From 8a6ecbc14c6d57acecd7512adfdc50cdfecd1fb9 Mon Sep 17 00:00:00 2001 From: JasonChen <2805998671@qq.com> Date: Sun, 21 Jul 2024 08:13:13 +0800 Subject: [PATCH] =?UTF-8?q?=E5=85=AC=E4=BA=A4=E8=BD=A6LED?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- App/Src/app_bus.c | 39 ++++++++-- App/Src/app_line_seek.c | 17 ++-- Core/Src/main.c | 9 ++- Peripheral/Inc/buzzer.h | 3 +- Peripheral/Inc/led.h | 4 - Peripheral/Src/bluetooth.c | 4 +- Peripheral/Src/buzzer.c | 5 +- Peripheral/Src/led.c | 11 --- Service/Inc/timer.h | 17 ++-- Service/Src/block_detect.c | 48 +++++++++--- Service/Src/path_plan.c | 7 +- Service/Src/timer.c | 154 +++++++------------------------------ 12 files changed, 138 insertions(+), 180 deletions(-) diff --git a/App/Src/app_bus.c b/App/Src/app_bus.c index 1a5faeb..0a85662 100644 --- a/App/Src/app_bus.c +++ b/App/Src/app_bus.c @@ -15,10 +15,13 @@ typedef enum READY_TO_PARK, // 准备进站停车（或者准备左转） PARKING, // 进站停车 WAIT_PASSENGER, // 等候乘客 + EXIT_STATION, // 出站 STOP // 停车 } BusState; +#define MIN_CROSS_TIME 10 static BusState state; +static cross_time; static int current_station; char* stations[] = {"太平园站", "西南交大站", "新业北街站", "终点站"}; @@ -33,7 +36,6 @@ void App_Bus(void) { case RUNNING: // 按路线运营 { - LineSeek_Start(); if (Has_Block(FRONT)) // 前方有障碍物，停车 { state = STOP; @@ -58,17 +60,25 @@ void App_Bus(void) ReplacePathStep(nextDirs, 2); state = RUNNING; } - else if (LineSeek_Equals("xxx0")) // 右方有路线，右转进站 + else if (LineSeek_Equals("xxx0")) // 右方有路线，要确保左方没路线，才右转进站 { - Direction nextDirs[] = {RIGHT, RIGHT}; - ReplacePathStep(nextDirs, 2); + Direction nextDirs[] = {RIGHT}; + ReplacePathStep(nextDirs, 1); + cross_time = 0; state = PARKING; } break; } case PARKING: // 进站停车 { - if (Has_Block(RIGHT_FRONT)) // 右前方有障碍物，停车 + if (LineSeek_Equals("0000")) // 左方有路线，左转 + { + Direction nextDirs[] = {LEFT, LEFT}; + ReplacePathStep(nextDirs, 2); + state = RUNNING; + } + + if (Has_Block(RIGHT_FRONT)) // 右前方有障碍物，停车 { state = WAIT_PASSENGER; } @@ -79,16 +89,29 @@ void App_Bus(void) // TODO: 添加乘客等待逻辑 LineSeek_Stop(); SYN_FrameInfo(0, stations[current_station]); - BUZZER_StartNTimes(3, 500, 500); MOTOR_Stop(); - HAL_Delay(5000); + LED_StartNTimes(5, 400, 200, 0, 255, 255); + HAL_Delay(2000); current_station++; - state = RUNNING; + state = EXIT_STATION; + break; + } + case EXIT_STATION: // 出站 + { + LineSeek_Start(); + if (LineSeek_Equals("xxx0")) // 右方有路线，右转出站 + { + Direction nextDirs[] = {RIGHT}; + ReplacePathStep(nextDirs, 1); + state = RUNNING; + } break; } case STOP: // 停车 { LineSeek_Stop(); + BUZZER_StartNTimes(10, 1000, 500); + LED_StartNTimes(10, 1000, 500, 255, 0, 0); break; } default: diff --git a/App/Src/app_line_seek.c b/App/Src/app_line_seek.c index 703b772..82f8d81 100644 --- a/App/Src/app_line_seek.c +++ b/App/Src/app_line_seek.c @@ -51,7 +51,7 @@ void LINESEEK_TURN_TIME() void LineSeek_Init(void) { // 娉ㄥ唽瀹氭椂鍣ㄤ簨浠 - timer_event_id = TIMER_AddInfiniteLoopEvent(timer_event_id, LINESEEK_TURN_TIME, 1); + TIMER_AddLoopEvent(EVENT_LINESEEK, LINESEEK_TURN_TIME, 1); } void LineSeek_Start(void) @@ -62,6 +62,7 @@ void LineSeek_Start(void) } } + void LineSeek_Stop(void) { state = MOVE_STOP; @@ -100,9 +101,8 @@ void App_LineSeek(void) switch (state) { case MOVE_STRAIGHT: // 鐩磋 - LED_Stop(LED_ALL); - LED_Start(LED_R); MOTOR_SetDuty(HIGH_SPEED, HIGH_SPEED); + LED_SetDuty(0, 255, 0); if (LineSeek_Equals("1011")) // 宸﹀井璋 { state = TUNE_LEFT; @@ -135,9 +135,8 @@ void App_LineSeek(void) } break; case TURN_LEFT: // 宸︾洿瑙 - - LED_Stop(LED_ALL); - LED_Start(LED_G); + BUZZER_StartTimed(200); + LED_StartNTimes(3, 100, 50, 0, 0, 255); MOTOR_SetDuty(-HIGH_SPEED, HIGH_SPEED); if (LineSeek_Equals("1001") && ((preState != TUNE_LEFT && turn_time >= MIN_TURN_TIME - 1) || @@ -146,8 +145,6 @@ void App_LineSeek(void) state = MOVE_STRAIGHT; preState = TURN_LEFT; is_crossing = 0; - LED_Stop(LED_ALL); - LED_Start(LED_B); } else if (LineSeek_Equals("xxx0") && turn_time < MIN_TURN_TIME && !is_crossing) // 渚т竵瀛楄矾鍙 { @@ -162,6 +159,8 @@ void App_LineSeek(void) } break; case TURN_RIGHT: // 鍙崇洿瑙 + BUZZER_StartTimed(200); + LED_StartNTimes(3, 100, 50, 0, 0, 255); MOTOR_SetDuty(HIGH_SPEED, -HIGH_SPEED); if (LineSeek_Equals("1001") && ((preState != TUNE_RIGHT && turn_time >= MIN_TURN_TIME - 1) || @@ -264,7 +263,7 @@ void App_LineSeek(void) void Hanlde_Crossroad(void) { // 寮鍚渹楦ｅ櫒 - BUZZER_StartTimed(1); + // BUZZER_StartTimed(100); // 鏍规嵁瑙勫垝鐨勮矾寰勮繘琛屽喅鏂 is_crossing = 1; diff --git a/Core/Src/main.c b/Core/Src/main.c index 2bf2224..debb169 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -129,9 +129,14 @@ int main(void) LineSeek_Init(); BlockDetect_Init(); SERVO_Init(); - SERVO_Rotate(90); + LED_Start(LED_ALL); - HAL_Delay(2000); + SERVO_Rotate(0); + HAL_Delay(500); + SERVO_Rotate(180); + HAL_Delay(500); + SERVO_Rotate(90); + HAL_Delay(500); // BUZZER_StartNTimes(20, 500, 500); /* USER CODE END 2 */ diff --git a/Peripheral/Inc/buzzer.h b/Peripheral/Inc/buzzer.h index 49b8c21..164a2e7 100644 --- a/Peripheral/Inc/buzzer.h +++ b/Peripheral/Inc/buzzer.h @@ -6,9 +6,10 @@ void BUZZER_Start(); void BUZZER_Stop(); + /// @brief 铚傞福鍣ㄥ畾鏃堕福鍙 /// @param time 楦ｅ彨鏃堕棿锛屽崟浣嶆绉 -void BUZZER_StartTimed(uint8_t time); +void BUZZER_StartTimed(uint16_t time); /// @brief 铚傞福鍣ㄩ福鍙暟娆 /// @param loop 楦ｅ彨娆℃暟 diff --git a/Peripheral/Inc/led.h b/Peripheral/Inc/led.h index 2ca5903..17ef10a 100644 --- a/Peripheral/Inc/led.h +++ b/Peripheral/Inc/led.h @@ -11,10 +11,6 @@ void LED_Start(uint8_t led); void LED_Stop(uint8_t led); - -void LED_StartTimed(uint8_t led, uint16_t time); -void LED_StartNTimes(uint8_t led, uint16_t on_time, uint16_t off_time); - // duty in [0, 255] void LED_SetDuty(uint8_t r, uint8_t g, uint8_t b); diff --git a/Peripheral/Src/bluetooth.c b/Peripheral/Src/bluetooth.c index 1863d6d..10604d8 100644 --- a/Peripheral/Src/bluetooth.c +++ b/Peripheral/Src/bluetooth.c @@ -35,8 +35,8 @@ void sendSensor(void) void BLUETOOTH_Init(void) { - HAL_UARTEx_ReceiveToIdle_IT(&huart2, rxBuffer, 100); - timer_event_id = TIMER_AddInfiniteLoopEvent(timer_event_id, sendSensor, 1); + HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100); + TIMER_AddLoopEvent(EVENT_BLUETOOTH, sendSensor, 