</Filename>
-          <ExecCommand />
-          <Expression />
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
         </Bp>
         <Bp>
           <Number>3</Number>
@@ -215,8 +215,8 @@
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>0</BreakIfRCount>
           <Filename>../Core/Src/main.c</Filename>
-          <ExecCommand />
-          <Expression />
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
         </Bp>
         <Bp>
           <Number>4</Number>
@@ -231,8 +231,8 @@
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>0</BreakIfRCount>
           <Filename>../Core/Src/main.c</Filename>
-          <ExecCommand />
-          <Expression />
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
         </Bp>
       </Breakpoint>
       <WatchWindow1>
@@ -287,19 +287,19 @@
         <newCpu>0</newCpu>
         <uProt>0</uProt>
       </DebugFlag>
-      <LintExecutable />
-      <LintConfigFile />
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
       <bLintAuto>0</bLintAuto>
       <bAutoGenD>0</bAutoGenD>
       <LntExFlags>0</LntExFlags>
-      <pMisraName />
-      <pszMrule />
-      <pSingCmds />
-      <pMultCmds />
-      <pMisraNamep />
-      <pszMrulep />
-      <pSingCmdsp />
-      <pMultCmdsp />
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
         <EnableFlashSeq>1</EnableFlashSeq>
@@ -363,6 +363,18 @@
       <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>4</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
       <PathWithFileName>../Core/Src/main.c</PathWithFileName>
       <FilenameWithoutPath>main.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -370,7 +382,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>4</FileNumber>
+      <FileNumber>5</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -382,7 +394,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>5</FileNumber>
+      <FileNumber>6</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -394,7 +406,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>6</FileNumber>
+      <FileNumber>7</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -406,7 +418,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>7</FileNumber>
+      <FileNumber>8</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -418,7 +430,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>8</FileNumber>
+      <FileNumber>9</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -428,18 +440,6 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
-    <File>
-      <GroupNumber>3</GroupNumber>
-      <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>
@@ -515,6 +515,18 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
+      <PathWithFileName>..\Peripheral\Src\infrared.c</PathWithFileName>
+      <FilenameWithoutPath>infrared.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\led.c</PathWithFileName>
       <FilenameWithoutPath>led.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -522,7 +534,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -534,7 +546,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -544,6 +556,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>19</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Peripheral\Src\servo.c</PathWithFileName>
+      <FilenameWithoutPath>servo.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -554,7 +578,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -566,7 +590,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -578,7 +602,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -590,7 +614,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -602,7 +626,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -614,7 +638,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -626,7 +650,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -638,7 +662,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -650,7 +674,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -662,7 +686,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>27</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -674,7 +698,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -686,7 +710,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>31</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -698,7 +722,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>30</FileNumber>
+      <FileNumber>32</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -710,7 +734,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -722,7 +746,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <FileNumber>34</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -742,7 +766,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>33</FileNumber>
+      <FileNumber>35</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
diff --git a/MDK-ARM/CAR.uvprojx b/MDK-ARM/CAR.uvprojx
