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Cherry Pick: ✨ feat: 超声波测距

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Commit: 11b1ebdc
This commit is contained in:
EN 2024-07-13 22:50:55 +08:00
parent 5ed416bc55
commit c96a1e3f0d
11 changed files with 178 additions and 284 deletions
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5
.gitignore vendored
View File

@ -4,4 +4,7 @@ MDK-ARM/CAR
MDK-ARM/DebugConfig
MDK-ARM/CAR.uvguix.*
MDK-ARM/startup_stm32f103xb.lst
MDK-ARM/RTE
MDK-ARM/RTE
build/
cmake/

15
CAR.ioc
View File

@ -92,9 +92,10 @@ PA1.PinState=GPIO_PIN_SET
PA1.Signal=GPIO_Output
PA10.Mode=Asynchronous
PA10.Signal=USART1_RX
PA12.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
PA12.GPIO_Label=SDA_C_EXTI12
PA12.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
PA12.GPIO_Label=Echo
PA12.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
PA12.GPIO_PuPd=GPIO_PULLDOWN
PA12.Locked=true
PA12.Signal=GPXTI12
PA13.Mode=Serial_Wire
@ -102,7 +103,7 @@ PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK
PA15.GPIOParameters=GPIO_Speed,GPIO_Label
PA15.GPIO_Label=SCL_C
PA15.GPIO_Label=Trig
PA15.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA15.Locked=true
PA15.Signal=GPIO_Output
@ -167,8 +168,8 @@ ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=true
ProjectManager.CustomerFirmwarePackage=..\\stm32\\STM32Cube_FW_F1_V1.8.0
ProjectManager.DefaultFWLocation=false
ProjectManager.CustomerFirmwarePackage=
ProjectManager.DefaultFWLocation=true
ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32F103C8Tx
ProjectManager.FirmwarePackage=STM32Cube FW_F1 V1.8.5
@ -176,7 +177,7 @@ ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=false
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1
ProjectManager.MainLocation=Core/Src
ProjectManager.NoMain=false
@ -185,7 +186,7 @@ ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=CAR.ioc
ProjectManager.ProjectName=CAR
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=
ProjectManager.RegisterCallBack=TIM
ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=MDK-ARM V5.32
ProjectManager.ToolChainLocation=

9
Core/Inc/hcsr04.h
View File

@ -3,6 +3,13 @@
#include "main.h"
uint16_t sonar(void);
extern uint32_t sonor_distance; // 测量出的距离，单位mm
extern uint8_t sonor_state; // 测距状态变量，0：未测量，1：正在测量，2：已测量
void HC_SR04_Init(void);
uint32_t sonar_mm(void);
// 测距完毕回调，执行完自定义任务后将sonor_state置0
void Sonar_CP_Callback();
#endif

10
Core/Inc/main.h
View File

@ -71,11 +71,11 @@ void Error_Handler(void);
#define MPU6050_SCL_GPIO_Port GPIOB
#define MPU6050_SDA_Pin GPIO_PIN_11
#define MPU6050_SDA_GPIO_Port GPIOB
#define SDA_C_EXTI12_Pin GPIO_PIN_12
#define SDA_C_EXTI12_GPIO_Port GPIOA
#define SDA_C_EXTI12_EXTI_IRQn EXTI15_10_IRQn
#define SCL_C_Pin GPIO_PIN_15
#define SCL_C_GPIO_Port GPIOA
#define Echo_Pin GPIO_PIN_12
#define Echo_GPIO_Port GPIOA
#define Echo_EXTI_IRQn EXTI15_10_IRQn
#define Trig_Pin GPIO_PIN_15
#define Trig_GPIO_Port GPIOA
#define R_FORWARD_Pin GPIO_PIN_4
#define R_FORWARD_GPIO_Port GPIOB
#define R_BACKWARD_Pin GPIO_PIN_5

2
Core/Inc/stm32f1xx_hal_conf.h
View File

@ -152,7 +152,7 @@
#define USE_HAL_IRDA_REGISTER_CALLBACKS 0U /* IRDA register callback disabled */
#define USE_HAL_SRAM_REGISTER_CALLBACKS 0U /* SRAM register callback disabled */
#define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */
#define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */
#define USE_HAL_TIM_REGISTER_CALLBACKS 1U /* TIM register callback disabled */
#define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */
#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */
#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */

12
Core/Src/gpio.c
View File

@ -53,7 +53,7 @@ void MX_GPIO_Init(void)
HAL_GPIO_WritePin(GPIOA, FM_K2_POWERC_Pin|FAN_GS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(SCL_C_GPIO_Port, SCL_C_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, R_FORWARD_Pin|R_BACKWARD_Pin|L_BACKWARD_Pin|L_FORWARD_Pin, GPIO_PIN_RESET);
@ -66,17 +66,17 @@ void MX_GPIO_Init(void)
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = SDA_C_EXTI12_Pin;
GPIO_InitStruct.Pin = Echo_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(SDA_C_EXTI12_GPIO_Port, &GPIO_InitStruct);
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(Echo_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = SCL_C_Pin;
GPIO_InitStruct.Pin = Trig_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(SCL_C_GPIO_Port, &GPIO_InitStruct);
HAL_GPIO_Init(Trig_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PBPin PBPin PBPin PBPin */
GPIO_InitStruct.Pin = R_FORWARD_Pin|R_BACKWARD_Pin|L_BACKWARD_Pin|L_FORWARD_Pin;

68
Core/Src/hcsr04.c
View File

@ -1,33 +1,48 @@
#include "hcsr04.h"
#include "tim.h"
#include <stdio.h>
// time 的单位是 10μs
static volatile uint64_t time; // 声明变量，用来计时
static uint64_t time_end; // 声明变量，存储回波信号时间
static uint8_t state;
static uint64_t time; // 声明变量，用来计时
static uint64_t time_end; // 声明变量，存储回波信号时间
static int16_t delay_time = -1; // 用于延时
uint8_t sonor_state; // 测距状态变量，0：未测量，1：正在测量，2：已测量
uint32_t sonor_distance; // 测量出的距离，单位mm
// HACK 临时的 delay 解决方法
void delay_us(uint16_t us);
void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim);
uint16_t sonar(void) // 测距并返回单位为毫米的距离结果
// 初始化超声波测距
void HC_SR04_Init(void)
{
// 超时则返回5m距离
uint32_t distance = 5000;
HAL_GPIO_WritePin(SCL_C_GPIO_Port, SCL_C_Pin, GPIO_PIN_SET); // 输出高电平
delay_us(15); // 延时15微秒
HAL_GPIO_WritePin(SCL_C_GPIO_Port, SCL_C_Pin, GPIO_PIN_RESET); // 输出低电平
// 禁用JTAG
__HAL_RCC_AFIO_CLK_ENABLE();
__HAL_AFIO_REMAP_SWJ_NOJTAG();
// HACK 考虑RTOS优化
HAL_Delay(15);
if (state)
distance = time_end * 346 / 200; // 计算距离，25°C空气中的音速为346m/s
return distance;
// 注册定时器中断溢出回调
HAL_TIM_RegisterCallback(&htim2, HAL_TIM_PERIOD_ELAPSED_CB_ID, HCSR04_HAL_TIM_PeriodElapsedCallback);
}
// 启动测距，单位：mm
uint32_t sonar_mm(void)
{
sonor_state = 1;
HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_SET); // 输出高电平
delay_us(15); // 延时15微秒
HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_RESET); // 输出低电平
if (time_end / 100 < 38)
{ // 判断是否小于38毫秒，大于38毫秒的就是超时，直接调到下面返回0
sonor_distance = (time_end * 346) / 2; // 计算距离，25°C空气中的音速为346m/s
sonor_distance = sonor_distance / 100; // 因为上面的time_end的单位是10微秒，所以要得出单位为毫米的距离结果，还得除以100
}
return sonor_distance;
}
/// @brief 微秒级延时
/// @param us 取值范围0-32767
void delay_us(uint16_t us)
{
if (us == 0)
return;
delay_time = us;
time = 0;
HAL_TIM_Base_Start_IT(&htim2);
@ -36,21 +51,22 @@ void delay_us(uint16_t us)
delay_time = -1;
}
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if (htim == &htim2)
{
// 每10us自增一
++time;
if (delay_us > 0 && time == delay_time)
if (delay_us > 0 && time * 10 >= delay_time)
HAL_TIM_Base_Stop_IT(&htim2);
}
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if (GPIO_Pin == SDA_C_EXTI12_Pin)
if (GPIO_Pin == Echo_Pin)
{
if (HAL_GPIO_ReadPin(SDA_C_EXTI12_GPIO_Port, SDA_C_EXTI12_Pin))
if (HAL_GPIO_ReadPin(Echo_GPIO_Port, Echo_Pin))
{
time = 0;
HAL_TIM_Base_Start_IT(&htim2);
@ -59,7 +75,15 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
time_end = time;
HAL_TIM_Base_Stop_IT(&htim2);
state = 1;
sonor_state = 2;
Sonar_CP_Callback();
}
}
}
// 测距完毕回调，执行完自定义任务后将sonor_state置0
__attribute__((weak)) void Sonar_CP_Callback()
{
printf("distance = %d (mm)\n", sonor_distance);
sonor_state = 0;
}

