添加红外避障模块

CAR.ioc

@@ -20,49 +20,54 @@ Mcu.CPN=STM32F103C8T6
 Mcu.Family=STM32F1
 Mcu.IP0=DMA
 Mcu.IP1=I2C2
+Mcu.IP10=USART2
 Mcu.IP2=NVIC
 Mcu.IP3=RCC
 Mcu.IP4=SYS
-Mcu.IP5=TIM2
+Mcu.IP5=TIM1
-Mcu.IP6=TIM3
+Mcu.IP6=TIM2
-Mcu.IP7=TIM4
+Mcu.IP7=TIM3
-Mcu.IP8=USART1
+Mcu.IP8=TIM4
-Mcu.IP9=USART2
+Mcu.IP9=USART1
-Mcu.IPNb=10
+Mcu.IPNb=11
 Mcu.Name=STM32F103C(8-B)Tx
 Mcu.Package=LQFP48
 Mcu.Pin0=PC13-TAMPER-RTC
 Mcu.Pin1=PC14-OSC32_IN
-Mcu.Pin10=PB0
+Mcu.Pin10=PA6
-Mcu.Pin11=PB1
+Mcu.Pin11=PA7
-Mcu.Pin12=PB10
+Mcu.Pin12=PB0
-Mcu.Pin13=PB11
+Mcu.Pin13=PB1
-Mcu.Pin14=PB12
+Mcu.Pin14=PB10
-Mcu.Pin15=PA9
+Mcu.Pin15=PB11
-Mcu.Pin16=PA10
+Mcu.Pin16=PB12
-Mcu.Pin17=PA12
+Mcu.Pin17=PA9
-Mcu.Pin18=PA13
+Mcu.Pin18=PA10
-Mcu.Pin19=PA14
+Mcu.Pin19=PA11
 Mcu.Pin2=PC15-OSC32_OUT
-Mcu.Pin20=PA15
+Mcu.Pin20=PA12
-Mcu.Pin21=PB4
+Mcu.Pin21=PA13
-Mcu.Pin22=PB5
+Mcu.Pin22=PA14
-Mcu.Pin23=PB6
+Mcu.Pin23=PA15
-Mcu.Pin24=PB7
+Mcu.Pin24=PB4
-Mcu.Pin25=PB8
+Mcu.Pin25=PB5
-Mcu.Pin26=PB9
+Mcu.Pin26=PB6
-Mcu.Pin27=VP_SYS_VS_Systick
+Mcu.Pin27=PB7
-Mcu.Pin28=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin28=PB8
-Mcu.Pin29=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin29=PB9
 Mcu.Pin3=PD0-OSC_IN
-Mcu.Pin30=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin30=VP_SYS_VS_Systick
+Mcu.Pin31=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin32=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin33=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin34=VP_TIM4_VS_ClockSourceINT
 Mcu.Pin4=PD1-OSC_OUT
 Mcu.Pin5=PA0-WKUP
 Mcu.Pin6=PA1
 Mcu.Pin7=PA2
 Mcu.Pin8=PA3
-Mcu.Pin9=PA7
+Mcu.Pin9=PA4
-Mcu.PinsNb=31
+Mcu.PinsNb=35
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F103C8Tx
@@ -96,8 +101,12 @@ PA1.PinState=GPIO_PIN_SET
 PA1.Signal=GPIO_Output
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
+PA11.GPIOParameters=GPIO_Label
+PA11.GPIO_Label=SERVO
+PA11.Locked=true
+PA11.Signal=S_TIM1_CH4
 PA12.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
-PA12.GPIO_Label=Echo
+PA12.GPIO_Label=ECHO
 PA12.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
 PA12.GPIO_PuPd=GPIO_PULLDOWN
 PA12.Locked=true
@@ -107,7 +116,7 @@ PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
 PA14.Signal=SYS_JTCK-SWCLK
 PA15.GPIOParameters=GPIO_Speed,GPIO_Label
-PA15.GPIO_Label=Trig
+PA15.GPIO_Label=TRIG
 PA15.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PA15.Locked=true
 PA15.Signal=GPIO_Output
@@ -115,6 +124,14 @@ PA2.Mode=Asynchronous
 PA2.Signal=USART2_TX
 PA3.Mode=Asynchronous
 PA3.Signal=USART2_RX
+PA4.GPIOParameters=GPIO_Label
+PA4.GPIO_Label=HWR
+PA4.Locked=true
+PA4.Signal=GPIO_Input
+PA6.GPIOParameters=GPIO_Label
+PA6.GPIO_Label=HWL
+PA6.Locked=true
+PA6.Signal=GPIO_Input
 PA7.GPIOParameters=GPIO_Label
 PA7.GPIO_Label=LED_B_TIM3CH2
 PA7.Locked=true
@@ -217,7 +234,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_I2C2_Init-I2C2-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_TIM4_Init-TIM4-false-HAL-true,8-MX_USART1_UART_Init-USART1-false-HAL-true,9-MX_USART2_UART_Init-USART2-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_I2C2_Init-I2C2-false-HAL-true,5-MX_TIM1_Init-TIM1-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_TIM3_Init-TIM3-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_USART1_UART_Init-USART1-false-HAL-true,10-MX_USART2_UART_Init-USART2-false-HAL-true
 RCC.ADCFreqValue=36000000
 RCC.AHBFreq_Value=72000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@@ -241,6 +258,8 @@ RCC.USBFreq_Value=72000000
 RCC.VCOOutput2Freq_Value=8000000
 SH.GPXTI12.0=GPIO_EXTI12
 SH.GPXTI12.ConfNb=1
+SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
+SH.S_TIM1_CH4.ConfNb=1
 SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
 SH.S_TIM3_CH2.ConfNb=1
 SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
@@ -251,6 +270,10 @@ SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
 SH.S_TIM4_CH1.ConfNb=1
 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
 TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
 TIM2.IPParameters=Prescaler,Period,AutoReloadPreload
 TIM2.Period=72 - 1
@@ -282,6 +305,8 @@ USART2.IPParameters=VirtualMode,BaudRate
 USART2.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_TIM1_VS_ClockSourceINT.Mode=Internal
+VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
 VP_TIM2_VS_ClockSourceINT.Mode=Internal
 VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
 VP_TIM3_VS_ClockSourceINT.Mode=Internal

