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公交车LED

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This commit is contained in:
JasonChen 2024-07-21 08:13:13 +08:00
parent e70663edb3
commit 8a6ecbc14c
12 changed files with 138 additions and 180 deletions
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35
App/Src/app_bus.c
View File

@ -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;
@ -58,16 +60,24 @@ 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 (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 = 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:

17
App/Src/app_line_seek.c
View File

@ -51,7 +51,7 @@ void LINESEEK_TURN_TIME()
void LineSeek_Init(void)
{
// 注册定时器事件
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: // 直行
LED_Stop(LED_ALL);
LED_Start(LED_R);
MOTOR_SetDuty(HIGH_SPEED, HIGH_SPEED);
LED_SetDuty(0, 255, 0);
if (LineSeek_Equals("1011")) // 左微调
{
state = TUNE_LEFT;
@ -135,9 +135,8 @@ void App_LineSeek(void)
}
break;
case TURN_LEFT: // 左直角
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) // 侧丁字路口
{
@ -162,6 +159,8 @@ void App_LineSeek(void)
}
break;
case TURN_RIGHT: // 右直角
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)
{
// 开启蜂鸣器
BUZZER_StartTimed(1);
// BUZZER_StartTimed(100);
// 根据规划的路径进行决断
is_crossing = 1;

9
Core/Src/main.c
View File

@ -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 */

3
Peripheral/Inc/buzzer.h
View File

@ -6,9 +6,10 @@
void BUZZER_Start();
void BUZZER_Stop();
/// @brief 蜂鸣器定时鸣叫
/// @param time 鸣叫时间，单位毫秒
void BUZZER_StartTimed(uint8_t time);
void BUZZER_StartTimed(uint16_t time);
/// @brief 蜂鸣器鸣叫数次
/// @param loop 鸣叫次数

4
Peripheral/Inc/led.h
View File

@ -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);

4
Peripheral/Src/bluetooth.c
View File

@ -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, ...)

5
Peripheral/Src/buzzer.c
View File

@ -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 启动蜂鸣器鸣叫
/// @param time 鸣叫时间，单位1毫秒
void BUZZER_StartTimed(uint16_t time)
{
state = ONCE;
BUZZER_Start();

11
Peripheral/Src/led.c
View File

@ -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);

17
Service/Inc/timer.h
View File

@ -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

48
Service/Src/block_detect.c
View File

@ -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++;
}
// 避障检测初始化
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);
}
// 每20ms红外检测一次障碍物
@ -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;

7
Service/Src/path_plan.c
View File

@ -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);

164
Service/Src/timer.c
View File

@ -1,35 +1,22 @@
#include "timer.h"
#include <math.h>
#include "tim.h"
typedef enum
{
INFINITE_LOOP_EVENT, // 无限循环事件
FINITE_LOOP_EVENT, // 有限循环事件
FINITE_LOOP_EVENT_WITH_PARAM,
DELAY_EVENT // 延迟事件
} EventType;
#include <math.h>
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 注册无限循环定时回调事件
/// @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
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 注册有限循环定时回调事件
/// @param func 回调函数 void func(void)
/// @param loop_time 定时时间，单位毫秒
/// @param loop_cnt 循环次数
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;
}
/// @brief 注册延迟定时回调事件（单次）
/// @param func 回调函数 void func(void)
/// @param loop_time 定时时间，单位毫秒
int8_t TIMER_AddDelayEvent(int8_t event_id, void (*func)(void), uint16_t delay_time)
{
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;
}
void TIMER_DelLoopEvent(int8_t id)
{
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: // 无限循环事件
if ((current_time - event[i].begin_time) % event[i].time == 0)
{
++time_cnt;
for (uint8_t i = 0; i < EVENT_MAX; ++i)
if (event[i].enabled && time_cnt % event[i].time == 0)
event[i].func();
}
break;
case FINITE_LOOP_EVENT: // 有限循环事件
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: // 延迟事件
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;
}
}
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;
}