添加定时器模块
This commit is contained in:
EN
parent
76690e0a58
commit
89b22e459b
103
Core/Src/main.c
103
Core/Src/main.c
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@ -27,11 +27,13 @@
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/* USER CODE BEGIN Includes */
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#include "app_line_seek.h"
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#include "bluetooth.h"
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#include "buzzer.h"
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#include "hcsr04.h"
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#include "led.h"
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#include "motor.h"
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#include "path_plan.h"
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#include "syscalls.h"
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#include "timer.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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@ -70,15 +72,15 @@ void SystemClock_Config(void);
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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uint8_t pData[10] = {1, 2, 3};
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uint8_t pData[10] = {1, 2, 3};
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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@ -105,56 +107,58 @@ int main(void)
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MX_TIM3_Init();
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MX_TIM4_Init();
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// MX_USART1_UART_Init();
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MX_USART2_UART_Init();
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// MX_USART2_UART_Init();
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/* USER CODE BEGIN 2 */
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HC_SR04_Init();
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BLUETOOTH_Init();
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MOTOR_Init();
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PathPlanner_Init();
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LineSeek_Init();
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// HC_SR04_Init();
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// BLUETOOTH_Init();
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// MOTOR_Init();
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// PathPlanner_Init();
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// LineSeek_Init();
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TIMER_Init();
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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// my_printf(HUART1, "%s\r\n", *pData);
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while (1)
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{
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// if (HAL_OK == HAL_UART_Receive(&huart2, (uint8_t *)pData, 2, 1000))
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// {
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// HAL_UART_Transmit(&huart2, (uint8_t *)pData, sizeof(pData), 1000);
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// HAL_Delay(500);
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// }
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BUZZER_StartTimed(3);
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HAL_Delay(1000);
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// my_printf(HUART1, "%s\r\n", *pData);
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// HAL_Delay(2000);
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// if (HAL_OK == HAL_UART_Receive(&huart2, (uint8_t *)pData, 2, 1000))
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// {
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// HAL_UART_Transmit(&huart2, (uint8_t *)pData, sizeof(pData), 1000);
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// HAL_Delay(500);
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// }
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//App_LineSeek();
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SYN_FrameInfo(2, "[v9][m0][t1]Ó??ôÄ??éok");
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HAL_Delay(3000);
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// HAL_Delay(2000);
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// MOTOR_SetDuty(-20,20);
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// App_LineSeek();
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// HAL_Delay(300); // ?Ó??300?Á?ë
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// MOTOR_SetDuty(-20,20);
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// HAL_Delay(300); // ??300??
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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}
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
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@ -168,9 +172,8 @@ void SystemClock_Config(void)
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
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@ -187,33 +190,33 @@ void SystemClock_Config(void)
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/* USER CODE END 4 */
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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@ -1,4 +1,4 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
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<ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
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<SchemaVersion>1.0</SchemaVersion>
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@ -45,7 +45,7 @@
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<PageWidth>79</PageWidth>
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<PageLength>66</PageLength>
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<TabStop>8</TabStop>
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<ListingPath />
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<ListingPath></ListingPath>
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</OPTLEX>
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<ListingPage>
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<CreateCListing>1</CreateCListing>
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@ -104,16 +104,16 @@
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<bSchkAxf>0</bSchkAxf>
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<bTchkAxf>0</bTchkAxf>
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<nTsel>3</nTsel>
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<sDll />
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<sDllPa />
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<sDlgDll />
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<sDlgPa />
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<sIfile />
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<tDll />
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<tDllPa />
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<tDlgDll />
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<tDlgPa />
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<tIfile />
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<sDll></sDll>
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<sDllPa></sDllPa>
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<sDlgDll></sDlgDll>
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<sDlgPa></sDlgPa>
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<sIfile></sIfile>
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<tDll></tDll>
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<tDllPa></tDllPa>
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<tDlgDll></tDlgDll>
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<tDlgPa></tDlgPa>
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<tIfile></tIfile>
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<pMon>BIN\CMSIS_AGDI.dll</pMon>
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</DebugOpt>
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<TargetDriverDllRegistry>
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@ -130,7 +130,7 @@
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<SetRegEntry>
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<Number>0</Number>
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<Key>ARMDBGFLAGS</Key>
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<Name />
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<Name></Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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@ -140,7 +140,7 @@
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<SetRegEntry>
