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添加舵机模块

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EN 2024-07-16 22:39:49 +08:00
parent 3f95b59ed3
commit 01df4763ad
8 changed files with 207 additions and 132 deletions
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4
CAR.ioc
View File

@ -272,8 +272,8 @@ SH.S_TIM4_CH2.0=TIM4_CH2,PWM Generation2 CH2
SH.S_TIM4_CH2.ConfNb=1 SH.S_TIM4_CH2.ConfNb=1
TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4 TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM1.IPParameters=Prescaler,Period,Channel-PWM Generation4 CH4 TIM1.IPParameters=Prescaler,Period,Channel-PWM Generation4 CH4
TIM1.Period=20000 - 1 TIM1.Period=2000 - 1
TIM1.Prescaler=72 - 1 TIM1.Prescaler=720 - 1
TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
TIM2.IPParameters=Prescaler,Period,AutoReloadPreload TIM2.IPParameters=Prescaler,Period,AutoReloadPreload
TIM2.Period=72 - 1 TIM2.Period=72 - 1

4
Core/Src/tim.c
View File

@ -46,9 +46,9 @@ void MX_TIM1_Init(void)
/* USER CODE END TIM1_Init 1 */ /* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1; htim1.Instance = TIM1;
htim1.Init.Prescaler = 72 - 1; htim1.Init.Prescaler = 720 - 1;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP; htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 20000 - 1; htim1.Init.Period = 2000 - 1;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0; htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;