index 7b23972..a09f68e 100644
--- a/MDK-ARM/CAR.uvprojx
+++ b/MDK-ARM/CAR.uvprojx
@@ -1,7 +1,10 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" noNamespaceSchemaLocation="project_projx.xsd">
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
+
   <SchemaVersion>2.1</SchemaVersion>
+
   <Header>### uVision Project, (C) Keil Software</Header>
+
   <Targets>
     <Target>
       <TargetName>CAR</TargetName>
@@ -16,28 +19,28 @@
           <PackID>Keil.STM32F1xx_DFP.2.4.1</PackID>
           <PackURL>https://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3") TZ</Cpu>
-          <FlashUtilSpec />
-          <StartupFile />
-          <FlashDriverDll />
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll></FlashDriverDll>
           <DeviceId>0</DeviceId>
-          <RegisterFile />
-          <MemoryEnv />
-          <Cmp />
-          <Asm />
-          <Linker />
-          <OHString />
-          <InfinionOptionDll />
-          <SLE66CMisc />
-          <SLE66AMisc />
-          <SLE66LinkerMisc />
+          <RegisterFile></RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
           <SFDFile>$$Device:STM32F103C8$SVD\STM32F103xx.svd</SFDFile>
           <bCustSvd>0</bCustSvd>
           <UseEnv>0</UseEnv>
-          <BinPath />
-          <IncludePath />
-          <LibPath />
-          <RegisterFilePath />
-          <DBRegisterFilePath />
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
           <TargetStatus>
             <Error>0</Error>
             <ExitCodeStop>0</ExitCodeStop>
@@ -52,15 +55,15 @@
           <CreateHexFile>1</CreateHexFile>
           <DebugInformation>1</DebugInformation>
           <BrowseInformation>1</BrowseInformation>
-          <ListingPath />
+          <ListingPath></ListingPath>
           <HexFormatSelection>1</HexFormatSelection>
           <Merge32K>0</Merge32K>
           <CreateBatchFile>0</CreateBatchFile>
           <BeforeCompile>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name />
-            <UserProg2Name />
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopU1X>0</nStopU1X>
@@ -69,8 +72,8 @@
           <BeforeMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name />
-            <UserProg2Name />
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopB1X>0</nStopB1X>
@@ -79,15 +82,15 @@
           <AfterMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>1</RunUserProg2>
-            <UserProg1Name />
-            <UserProg2Name />
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
           <SelectedForBatchBuild>1</SelectedForBatchBuild>
-          <SVCSIdString />
+          <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
           <UseCPPCompiler>0</UseCPPCompiler>
@@ -101,8 +104,8 @@
           <AssembleAssemblyFile>0</AssembleAssemblyFile>
           <PublicsOnly>0</PublicsOnly>
           <StopOnExitCode>3</StopOnExitCode>
-          <CustomArgument />
-          <IncludeLibraryModules />
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
           <ComprImg>0</ComprImg>
         </CommonProperty>
         <DllOption>
@@ -111,7 +114,7 @@
           <SimDlgDll>DCM.DLL</SimDlgDll>
           <SimDlgDllArguments>-pCM3</SimDlgDllArguments>
           <TargetDllName>SARMCM3.DLL</TargetDllName>
-          <TargetDllArguments />
+          <TargetDllArguments></TargetDllArguments>
           <TargetDlgDll>TCM.DLL</TargetDlgDll>
           <TargetDlgDllArguments>-pCM3</TargetDlgDllArguments>
         </DllOption>
@@ -136,10 +139,10 @@
           <bUseTDR>1</bUseTDR>
           <Flash2>BIN\UL2V8M.DLL</Flash2>
           <Flash3>"" ()</Flash3>
-          <Flash4 />
-          <pFcarmOut />
-          <pFcarmGrp />
-          <pFcArmRoot />
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
           <FcArmLst>0</FcArmLst>
         </Utilities>
         <TargetArmAds>
@@ -172,7 +175,7 @@
             <RvctClst>0</RvctClst>
             <GenPPlst>0</GenPPlst>
             <AdsCpuType>"Cortex-M3"</AdsCpuType>
-            <RvctDeviceName />
+            <RvctDeviceName></RvctDeviceName>
             <mOS>0</mOS>
             <uocRom>0</uocRom>
             <uocRam>0</uocRam>
@@ -306,7 +309,7 @@
                 <Size>0x0</Size>
               </OCR_RVCT10>
             </OnChipMemories>
-            <RvctStartVector />
+            <RvctStartVector></RvctStartVector>
           </ArmAdsMisc>
           <Cads>
             <interw>1</interw>
@@ -333,9 +336,9 @@
             <v6WtE>0</v6WtE>
             <v6Rtti>0</v6Rtti>
             <VariousControls>
-              <MiscControls />
+              <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F103xB</Define>
-              <Undefine />
+              <Undefine></Undefine>
               <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>
           </Cads>