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<Number>0</Number>
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<Key>DLGUARM</Key>
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<Name />
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<Name></Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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@ -162,7 +162,7 @@
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>..\Peripheral\Src\bluetooth.c</Filename>
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<ExecCommand />
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<ExecCommand></ExecCommand>
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<Expression>\\CAR\../Peripheral/Src/bluetooth.c\34</Expression>
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</Bp>
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<Bp>
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@ -178,7 +178,7 @@
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>..\Peripheral\Src\control.c</Filename>
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<ExecCommand />
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<ExecCommand></ExecCommand>
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<Expression>\\CAR\../Peripheral/Src/control.c\32</Expression>
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</Bp>
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<Bp>
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@ -194,8 +194,8 @@
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>0</BreakIfRCount>
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<Filename>..\Peripheral\Src\bluetooth.c</Filename>
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<ExecCommand />
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<Expression />
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<ExecCommand></ExecCommand>
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<Expression></Expression>
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</Bp>
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<Bp>
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<Number>3</Number>
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@ -210,8 +210,8 @@
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>0</BreakIfRCount>
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<Filename>../Core/Src/main.c</Filename>
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<ExecCommand />
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<Expression />
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<ExecCommand></ExecCommand>
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<Expression></Expression>
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</Bp>
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<Bp>
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<Number>4</Number>
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@ -226,8 +226,8 @@
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>0</BreakIfRCount>
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<Filename>../Core/Src/main.c</Filename>
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<ExecCommand />
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<Expression />
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<ExecCommand></ExecCommand>
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<Expression></Expression>
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</Bp>
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</Breakpoint>
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<WatchWindow1>
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@ -282,19 +282,19 @@
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<newCpu>0</newCpu>
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<uProt>0</uProt>
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</DebugFlag>
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<LintExecutable />
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<LintConfigFile />
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<LintExecutable></LintExecutable>
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<LintConfigFile></LintConfigFile>
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<bLintAuto>0</bLintAuto>
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<bAutoGenD>0</bAutoGenD>
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<LntExFlags>0</LntExFlags>
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<pMisraName />
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<pszMrule />
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<pSingCmds />
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<pMultCmds />
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<pMisraNamep />
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<pszMrulep />
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<pSingCmdsp />
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<pMultCmdsp />
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<pMisraName></pMisraName>
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<pszMrule></pszMrule>
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<pSingCmds></pSingCmds>
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<pMultCmds></pMultCmds>
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<pMisraNamep></pMisraNamep>
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<pszMrulep></pszMrulep>
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<pSingCmdsp></pSingCmdsp>
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<pMultCmdsp></pMultCmdsp>
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<DebugDescription>
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<Enable>1</Enable>
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<EnableFlashSeq>1</EnableFlashSeq>
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@ -418,18 +418,6 @@
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>../Core/Src/i2c.c</PathWithFileName>
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<FilenameWithoutPath>i2c.c</FilenameWithoutPath>
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<RteFlg>0</RteFlg>
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<bShared>0</bShared>
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</File>
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<File>
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<GroupNumber>3</GroupNumber>
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<FileNumber>9</FileNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>../Core/Src/tim.c</PathWithFileName>
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<FilenameWithoutPath>tim.c</FilenameWithoutPath>
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<RteFlg>0</RteFlg>
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@ -437,7 +425,7 @@
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</File>
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<File>
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<GroupNumber>3</GroupNumber>
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<FileNumber>10</FileNumber>
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<FileNumber>9</FileNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -449,7 +437,7 @@
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</File>
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<File>
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<GroupNumber>3</GroupNumber>
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<FileNumber>11</FileNumber>
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<FileNumber>10</FileNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -461,7 +449,7 @@
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</File>
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<File>
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<GroupNumber>3</GroupNumber>
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<FileNumber>12</FileNumber>
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<FileNumber>11</FileNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -473,6 +461,38 @@
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</File>
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</Group>
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<Group>
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<GroupName>Application/User/Service</GroupName>
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<tvExp>1</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<cbSel>0</cbSel>
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<RteFlg>0</RteFlg>
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<File>
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<GroupNumber>4</GroupNumber>
