From a88ab88eb56d94baba339f893835937d7bbe1dc9 Mon Sep 17 00:00:00 2001 From: JasonChen <2805998671@qq.com> Date: Wed, 17 Jul 2024 21:19:00 +0800 Subject: [PATCH] =?UTF-8?q?=E2=9C=A8=20feat:=20=E5=AE=8C=E5=96=84=E5=B0=8F?= =?UTF-8?q?=E8=BD=A6=E5=B7=A1=E7=BA=BF=E8=BF=90=E5=8A=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- App/Inc/app_line_seek.h | 4 + App/Src/app_line_seek.c | 291 +++++++++++++++++++++++++++++++---- App/Src/app_line_seek_v1.c | 88 +++++++++++ CAR.ioc | 8 +- Core/Inc/stm32f1xx_it.h | 2 + Core/Src/main.c | 27 +++- Core/Src/stm32f1xx_it.c | 30 ++++ Core/Src/tim.c | 20 ++- MDK-ARM/CAR.uvoptx | 2 +- MDK-ARM/CAR.uvprojx | 2 +- Makefile | 3 +- STM32-for-VSCode.config.yaml | 109 +++++++++++++ STM32Make.make | 24 ++- User/Inc/line_seek.h | 7 +- User/Inc/motor.h | 2 +- User/Inc/path_plan.h | 29 ++++ User/Src/line_seek.c | 29 +++- User/Src/motor.c | 53 ++++--- User/Src/path_plan.c | 51 ++++++ 19 files changed, 705 insertions(+), 76 deletions(-) create mode 100644 App/Src/app_line_seek_v1.c create mode 100644 STM32-for-VSCode.config.yaml create mode 100644 User/Inc/path_plan.h create mode 100644 User/Src/path_plan.c diff --git a/App/Inc/app_line_seek.h b/App/Inc/app_line_seek.h index f1d1bf2..3c94856 100644 --- a/App/Inc/app_line_seek.h +++ b/App/Inc/app_line_seek.h @@ -1,6 +1,10 @@ #ifndef __APP_LINE_SEEK_H #define __APP_LINE_SEEK_H +#include "tim.h" + +void LineSeek_Init(void); void App_LineSeek(void); +void Hanlde_Crossroad(void); #endif \ No newline at end of file diff --git a/App/Src/app_line_seek.c b/App/Src/app_line_seek.c index 31d27d0..4d99641 100644 --- a/App/Src/app_line_seek.c +++ b/App/Src/app_line_seek.c @@ -4,44 +4,281 @@ #include "line_seek.h" #include "main.h" #include "motor.h" +#include "path_plan.h" +#include "stm32f1xx_hal_tim.h" #include "syscalls.h" +#include "tim.h" + +#define LOW_TUNE_SPEED -5 +#define LOW_SPEED 35 +#define MID_SPEED 40 +#define HIGH_SPEED 45 +#define MIN_TURN_TIME 300 // 最小转直角时间 +#define MIN_CROSSING_TIME 200 // 最小走十字路口时间 +#define MIN_CROSSING_STRAIGHT_TIME 50 // 最小走十字路口时间 +#define MIN_TUNE_TIME 40 // 最小微调时间 +#define MAX_TURN_TIME 4000 // 最大转弯时间 + +typedef enum +{ + MOVE_STRAIGHT, // 直行 + TURN_LEFT, // 左转 + TURN_RIGHT, // 右转 + TUNE_LEFT, // 左微调 + TUNE_RIGHT, // 右微调 + TURN_LEFT_BIG, + TURN_RIGHT_BIG +} MoveState; + +MoveState state, preState; // 运动状态 +int turn_time; // 转弯时间 +int beep_time; // 蜂鸣器鸣叫时间 +int is_crossing; // 是否正在走十字路口 + +void LINESEEK_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim) +{ + if (turn_time < INT16_MAX) + { + turn_time++; // 每1ms自增一 + } + + if (beep_time++ > 100) + { + buzzer(0); + } +} + +void LineSeek_Init(void) +{ + // 注册定时器中断溢出回调 + HAL_TIM_RegisterCallback(&htim4, HAL_TIM_PERIOD_ELAPSED_CB_ID, LINESEEK_HAL_TIM_PeriodElapsedCallback); + HAL_TIM_Base_Start_IT(&htim4); +} void App_LineSeek(void) { int LineL1 = 1, LineL2 = 1, LineR1 = 1, LineR2 = 1; - LineSeek_Get(&LineL1, &LineL2, &LineR1, &LineR2); // 获取黑线检测状态 + // LineSeek_GetStatus(&LineL1, &LineL2, &LineR1, &LineR2); // 获取黑线检测状态 - if ((LineL1 == LOW || LineL2 == LOW) && LineR2 == LOW) // 左大弯 + LineSeek_GetStatusStr(); + // printf("%s %d \n", LineSeek_Status, turn_time); + + // return; + + if (turn_time > MIN_CROSSING_TIME) { - MOTOR_SetDuty(-30, 30); // 左旋 - HAL_Delay(80); + is_crossing = 0; } - else if (LineL1 == LOW && (LineR1 == LOW || LineR2 == LOW)) // 右大弯 + + if (is_crossing && GetCurrentDirection() == STRAIGHT) { - MOTOR_SetDuty(30, -30); // 右旋 - HAL_Delay(80); + LineSeek_Status[0] = '1'; + LineSeek_Status[3] = '1'; } - else if (LineL1 == LOW) // 左最外侧检测 + + switch (state) { - MOTOR_SetDuty(-50, 50); // 左旋 - HAL_Delay(10); - } - else if (LineR2 == LOW) // 右最外侧检测 - { - MOTOR_SetDuty(50, -50); // 右旋 - HAL_Delay(10); - } - else if (LineL2 == LOW && LineR1 == HIGH) // 中间黑线上的传感器微调车左转 - { - MOTOR_SetDuty(0, 