EN/Car
1
0
Fork 1
Code Issues Pull Requests Projects Releases Wiki Activity

添加定时器模块

Browse Source
This commit is contained in:
EN 2024-07-18 11:29:28 +08:00
parent 76690e0a58
commit 89b22e459b
11 changed files with 472 additions and 339 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
Core/Src/main.c
View File

@ -27,11 +27,13 @@
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
#include "app_line_seek.h" #include "app_line_seek.h"
#include "bluetooth.h" #include "bluetooth.h"
#include "buzzer.h"
#include "hcsr04.h" #include "hcsr04.h"
#include "led.h" #include "led.h"
#include "motor.h" #include "motor.h"
#include "path_plan.h" #include "path_plan.h"
#include "syscalls.h" #include "syscalls.h"
#include "timer.h"
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
@ -105,19 +107,23 @@ int main(void)
MX_TIM3_Init(); MX_TIM3_Init();
MX_TIM4_Init(); MX_TIM4_Init();
// MX_USART1_UART_Init(); // MX_USART1_UART_Init();
MX_USART2_UART_Init(); // MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
HC_SR04_Init(); // HC_SR04_Init();
BLUETOOTH_Init(); // BLUETOOTH_Init();
MOTOR_Init(); // MOTOR_Init();
PathPlanner_Init(); // PathPlanner_Init();
LineSeek_Init(); // LineSeek_Init();
TIMER_Init();
/* USER CODE END 2 */ /* USER CODE END 2 */
/* Infinite loop */ /* Infinite loop */
/* USER CODE BEGIN WHILE */ /* USER CODE BEGIN WHILE */
while (1) while (1)
{ {
BUZZER_StartTimed(3);
HAL_Delay(1000);
// my_printf(HUART1, "%s\r\n", *pData); // my_printf(HUART1, "%s\r\n", *pData);
// if (HAL_OK == HAL_UART_Receive(&huart2, (uint8_t *)pData, 2, 1000)) // if (HAL_OK == HAL_UART_Receive(&huart2, (uint8_t *)pData, 2, 1000))
@ -129,12 +135,10 @@ int main(void)
// HAL_Delay(2000); // HAL_Delay(2000);
// App_LineSeek(); // App_LineSeek();
SYN_FrameInfo(2, "[v9][m0][t1]Ó??ôÄ??éok");
HAL_Delay(3000);
// MOTOR_SetDuty(-20,20); // MOTOR_SetDuty(-20,20);
// HAL_Delay(300); // ?Ó??300?Á?ë // HAL_Delay(300); // ??300??
/* USER CODE END WHILE */ /* USER CODE END WHILE */
@ -169,8 +173,7 @@ void SystemClock_Config(void)
/** Initializes the CPU, AHB and APB buses clocks /** Initializes the CPU, AHB and APB buses clocks
*/ */
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;