100
Core/Src/main.c
View File

@ -1,23 +1,24 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
@ -25,7 +26,10 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include "bluetooth.h"
#include "led.h"
#include "hcsr04.h"
#include "motor.h"
/* USER CODE END Includes */
@ -62,9 +66,9 @@ 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)
{
@ -90,40 +94,59 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_I2C2_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_USART1_UART_Init();
// MX_USART1_UART_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HC_SR04_Init();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
int Distance_mm = sonar_mm();
int Distance_m = Distance_mm / 1000;
int Distance_m_p = Distance_mm % 1000;
printf("Distance_mm = %d\n", Distance_mm);
printf("Distance_m = %d\n", Distance_m);
printf("Distance_m_p = %d\n", Distance_m_p);
if (Distance_mm < 100)
{
LED_Start(LED_R);
MOTOR_Start();
}
else
{
LED_Stop(LED_R);
MOTOR_Stop();
}
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};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
@ -137,9 +160,8 @@ void SystemClock_Config(void)
}
/** 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.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;
@ -156,9 +178,9 @@ 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 */
@ -170,14 +192,14 @@ void Error_Handler(void)
/* 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 */

2
Core/Src/stm32f1xx_it.c
View File

@ -265,7 +265,7 @@ void EXTI15_10_IRQHandler(void)
/* USER CODE BEGIN EXTI15_10_IRQn 0 */
/* USER CODE END EXTI15_10_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(SDA_C_EXTI12_Pin);
HAL_GPIO_EXTI_IRQHandler(Echo_Pin);
/* USER CODE BEGIN EXTI15_10_IRQn 1 */
/* USER CODE END EXTI15_10_IRQn 1 */