50); // 左转 - } - else if (LineL2 == HIGH && LineR1 == LOW) // 中间黑线上的传感器微调车右转 - { - MOTOR_SetDuty(50, 0); // 右转 - } - else if (LineL2 == LOW && LineR1 == LOW) // 都是黑色, 加速前进 - { - MOTOR_SetDuty(50, 50); // 直走 + case MOVE_STRAIGHT: // 直行 + MOTOR_SetDuty(HIGH_SPEED, HIGH_SPEED); + if (LineSeek_Equals("0000")) // 十字路口 + { + Hanlde_Crossroad(); + } + else if (LineSeek_Equals("1011")) // 左微调 + { + state = TUNE_LEFT; + } + else if (LineSeek_Equals("1101")) // 右微调 + { + state = TUNE_RIGHT; + } + else if (LineSeek_Equals("0001")) // 左直角 + { + turn_time = 0; + state = TURN_LEFT; + } + else if (LineSeek_Equals("1000")) // 右直角 + { + turn_time = 0; + state = TURN_RIGHT; + } + else if (LineSeek_Equals("0xx1")) // 左锐角 + { + state = TURN_LEFT_BIG; + } + else if (LineSeek_Equals("1xx0")) // 右锐角 + { + state = TURN_RIGHT_BIG; + } + else if (LineSeek_Equals("1111")) // 冲出去了，使用上一个转向 + { + state = preState; + } + break; + case TURN_LEFT: // 左直角 + MOTOR_SetDuty(-HIGH_SPEED, HIGH_SPEED); + if (LineSeek_Equals("0000")) // 十字路口 + { + Hanlde_Crossroad(); + } + else if (LineSeek_Equals("1001") && + ((preState != TUNE_LEFT && turn_time >= MIN_TURN_TIME - 1) || + (preState == TUNE_LEFT && turn_time >= MIN_TUNE_TIME))) // 直行 + { + state = MOVE_STRAIGHT; + preState = TURN_LEFT; + is_crossing = 0; + } + else if (LineSeek_Equals("xxx0") && !is_crossing) // 转过头了 + { + turn_time = MIN_TURN_TIME; + state = TURN_RIGHT; + preState = TURN_LEFT; + } + break; + case TURN_RIGHT: // 右直角 + MOTOR_SetDuty(HIGH_SPEED, -HIGH_SPEED); + if (LineSeek_Equals("0000")) // 十字路口 + { + Hanlde_Crossroad(); + } + else if (LineSeek_Equals("1001") && + ((preState != TUNE_RIGHT && turn_time >= MIN_TURN_TIME - 1) || + (preState == TUNE_RIGHT && turn_time >= MIN_TUNE_TIME))) // 直行 + { + state = MOVE_STRAIGHT; + preState = TURN_RIGHT; + is_crossing = 0; + } + else if (LineSeek_Equals("0xxx") && !is_crossing) // 转过头了 + { + turn_time = MIN_TURN_TIME; + state = TURN_LEFT; + preState = TURN_LEFT; + } + break; + case TURN_LEFT_BIG: // 左锐角 + MOTOR_SetDuty(-MID_SPEED, MID_SPEED); + if (LineSeek_Equals("0000")) // 十字路口 + { + Hanlde_Crossroad(); + } + else if (LineSeek_Equals("0001")) // 左直角 + { + turn_time = 0; + state = TURN_LEFT; + preState = TURN_LEFT_BIG; + } + else if (LineSeek_Equals("xxx0")) // 转过头了 + { + state = TUNE_RIGHT; + // preState = TURN_LEFT_BIG; + } + break; + case TURN_RIGHT_BIG: // 右锐角 + MOTOR_SetDuty(MID_SPEED, -MID_SPEED); + if (LineSeek_Equals("0000")) // 十字路口 + { + Hanlde_Crossroad(); + } + else if (LineSeek_Equals("1000")) // 右直角 + { + turn_time = 0; + state = TURN_RIGHT; + preState = TURN_RIGHT_BIG; + } + else if (LineSeek_Equals("0xxx")) // 转过头了 + { + state = TUNE_LEFT; + preState = TURN_RIGHT_BIG; + } + break; + case TUNE_LEFT: // 左微调 + MOTOR_SetDuty(LOW_TUNE_SPEED, HIGH_SPEED); + if (LineSeek_Equals("x00x")) + { + state = MOVE_STRAIGHT; + } + else if (LineSeek_Equals("0xx1") && GetCurrentDirection() != STRAIGHT) // 左转 + { + turn_time = 0; + state = TURN_LEFT; + preState = TUNE_LEFT; + } + else if (LineSeek_Equals("1xx0") && GetCurrentDirection() != STRAIGHT) // 右转 + { + turn_time = 0; + state = TURN_RIGHT; + preState = TUNE_LEFT; + } + break; + case TUNE_RIGHT: // 右微调 + MOTOR_SetDuty(HIGH_SPEED, LOW_TUNE_SPEED); + if (LineSeek_Equals("x00x")) + { + state = MOVE_STRAIGHT; + } + else if (LineSeek_Equals("0xx1") && GetCurrentDirection() != STRAIGHT) // 左转 + { + turn_time = 0; + state = TURN_LEFT; + preState = TUNE_RIGHT; + } + else if (LineSeek_Equals("1xx0") && GetCurrentDirection() != STRAIGHT) // 右转 + { + turn_time = 0; + state = TURN_RIGHT; + preState = TUNE_RIGHT; + } + break; + default: + state = MOVE_STRAIGHT; + MOTOR_SetDuty(MID_SPEED, MID_SPEED); + break; } + + // if (turn_time >= MAX_TURN_TIME) + // { + // // state = MOVE_STRAIGHT; + // MOTOR_SetDuty(0, 0); + // } + + // printf("curr