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<FileNumber>12</FileNumber>
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<FileType>1</FileType>
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||||
<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>..\Service\Src\path_plan.c</PathWithFileName>
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<FilenameWithoutPath>path_plan.c</FilenameWithoutPath>
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<RteFlg>0</RteFlg>
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<bShared>0</bShared>
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</File>
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<File>
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<GroupNumber>4</GroupNumber>
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<FileNumber>13</FileNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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||||
<tvExpOptDlg>0</tvExpOptDlg>
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||||
<bDave2>0</bDave2>
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||||
<PathWithFileName>..\Service\Src\timer.c</PathWithFileName>
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||||
<FilenameWithoutPath>timer.c</FilenameWithoutPath>
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||||
<RteFlg>0</RteFlg>
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||||
<bShared>0</bShared>
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||||
</File>
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||||
</Group>
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||||
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||||
<Group>
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||||
<GroupName>Application/User/Peripheral</GroupName>
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||||
<tvExp>0</tvExp>
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||||
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@ -480,8 +500,8 @@
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<cbSel>0</cbSel>
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||||
<RteFlg>0</RteFlg>
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||||
<File>
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||||
<GroupNumber>4</GroupNumber>
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||||
<FileNumber>13</FileNumber>
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||||
<GroupNumber>5</GroupNumber>
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||||
<FileNumber>14</FileNumber>
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||||
<FileType>1</FileType>
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||||
<tvExp>0</tvExp>
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||||
<tvExpOptDlg>0</tvExpOptDlg>
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@ -492,8 +512,20 @@
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<bShared>0</bShared>
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</File>
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<File>
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<GroupNumber>4</GroupNumber>
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||||
<FileNumber>14</FileNumber>
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||||
<GroupNumber>5</GroupNumber>
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||||
<FileNumber>15</FileNumber>
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||||
<FileType>1</FileType>
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||||
<tvExp>0</tvExp>
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||||
<tvExpOptDlg>0</tvExpOptDlg>
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||||
<bDave2>0</bDave2>
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||||
<PathWithFileName>..\Peripheral\Src\buzzer.c</PathWithFileName>
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||||
<FilenameWithoutPath>buzzer.c</FilenameWithoutPath>
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||||
<RteFlg>0</RteFlg>
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||||
<bShared>0</bShared>
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</File>
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||||
<File>
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||||
<GroupNumber>5</GroupNumber>
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||||
<FileNumber>16</FileNumber>
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||||
<FileType>1</FileType>
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||||
<tvExp>0</tvExp>
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||||
<tvExpOptDlg>0</tvExpOptDlg>
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||||
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@ -504,8 +536,8 @@
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<bShared>0</bShared>
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||||
</File>
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||||
<File>
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||||
<GroupNumber>4</GroupNumber>
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||||
<FileNumber>15</FileNumber>
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||||
<GroupNumber>5</GroupNumber>
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||||
<FileNumber>17</FileNumber>
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||||
<FileType>1</FileType>
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||||
<tvExp>0</tvExp>
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||||
<tvExpOptDlg>0</tvExpOptDlg>
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||||
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@ -516,8 +548,8 @@
|
|||
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<tvExpOptDlg>0</tvExpOptDlg>
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|
|
@ -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" ?>
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<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
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||||
|
||||
<SchemaVersion>2.1</SchemaVersion>
|
||||
|
||||
<Header>### uVision Project, (C) Keil Software</Header>
|
||||
|
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<Targets>
|
||||
<Target>
|
||||
<TargetName>CAR</TargetName>
|
||||
|
|
@ -16,28 +19,28 @@
|
|||
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|
||||
<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\UL2CM3.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>
|
||||
|
|
@ -333,10 +336,10 @@
|
|||
<v6WtE>0</v6WtE>
|
||||
<v6Rtti>0</v6Rtti>
|
||||
<VariousControls>
|
||||
<MiscControls />
|
||||
<MiscControls></MiscControls>
|
||||
<Define>USE_HAL_DRIVER,STM32F103xB</Define>
|
||||
<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>
|
||||
<Undefine></Undefine>
|
||||
<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>
|
||||
</Cads>
|
||||
<Aads>
|
||||
|
|
@ -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>
|
||||
|
|
@ -447,6 +450,21 @@
|
|||
</File>
|
||||
</Files>
|
||||
</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>
|
||||
<GroupName>Application/User/Peripheral</GroupName>
|
||||
<Files>
|
||||
|
|
@ -455,6 +473,11 @@
|
|||
<FileType>1</FileType>
|
||||
<FilePath>..\Peripheral\Src\bluetooth.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>buzzer.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Peripheral\Src\buzzer.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>control.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
|
|
@ -485,11 +508,6 @@
|
|||
<FileType>1</FileType>
|
||||
<FilePath>..\Peripheral\Src\motor.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>path_plan.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Peripheral\Src\path_plan.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>servo.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
|
|
@ -593,18 +611,20 @@
|
|||
</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>
|
||||
|
|
@ -613,4 +633,5 @@
|
|||
</Layer>
|
||||
</Layers>
|
||||
</LayerInfo>
|
||||
|
||||
</Project>
|
||||
|
|
|
|||
13
Peripheral/Inc/buzzer.h
Normal file
13
Peripheral/Inc/buzzer.h
Normal 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
20
Peripheral/Src/buzzer.c
Normal 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);
|
||||
}
|
||||
|
|
@ -1,6 +1,7 @@
|
|||
#include "line_seek.h"
|
||||
|
||||
#include "main.h"
|
||||
#include <stdio.h>
|
||||
|
||||
char LineSeek_Status[5];
|
||||
|
||||
|
|
|
|||
16
Service/Inc/timer.h
Normal file
16
Service/Inc/timer.h
Normal 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
|
||||
63
Service/Src/timer.c
Normal file
63
Service/Src/timer.c
Normal 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;
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user