160
MDK-ARM/CAR.uvoptx
View File

@ -78,33 +78,6 @@
<IsCurrentTarget>1</IsCurrentTarget>
</OPTFL>
<CpuCode>18</CpuCode>
<Books>
<Book>
<Number>0</Number>
<Title>Quick Start Guide (MCBSTM32E)</Title>
<Path>E:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\STM32E_QSG.pdf</Path>
</Book>
<Book>
<Number>1</Number>
<Title>Base Board Schematics (MCBSTM32E)</Title>
<Path>E:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e-base-board-schematics.pdf</Path>
</Book>
<Book>
<Number>2</Number>
<Title>Display Board Schematics (MCBSTM32E)</Title>
<Path>E:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e-display-board-schematics.pdf</Path>
</Book>
<Book>
<Number>3</Number>
<Title>User Manual (MCBSTM32E)</Title>
<Path>E:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e.chm</Path>
</Book>
<Book>
<Number>4</Number>
<Title>MCBSTM32E Evaluation Board Web Page (MCBSTM32E)</Title>
<Path>http://www.keil.com/mcbstm32e/</Path>
</Book>
</Books>
<DebugOpt>
<uSim>0</uSim>
<uTrg>1</uTrg>
@ -127,7 +100,10 @@
<tRSysVw>1</tRSysVw>
<sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime>
<nTsel>2</nTsel>
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>3</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@ -141,31 +117,6 @@
<pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key>
<Name>-L70 -Z18 -C0 -M0 -T1</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGTARM</Key>
<Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMDBGFLAGS</Key>
<Name></Name>
</SetRegEntry>
<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($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>UL2CM3</Key>
@ -177,92 +128,7 @@
<Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>39</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134225148</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\Core\Src\hcsr04.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/hcsr04.c\39</Expression>
</Bp>
<Bp>
<Number>1</Number>
<Type>0</Type>
<LineNumber>98</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134229854</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>../Core/Src/main.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/main.c\98</Expression>
</Bp>
<Bp>
<Number>2</Number>
<Type>0</Type>
<LineNumber>45</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134220846</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\Core\Src\hcsr04.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/hcsr04.c\45</Expression>
</Bp>
<Bp>
<Number>3</Number>
<Type>0</Type>
<LineNumber>32</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134229764</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\Core\Src\hcsr04.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/hcsr04.c\32</Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>time</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>distance</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>
<WinNumber>1</WinNumber>
<SubType>0</SubType>
<ItemText>&amp;rxSize</ItemText>
<AccSizeX>0</AccSizeX>
</Mm>
</MemoryWindow1>
<Breakpoint/>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
@ -295,11 +161,19 @@
<LintExecutable></LintExecutable>
<LintConfigFile></LintConfigFile>
<bLintAuto>0</bLintAuto>
<Lin2Executable></Lin2Executable>
<Lin2ConfigFile></Lin2ConfigFile>
<bLin2Auto>0</bLin2Auto>
<bAutoGenD>0</bAutoGenD>
<LntExFlags>0</LntExFlags>
<pMisraName></pMisraName>
<pszMrule></pszMrule>
<pSingCmds></pSingCmds>
<pMultCmds></pMultCmds>
<pMisraNamep></pMisraNamep>
<pszMrulep></pszMrulep>
<pSingCmdsp></pSingCmdsp>
<pMultCmdsp></pMultCmdsp>
<DebugDescription>
<Enable>1</Enable>
<EnableFlashSeq>1</EnableFlashSeq>
<EnableLog>0</EnableLog>
<Protocol>2</Protocol>
<DbgClock>10000000</DbgClock>
@ -309,7 +183,7 @@
<Group>
<GroupName>Application/MDK-ARM</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

79
MDK-ARM/CAR.uvprojx
View File

@ -10,14 +10,15 @@
<TargetName>CAR</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>5060300::V5.06 update 3 (build 300)::ARMCC</pCCUsed>
<pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
<uAC6>0</uAC6>
<TargetOption>
<TargetCommonOption>
<Device>STM32F103C8</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F1xx_DFP.2.2.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3") TZ</Cpu>
<PackID>Keil.STM32F1xx_DFP.2.4.1</PackID>
<PackURL>https://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3") TZ</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>
<FlashDriverDll></FlashDriverDll>
@ -47,8 +48,8 @@
<NotGenerated>0</NotGenerated>
<InvalidFlash>1</InvalidFlash>
</TargetStatus>
<OutputDirectory>car\</OutputDirectory>
<OutputName>car</OutputName>
<OutputDirectory>CAR\</OutputDirectory>
<OutputName>CAR</OutputName>
<CreateExecutable>1</CreateExecutable>
<CreateLib>0</CreateLib>
<CreateHexFile>1</CreateHexFile>
@ -183,6 +184,8 @@
<hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam>
<RvdsVP>0</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<hadIRAM2>0</hadIRAM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
@ -323,6 +326,7 @@
<uThumb>0</uThumb>
<uSurpInc>0</uSurpInc>
<uC99>1</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO>
<v6Lang>5</v6Lang>
<v6LangP>3</v6LangP>
@ -335,7 +339,7 @@
<MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F103xB</Define>
<Undefine></Undefine>
<IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include</IncludePath>
<IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include</IncludePath>
</VariousControls>
</Cads>
<Aads>
@ -348,7 +352,7 @@
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
<uClangAs>0</uClangAs>
<ClangAsOpt>1</ClangAsOpt>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -428,56 +432,6 @@
<FileName>dma.c</FileName>
<FileType>1</FileType>
<FilePath>../Core/Src/dma.c</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
<File>
<FileName>i2c.c</FileName>
@ -616,4 +570,13 @@
<files/>
</RTE>
<LayerInfo>
<Layers>
<Layer>
<LayName>CAR</LayName>
<LayPrjMark>1</LayPrjMark>
</Layer>
</Layers>
</LayerInfo>
</Project>