state: %d \n", state); } + +void Hanlde_Crossroad(void) +{ + if (is_crossing) + { + return; + } + + beep_time = 0; + buzzer(1); + // state = MOVE_STRAIGHT; + // buzzer(1); + // HAL_Delay(50); + // buzzer(0); + + // 根据规划的路径进行决断 + is_crossing = 1; + turn_time = 0; + int direction = GetNextDirection(); + switch (direction) + { + case STRAIGHT: + state = MOVE_STRAIGHT; + break; + case LEFT: + state = TURN_LEFT; + break; + case RIGHT: + state = TURN_RIGHT; + break; + default: + state = TURN_RIGHT; + break; + } + // printf("state: %d, dir: %d \n", state, direction); +} \ No newline at end of file diff --git a/App/Src/app_line_seek_v1.c b/App/Src/app_line_seek_v1.c new file mode 100644 index 0000000..09e17bc --- /dev/null +++ b/App/Src/app_line_seek_v1.c @@ -0,0 +1,88 @@ + +#include "app_line_seek.h" + +#include "line_seek.h" +#include "main.h" +#include "motor.h" +#include "path_plan.h" +#include "syscalls.h" + +// #define LOW_SPEED 30 +// #define MID_SPEED 35 +// #define HIGH_SPEED 40 + +#define LOW_SPEED 25 +#define MID_SPEED 30 +#define HIGH_SPEED 35 + + +void App_LineSeek(void) +{ + int LineL1 = 1, LineL2 = 1, LineR1 = 1, LineR2 = 1; + + LineSeek_GetStatus(&LineL1, &LineL2, &LineR1, &LineR2); // 获取黑线检测状态 + + LineSeek_GetStatusStr(); + printf("%s\n", LineSeek_Status); + + // return; + + if (LineSeek_Equals("0000")) // 丁字（十字）路口 + { + buzzer(1); + + // 根据规划的路径进行决断 + switch (GetNextDirection()) + { + case STRAIGHT: + MOTOR_SetDuty(HIGH_SPEED, HIGH_SPEED); // 直走 + break; + case LEFT: + MOTOR_SetDuty(HIGH_SPEED, -HIGH_SPEED); // 左转 + break; + case RIGHT: + MOTOR_SetDuty(-HIGH_SPEED, HIGH_SPEED); // 右转 + break; + default: + MOTOR_Stop(); + break; + } + } + else + { + buzzer(0); + } + + if (LineSeek_Equals("1000")) // 右直角 + { + MOTOR_SetDuty(HIGH_SPEED, -HIGH_SPEED); // 右旋 + // HAL_Delay(80); + } + else if (LineSeek_Equals("0001")) // 左直角 + { + MOTOR_SetDuty(-HIGH_SPEED, HIGH_SPEED); // 左旋; + // HAL_Delay(80); + } + else if (LineSeek_Equals("0xx1")) // 左最外侧检测(锐角) + { + MOTOR_SetDuty(-HIGH_SPEED, MID_SPEED); // 左旋 + // HAL_Delay(80); + } + else if (LineSeek_Equals("1xx0")) // 右最外侧检测(锐角) + { + MOTOR_SetDuty(MID_SPEED, -HIGH_SPEED); // 右旋 + // HAL_Delay(80); + } + else if (LineSeek_Equals("x01x")) // 中间黑线上的传感器微调车左转 + { + MOTOR_SetDuty(0, LOW_SPEED); // 左转 + } + else if (LineSeek_Equals("x10x")) // 中间黑线上的传感器微调车右转 + { + MOTOR_SetDuty(LOW_SPEED, 0); // 右转 + } + else if (LineSeek_Equals("x00x")) // 都是黑色, 加速前进 + { + MOTOR_SetDuty(MID_SPEED, MID_SPEED); // 直走 + } +} diff --git a/CAR.ioc b/CAR.ioc index d149822..c40e3ad 100644 --- a/CAR.ioc +++ b/CAR.ioc @@ -81,6 +81,8 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_2 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.SysTick_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:false NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true +NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true +NVIC.TIM4_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false PA0-WKUP.GPIOParameters=PinState,GPIO_Label @@ -254,19 +256,21 @@ TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE TIM2.IPParameters=Prescaler,Period,AutoReloadPreload TIM2.Period=72 - 1 TIM2.Prescaler=10 - 1 +TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4 TIM3.ClockDivision=TIM_CLOCKDIVISION_DIV1 -TIM3.IPParameters=Channel-PWM Generation4 CH4,Prescaler,ClockDivision,Period,Pulse-PWM Generation4 CH4,Channel-PWM Generation3 CH3,Channel-PWM Generation2 CH2,Pulse-PWM Generation2 CH2,Pulse-PWM Generation3 CH3 +TIM3.IPParameters=Channel-PWM Generation4 CH4,Prescaler,ClockDivision,Period,Pulse-PWM Generation4 CH4,Channel-PWM Generation3 CH3,Channel-PWM Generation2 CH2,Pulse-PWM Generation2 CH2,Pulse-PWM Generation3 CH3,AutoReloadPreload TIM3.Period=256 - 1 TIM3.Prescaler=720 - 1 TIM3.Pulse-PWM\ Generation2\ CH2=255 TIM3.Pulse-PWM\ Generation3\ CH3=255 TIM3.Pulse-PWM\ Generation4\ CH4=255 +TIM4.