448
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>
@ -162,7 +162,7 @@
<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>
@ -178,7 +178,7 @@
<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>
@ -194,8 +194,8 @@
<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>
@ -210,8 +210,8 @@
<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>
@ -226,8 +226,8 @@
<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>
@ -282,19 +282,19 @@
<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>
@ -418,18 +418,6 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Core/Src/i2c.c</PathWithFileName>
<FilenameWithoutPath>i2c.c</FilenameWithoutPath>
<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/tim.c</PathWithFileName> <PathWithFileName>../Core/Src/tim.c</PathWithFileName>
<FilenameWithoutPath>tim.c</FilenameWithoutPath> <FilenameWithoutPath>tim.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -437,7 +425,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>10</FileNumber> <FileNumber>9</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -449,7 +437,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>11</FileNumber> <FileNumber>10</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -461,7 +449,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>12</FileNumber> <FileNumber>11</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -473,6 +461,38 @@
</File> </File>
</Group> </Group>
<Group>
<GroupName>Application/User/Service</GroupName>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
<File>
<GroupNumber>4</GroupNumber>
<FileNumber>12</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Service\Src\path_plan.c</PathWithFileName>
<FilenameWithoutPath>path_plan.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>..\Service\Src\timer.c</PathWithFileName>
<FilenameWithoutPath>timer.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group> <Group>
<GroupName>Application/User/Peripheral</GroupName> <GroupName>Application/User/Peripheral</GroupName>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -480,8 +500,8 @@
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>13</FileNumber> <FileNumber>14</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -492,8 +512,20 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>14</FileNumber> <FileNumber>15</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Peripheral\Src\buzzer.c</PathWithFileName>
<FilenameWithoutPath>buzzer.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>16</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -504,8 +536,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>15</FileNumber> <FileNumber>17</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -516,8 +548,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>16</FileNumber> <FileNumber>18</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -528,8 +560,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>17</FileNumber> <FileNumber>19</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -540,8 +572,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</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>
@ -552,8 +584,8 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</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>
@ -564,31 +596,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>20</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Peripheral\Src\path_plan.c</PathWithFileName>
<FilenameWithoutPath>path_plan.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>4</GroupNumber>
<FileNumber>21</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>
<File>
<GroupNumber>4</GroupNumber>
<FileNumber>22</FileNumber> <FileNumber>22</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -608,7 +616,7 @@
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>6</GroupNumber>
<FileNumber>23</FileNumber> <FileNumber>23</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -620,152 +628,20 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>6</GroupNumber>
<FileNumber>24</FileNumber> <FileNumber>24</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>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_i2c.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>25</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>26</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_rcc.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>27</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_rcc_ex.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>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_gpio.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>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_dma.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>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_cortex.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>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_pwr.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>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_flash.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>33</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_flash_ex.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>34</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_exti.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>35</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c</PathWithFileName> <PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_tim.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f1xx_hal_tim.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>6</GroupNumber>
<FileNumber>36</FileNumber> <FileNumber>25</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -776,8 +652,128 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>6</GroupNumber>
<FileNumber>37</FileNumber> <FileNumber>26</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>27</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_rcc.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>28</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_rcc_ex.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>29</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_gpio.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>30</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_dma.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>31</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_cortex.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>32</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_pwr.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>33</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_flash.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>34</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_flash_ex.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>35</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_hal_exti.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>36</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -796,8 +792,8 @@
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>6</GroupNumber> <GroupNumber>7</GroupNumber>
<FileNumber>38</FileNumber> <FileNumber>37</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>

137
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\UL2CM3.DLL</Flash2> <Flash2>BIN\UL2CM3.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>
@ -333,10 +336,10 @@
<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;../Service/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>
@ -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>
@ -447,6 +450,21 @@
</File> </File>
</Files> </Files>
</Group> </Group>
<Group>
<GroupName>Application/User/Service</GroupName>
<Files>
<File>
<FileName>path_plan.c</FileName>
<FileType>1</FileType>
<FilePath>..\Service\Src\path_plan.c</FilePath>
</File>
<File>
<FileName>timer.c</FileName>
<FileType>1</FileType>
<FilePath>..\Service\Src\timer.c</FilePath>
</File>
</Files>
</Group>
<Group> <Group>
<GroupName>Application/User/Peripheral</GroupName> <GroupName>Application/User/Peripheral</GroupName>
<Files> <Files>
@ -455,6 +473,11 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>..\Peripheral\Src\bluetooth.c</FilePath> <FilePath>..\Peripheral\Src\bluetooth.c</FilePath>
</File> </File>
<File>
<FileName>buzzer.c</FileName>
<FileType>1</FileType>
<FilePath>..\Peripheral\Src\buzzer.c</FilePath>
</File>
<File> <File>
<FileName>control.c</FileName> <FileName>control.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
@ -485,11 +508,6 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>..\Peripheral\Src\motor.c</FilePath> <FilePath>..\Peripheral\Src\motor.c</FilePath>
</File> </File>
<File>
<FileName>path_plan.c</FileName>
<FileType>1</FileType>
<FilePath>..\Peripheral\Src\path_plan.c</FilePath>
</File>
<File> <File>
<FileName>servo.c</FileName> <FileName>servo.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
@ -593,6 +611,7 @@
</Groups> </Groups>
</Target> </Target>
</Targets> </Targets>
<RTE> <RTE>
<apis/> <apis/>
<components> <components>
@ -605,6 +624,7 @@
</components> </components>
<files/> <files/>
</RTE> </RTE>
<LayerInfo> <LayerInfo>
<Layers> <Layers>
<Layer> <Layer>
@ -613,4 +633,5 @@
</Layer> </Layer>
</Layers> </Layers>
</LayerInfo> </LayerInfo>
</Project> </Project>