@@ -351,10 +354,10 @@
             <useXO>0</useXO>
             <ClangAsOpt>1</ClangAsOpt>
             <VariousControls>
-              <MiscControls />
-              <Define />
-              <Undefine />
-              <IncludePath />
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
             </VariousControls>
           </Aads>
           <LDads>
@@ -364,15 +367,15 @@
             <noStLib>0</noStLib>
             <RepFail>1</RepFail>
             <useFile>0</useFile>
-            <TextAddressRange />
-            <DataAddressRange />
-            <pXoBase />
-            <ScatterFile />
-            <IncludeLibs />
-            <IncludeLibsPath />
-            <Misc />
-            <LinkerInputFile />
-            <DisabledWarnings />
+            <TextAddressRange></TextAddressRange>
+            <DataAddressRange></DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile></ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
           </LDads>
         </TargetArmAds>
       </TargetOption>
@@ -465,6 +468,11 @@
               <FileType>1</FileType>
               <FilePath>..\Peripheral\Src\hcsr04.c</FilePath>
             </File>
+            <File>
+              <FileName>infrared.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Peripheral\Src\infrared.c</FilePath>
+            </File>
             <File>
               <FileName>led.c</FileName>
               <FileType>1</FileType>
@@ -480,6 +488,11 @@
               <FileType>1</FileType>
               <FilePath>..\Peripheral\Src\motor.c</FilePath>
             </File>
+            <File>
+              <FileName>servo.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Peripheral\Src\servo.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -578,18 +591,20 @@
       </Groups>
     </Target>
   </Targets>
+
   <RTE>
-    <apis />
+    <apis/>
     <components>
       <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="4.3.0" condition="CMSIS Core">
-        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="4.5.0" />
+        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="4.5.0"/>
         <targetInfos>
-          <targetInfo name="CAR" />
+          <targetInfo name="CAR"/>
         </targetInfos>
       </component>
     </components>
-    <files />
+    <files/>
   </RTE>
+
   <LayerInfo>
     <Layers>
       <Layer>
@@ -598,5 +613,5 @@
       </Layer>
     </Layers>
   </LayerInfo>
-</Project>
 
+</Project>
diff --git a/MDK-ARM/EventRecorderStub.scvd b/MDK-ARM/EventRecorderStub.scvd
new file mode 100644
index 0000000..2956b29
--- /dev/null
+++ b/MDK-ARM/EventRecorderStub.scvd
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<component_viewer schemaVersion="0.1" xmlns:xs="http://www.w3.org/2001/XMLSchema-instance" xs:noNamespaceSchemaLocation="Component_Viewer.xsd">
+
+<component name="EventRecorderStub" version="1.0.0"/>       <!--name and version of the component-->
+  <events>
+  </events>
+
+</component_viewer>
diff --git a/Peripheral/Inc/servo.h b/Peripheral/Inc/servo.h
new file mode 100644
index 0000000..d361a13
--- /dev/null
+++ b/Peripheral/Inc/servo.h
@@ -0,0 +1,12 @@
+#ifndef __SERVO_H
+#define __SERVO_H
+
+#include "main.h"
+
+void SERVO_Init();
+
+/// @brief 控制舵机转动
+/// @param degree 0-180
+void SERVO_Rotate(uint8_t degree);
+
+#endif
diff --git a/Peripheral/Src/hcsr04.c b/Peripheral/Src/hcsr04.c
index 20fba15..d8df96a 100644
--- a/Peripheral/Src/hcsr04.c
+++ b/Peripheral/Src/hcsr04.c
@@ -24,9 +24,9 @@ void HC_SR04_Init(void)
 uint32_t sonar_mm(void)
 {
     sonor_state = 1;
-    HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_SET);   // 输出高电平
+    HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_SET);   // 输出高电平
     delay_us(15);                                                // 延时15微秒
-    HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_RESET); // 输出低电平
+    HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_RESET); // 输出低电平
     if (time_end / 100 < 38)
     {                                          // 判断是否小于38毫秒，大于38毫秒的就是超时，直接调到下面返回0
         sonor_distance = (time_end * 346) / 2; // 计算距离，25°C空气中的音速为346m/s
@@ -46,9 +46,9 @@ void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 {
-    if (GPIO_Pin == Echo_Pin)
+    if (GPIO_Pin == ECHO_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);
diff --git a/Peripheral/Src/servo.c b/Peripheral/Src/servo.c
new file mode 100644
index 0000000..4ad594f
--- /dev/null
+++ b/Peripheral/Src/servo.c
@@ -0,0 +1,15 @@
+#include "servo.h"
+#include "tim.h"
+
+void SERVO_Init()
+{
+    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
+}
+
+void SERVO_Rotate(uint8_t degree)
+{
+    if (degree > 180)
+        degree = 180;
+    uint16_t compare = 200.0 / 180 * degree + 50;
+    __HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_4, compare);
+}