diff --git a/Core/Src/main.c b/Core/Src/main.c
index 883b377..ed811a7 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -24,6 +24,7 @@
#include "i2c.h"
#include "tim.h"
#include "usart.h"
+#include "syn6288.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
@@ -106,15 +107,15 @@ int main(void)
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
- MX_USART1_UART_Init();
- // MX_USART2_UART_Init();
+ //MX_USART1_UART_Init();
+ MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
- HC_SR04_Init();
- BLUETOOTH_Init();
- MOTOR_Init();
- PathPlanner_Init();
- LineSeek_Init();
+ //HC_SR04_Init();
+ //BLUETOOTH_Init();
+ //MOTOR_Init();
+ //PathPlanner_Init();
+ //LineSeek_Init();
/* USER CODE END 2 */
/* Infinite loop */
@@ -131,11 +132,13 @@ int main(void)
// HAL_Delay(2000);
- App_LineSeek();
+ //App_LineSeek();
+ SYN_FrameInfo(2, "[v9][m0][t1]ģok");
+ HAL_Delay(3000);
// MOTOR_SetDuty(-20,20);
- // HAL_Delay(300); // 延时300毫秒
+ // HAL_Delay(300); // ʱ300
/* USER CODE END WHILE */
diff --git a/MDK-ARM/CAR.uvoptx b/MDK-ARM/CAR.uvoptx
index b9bf31f..cd57197 100644
--- a/MDK-ARM/CAR.uvoptx
+++ b/MDK-ARM/CAR.uvoptx
@@ -12,7 +12,7 @@
*.lib
*.txt; *.h; *.inc; *.md
*.plm
- *.cpp
+ *.cpp; *.cc; *.cxx
0
@@ -73,11 +73,11 @@
0
- 1
+ 0
0
1
- 18
+ 0
0
1
@@ -93,7 +93,7 @@
1
1
1
- 1
+ 0
1
1
1
@@ -117,159 +117,25 @@
BIN\CMSIS_AGDI.dll
-
- 0
- ARMRTXEVENTFLAGS
- -L70 -Z18 -C0 -M0 -T1
-
-
- 0
- DLGTARM
- (1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)
-
-
- 0
- ARMDBGFLAGS
-
-
-
- 0
- CMSIS_AGDI
- -X"CMSIS-DAP_LU" -ULU_2022_8888 -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)
-
-
- 0
- DLGUARM
-
-
0
UL2CM3
UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM))
-
- 0
- ST-LINKIII-KEIL_SWO
- -U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)
-
-
-
- 0
- 0
- 34
- 1
- 134226582
- 0
- 0
- 0
- 0
- 0
- 1
- ..\Peripheral\Src\bluetooth.c
-
- \\CAR\../Peripheral/Src/bluetooth.c\34
-
-
- 1
- 0
- 32
- 1
- 134221102
- 0
- 0
- 0
- 0
- 0
- 1
- ..\Peripheral\Src\control.c
-
- \\CAR\../Peripheral/Src/control.c\32
-
-
- 2
- 0
- 24
- 1
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- ..\Peripheral\Src\bluetooth.c
-
-
-
-
- 3
- 0
- 99
- 1
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- ../Core/Src/main.c
-
-
-
-
- 4
- 0
- 97
- 1
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- ../Core/Src/main.c
-
-
-
-
-
-
- 0
- 1
- num,0x0A
-
-
-
-
- 1
- 8
- rxBuffer
- 0
-
-
-
-
- 2
- 0
- num
- 0
-
-
+
0
0
- 1
- 1
+ 0
+ 0
0
0
0
0
- 1
+ 0
0
0
0
@@ -282,7 +148,7 @@
0
