✨ feat: 完善小车巡线运动

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

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
+        is_crossing = 0;
-        HAL_Delay(80);
     }
-    else if (LineL1 == LOW && (LineR1 == LOW || LineR2 == LOW)) // 右大弯
+
+    if (is_crossing && GetCurrentDirection() == STRAIGHT)
     {
-        MOTOR_SetDuty(30, -30); // 右旋
+        LineSeek_Status[0] = '1';
-        HAL_Delay(80);
+        LineSeek_Status[3] = '1';
     }
-    else if (LineL1 == LOW) // 左最外侧检测
+
+    switch (state)
     {
-        MOTOR_SetDuty(-50, 50); // 左旋
+        case MOVE_STRAIGHT: // 直行
-        HAL_Delay(10);
+            MOTOR_SetDuty(HIGH_SPEED, HIGH_SPEED);
-    }
+            if (LineSeek_Equals("0000")) // 十字路口
-    else if (LineR2 == LOW) // 右最外侧检测
+            {
-    {
+                Hanlde_Crossroad();
-        MOTOR_SetDuty(50, -50); // 右旋
+            }
-        HAL_Delay(10);
+            else if (LineSeek_Equals("1011")) // 左微调
-    }
+            {
-    else if (LineL2 == LOW && LineR1 == HIGH) // 中间黑线上的传感器微调车左转
+                state = TUNE_LEFT;
-    {
+            }
-        MOTOR_SetDuty(0, 50); // 左转
+            else if (LineSeek_Equals("1101")) // 右微调
-    }
+            {
-    else if (LineL2 == HIGH && LineR1 == LOW) // 中间黑线上的传感器微调车右转
+                state = TUNE_RIGHT;
-    {
+            }
-        MOTOR_SetDuty(50, 0); // 右转
+            else if (LineSeek_Equals("0001")) // 左直角
-    }
+            {
-    else if (LineL2 == LOW && LineR1 == LOW) // 都是黑色, 加速前进
+                turn_time = 0;
-    {
+                state = TURN_LEFT;
-        MOTOR_SetDuty(50, 50); // 直走
+            }
+            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);
 }

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
+    }
+}

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

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 */

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();
-
+    MOTOR_Init();
-    /* USER CODE BEGIN 2 */
+    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(HUART1, "%s\r\n", *pData);
-        my_printf(HUART2, "test huart2\r\n");
 
-        // 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
 

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.
   */

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();
@@ -150,7 +150,7 @@ void MX_TIM4_Init(void)
   htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
   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 */

MDK-ARM/CAR.uvoptx

@@ -135,7 +135,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-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($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
+          <Name>-X"CMSIS-DAP_LU" -ULU_2022_8888 -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>

MDK-ARM/CAR.uvprojx

@@ -81,7 +81,7 @@
           </BeforeMake>
           <AfterMake>
             <RunUserProg1>0</RunUserProg1>
-            <RunUserProg2>1</RunUserProg2>
+            <RunUserProg2>0</RunUserProg2>
             <UserProg1Name></UserProg1Name>
             <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>

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

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
+    

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

User/Inc/line_seek.h

@@ -1,7 +1,10 @@
 #ifndef __LINE_SEEK_H__
 #define __LINE_SEEK_H__
 
-//  获取巡线状态
+extern char LineSeek_Status[5];
-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);
+char *LineSeek_GetStatusStr();
+int LineSeek_Equals(const char *expression);
 
 #endif

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);

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

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;
+}

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_IT(MOTOR_TIM, MOTOR_L_CHAN);
-	HAL_TIM_PWM_Start(MOTOR_TIM, MOTOR_R_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 leftDuty 绝对值 0或20-100, 支持正负
-/// @param rightDuty 绝对值 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, leftDuty);
-	__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_L_CHAN, leftSpeed);
+	__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, rightDuty);
-	__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);
 }
 
 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 = -duty;
-			duty = -100;
-		else if (duty > -20)
-			duty = -20;
 		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;
 }

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;
+}