158
MDK-ARM/CAR.uvoptx
View File

@ -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"> <ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
<SchemaVersion>1.0</SchemaVersion> <SchemaVersion>1.0</SchemaVersion>
@ -45,7 +45,7 @@
<PageWidth>79</PageWidth> <PageWidth>79</PageWidth>
<PageLength>66</PageLength> <PageLength>66</PageLength>
<TabStop>8</TabStop> <TabStop>8</TabStop>
<ListingPath /> <ListingPath></ListingPath>
</OPTLEX> </OPTLEX>
<ListingPage> <ListingPage>
<CreateCListing>1</CreateCListing> <CreateCListing>1</CreateCListing>
@ -104,16 +104,16 @@
<bSchkAxf>0</bSchkAxf> <bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf> <bTchkAxf>0</bTchkAxf>
<nTsel>3</nTsel> <nTsel>3</nTsel>
<sDll /> <sDll></sDll>
<sDllPa /> <sDllPa></sDllPa>
<sDlgDll /> <sDlgDll></sDlgDll>
<sDlgPa /> <sDlgPa></sDlgPa>
<sIfile /> <sIfile></sIfile>
<tDll /> <tDll></tDll>
<tDllPa /> <tDllPa></tDllPa>
<tDlgDll /> <tDlgDll></tDlgDll>
<tDlgPa /> <tDlgPa></tDlgPa>
<tIfile /> <tIfile></tIfile>
<pMon>BIN\CMSIS_AGDI.dll</pMon> <pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt> </DebugOpt>
<TargetDriverDllRegistry> <TargetDriverDllRegistry>
@ -130,7 +130,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>ARMDBGFLAGS</Key> <Key>ARMDBGFLAGS</Key>
<Name /> <Name></Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@ -140,7 +140,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>DLGUARM</Key> <Key>DLGUARM</Key>
<Name /> <Name></Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@ -167,7 +167,7 @@
<BreakByAccess>0</BreakByAccess> <BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount> <BreakIfRCount>1</BreakIfRCount>
<Filename>..\Peripheral\Src\bluetooth.c</Filename> <Filename>..\Peripheral\Src\bluetooth.c</Filename>
<ExecCommand /> <ExecCommand></ExecCommand>
<Expression>\\CAR\../Peripheral/Src/bluetooth.c\34</Expression> <Expression>\\CAR\../Peripheral/Src/bluetooth.c\34</Expression>
</Bp> </Bp>
<Bp> <Bp>
@ -183,7 +183,7 @@
<BreakByAccess>0</BreakByAccess> <BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount> <BreakIfRCount>1</BreakIfRCount>
<Filename>..\Peripheral\Src\control.c</Filename> <Filename>..\Peripheral\Src\control.c</Filename>
<ExecCommand /> <ExecCommand></ExecCommand>
<Expression>\\CAR\../Peripheral/Src/control.c\32</Expression> <Expression>\\CAR\../Peripheral/Src/control.c\32</Expression>
</Bp> </Bp>
<Bp> <Bp>
@ -199,8 +199,8 @@
<BreakByAccess>0</BreakByAccess> <BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount> <BreakIfRCount>0</BreakIfRCount>
<Filename>..\Peripheral\Src\bluetooth.c</Filename> <Filename>..\Peripheral\Src\bluetooth.c</Filename>
<ExecCommand /> <ExecCommand></ExecCommand>
<Expression /> <Expression></Expression>
</Bp> </Bp>
<Bp> <Bp>
<Number>3</Number> <Number>3</Number>
@ -215,8 +215,8 @@
<BreakByAccess>0</BreakByAccess> <BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount> <BreakIfRCount>0</BreakIfRCount>
<Filename>../Core/Src/main.c</Filename> <Filename>../Core/Src/main.c</Filename>
<ExecCommand /> <ExecCommand></ExecCommand>
<Expression /> <Expression></Expression>
</Bp> </Bp>
<Bp> <Bp>
<Number>4</Number> <Number>4</Number>
@ -231,8 +231,8 @@
<BreakByAccess>0</BreakByAccess> <BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount> <BreakIfRCount>0</BreakIfRCount>
<Filename>../Core/Src/main.c</Filename> <Filename>../Core/Src/main.c</Filename>
<ExecCommand /> <ExecCommand></ExecCommand>
<Expression /> <Expression></Expression>
</Bp> </Bp>
</Breakpoint> </Breakpoint>
<WatchWindow1> <WatchWindow1>
@ -287,19 +287,19 @@
<newCpu>0</newCpu> <newCpu>0</newCpu>
<uProt>0</uProt> <uProt>0</uProt>
</DebugFlag> </DebugFlag>
<LintExecutable /> <LintExecutable></LintExecutable>
<LintConfigFile /> <LintConfigFile></LintConfigFile>
<bLintAuto>0</bLintAuto> <bLintAuto>0</bLintAuto>
<bAutoGenD>0</bAutoGenD> <bAutoGenD>0</bAutoGenD>
<LntExFlags>0</LntExFlags> <LntExFlags>0</LntExFlags>
<pMisraName /> <pMisraName></pMisraName>
<pszMrule /> <pszMrule></pszMrule>
<pSingCmds /> <pSingCmds></pSingCmds>
<pMultCmds /> <pMultCmds></pMultCmds>
<pMisraNamep /> <pMisraNamep></pMisraNamep>
<pszMrulep /> <pszMrulep></pszMrulep>
<pSingCmdsp /> <pSingCmdsp></pSingCmdsp>
<pMultCmdsp /> <pMultCmdsp></pMultCmdsp>
<DebugDescription> <DebugDescription>
<Enable>1</Enable> <Enable>1</Enable>
<EnableFlashSeq>1</EnableFlashSeq> <EnableFlashSeq>1</EnableFlashSeq>
@ -363,6 +363,18 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <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> <PathWithFileName>../Core/Src/main.c</PathWithFileName>