Core/Inc/main.h

@@ -67,6 +67,10 @@ void Error_Handler(void);
 #define FM_K2_POWERC_GPIO_Port GPIOA
 #define FAN_GS_Pin GPIO_PIN_1
 #define FAN_GS_GPIO_Port GPIOA
+#define HWR_Pin GPIO_PIN_4
+#define HWR_GPIO_Port GPIOA
+#define HWL_Pin GPIO_PIN_6
+#define HWL_GPIO_Port GPIOA
 #define LED_B_TIM3CH2_Pin GPIO_PIN_7
 #define LED_B_TIM3CH2_GPIO_Port GPIOA
 #define LED_G_TIM3CH3_Pin GPIO_PIN_0
@@ -79,11 +83,13 @@ void Error_Handler(void);
 #define MPU6050_SDA_GPIO_Port GPIOB
 #define LineSeek_R2_Pin GPIO_PIN_12
 #define LineSeek_R2_GPIO_Port GPIOB
-#define Echo_Pin GPIO_PIN_12
+#define SERVO_Pin GPIO_PIN_11
-#define Echo_GPIO_Port GPIOA
+#define SERVO_GPIO_Port GPIOA
-#define Echo_EXTI_IRQn EXTI15_10_IRQn
+#define ECHO_Pin GPIO_PIN_12
-#define Trig_Pin GPIO_PIN_15
+#define ECHO_GPIO_Port GPIOA
-#define Trig_GPIO_Port GPIOA
+#define ECHO_EXTI_IRQn EXTI15_10_IRQn
+#define TRIG_Pin GPIO_PIN_15
+#define TRIG_GPIO_Port GPIOA
 #define R_FORWARD_Pin GPIO_PIN_4
 #define R_FORWARD_GPIO_Port GPIOB
 #define R_BACKWARD_Pin GPIO_PIN_5

Core/Inc/tim.h

@@ -32,6 +32,8 @@ extern "C" {
 
 /* USER CODE END Includes */
 
+extern TIM_HandleTypeDef htim1;
+
 extern TIM_HandleTypeDef htim2;
 
 extern TIM_HandleTypeDef htim3;
@@ -42,6 +44,7 @@ extern TIM_HandleTypeDef htim4;
 
 /* USER CODE END Private defines */
 
+void MX_TIM1_Init(void);
 void MX_TIM2_Init(void);
 void MX_TIM3_Init(void);
 void MX_TIM4_Init(void);

Core/Src/gpio.c

@@ -54,7 +54,7 @@ void MX_GPIO_Init(void)
   HAL_GPIO_WritePin(GPIOA, FM_K2_POWERC_Pin|FAN_GS_Pin, GPIO_PIN_SET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOB, R_FORWARD_Pin|R_BACKWARD_Pin|L_BACKWARD_Pin|L_FORWARD_Pin, GPIO_PIN_RESET);
@@ -72,6 +72,12 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+  /*Configure GPIO pins : PAPin PAPin */
+  GPIO_InitStruct.Pin = HWR_Pin|HWL_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = LineSeek_R2_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
@@ -79,17 +85,17 @@ void MX_GPIO_Init(void)
   HAL_GPIO_Init(LineSeek_R2_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pin : PtPin */
-  GPIO_InitStruct.Pin = Echo_Pin;
+  GPIO_InitStruct.Pin = ECHO_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
   GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-  HAL_GPIO_Init(Echo_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(ECHO_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pin : PtPin */
-  GPIO_InitStruct.Pin = Trig_Pin;
+  GPIO_InitStruct.Pin = TRIG_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-  HAL_GPIO_Init(Trig_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(TRIG_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pins : PBPin PBPin PBPin PBPin */
   GPIO_InitStruct.Pin = R_FORWARD_Pin|R_BACKWARD_Pin|L_BACKWARD_Pin|L_FORWARD_Pin;