200); } void BLUETOOTH_Send(const char *str, ...) diff --git a/Peripheral/Src/buzzer.c b/Peripheral/Src/buzzer.c index 42c36dd..91b04b5 100644 --- a/Peripheral/Src/buzzer.c +++ b/Peripheral/Src/buzzer.c @@ -1,4 +1,5 @@ #include "buzzer.h" + #include "timer.h" #define OFF 0 @@ -24,7 +25,9 @@ inline void BUZZER_Stop() state = OFF; } -void BUZZER_StartTimed(uint8_t time) +/// @brief 鍚姩铚傞福鍣ㄩ福鍙 +/// @param time 楦ｅ彨鏃堕棿锛屽崟浣1姣 +void BUZZER_StartTimed(uint16_t time) { state = ONCE; BUZZER_Start(); diff --git a/Peripheral/Src/led.c b/Peripheral/Src/led.c index d76a595..4860bfc 100644 --- a/Peripheral/Src/led.c +++ b/Peripheral/Src/led.c @@ -1,5 +1,4 @@ #include "led.h" - #include "tim.h" #include "timer.h" @@ -37,16 +36,6 @@ void LED_Stop(uint8_t led) HAL_TIM_PWM_Stop(LED_TIM, LED_B_CHAN); } -void LED_StartTimed(uint8_t led, uint16_t time) -{ - led_timed_id = TIMER_AddDelayEvent(led_timed_id, LED_Stop, time); -} - -void LED_StartNTimes(uint8_t led, uint16_t on_time, uint16_t off_time) -{ - // led_times_id = TIMER_AddFiniteLoopEvent(led_times_id, LED_Stop, time); -} - void LED_SetDuty(uint8_t r, uint8_t g, uint8_t b) { __HAL_TIM_SetCompare(LED_TIM, LED_R_CHAN, r); diff --git a/Service/Inc/timer.h b/Service/Inc/timer.h index 78f79e4..769404c 100644 --- a/Service/Inc/timer.h +++ b/Service/Inc/timer.h @@ -3,13 +3,18 @@ #include "main.h" -#define EVENT_MAX 20 +#define EVENT_LED 0 +#define EVENT_BUZZER 1 +#define EVENT_BLUETOOTH 2 +#define EVENT_SERVO 3 +#define EVENT_LINESEEK 4 +#define EVENT_INFRARED 5 +#define EVENT_SONAR 6 +#define EVENT_BLOCK 7 +#define EVENT_MAX 8 void TIMER_Init(void); -int8_t TIMER_AddInfiniteLoopEvent(int8_t id, void (*func)(void), uint16_t loop_time); -int8_t TIMER_AddFiniteLoopEvent(int8_t id, void (*func)(void), uint16_t loop_time, uint16_t loop_cnt); -int8_t TIMER_AddFiniteLoopEventWithParam(int8_t event_id, void (*func)(uint16_t param), uint16_t loop_time, uint16_t loop_cnt, uint16_t param); -int8_t TIMER_AddDelayEvent(int8_t id, void (*func)(void), uint16_t delay_time); -void TIMER_DelLoopEvent(int8_t id); +void TIMER_AddLoopEvent(uint8_t type, void (*func)(void), uint16_t loop_time); +void TIMER_DelLoopEvent(uint8_t type); #endif diff --git a/Service/Src/block_detect.c b/Service/Src/block_detect.c index a628c7a..df36e2d 100644 --- a/Service/Src/block_detect.c +++ b/Service/Src/block_detect.c @@ -7,20 +7,27 @@ #include "syscalls.h" #include "timer.h" +#define MIN_BLOCK_TIME 500 + int has_block_front; int has_block_left; int has_block_right; -static uint8_t timer_event_id = -1; -static uint8_t timer_event_id2 = -1; +int block_time; void INFRARED_Detect(); void Sonar_Detect(); +void Block_Time_Inc() +{ + block_time++; +} + // 閬块殰妫娴嬪垵濮嬪寲 void BlockDetect_Init() { - timer_event_id = TIMER_AddInfiniteLoopEvent(timer_event_id, INFRARED_Detect, 20); - timer_event_id2 = TIMER_AddInfiniteLoopEvent(timer_event_id2, Sonar_Detect, 150); + TIMER_AddLoopEvent(EVENT_INFRARED, INFRARED_Detect, 5); + TIMER_AddLoopEvent(EVENT_SONAR, Sonar_Detect, 