<FilenameWithoutPath>main.c</FilenameWithoutPath> <FilenameWithoutPath>main.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -370,7 +382,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</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>
@ -382,7 +394,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</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>
@ -394,7 +406,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</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>
@ -406,7 +418,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</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>
@ -418,7 +430,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>8</FileNumber> <FileNumber>9</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -428,18 +440,6 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </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> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>10</FileNumber> <FileNumber>10</FileNumber>
@ -515,6 +515,18 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <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> <PathWithFileName>..\Peripheral\Src\led.c</PathWithFileName>
<FilenameWithoutPath>led.c</FilenameWithoutPath> <FilenameWithoutPath>led.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -522,7 +534,7 @@
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>4</GroupNumber>
<FileNumber>16</FileNumber> <FileNumber>17</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -534,7 +546,7 @@
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>4</GroupNumber>
<FileNumber>17</FileNumber> <FileNumber>18</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -544,6 +556,18 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </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>
<Group> <Group>
@ -554,7 +578,7 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>18</FileNumber> <FileNumber>20</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -566,7 +590,7 @@
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>19</FileNumber> <FileNumber>21</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -578,7 +602,7 @@
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>20</FileNumber> <FileNumber>22</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -590,7 +614,7 @@
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>21</FileNumber> <FileNumber>23</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -602,7 +626,7 @@
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>22</FileNumber> <FileNumber>24</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -614,7 +638,7 @@
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>23</FileNumber> <FileNumber>25</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -626,7 +650,7 @@
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>24</FileNumber> <FileNumber>26</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -638,7 +662,7 @@
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>25</FileNumber> <FileNumber>27</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -650,7 +674,7 @@
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>26</FileNumber> <FileNumber>28</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -662,7 +686,7 @@
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>27</FileNumber> <FileNumber>29</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -674,7 +698,7 @@
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>28</FileNumber> <FileNumber>30</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -686,7 +710,7 @@
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>29</FileNumber> <FileNumber>31</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -698,7 +722,7 @@
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>30</FileNumber> <FileNumber>32</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -710,7 +734,7 @@
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>31</FileNumber> <FileNumber>33</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -722,7 +746,7 @@
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>32</FileNumber> <FileNumber>34</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -742,7 +766,7 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>6</GroupNumber> <GroupNumber>6</GroupNumber>
<FileNumber>33</FileNumber> <FileNumber>35</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>