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 -TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2 +TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2,AutoReloadPreload TIM4.Period=100 TIM4.Prescaler=720 - 1 TIM4.Pulse-PWM\ Generation1\ CH1=100 diff --git a/Core/Inc/stm32f1xx_it.h b/Core/Inc/stm32f1xx_it.h index 5e2b5bf..cff0343 100644 --- a/Core/Inc/stm32f1xx_it.h +++ b/Core/Inc/stm32f1xx_it.h @@ -57,6 +57,8 @@ void PendSV_Handler(void); void SysTick_Handler(void); void DMA1_Channel6_IRQHandler(void); void TIM2_IRQHandler(void); +void TIM3_IRQHandler(void); +void TIM4_IRQHandler(void); void USART2_IRQHandler(void); void EXTI15_10_IRQHandler(void); /* USER CODE BEGIN EFP */ diff --git a/Core/Src/main.c b/Core/Src/main.c index c01329c..de33485 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -27,10 +27,12 @@ /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ +#include "app_line_seek.h" #include "bluetooth.h" #include "hcsr04.h" #include "led.h" #include "motor.h" +#include "path_plan.h" #include "syscalls.h" /* USER CODE END Includes */ @@ -77,6 +79,7 @@ int main(void) { /* USER CODE BEGIN 1 */ + uint8_t pData[10] = {1, 2, 3}; /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ @@ -102,24 +105,34 @@ int main(void) MX_TIM2_Init(); MX_TIM3_Init(); MX_TIM4_Init(); - MX_USART2_UART_Init(); + // MX_USART2_UART_Init(); MX_USART1_UART_Init(); + /* USER CODE BEGIN 2 */ HC_SR04_Init(); BLUETOOTH_Init(); - - /* USER CODE BEGIN 2 */ - + MOTOR_Init(); + PathPlanner_Init(); + LineSeek_Init(); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { - my_printf(HUART1, "test huart1 \r\n"); - my_printf(HUART2, "test huart2\r\n"); + // my_printf(HUART1, "%s\r\n", *pData); - // App_LineSeek(); + // if (HAL_OK == HAL_UART_Receive(&huart2, (uint8_t *)pData, 2, 1000)) + // { + // HAL_UART_Transmit(&huart2, (uint8_t *)pData, sizeof(pData), 1000); + // HAL_Delay(500); + // } + + // HAL_Delay(2000); + + App_LineSeek(); + + // MOTOR_SetDuty(-20,20); // HAL_Delay(300); // 延时300毫秒 diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c index b92439a..cb4fe63 100644 --- a/Core/Src/stm32f1xx_it.c +++ b/Core/Src/stm32f1xx_it.c @@ -56,6 +56,8 @@ /* External variables --------------------------------------------------------*/ extern TIM_HandleTypeDef htim2; +extern TIM_HandleTypeDef htim3; +extern TIM_HandleTypeDef htim4; extern DMA_HandleTypeDef hdma_usart2_rx; extern UART_HandleTypeDef huart2; /* USER CODE BEGIN EV */ @@ -228,6 +230,34 @@ void TIM2_IRQHandler(void) /* USER CODE END TIM2_IRQn 1 */ } +/** + * @brief This function handles TIM3 global interrupt. + */ +void TIM3_IRQHandler(void) +{ + /* USER CODE BEGIN TIM3_IRQn 0 */ + + /* USER CODE END TIM3_IRQn 0 */ + HAL_TIM_IRQHandler(&htim3); + /* USER CODE BEGIN TIM3_IRQn 1 */ + + /* USER CODE END TIM3_IRQn 1 */ +} + +/** + * @brief This function handles TIM4 global interrupt. + */ +void TIM4_IRQHandler(void) +{ + /* USER CODE BEGIN TIM4_IRQn 0 */ + + /* USER CODE END TIM4_IRQn 0 */ + HAL_TIM_IRQHandler(&htim4); + /* USER CODE BEGIN TIM4_IRQn 1 */ + + /* USER CODE END TIM4_IRQn 1 */ +} + /** * @brief This function handles USART2 global interrupt. */ diff --git a/Core/Src/tim.c b/Core/Src/tim.c index ec3e6eb..f6251a7 100644 --- a/Core/Src/tim.c +++ b/Core/Src/tim.c @@ -88,7 +88,7 @@ void MX_TIM3_Init(void) htim3.Init.CounterMode = TIM_COUNTERMODE_UP; htim3.Init.Period = 256 - 1; htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE; if (HAL_TIM_Base_Init(&htim3) != HAL_OK) { Error_Handler(); @@ -148,9 +148,9 @@ void MX_TIM4_Init(void) htim4.Instance = TIM4; htim4.Init.Prescaler = 720 - 1; htim4.Init.CounterMode = TIM_COUNTERMODE_UP; - htim4.Init.Period = 100; + htim4.Init.Period = 100; htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE; if (HAL_TIM_Base_Init(&htim4) != HAL_OK) { Error_Handler(); @@ -214,6 +214,10 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) /* USER CODE END TIM3_MspInit 0 */ /* TIM3 clock enable */ __HAL_RCC_TIM3_CLK_ENABLE(); + + /* TIM3 interrupt Init */ + HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(TIM3_IRQn); /* USER CODE BEGIN TIM3_MspInit 1 */ /* USER CODE END TIM3_MspInit 1 */ @@ -225,6 +229,10 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) /* USER CODE END TIM4_MspInit 0 */ /* TIM4 clock enable */ __HAL_RCC_TIM4_CLK_ENABLE(); + + /* TIM4 interrupt Init */ + HAL_NVIC_SetPriority(TIM4_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(TIM4_IRQn); /* USER CODE BEGIN TIM4_MspInit 1 */ /* USER CODE END TIM4_MspInit 1 */ @@ -307,6 +315,9 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) /* USER CODE END TIM3_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_TIM3_CLK_DISABLE(); + + /* TIM3 interrupt Deinit */ + HAL_NVIC_DisableIRQ(TIM3_IRQn); /* USER CODE BEGIN TIM3_MspDeInit 1 */ /* USER CODE END TIM3_MspDeInit 1 */ @@ -318,6 +329,9 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) /* USER CODE END TIM4_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_TIM4_CLK_DISABLE(); + + /* TIM4 interrupt Deinit */ + HAL_NVIC_DisableIRQ(TIM4_IRQn); /* USER CODE BEGIN TIM4_MspDeInit 1 */ /* USER CODE END TIM4_MspDeInit 1 */ diff --git a/MDK-ARM/CAR.uvoptx b/MDK-ARM/CAR.uvoptx index 2c48a98..0aa7cdf 100644 --- a/MDK-ARM/CAR.uvoptx +++ b/MDK-ARM/CAR.uvoptx @@ -135,7 +135,7 @@ 0 CMSIS_AGDI - -X"" -O206 -S8 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM) + -X"CMSIS-DAP_LU" -ULU_2022_8888 -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM) 0 diff --git a/MDK-ARM/CAR.uvprojx b/MDK-ARM/CAR.uvprojx index 2bbd6d4..c32984b 100644 --- a/MDK-ARM/CAR.uvprojx +++ b/MDK-ARM/CAR.uvprojx @@ -81,7 +81,7 @@ 0 - 1 + 0 0 diff --git a/Makefile b/Makefile index 616ba71..fe629d7 100644 --- a/Makefile +++ b/Makefile @@ -1,5 +1,5 @@ ########################################################################################################################## -# File automatically-generated by tool: [projectgenerator] version: [4.4.0-B60] date: [Sat Jul 13 16:33:46 CST 2024] +# File automatically-generated by tool: [projectgenerator] version: [4.4.0-B60] date: [Tue Jul 16 20:05:56 CST 2024] ########################################################################################################################## # ------------------------------------------------ @@ -68,6 +68,7 @@ User/Src/led.c \ User/Src/bluetooth.c \ User/Src/control.c \ User/Src/line_seek.c \ +User/Src/path_plan.c \ App/Src/app_line_seek.c # ASM sources diff --git a/STM32-for-VSCode.config.yaml b/STM32-for-VSCode.config.yaml new file mode 100644 index 0000000..223e224 --- /dev/null +++ b/STM32-for-VSCode.config.yaml @@ -0,0 +1,109 @@ +# Configuration file for the STM32 for VSCode extension +# Arrays can be inputted in two ways. One is: [entry_1, entry_2, ..., entry_final] +# or by adding an indented list below the variable name e.g.: +# VARIABLE: +# - entry_1 +# - entry_2 + +# The project name +target: CAR +# Can be C or C++ +language: C + +optimization: Og + +# MCU settings +targetMCU: stm32f1x +cpu: cortex-m3 # type of cpu e.g. cortex-m4 +fpu: # Defines how floating points are defined. Can be left empty. +floatAbi: +ldscript: STM32F103C8Tx_FLASH.ld # linker script + +# Compiler definitions. The -D prefix for the compiler will be automatically added. +cDefinitions: [] +cxxDefinitions: [] +asDefinitions: [] + +# Compiler definition files. you can add a single files or an array of files for different definitions. +# The file is expected to have a definition each new line. +# This allows to include for example a .definition file which can be ignored in git and can