合并：完善小车巡线运动
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@ -44,7 +44,7 @@ void LINESEEK_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim)
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if (beep_time++ > 100)
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{
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buzzer(0);
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HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_SET);
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}
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}
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@ -255,7 +255,7 @@ void Hanlde_Crossroad(void)
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}
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beep_time = 0;
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buzzer(1);
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HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_RESET);
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// state = MOVE_STRAIGHT;
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// buzzer(1);
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// HAL_Delay(50);
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@ -3,6 +3,7 @@
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#include "hcsr04.h"
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#include "main.h"
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#include "led.h"
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#include "path_plan.h"
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#define BLOCK_DISTANCE 150
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@ -106,10 +106,6 @@ void Error_Handler(void);
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/* USER CODE BEGIN Private defines */
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#define LOW (0)
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#define HIGH (1)
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#define LEFT (0)
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#define STRAIGHT (1)
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#define RIGHT (2)
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#define STOP (3)
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/* USER CODE END Private defines */
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#ifdef __cplusplus
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@ -57,9 +57,9 @@ void PendSV_Handler(void);
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void SysTick_Handler(void);
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void DMA1_Channel6_IRQHandler(void);
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void TIM2_IRQHandler(void);
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void USART1_IRQHandler(void);
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void TIM3_IRQHandler(void);
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void TIM4_IRQHandler(void);
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void USART1_IRQHandler(void);
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void USART2_IRQHandler(void);
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void EXTI15_10_IRQHandler(void);
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/* USER CODE BEGIN EFP */
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@ -102,11 +102,12 @@ int main(void)
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_I2C2_Init();
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MX_TIM1_Init();
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MX_TIM2_Init();
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MX_TIM3_Init();
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MX_TIM4_Init();
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// MX_USART2_UART_Init();
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MX_USART1_UART_Init();
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// MX_USART2_UART_Init();
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/* USER CODE BEGIN 2 */
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HC_SR04_Init();
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@ -1,20 +1,20 @@
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file stm32f1xx_it.c
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* @brief Interrupt Service Routines.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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******************************************************************************
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* @file stm32f1xx_it.c
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* @brief Interrupt Service Routines.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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@ -77,9 +77,9 @@ void NMI_Handler(void)
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/* USER CODE END NonMaskableInt_IRQn 0 */
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/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
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while (1)
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{
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}
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while (1)
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{
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}
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/* USER CODE END NonMaskableInt_IRQn 1 */
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}
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@ -232,17 +232,6 @@ void TIM2_IRQHandler(void)
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}
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/**
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* @brief This function handles USART1 global interrupt.
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*/
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void USART1_IRQHandler(void)
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{
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/* USER CODE BEGIN USART1_IRQn 0 */
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/* USER CODE END USART1_IRQn 0 */
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HAL_UART_IRQHandler(&huart1);
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/* USER CODE BEGIN USART1_IRQn 1 */
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/* USER CODE END USART1_IRQn 1 */
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* @brief This function handles TIM3 global interrupt.
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*/
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void TIM3_IRQHandler(void)
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@ -270,6 +259,20 @@ void TIM4_IRQHandler(void)
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/* USER CODE END TIM4_IRQn 1 */
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}
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/**
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* @brief This function handles USART1 global interrupt.
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*/
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void USART1_IRQHandler(void)
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{
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/* USER CODE BEGIN USART1_IRQn 0 */
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/* USER CODE END USART1_IRQn 0 */
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HAL_UART_IRQHandler(&huart1);
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/* USER CODE BEGIN USART1_IRQn 1 */
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/* USER CODE END USART1_IRQn 1 */
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}
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/**
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* @brief This function handles USART2 global interrupt.
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*/
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24
Makefile
24
Makefile
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@ -1,5 +1,5 @@
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##########################################################################################################################
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# File automatically-generated by tool: [projectgenerator] version: [4.4.0-B60] date: [Tue Jul 16 20:05:56 CST 2024]
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# File automatically-generated by tool: [projectgenerator] version: [4.4.0-B60] date: [Wed Jul 17 21:44:09 CST 2024]
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##########################################################################################################################
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# ------------------------------------------------
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@ -62,14 +62,18 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c \
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Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c \
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Core/Src/system_stm32f1xx.c \
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Core/Src/sysmem.c \
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User/Src/hcsr04.c \
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User/Src/motor.c \
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User/Src/led.c \
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User/Src/bluetooth.c \
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User/Src/control.c \
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User/Src/line_seek.c \
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User/Src/path_plan.c \
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App/Src/app_line_seek.c
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Peripheral/Src/hcsr04.c \
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Peripheral/Src/motor.c \
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Peripheral/Src/led.c \
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Peripheral/Src/bluetooth.c \
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Peripheral/Src/control.c \
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Peripheral/Src/line_seek.c \
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Peripheral/Src/path_plan.c \
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Peripheral/Src/servo.c \
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Peripheral/Src/infrared.c \
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App/Src/app_line_seek.c \
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App/Src/app_ultrasonic.c
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# ASM sources
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ASM_SOURCES = \
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@ -130,7 +134,7 @@ AS_INCLUDES =
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# C includes
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C_INCLUDES = \
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-ICore/Inc \
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-IUser/Inc \
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-IPeripheral/Inc \
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-IApp/Inc \
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-IDrivers/STM32F1xx_HAL_Driver/Inc \
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-IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy \
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@ -78,7 +78,7 @@ void CONTROL_Mode(uint8_t new_mode, uint8_t state)
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case MODE_REMOTE:
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speed = 20;
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MOTOR_SetDuty(speed, speed);
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MOTOR_Start();
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MOTOR_Init();
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break;
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case MODE_PATROL:
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break;
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@ -98,7 +98,7 @@ void carMove(uint8_t state)
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MOTOR_Stop();
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else
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{
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MOTOR_Start();
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MOTOR_Init();
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switch (state)
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{
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// 前进
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@ -1,29 +0,0 @@
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#ifndef __PATH_PLAN_H
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#define __PATH_PLAN_H
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// 定义方向枚举
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typedef enum
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{
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STRAIGHT,
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LEFT,
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RIGHT,
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STOP
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} Direction;
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// 定义路径规划器结构
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typedef struct
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{
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int currentStep;
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Direction* path;
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int pathLength;
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} PathPlanner;
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// 全局路径规划器
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extern PathPlanner pathPlanner;
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void PathPlanner_Init();
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Direction GetCurrentDirection();
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Direction GetNextDirection();
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void AddPathStep(Direction step);
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#endif
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