129
MDK-ARM/CAR.uvprojx
View File

@ -1,7 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" noNamespaceSchemaLocation="project_projx.xsd"> <Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
<SchemaVersion>2.1</SchemaVersion> <SchemaVersion>2.1</SchemaVersion>
<Header>### uVision Project, (C) Keil Software</Header> <Header>### uVision Project, (C) Keil Software</Header>
<Targets> <Targets>
<Target> <Target>
<TargetName>CAR</TargetName> <TargetName>CAR</TargetName>
@ -16,28 +19,28 @@
<PackID>Keil.STM32F1xx_DFP.2.4.1</PackID> <PackID>Keil.STM32F1xx_DFP.2.4.1</PackID>
<PackURL>https://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>
<StartupFile /> <StartupFile></StartupFile>
<FlashDriverDll /> <FlashDriverDll></FlashDriverDll>
<DeviceId>0</DeviceId> <DeviceId>0</DeviceId>
<RegisterFile /> <RegisterFile></RegisterFile>
<MemoryEnv /> <MemoryEnv></MemoryEnv>
<Cmp /> <Cmp></Cmp>
<Asm /> <Asm></Asm>
<Linker /> <Linker></Linker>
<OHString /> <OHString></OHString>
<InfinionOptionDll /> <InfinionOptionDll></InfinionOptionDll>
<SLE66CMisc /> <SLE66CMisc></SLE66CMisc>
<SLE66AMisc /> <SLE66AMisc></SLE66AMisc>
<SLE66LinkerMisc /> <SLE66LinkerMisc></SLE66LinkerMisc>
<SFDFile>$$Device:STM32F103C8$SVD\STM32F103xx.svd</SFDFile> <SFDFile>$$Device:STM32F103C8$SVD\STM32F103xx.svd</SFDFile>
<bCustSvd>0</bCustSvd> <bCustSvd>0</bCustSvd>
<UseEnv>0</UseEnv> <UseEnv>0</UseEnv>
<BinPath /> <BinPath></BinPath>
<IncludePath /> <IncludePath></IncludePath>
<LibPath /> <LibPath></LibPath>
<RegisterFilePath /> <RegisterFilePath></RegisterFilePath>
<DBRegisterFilePath /> <DBRegisterFilePath></DBRegisterFilePath>
<TargetStatus> <TargetStatus>
<Error>0</Error> <Error>0</Error>
<ExitCodeStop>0</ExitCodeStop> <ExitCodeStop>0</ExitCodeStop>
@ -52,15 +55,15 @@
<CreateHexFile>1</CreateHexFile> <CreateHexFile>1</CreateHexFile>
<DebugInformation>1</DebugInformation> <DebugInformation>1</DebugInformation>
<BrowseInformation>1</BrowseInformation> <BrowseInformation>1</BrowseInformation>
<ListingPath /> <ListingPath></ListingPath>
<HexFormatSelection>1</HexFormatSelection> <HexFormatSelection>1</HexFormatSelection>
<Merge32K>0</Merge32K> <Merge32K>0</Merge32K>
<CreateBatchFile>0</CreateBatchFile> <CreateBatchFile>0</CreateBatchFile>
<BeforeCompile> <BeforeCompile>
<RunUserProg1>0</RunUserProg1> <RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2> <RunUserProg2>0</RunUserProg2>
<UserProg1Name /> <UserProg1Name></UserProg1Name>
<UserProg2Name /> <UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode> <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode> <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopU1X>0</nStopU1X> <nStopU1X>0</nStopU1X>
@ -69,8 +72,8 @@
<BeforeMake> <BeforeMake>
<RunUserProg1>0</RunUserProg1> <RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2> <RunUserProg2>0</RunUserProg2>
<UserProg1Name /> <UserProg1Name></UserProg1Name>
<UserProg2Name /> <UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode> <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode> <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopB1X>0</nStopB1X> <nStopB1X>0</nStopB1X>
@ -79,15 +82,15 @@
<AfterMake> <AfterMake>
<RunUserProg1>0</RunUserProg1> <RunUserProg1>0</RunUserProg1>
<RunUserProg2>1</RunUserProg2> <RunUserProg2>1</RunUserProg2>
<UserProg1Name /> <UserProg1Name></UserProg1Name>
<UserProg2Name /> <UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode> <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode> <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopA1X>0</nStopA1X> <nStopA1X>0</nStopA1X>
<nStopA2X>0</nStopA2X> <nStopA2X>0</nStopA2X>
</AfterMake> </AfterMake>
<SelectedForBatchBuild>1</SelectedForBatchBuild> <SelectedForBatchBuild>1</SelectedForBatchBuild>
<SVCSIdString /> <SVCSIdString></SVCSIdString>
</TargetCommonOption> </TargetCommonOption>
<CommonProperty> <CommonProperty>
<UseCPPCompiler>0</UseCPPCompiler> <UseCPPCompiler>0</UseCPPCompiler>
@ -101,8 +104,8 @@
<AssembleAssemblyFile>0</AssembleAssemblyFile> <AssembleAssemblyFile>0</AssembleAssemblyFile>
<PublicsOnly>0</PublicsOnly> <PublicsOnly>0</PublicsOnly>
<StopOnExitCode>3</StopOnExitCode> <StopOnExitCode>3</StopOnExitCode>
<CustomArgument /> <CustomArgument></CustomArgument>
<IncludeLibraryModules /> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>0</ComprImg> <ComprImg>0</ComprImg>
</CommonProperty> </CommonProperty>
<DllOption> <DllOption>
@ -111,7 +114,7 @@
<SimDlgDll>DCM.DLL</SimDlgDll> <SimDlgDll>DCM.DLL</SimDlgDll>
<SimDlgDllArguments>-pCM3</SimDlgDllArguments> <SimDlgDllArguments>-pCM3</SimDlgDllArguments>
<TargetDllName>SARMCM3.DLL</TargetDllName> <TargetDllName>SARMCM3.DLL</TargetDllName>
<TargetDllArguments /> <TargetDllArguments></TargetDllArguments>
<TargetDlgDll>TCM.DLL</TargetDlgDll> <TargetDlgDll>TCM.DLL</TargetDlgDll>