13
Peripheral/Inc/buzzer.h Normal file
View File

@ -0,0 +1,13 @@
#ifndef __BUZZER_H
#define __BUZZER_H
#include "main.h"
void BUZZER_Start();
void BUZZER_Stop();
/// @brief 蜂鸣器定时鸣叫
/// @param time 鸣叫时间，单位100毫秒
void BUZZER_StartTimed(uint8_t time);
#endif

20
Peripheral/Src/buzzer.c Normal file
View File

@ -0,0 +1,20 @@
#include "buzzer.h"
#include "timer.h"
static uint8_t state;
inline void BUZZER_Start()
{
HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_RESET);
}
inline void BUZZER_Stop()
{
HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_SET);
}
void BUZZER_StartTimed(uint8_t time)
{
BUZZER_Start();
TIMER_AddLoopEvent(EVENT_BUZZER, BUZZER_Stop, time * 100);
}

1
Peripheral/Src/line_seek.c
View File

@ -1,6 +1,7 @@
#include "line_seek.h" #include "line_seek.h"
#include "main.h" #include "main.h"
#include <stdio.h>
char LineSeek_Status[5]; char LineSeek_Status[5];

0
Peripheral/Inc/path_plan.h → Service/Inc/path_plan.h
View File

16
Service/Inc/timer.h Normal file
View File

@ -0,0 +1,16 @@
#ifndef __TIMER_H
#define __TIMER_H
#include "main.h"
#define EVENT_LED 0
#define EVENT_BUZZER 1
#define EVENT_HCSR04 2
#define EVENT_SERVO 3
#define EVENT_MAX 4
void TIMER_Init(void);
void TIMER_AddLoopEvent(uint8_t type, void (*func)(void), uint16_t loop_time);
void TIMER_DelLoopEvent(uint8_t type);
#endif

0
Peripheral/Src/path_plan.c → Service/Src/path_plan.c
View File

63
Service/Src/timer.c Normal file
View File

@ -0,0 +1,63 @@
#include "timer.h"
#include "tim.h"
#include <math.h>
typedef struct Event
{
void (*func)(void);
uint16_t time;
uint8_t enabled;
} Event;
static Event event[EVENT_MAX];
static uint32_t time_cnt;
static uint32_t time_lcm = 1;
uint32_t gcd(uint32_t a, uint32_t b);
uint32_t lcm(uint32_t a, uint32_t b);
void TIMER_Count(void);
void TIMER_Init(void)
{
HAL_TIM_RegisterCallback(&htim4, HAL_TIM_PERIOD_ELAPSED_CB_ID, TIMER_Count);
HAL_TIM_Base_Start_IT(&htim4);
}
/// @brief 注册定时回调事件
/// @param func 回调函数 void func(void)
/// @param loop_time 定时时间，单位毫秒
void TIMER_AddLoopEvent(uint8_t type, void (*func)(void), uint16_t loop_time)
{
event[type].func = func;
event[type].time = loop_time;
event[type].enabled = 1;
time_lcm = lcm(time_lcm, loop_time);
}
void TIMER_DelLoopEvent(uint8_t type)
{
event[type].enabled = 0;
}
void TIMER_Count(void)
{
++time_cnt;
for (uint8_t i = 0; i < EVENT_MAX; ++i)
if (event[i].enabled && time_cnt % event[i].time == 0)
event[i].func();
if (time_cnt == time_lcm)
time_cnt = 0;
}
uint32_t gcd(uint32_t a, uint32_t b)
{
if (b == 0)
return a;
return gcd(b, a % b);
}
uint32_t lcm(uint32_t a, uint32_t b)
{
return a / gcd(a, b) * b;
}