150); + TIMER_AddLoopEvent(EVENT_BLOCK, Block_Time_Inc, 1); } // 姣20ms绾㈠妫娴嬩竴娆￠殰纰嶇墿 @@ -48,16 +55,37 @@ int Has_Block(BlockDirection direction) switch (direction) { case FRONT: - BUZZER_StartTimed(10); - return has_block_front; + // BUZZER_StartTimed(10); + if (has_block_front) + { + if (block_time > MIN_BLOCK_TIME) + { + block_time = 0; + return 1; + } + } break; case LEFT_FRONT: - BUZZER_StartTimed(2); - return has_block_left; + // BUZZER_StartTimed(2); + if (has_block_left) + { + if (block_time > MIN_BLOCK_TIME) + { + block_time = 0; + return 1; + } + } break; case RIGHT_FRONT: - BUZZER_StartTimed(2); - return has_block_right; + // BUZZER_StartTimed(2); + if (has_block_right) + { + if (block_time > MIN_BLOCK_TIME) + { + block_time = 0; + return 1; + } + } break; } return 0; diff --git a/Service/Src/path_plan.c b/Service/Src/path_plan.c index aed1d35..82b3efe 100644 --- a/Service/Src/path_plan.c +++ b/Service/Src/path_plan.c @@ -30,8 +30,13 @@ void PathPlanner_Init() void SetPath() { int i; - for (i = 0; i < 100; i++) + for (i = 0; i < 10; i++) { + // AddPathStep(LEFT); + // AddPathStep(LEFT); + // AddPathStep(LEFT); + + AddPathStep(STRAIGHT); AddPathStep(STRAIGHT); AddPathStep(STRAIGHT); diff --git a/Service/Src/timer.c b/Service/Src/timer.c index e9f695d..ecec7f7 100644 --- a/Service/Src/timer.c +++ b/Service/Src/timer.c @@ -1,35 +1,22 @@ #include "timer.h" - -#include - #include "tim.h" - -typedef enum -{ - INFINITE_LOOP_EVENT, // 鏃犻檺寰幆浜嬩欢 - FINITE_LOOP_EVENT, // 鏈夐檺寰幆浜嬩欢 - FINITE_LOOP_EVENT_WITH_PARAM, - DELAY_EVENT // 寤惰繜浜嬩欢 -} EventType; +#include typedef struct Event { - uint8_t id; void (*func)(void); - void (*param_func)(uint16_t); uint16_t time; - EventType type; uint8_t enabled; - uint16_t loop_cnt; - uint32_t begin_time; - uint16_t param; } Event; static Event event[EVENT_MAX]; -static int event_cnt; -static uint32_t current_time; +static uint32_t time_cnt; +static uint32_t time_lcm = 1; -void TIMER_Count(TIM_HandleTypeDef *htim); +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) { @@ -37,124 +24,41 @@ void TIMER_Init(void) HAL_TIM_Base_Start_IT(&htim4); } -/// @brief 娉ㄥ唽鏃犻檺寰幆瀹氭椂鍥炶皟浜嬩欢 +/// @brief 娉ㄥ唽瀹氭椂鍥炶皟浜嬩欢 /// @param func 鍥炶皟鍑芥暟 void func(void) /// @param loop_time 瀹氭椂鏃堕棿锛屽崟浣嶆绉 -int8_t TIMER_AddInfiniteLoopEvent(int8_t event_id, void (*func)(void), uint16_t loop_time) +void TIMER_AddLoopEvent(uint8_t type, void (*func)(void), uint16_t loop_time) { - if (event_id == -1) event_id = event_cnt++; - event[event_id].type = INFINITE_LOOP_EVENT; - event[event_id].id = event_id; - event[event_id].func = func; - event[event_id].time = loop_time; - event[event_id].begin_time = current_time; - event[event_id].enabled = 1; - return event_id; + event[type].func = func; + event[type].time = loop_time; + event[type].enabled = 1; + time_lcm = lcm(time_lcm, loop_time); } -/// @brief 娉ㄥ唽鏈夐檺寰幆瀹氭椂鍥炶皟浜嬩欢 -/// @param func 鍥炶皟鍑芥暟 void func(void) -/// @param loop_time 瀹氭椂鏃堕棿锛屽崟浣嶆绉 -/// @param loop_cnt 寰幆娆℃暟 -int8_t TIMER_AddFiniteLoopEventWithParam(int8_t event_id, void (*func)(uint16_t param), uint16_t loop_time, uint16_t