Core/Src/main.c

@@ -97,6 +97,7 @@ int main(void)
   MX_GPIO_Init();
   MX_DMA_Init();
   MX_I2C2_Init();
+  MX_TIM1_Init();
   MX_TIM2_Init();
   MX_TIM3_Init();
   MX_TIM4_Init();

Core/Src/stm32f1xx_it.c

@@ -265,7 +265,7 @@ void EXTI15_10_IRQHandler(void)
   /* USER CODE BEGIN EXTI15_10_IRQn 0 */
 
   /* USER CODE END EXTI15_10_IRQn 0 */
-  HAL_GPIO_EXTI_IRQHandler(Echo_Pin);
+  HAL_GPIO_EXTI_IRQHandler(ECHO_Pin);
   /* USER CODE BEGIN EXTI15_10_IRQn 1 */
 
   /* USER CODE END EXTI15_10_IRQn 1 */

Core/Src/tim.c

@@ -24,10 +24,80 @@
 
 /* USER CODE END 0 */
 
+TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim4;
 
+/* TIM1 init function */
+void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 72 - 1;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 20000 - 1;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+  HAL_TIM_MspPostInit(&htim1);
+
+}
 /* TIM2 init function */
 void MX_TIM2_Init(void)
 {
@@ -192,7 +262,18 @@ void MX_TIM4_Init(void)
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM2)
+  if(tim_baseHandle->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspInit 0 */
+
+  /* USER CODE END TIM1_MspInit 0 */
+    /* TIM1 clock enable */
+    __HAL_RCC_TIM1_CLK_ENABLE();
+  /* USER CODE BEGIN TIM1_MspInit 1 */
+
+  /* USER CODE END TIM1_MspInit 1 */
+  }
+  else if(tim_baseHandle->Instance==TIM2)
   {
   /* USER CODE BEGIN TIM2_MspInit 0 */
 
@@ -234,11 +315,30 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 {
 
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(timHandle->Instance==TIM3)
+  if(timHandle->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspPostInit 0 */
+
+  /* USER CODE END TIM1_MspPostInit 0 */
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM1 GPIO Configuration
+    PA11     ------> TIM1_CH4
+    */
+    GPIO_InitStruct.Pin = SERVO_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    HAL_GPIO_Init(SERVO_GPIO_Port, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM1_MspPostInit 1 */
+
+  /* USER CODE END TIM1_MspPostInit 1 */
+  }
+  else if(timHandle->Instance==TIM3)
   {
   /* USER CODE BEGIN TIM3_MspPostInit 0 */
 
   /* USER CODE END TIM3_MspPostInit 0 */
+
     __HAL_RCC_GPIOA_CLK_ENABLE();
     __HAL_RCC_GPIOB_CLK_ENABLE();
     /**TIM3 GPIO Configuration
@@ -286,7 +386,18 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM2)
+  if(tim_baseHandle->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspDeInit 0 */
+
+  /* USER CODE END TIM1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM1_CLK_DISABLE();
+  /* USER CODE BEGIN TIM1_MspDeInit 1 */
+
+  /* USER CODE END TIM1_MspDeInit 1 */
+  }
+  else if(tim_baseHandle->Instance==TIM2)
   {
   /* USER CODE BEGIN TIM2_MspDeInit 0 */
 

Peripheral/Inc/infrared.h

@@ -0,0 +1,21 @@
+#ifndef __INFRARED_H
+#define __INFRARED_H
+
+// 红外避障模块
+
+#include "main.h"
+
+// 有障碍
+#define INFRARED_MEET 0
+// 无障碍
+#define INFRARED_NONE 1
+
+/// @brief 红外模块检测左前方20-30厘米（估计值）是否有障碍
+/// @return 有障碍：INFRARED_MEET 无障碍：INFRARED_NONE
+uint8_t INFRARED_GetL();
+
+/// @brief 红外模块检测右前方20-30厘米（估计值）是否有障碍
+/// @return 有障碍：INFRARED_MEET 无障碍：INFRARED_NONE
+uint8_t INFRARED_GetR();
+
+#endif

Peripheral/Src/infrared.c

@@ -0,0 +1,11 @@
+#include "infrared.h"
+
+inline uint8_t INFRARED_GetL()
+{
+    return HAL_GPIO_ReadPin(HWL_GPIO_Port, HWL_Pin);
+}
+
+inline uint8_t INFRARED_GetR()
+{
+    return HAL_GPIO_ReadPin(HWR_GPIO_Port, HWR_Pin);
+}