diff --git a/.mxproject b/.mxproject index d4a8207..4e43b66 100644 --- a/.mxproject +++ b/.mxproject @@ -3,7 +3,7 @@ LibFiles=Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_i2c.h;Drivers\STM32F1xx_ [PreviousUsedKeilFiles] SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\dma.c;..\Core\Src\i2c.c;..\Core\Src\tim.c;..\Core\Src\usart.c;..\Core\Src\stm32f1xx_it.c;..\Core\Src\stm32f1xx_hal_msp.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_i2c.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;..\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_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.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\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_i2c.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;..\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_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.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\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;;; -HeaderPath=..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Core\Inc; +HeaderPath=..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc; CDefines=USE_HAL_DRIVER;STM32F103xB;USE_HAL_DRIVER;USE_HAL_DRIVER; [PreviousUsedMakefileFiles] diff --git a/CAR.ioc b/CAR.ioc index 4f0a985..f8e7797 100644 --- a/CAR.ioc +++ b/CAR.ioc @@ -212,12 +212,12 @@ ProjectManager.ProjectName=CAR ProjectManager.ProjectStructure= ProjectManager.RegisterCallBack=TIM ProjectManager.StackSize=0x400 -ProjectManager.TargetToolchain=Makefile +ProjectManager.TargetToolchain=MDK-ARM V5.32 ProjectManager.ToolChainLocation= ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptBeforePath= ProjectManager.UnderRoot=false -ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_I2C2_Init-I2C2-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_TIM4_Init-TIM4-false-HAL-true,8-MX_USART2_UART_Init-USART2-false-HAL-true,9-MX_USART1_UART_Init-USART1-false-HAL-true +ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_I2C2_Init-I2C2-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_TIM4_Init-TIM4-false-HAL-true,8-MX_USART1_UART_Init-USART1-false-HAL-true,9-MX_USART2_UART_Init-USART2-false-HAL-true RCC.ADCFreqValue=36000000 RCC.AHBFreq_Value=72000000 RCC.APB1CLKDivider=RCC_HCLK_DIV2 @@ -268,11 +268,11 @@ TIM3.Pulse-PWM\ Generation4\ CH4=255 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.Period=0 +TIM4.Period=100 TIM4.Prescaler=720 - 1 TIM4.Pulse-PWM\ Generation1\ CH1=100 TIM4.Pulse-PWM\ Generation2\ CH2=100 -USART1.BaudRate=9600 +USART1.BaudRate=115200 USART1.IPParameters=VirtualMode,BaudRate,Parity,WordLength USART1.Parity=PARITY_NONE USART1.VirtualMode=VM_ASYNC diff --git a/Core/Inc/stm32f1xx_hal_conf.h b/Core/Inc/stm32f1xx_hal_conf.h index 6250279..0eafd5a 100644 --- a/Core/Inc/stm32f1xx_hal_conf.h +++ b/Core/Inc/stm32f1xx_hal_conf.h @@ -154,7 +154,7 @@ #define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */ #define USE_HAL_TIM_REGISTER_CALLBACKS 1U /* TIM register callback enabled */ #define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */ -#define USE_HAL_USART_REGISTER_CALLBACKS 1U /* USART register callback enabled */ +#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */ #define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */ /* ########################## Assert Selection ############################## */ diff --git a/Core/Inc/stm32f1xx_it.h b/Core/Inc/stm32f1xx_it.h index 5e2b5bf..63af3ef 100644 --- a/Core/Inc/stm32f1xx_it.h +++ b/Core/Inc/stm32f1xx_it.h @@ -57,6 +57,7 @@ void PendSV_Handler(void); void SysTick_Handler(void); void DMA1_Channel6_IRQHandler(void); void TIM2_IRQHandler(void); +void USART1_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 c867412..0d3bd6a 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -22,6 +22,7 @@ #include "i2c.h" #include "tim.h" #include "usart.h" +#include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ @@ -66,30 +67,31 @@ void SystemClock_Config(void); /* USER CODE END 0 */ /** - * @brief The application entry point. - * @retval int - */ + * @brief The application entry point. + * @retval int + */ int main(void) { - /* USER CODE BEGIN 1 */ - /* USER CODE END 1 */ + /* USER CODE BEGIN 1 */ - /* MCU Configuration--------------------------------------------------------*/ + /* USER CODE END 1 */ - /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ - HAL_Init(); + /* MCU Configuration--------------------------------------------------------*/ - /* USER CODE BEGIN Init */ + /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ + HAL_Init(); - /* USER CODE END Init */ + /* USER CODE BEGIN Init */ - /* Configure the system clock */ - SystemClock_Config(); + /* USER CODE END Init */ - /* USER CODE BEGIN SysInit */ + /* Configure the system clock */ + SystemClock_Config(); - /* USER CODE END SysInit */ + /* USER CODE BEGIN SysInit */ + + /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); @@ -109,55 +111,51 @@ int main(void) /* USER CODE BEGIN WHILE */ while (1) { - // if (sonor_state == 0) - // { - // sonar_mm(); - // } - // HAL_Delay(300); // 延时300毫秒 - /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ + } /* USER CODE END 3 */ } /** - * @brief System Clock Configuration - * @retval None - */ + * @brief System Clock Configuration + * @retval None + */ void SystemClock_Config(void) { - RCC_OscInitTypeDef RCC_OscInitStruct = {0}; - RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; + RCC_OscInitTypeDef RCC_OscInitStruct = {0}; + RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; - /** Initializes the RCC Oscillators according to the specified parameters - * in the RCC_OscInitTypeDef structure. - */ - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; - RCC_OscInitStruct.HSEState = RCC_HSE_ON; - RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; - RCC_OscInitStruct.HSIState = RCC_HSI_ON; - RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; - RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; - RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9; - if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) - { - Error_Handler(); - } + /** Initializes the RCC Oscillators according to the specified parameters + * in the RCC_OscInitTypeDef structure. + */ + RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; + RCC_OscInitStruct.HSEState = RCC_HSE_ON; + RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; + RCC_OscInitStruct.HSIState = RCC_HSI_ON; + RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; + RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; + RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9; + if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) + { + Error_Handler(); + } - /** Initializes the CPU, AHB and APB buses clocks - */ - RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2; - RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; - RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; - RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; - RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; + /** Initializes the CPU, AHB and APB buses clocks + */ + RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK + |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; + RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; + RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; + RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; + RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; - if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) - { - Error_Handler(); - } + if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) + { + Error_Handler(); + } } /* USER CODE BEGIN 4 */ @@ -165,33 +163,33 @@ void SystemClock_Config(void) /* USER CODE END 4 */ /** - * @brief This function is executed in case of error occurrence. - * @retval None - */ + * @brief This function is executed in case of error occurrence. + * @retval None + */ void Error_Handler(void) { - /* USER CODE BEGIN Error_Handler_Debug */ + /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); while (1) { } - /* USER CODE END Error_Handler_Debug */ + /* USER CODE END Error_Handler_Debug */ } -#ifdef USE_FULL_ASSERT +#ifdef USE_FULL_ASSERT /** - * @brief Reports the name of the source file and the source line number - * where the assert_param error has occurred. - * @param file: pointer to the source file name - * @param line: assert_param error line source number - * @retval None - */ + * @brief Reports the name of the source file and the source line number + * where the assert_param error has occurred. + * @param file: pointer to the source file name + * @param line: assert_param error line source number + * @retval None + */ void assert_failed(uint8_t *file, uint32_t line) { - /* USER CODE BEGIN 6 */ + /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ - /* USER CODE END 6 */ + /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */ diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c index b92439a..cd1dc7d 100644 --- a/Core/Src/stm32f1xx_it.c +++ b/Core/Src/stm32f1xx_it.c @@ -57,6 +57,7 @@ /* External variables --------------------------------------------------------*/ extern TIM_HandleTypeDef htim2; extern DMA_HandleTypeDef hdma_usart2_rx; +extern UART_HandleTypeDef huart1; extern UART_HandleTypeDef huart2; /* USER CODE BEGIN EV */ @@ -228,6 +229,20 @@ void TIM2_IRQHandler(void) /* USER CODE END TIM2_IRQn 1 */ } +/** + * @brief This function handles USART1 global interrupt. + */ +void USART1_IRQHandler(void) +{ + /* USER CODE BEGIN USART1_IRQn 0 */ + + /* USER CODE END USART1_IRQn 0 */ + HAL_UART_IRQHandler(&huart1); + /* USER CODE BEGIN USART1_IRQn 1 */ + + /* USER CODE END USART1_IRQn 1 */ +} + /** * @brief This function handles USART2 global interrupt. */ diff --git a/Core/Src/usart.c b/Core/Src/usart.c index 897a412..f0a8fb1 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -41,7 +41,7 @@ void MX_USART1_UART_Init(void) /* USER CODE END USART1_Init 1 */ huart1.Instance = USART1; - huart1.Init.BaudRate = 9600; + huart1.Init.BaudRate = 115200; huart1.Init.WordLength = UART_WORDLENGTH_8B; huart1.Init.StopBits = UART_STOPBITS_1; huart1.Init.Parity = UART_PARITY_NONE; @@ -187,6 +187,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) */ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10); + /* USART1 interrupt Deinit */ + HAL_NVIC_DisableIRQ(USART1_IRQn); /* USER CODE BEGIN USART1_MspDeInit 1 */ /* USER CODE END USART1_MspDeInit 1 */ diff --git a/MDK-ARM/CAR.uvoptx b/MDK-ARM/CAR.uvoptx index 6733efa..4243c51 100644 --- a/MDK-ARM/CAR.uvoptx +++ b/MDK-ARM/CAR.uvoptx @@ -1,4 +1,4 @@ - + 1.0 @@ -45,7 +45,7 @@ 79 66 8 - + 1 @@ -104,16 +104,16 @@ 0 0 3 - - - - - - - - - - + + + + + + + + + + BIN\CMSIS_AGDI.dll @@ -130,7 +130,7 @@ 0 ARMDBGFLAGS - + 0 @@ -140,7 +140,7 @@ 0 DLGUARM - + 0 @@ -167,7 +167,7 @@ 0 1 ..\Peripheral\Src\bluetooth.c - + \\CAR\../Peripheral/Src/bluetooth.c\34 @@ -183,7 +183,7 @@ 0 1 ..\Peripheral\Src\control.c - + \\CAR\../Peripheral/Src/control.c\32 @@ -199,8 +199,8 @@ 0 0 ..\Peripheral\Src\bluetooth.c - - + + 3 @@ -215,8 +215,8 @@ 0 0 ../Core/Src/main.c - - + + 4 @@ -231,8 +231,8 @@ 0 0 ../Core/Src/main.c - - + + @@ -287,19 +287,19 @@ 0 0 - - + + 0 0 0 - - - - - - - - + + + + + + + + 1 1 diff --git a/MDK-ARM/CAR.uvprojx b/MDK-ARM/CAR.uvprojx index 025ef48..7b23972 100644 --- a/MDK-ARM/CAR.uvprojx +++ b/MDK-ARM/CAR.uvprojx @@ -1,10 +1,7 @@ - - - + + 2.1 -
### uVision Project, (C) Keil Software
- CAR @@ -19,28 +16,28 @@ Keil.STM32F1xx_DFP.2.4.1 https://www.keil.com/pack/ IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3") TZ - - - + + + 0 - - - - - - - - - - + + + + + + + + + + $$Device:STM32F103C8$SVD\STM32F103xx.svd 0 0 - - - - - + + + + + 0 0 @@ -55,15 +52,15 @@ 1 1 1 - + 1 0 0 0 0 - - + + 0 0 0 @@ -72,8 +69,8 @@ 0 0 - - + + 0 0 0 @@ -81,16 +78,16 @@ 0 - 0 - - + 1 + + 0 0 0 0 1 - + 0 @@ -104,8 +101,8 @@ 0 0 3 - - + + 0 @@ -114,7 +111,7 @@ DCM.DLL -pCM3 SARMCM3.DLL - + TCM.DLL -pCM3 @@ -139,10 +136,10 @@ 1 BIN\UL2V8M.DLL "" () - - - - + + + + 0 @@ -175,7 +172,7 @@ 0 0 "Cortex-M3" - + 0 0 0 @@ -309,7 +306,7 @@ 0x0 - + 1 @@ -336,9 +333,9 @@ 0 0 - + USE_HAL_DRIVER,STM32F103xB - + ../App/Inc;../Core/Inc;../Peripheral/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include @@ -354,10 +351,10 @@ 0 1 - - - - + + + + @@ -367,15 +364,15 @@ 0 1 0 - - - - - - - - - + + + + + + + + + @@ -403,6 +400,11 @@ Application/User/Core + + syscalls.c + 1 + ..\Core\Src\syscalls.c + main.c 1 @@ -433,11 +435,6 @@ 1 ../Core/Src/usart.c - - syscalls.c - 1 - ..\Core\Src\syscalls.c - stm32f1xx_it.c 1 @@ -581,20 +578,18 @@ - - + - + - + - + - @@ -603,5 +598,5 @@ - + diff --git a/Peripheral/Src/bluetooth.c b/Peripheral/Src/bluetooth.c index 931e1d4..5ec1d50 100644 --- a/Peripheral/Src/bluetooth.c +++ b/Peripheral/Src/bluetooth.c @@ -15,7 +15,7 @@ static uint8_t cmdIndex; void BLUETOOTH_Init(void) { - HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100); + HAL_UARTEx_ReceiveToIdle_IT(&huart2, rxBuffer, 100); // HAL_UART_Receive_IT(&huart2, txBuffer + txLen, 1); }