0
0
- 1
+ 0
0
0
0
@@ -332,7 +198,7 @@
Application/User/App
- 1
+ 0
0
0
0
@@ -364,7 +230,7 @@
Application/User/Core
- 1
+ 0
0
0
0
@@ -384,7 +250,7 @@
3
5
1
- 1
+ 0
0
0
../Core/Src/main.c
@@ -480,7 +346,7 @@
Application/User/Peripheral
- 1
+ 0
0
0
0
@@ -575,8 +441,8 @@
0
0
0
- ..\Peripheral\Src\servo.c
- servo.c
+ ..\Peripheral\Src\path_plan.c
+ path_plan.c
0
0
@@ -587,8 +453,8 @@
0
0
0
- ..\Peripheral\Src\syn6288.c
- syn6288.c
+ ..\Peripheral\Src\servo.c
+ servo.c
0
0
@@ -599,8 +465,8 @@
0
0
0
- ..\Peripheral\Src\path_plan.c
- path_plan.c
+ ..\Peripheral\Src\syn6288.c
+ syn6288.c
0
0
@@ -796,7 +662,7 @@
Drivers/CMSIS
- 1
+ 0
0
0
0
diff --git a/MDK-ARM/CAR.uvprojx b/MDK-ARM/CAR.uvprojx
index 3220bd2..c7ff781 100644
--- a/MDK-ARM/CAR.uvprojx
+++ b/MDK-ARM/CAR.uvprojx
@@ -10,7 +10,7 @@
CAR
0x4
ARM-ADS
- 5060960::V5.06 update 7 (build 960)::.\ARMCC
+ 6160000::V6.16::ARMCLANG
1
@@ -137,7 +137,7 @@
4101
1
- BIN\UL2V8M.DLL
+ BIN\UL2CM3.DLL
"" ()
@@ -493,6 +493,11 @@
1
..\Peripheral\Src\motor.c
+
+ path_plan.c
+ 1
+ ..\Peripheral\Src\path_plan.c
+
servo.c
1
@@ -503,11 +508,6 @@
1
..\Peripheral\Src\syn6288.c
-
- path_plan.c
- 1
- ..\Peripheral\Src\path_plan.c
-
diff --git a/Peripheral/Inc/syn6288.h b/Peripheral/Inc/syn6288.h
index 3047d58..48f539e 100644
--- a/Peripheral/Inc/syn6288.h
+++ b/Peripheral/Inc/syn6288.h
@@ -1,7 +1,8 @@
#ifndef __SYN6288_H
#define __SYN6288_H
-#include "stm32f1xx_hal.h"
+#include "main.h"
+
void SYN_FrameInfo(uint8_t Music, uint8_t *HZdata);
void YS_SYN_Set(uint8_t *Info_data);
diff --git a/Peripheral/Src/path_plan.c b/Peripheral/Src/path_plan.c
index 1654ac2..9240296 100644
--- a/Peripheral/Src/path_plan.c
+++ b/Peripheral/Src/path_plan.c
@@ -2,10 +2,13 @@
#include "path_plan.h"
#include "stdio.h"
+#include "stdlib.h"
// 全局路径规划器
PathPlanner pathPlanner;
+void SetPath();
+
// 初始化路径规划器
void PathPlanner_Init()
{
diff --git a/Peripheral/Src/syn6288.c b/Peripheral/Src/syn6288.c
index 8221b94..76cf3e7 100644
--- a/Peripheral/Src/syn6288.c
+++ b/Peripheral/Src/syn6288.c
@@ -2,6 +2,12 @@
#include "usart.h"
#include "string.h"
+uint8_t SYN_StopCom[] = {0xFD, 0X00, 0X02, 0X02, 0XFD}; //停止合成
+uint8_t SYN_SuspendCom[] = {0XFD, 0X00, 0X02, 0X03, 0XFC}; //暂停合成
+uint8_t SYN_RecoverCom[] = {0XFD, 0X00, 0X02, 0X04, 0XFB}; //恢复合成
+uint8_t SYN_ChackCom[] = {0XFD, 0X00, 0X02, 0X21, 0XDE}; //状态查询
+uint8_t SYN_PowerDownCom[] = {0XFD, 0X00, 0X02, 0X88, 0X77}; //进入POWER DOWN状态命令
+
//Music:选择背景音乐。0:无背景音乐，1~15：选择背景音乐
void SYN_FrameInfo(uint8_t Music, uint8_t *HZdata)
{