<TargetDlgDllArguments>-pCM3</TargetDlgDllArguments> <TargetDlgDllArguments>-pCM3</TargetDlgDllArguments>
</DllOption> </DllOption>
@ -136,10 +139,10 @@
<bUseTDR>1</bUseTDR> <bUseTDR>1</bUseTDR>
<Flash2>BIN\UL2V8M.DLL</Flash2> <Flash2>BIN\UL2V8M.DLL</Flash2>
<Flash3>"" ()</Flash3> <Flash3>"" ()</Flash3>
<Flash4 /> <Flash4></Flash4>
<pFcarmOut /> <pFcarmOut></pFcarmOut>
<pFcarmGrp /> <pFcarmGrp></pFcarmGrp>
<pFcArmRoot /> <pFcArmRoot></pFcArmRoot>
<FcArmLst>0</FcArmLst> <FcArmLst>0</FcArmLst>
</Utilities> </Utilities>
<TargetArmAds> <TargetArmAds>
@ -172,7 +175,7 @@
<RvctClst>0</RvctClst> <RvctClst>0</RvctClst>
<GenPPlst>0</GenPPlst> <GenPPlst>0</GenPPlst>
<AdsCpuType>"Cortex-M3"</AdsCpuType> <AdsCpuType>"Cortex-M3"</AdsCpuType>
<RvctDeviceName /> <RvctDeviceName></RvctDeviceName>
<mOS>0</mOS> <mOS>0</mOS>
<uocRom>0</uocRom> <uocRom>0</uocRom>
<uocRam>0</uocRam> <uocRam>0</uocRam>
@ -306,7 +309,7 @@
<Size>0x0</Size> <Size>0x0</Size>
</OCR_RVCT10> </OCR_RVCT10>
</OnChipMemories> </OnChipMemories>
<RvctStartVector /> <RvctStartVector></RvctStartVector>
</ArmAdsMisc> </ArmAdsMisc>
<Cads> <Cads>
<interw>1</interw> <interw>1</interw>
@ -333,9 +336,9 @@
<v6WtE>0</v6WtE> <v6WtE>0</v6WtE>
<v6Rtti>0</v6Rtti> <v6Rtti>0</v6Rtti>
<VariousControls> <VariousControls>
<MiscControls /> <MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F103xB</Define> <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> <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>
@ -351,10 +354,10 @@
<useXO>0</useXO> <useXO>0</useXO>
<ClangAsOpt>1</ClangAsOpt> <ClangAsOpt>1</ClangAsOpt>
<VariousControls> <VariousControls>
<MiscControls /> <MiscControls></MiscControls>
<Define /> <Define></Define>
<Undefine /> <Undefine></Undefine>
<IncludePath /> <IncludePath></IncludePath>
</VariousControls> </VariousControls>
</Aads> </Aads>
<LDads> <LDads>
@ -364,15 +367,15 @@
<noStLib>0</noStLib> <noStLib>0</noStLib>
<RepFail>1</RepFail> <RepFail>1</RepFail>
<useFile>0</useFile> <useFile>0</useFile>
<TextAddressRange /> <TextAddressRange></TextAddressRange>
<DataAddressRange /> <DataAddressRange></DataAddressRange>
<pXoBase /> <pXoBase></pXoBase>
<ScatterFile /> <ScatterFile></ScatterFile>
<IncludeLibs /> <IncludeLibs></IncludeLibs>
<IncludeLibsPath /> <IncludeLibsPath></IncludeLibsPath>
<Misc /> <Misc></Misc>
<LinkerInputFile /> <LinkerInputFile></LinkerInputFile>
<DisabledWarnings /> <DisabledWarnings></DisabledWarnings>
</LDads> </LDads>
</TargetArmAds> </TargetArmAds>
</TargetOption> </TargetOption>
@ -465,6 +468,11 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>..\Peripheral\Src\hcsr04.c</FilePath> <FilePath>..\Peripheral\Src\hcsr04.c</FilePath>
</File> </File>
<File>
<FileName>infrared.c</FileName>
<FileType>1</FileType>
<FilePath>..\Peripheral\Src\infrared.c</FilePath>
</File>
<File> <File>
<FileName>led.c</FileName> <FileName>led.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
@ -480,6 +488,11 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>..\Peripheral\Src\motor.c</FilePath> <FilePath>..\Peripheral\Src\motor.c</FilePath>
</File> </File>
<File>
<FileName>servo.c</FileName>
<FileType>1</FileType>
<FilePath>..\Peripheral\Src\servo.c</FilePath>
</File>
</Files> </Files>
</Group> </Group>
<Group> <Group>
@ -578,18 +591,20 @@
</Groups> </Groups>
</Target> </Target>
</Targets> </Targets>
<RTE> <RTE>
<apis /> <apis/>
<components> <components>
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="4.3.0" condition="CMSIS Core"> <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> <targetInfos>
<targetInfo name="CAR" /> <targetInfo name="CAR"/>
</targetInfos> </targetInfos>
</component> </component>
</components> </components>
<files /> <files/>
</RTE> </RTE>
<LayerInfo> <LayerInfo>
<Layers> <Layers>
<Layer> <Layer>
@ -598,5 +613,5 @@
</Layer> </Layer>
</Layers> </Layers>
</LayerInfo> </LayerInfo>
</Project>
</Project>

9
MDK-ARM/EventRecorderStub.scvd Normal file
View File

@ -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>

12
Peripheral/Inc/servo.h Normal file
View File

@ -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

8
Peripheral/Src/hcsr04.c
View File

@ -24,9 +24,9 @@ void HC_SR04_Init(void)
uint32_t sonar_mm(void) uint32_t sonar_mm(void)
{ {
sonor_state = 1; 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 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) 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 { // 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 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) 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; time_start = 0;
HAL_TIM_Base_Start_IT(&htim2); HAL_TIM_Base_Start_IT(&htim2);

15
Peripheral/Src/servo.c Normal file
View File

@ -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);
}