contain +# This can be convenient for passing along secrets at compile time, or generating a file for per device setup. +cDefinitionsFile: +cxxDefinitionsFile: +asDefinitionsFile: + +# Compiler flags +cFlags: + - -Wall + - -fdata-sections + - -ffunction-sections + +cxxFlags: [] +assemblyFlags: + - -Wall + - -fdata-sections + - -ffunction-sections + +linkerFlags: + - -Wl,--print-memory-usage + + +# libraries to be included. The -l prefix to the library will be automatically added. +libraries: + - c + - m + +# Library directories. Folders can be added here that contain custom libraries. +libraryDirectories: [] + +# Files or folders that will be excluded from compilation. +# Glob patterns (https://www.wikiwand.com/en/Glob_(programming)) can be used. +# Do mind that double stars are reserved in yaml +# these should be escaped with a: \ or the name should be in double quotes e.g. "**.test.**" +excludes: + - "**/Examples/**" + - "**/examples/**" + - "**/Example/**" + - "**/example/**" + - "**_template.*" + + +# Include directories (directories containing .h or .hpp files) +# If a CubeMX makefile is present it will automatically include the include directories from that makefile. +includeDirectories: + - Inc/** + - Core/Inc/** + - Core/Lib/** + - Src/** + - Core/Src/** + - Core/Lib/** + + +# Files that should be included in the compilation. +# If a CubeMX makefile is present it will automatically include the c and cpp/cxx files from that makefile. +# Glob patterns (https://www.wikiwand.com/en/Glob_(programming)) can be used. +# Do mind that double stars are reserved in yaml +# these should be escaped with a: \ or the name should be in double quotes e.g. "HARDWARE_DRIVER*.c" +sourceFiles: + - Src/** + - Core/Src/** + - Core/Lib/** + + +# When no makefile is present it will show a warning pop-up. +# However when compilation without the CubeMX Makefile is desired, this can be turned of. +suppressMakefileWarning: false + +# Custom makefile rules +# Here custom makefile rules can be added to the STM32Make.make file +# an example of how this can be used is commented out below. +customMakefileRules: +# - command: sayhello +# rule: echo "hello" +# dependsOn: $(BUILD_DIR)/$(TARGET).elf # can be left out + +# Additional flags which will be used when invoking the make command +makeFlags: +# - -O # use this option when the output of make is mixed up only works for make version 4.0 and upwards +# - --silent # use this option to silence the output of the build + \ No newline at end of file diff --git a/STM32Make.make b/STM32Make.make index 7a3b0e7..059cdd7 100644 --- a/STM32Make.make +++ b/STM32Make.make @@ -36,12 +36,11 @@ BUILD_DIR = build ###################################### # C sources C_SOURCES = \ +App/Src/app_line_seek.c \ +Core/Src/dma.c \ Core/Src/gpio.c \ -Core/Src/hcsr04.c \ Core/Src/i2c.c \ -Core/Src/led.c \ Core/Src/main.c \ -Core/Src/motor.c \ Core/Src/stm32f1xx_hal_msp.c \ Core/Src/stm32f1xx_it.c \ Core/Src/syscalls.c \ @@ -63,7 +62,14 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c \ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c \ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c \ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c \ -Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c +Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c \ +User/Src/bluetooth.c \ +User/Src/control.c \ +User/Src/hcsr04.c \ +User/Src/led.c \ +User/Src/line_seek.c \ +User/Src/motor.c \ +User/Src/path_plan.c CPP_SOURCES = \ @@ -82,7 +88,7 @@ PREFIX = arm-none-eabi- POSTFIX = " # The gcc compiler bin path can be either defined in make command via GCC_PATH variable (> make GCC_PATH=xxx) # either it can be added to the PATH environment variable. -GCC_PATH="E:/PROGRAM FILES/GNU ARM EMBEDDED TOOLCHAIN/10 2021.10/BIN +GCC_PATH="E:/PROGRAM FILES (X86)/GNU ARM EMBEDDED TOOLCHAIN/10 2021.10/BIN ifdef GCC_PATH CXX = $(GCC_PATH)/$(PREFIX)g++$(POSTFIX) CC = $(GCC_PATH)/$(PREFIX)gcc$(POSTFIX) @@ -135,11 +141,13 @@ AS_INCLUDES = \ # C includes C_INCLUDES = \ +-IApp/Inc \ -ICore/Inc \ -IDrivers/CMSIS/Device/ST/STM32F1xx/Include \ -IDrivers/CMSIS/Include \ -IDrivers/STM32F1xx_HAL_Driver/Inc \ --IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy +-IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy \ +-IUser/Inc @@ -235,13 +243,13 @@ $(BUILD_DIR): # flash ####################################### flash: $(BUILD_DIR)/$(TARGET).elf - "E:/PROGRAM FILES/OPENOCD-20231002-0.12.0/BIN/OPENOCD.EXE" -f ./openocd.cfg -c "program $(BUILD_DIR)/$(TARGET).elf verify reset exit" + "D:/PROGRAM FILES/OPENOCD-20231002-0.12.0/BIN/OPENOCD.EXE" -f ./openocd.cfg -c "program $(BUILD_DIR)/$(TARGET).elf verify reset exit" ####################################### # erase ####################################### erase: $(BUILD_DIR)/$(TARGET).elf - "E:/PROGRAM FILES/OPENOCD-20231002-0.12.0/BIN/OPENOCD.EXE" -f ./openocd.cfg -c "init; reset halt; stm32f1x mass_erase 0; exit" + "D:/PROGRAM FILES/OPENOCD-20231002-0.12.0/BIN/OPENOCD.EXE" -f ./openocd.cfg -c "init; reset halt; stm32f1x mass_erase 0; exit" ####################################### # clean up diff --git a/User/Inc/line_seek.h b/User/Inc/line_seek.h index 1ff2bdb..7954ed2 100644 --- a/User/Inc/line_seek.h +++ b/User/Inc/line_seek.h @@ -1,7 +1,10 @@ #ifndef __LINE_SEEK_H__ #define __LINE_SEEK_H__ -// 获取巡线状态 -void LineSeek_Get(int *p_iL1, int *p_iL2, int *p_iR1, int *p_iR2); +extern char LineSeek_Status[5]; + +void LineSeek_GetStatus(int *p_iL1, int *p_iL2, int *p_iR1, int *p_iR2); +char *LineSeek_GetStatusStr(); +int LineSeek_Equals(const char *expression); #endif \ No newline at end of file diff --git a/User/Inc/motor.h b/User/Inc/motor.h index 35d7a45..4a408f1 100644 --- a/User/Inc/motor.h +++ b/User/Inc/motor.h @@ -5,7 +5,7 @@ #include "main.h" -void MOTOR_Start(void); +void MOTOR_Init(void); void MOTOR_Slip(void); void MOTOR_Stop(void); void MOTOR_SetDuty(int8_t leftDuty, int8_t rightDuty); diff --git a/User/Inc/path_plan.h b/User/Inc/path_plan.h new file mode 100644 index 0000000..3cb03cd --- /dev/null +++ b/User/Inc/path_plan.h @@ -0,0 +1,29 @@ +#ifndef __PATH_PLAN_H +#define __PATH_PLAN_H + +// 定义方向枚举 +typedef enum +{ + STRAIGHT, + LEFT, + RIGHT, + STOP +} Direction; + +// 定义路径规划器结构 +typedef struct +{ + int currentStep; + Direction* path; + int pathLength; +} PathPlanner; + +// 全局路径规划器 +extern PathPlanner pathPlanner; + +void PathPlanner_Init(); +Direction GetCurrentDirection(); +Direction GetNextDirection(); +void AddPathStep(Direction step); + +#endif diff --git a/User/Src/line_seek.c b/User/Src/line_seek.c index 4c16608..0261ad8 100644 --- a/User/Src/line_seek.c +++ b/User/Src/line_seek.c @@ -3,15 +3,42 @@ #include "main.h" +char LineSeek_Status[5]; + /** * @brief 获取巡线状态 * @param[in] int *p_iL1, int *p_iL2, int *p_iR1, int *p_iR2 四路巡线位指针 * @retval void */ -void LineSeek_Get(int *p_iL1, int *p_iL2, int *p_iR1, int *p_iR2) +void LineSeek_GetStatus(int *p_iL1, int *p_iL2, int *p_iR1, int *p_iR2) { *p_iL1 = HAL_GPIO_ReadPin(LineSeek_L1_GPIO_Port, LineSeek_L1_Pin); *p_iL2 = HAL_GPIO_ReadPin(LineSeek_L2_GPIO_Port, LineSeek_L2_Pin); *p_iR1 = HAL_GPIO_ReadPin(LineSeek_R1_GPIO_Port, LineSeek_R1_Pin); *p_iR2 = HAL_GPIO_ReadPin(LineSeek_R2_GPIO_Port, LineSeek_R2_Pin); } + +/** + * @brief 获取巡线状态并返回表示状态的字符串 + * @retval char LineSeek_Status[5] + */ +char *LineSeek_GetStatusStr() +{ + int iL1, iL2, iR1, iR2; + LineSeek_GetStatus(&iL1, &iL2, &iR1, &iR2); + sprintf(LineSeek_Status, "%d%d%d%d", iL1, iL2, iR1, iR2); + return LineSeek_Status; +} + +int LineSeek_Equals(const char *expression) +{ + int i; + for (i = 0; i < 4; i++) + { + if (expression[i] != 