loop_cnt, uint16_t param) +void TIMER_DelLoopEvent(uint8_t type) { - if (event_id == -1) event_id = event_cnt++; - event[event_id].type = FINITE_LOOP_EVENT_WITH_PARAM; - event[event_id].id = event_id; - event[event_id].param_func = func; - event[event_id].time = loop_time; - event[event_id].begin_time = current_time; - event[event_id].enabled = 1; - event[event_id].param = param; - event[event_id].loop_cnt = loop_cnt; - return event_id; + event[type].enabled = 0; + time_lcm /= event[type].time; } -int8_t TIMER_AddFiniteLoopEvent(int8_t event_id, void (*func)(void), uint16_t loop_time, uint16_t loop_cnt) +void TIMER_Count(void) { - if (event_id == -1) event_id = event_cnt++; - event[event_id].type = FINITE_LOOP_EVENT; - event[event_id].id = event_id; - event[event_id].func = func; - event[event_id].time = loop_time; - event[event_id].begin_time = current_time; - event[event_id].enabled = 1; - event[event_id].loop_cnt = loop_cnt; - return event_id; + ++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; } -/// @brief 娉ㄥ唽寤惰繜瀹氭椂鍥炶皟浜嬩欢锛堝崟娆★級 -/// @param func 鍥炶皟鍑芥暟 void func(void) -/// @param loop_time 瀹氭椂鏃堕棿锛屽崟浣嶆绉 -int8_t TIMER_AddDelayEvent(int8_t event_id, void (*func)(void), uint16_t delay_time) +uint32_t gcd(uint32_t a, uint32_t b) { - if (event_id == -1) event_id = event_cnt++; - event[event_id].type = DELAY_EVENT; - event[event_id].id = event_id; - event[event_id].func = func; - event[event_id].time = delay_time; - event[event_id].begin_time = current_time; - event[event_id].enabled = 1; - return event_id; + if (b == 0) + return a; + return gcd(b, a % b); } -void TIMER_DelLoopEvent(int8_t id) +uint32_t lcm(uint32_t a, uint32_t b) { - event[id].enabled = 0; -} - -void TIMER_Count(TIM_HandleTypeDef *htim) -{ - ++current_time; - for (uint8_t i = 0; i < event_cnt; ++i) - { - if (event[i].enabled == 0) - continue; - - switch (event[i].type) - { - case INFINITE_LOOP_EVENT: // 鏃犻檺寰幆浜嬩欢 - if ((current_time - event[i].begin_time) % event[i].time == 0) - { - event[i].func(); - } - break; - case FINITE_LOOP_EVENT: // 鏈夐檺寰幆浜嬩欢 - if ((current_time - event[i].begin_time) % event[i].time == 0) - { - event[i].func(); - if (event[i].loop_cnt-- <= 0) - { - TIMER_DelLoopEvent(event[i].id); - } - } - break; - case FINITE_LOOP_EVENT_WITH_PARAM: - if ((current_time - event[i].begin_time) % event[i].time == 0) - { - printf("FINITE_LOOP_EVENT_WITH_PARAM %d, %d, %d\n", - current_time, event[i].begin_time, event[i].time); - event[i].param_func(event[i].param); - if (--event[i].loop_cnt <= 0) - { - printf("remove FINITE_LOOP_EVENT_WITH_PARAM %d, %d, %d\n", - current_time, event[i].begin_time, event[i].time); - TIMER_DelLoopEvent(event[i].id); - } - } - break; - case DELAY_EVENT: // 寤惰繜浜嬩欢 - if (current_time > event[i].begin_time && - (current_time - event[i].begin_time) % event[i].time == 0) - { - event[i].func(); - printf("DELAY_EVENT %d, %d, %d\n", - current_time, event[i].begin_time, event[i].time); - TIMER_DelLoopEvent(event[i].id); - } - break; - default: - break; - } - } + return a / gcd(a, b) * b; }