'x' && expression[i] != LineSeek_Status[i]) + { + return 0; + } + } + return 1; +} diff --git a/User/Src/motor.c b/User/Src/motor.c index 33d20f5..d5f7ba6 100644 --- a/User/Src/motor.c +++ b/User/Src/motor.c @@ -3,6 +3,7 @@ #include "tim.h" #define MAX_SPEED 100 +#define MIN_SPEED 5 #define MOTOR_L 1 #define MOTOR_R 2 #define MOTOR_TIM (&htim4) @@ -11,10 +12,10 @@ int8_t preProcess(int8_t duty, uint8_t motor); -void MOTOR_Start(void) +void MOTOR_Init(void) { - HAL_TIM_PWM_Start(MOTOR_TIM, MOTOR_L_CHAN); - HAL_TIM_PWM_Start(MOTOR_TIM, MOTOR_R_CHAN); + HAL_TIM_PWM_Start_IT(MOTOR_TIM, MOTOR_L_CHAN); + HAL_TIM_PWM_Start_IT(MOTOR_TIM, MOTOR_R_CHAN); } /// @brief 自由滑行 @@ -37,30 +38,21 @@ void MOTOR_Stop(void) /// @brief 控制电机占空比 -/// @param leftDuty 绝对值 20-100, 支持正负 -/// @param rightDuty 绝对值 20-100，支持正负 +/// @param leftDuty 绝对值 0或20-100, 支持正负 +/// @param rightDuty 绝对值 0或20-100，支持正负 void MOTOR_SetDuty(int8_t leftDuty, int8_t rightDuty) { leftDuty = preProcess(leftDuty, MOTOR_L); rightDuty = preProcess(rightDuty, MOTOR_R); - uint16_t leftSpeed = (uint32_t)MAX_SPEED * leftDuty / 100; - __HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_L_CHAN, leftSpeed); - __HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, leftSpeed); - - uint16_t rightSpeed = (uint32_t)MAX_SPEED * rightDuty / 100; - __HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_L_CHAN, rightSpeed); - __HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, rightSpeed); + __HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_L_CHAN, leftDuty); + __HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, rightDuty); } int8_t preProcess(int8_t duty, uint8_t motor) { - if (duty >= 0) + if (duty > 0) { - if (duty > 100) - duty = 100; - else if (duty < 20) - duty = 20; if (motor & MOTOR_L) { HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_SET); @@ -71,13 +63,11 @@ int8_t preProcess(int8_t duty, uint8_t motor) HAL_GPIO_WritePin(R_FORWARD_GPIO_Port, R_FORWARD_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_RESET); } + } - else + else if (duty < 0) { - if (duty < -100) - duty = -100; - else if (duty > -20) - duty = -20; + duty = -duty; if (motor & MOTOR_L) { HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_RESET); @@ -89,5 +79,24 @@ int8_t preProcess(int8_t duty, uint8_t motor) HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_SET); } } + else + { + duty = MAX_SPEED; + if (motor & MOTOR_L) + { + HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(L_BACKWARD_GPIO_Port, L_BACKWARD_Pin, GPIO_PIN_RESET); + } + if (motor & MOTOR_R) + { + HAL_GPIO_WritePin(R_FORWARD_GPIO_Port, R_FORWARD_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_RESET); + } + } + + if (duty > MAX_SPEED) + duty = MAX_SPEED; + if (duty < MIN_SPEED) + duty = MIN_SPEED; return duty; } diff --git a/User/Src/path_plan.c b/User/Src/path_plan.c new file mode 100644 index 0000000..1654ac2 --- /dev/null +++ b/User/Src/path_plan.c @@ -0,0 +1,51 @@ + +#include "path_plan.h" + +#include "stdio.h" + +// 全局路径规划器 +PathPlanner pathPlanner; + +// 初始化路径规划器 +void PathPlanner_Init() +{ + pathPlanner.currentStep = -1; + pathPlanner.path = NULL; + pathPlanner.pathLength = 0; + SetPath(); +} + +// 设置自定义路径 +void SetPath() +{ + int i; + for (i = 0; i < 100; i++) + { + AddPathStep(LEFT); + AddPathStep(RIGHT); + AddPathStep(STRAIGHT); + } +} + +// 获取当前方向 +Direction GetCurrentDirection() +{ + return pathPlanner.path[pathPlanner.currentStep]; +} + +// 获取下一步方向 +Direction GetNextDirection() +{ + if (pathPlanner.currentStep >= pathPlanner.pathLength) + { + pathPlanner.currentStep = -1; + } + return pathPlanner.path[++pathPlanner.currentStep]; +} + +// 添加路径 +void AddPathStep(Direction step) +{ + pathPlanner.path = realloc(pathPlanner.path, ++pathPlanner.pathLength * sizeof(Direction)); + pathPlanner.path[pathPlanner.pathLength - 1] = step; +}