Cherry Pick: ✨ feat: 超声波测距

Commit: 11b1ebdc

.gitignore

@@ -5,3 +5,6 @@ MDK-ARM/DebugConfig
 MDK-ARM/CAR.uvguix.*
 MDK-ARM/startup_stm32f103xb.lst
 MDK-ARM/RTE
+
+build/
+cmake/

CAR.ioc

@@ -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.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
-PA12.GPIO_Label=SDA_C_EXTI12
+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.CustomerFirmwarePackage=
-ProjectManager.DefaultFWLocation=false
+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=

Core/Inc/hcsr04.h

@@ -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

Core/Inc/main.h

@@ -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 Echo_Pin GPIO_PIN_12
-#define SDA_C_EXTI12_GPIO_Port GPIOA
+#define Echo_GPIO_Port GPIOA
-#define SDA_C_EXTI12_EXTI_IRQn EXTI15_10_IRQn
+#define Echo_EXTI_IRQn EXTI15_10_IRQn
-#define SCL_C_Pin GPIO_PIN_15
+#define Trig_Pin GPIO_PIN_15
-#define SCL_C_GPIO_Port GPIOA
+#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

Core/Inc/stm32f1xx_hal_conf.h

@@ -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      */

Core/Src/gpio.c

@@ -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;
+  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-  HAL_GPIO_Init(SDA_C_EXTI12_GPIO_Port, &GPIO_InitStruct);
+  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;

Core/Src/hcsr04.c

@@ -1,33 +1,48 @@
 #include "hcsr04.h"
 #include "tim.h"
+#include <stdio.h>
 
-// time 的单位是 10μs
+static uint64_t time;           // 声明变量，用来计时
-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 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
+    // 禁用JTAG
-    uint32_t distance = 5000;
+    __HAL_RCC_AFIO_CLK_ENABLE();
-    HAL_GPIO_WritePin(SCL_C_GPIO_Port, SCL_C_Pin, GPIO_PIN_SET);   // 输出高电平
+    __HAL_AFIO_REMAP_SWJ_NOJTAG();
-    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
 
-    // HACK 考虑RTOS优化
+    // 注册定时器中断溢出回调
-    HAL_Delay(15);
+    HAL_TIM_RegisterCallback(&htim2, HAL_TIM_PERIOD_ELAPSED_CB_ID, HCSR04_HAL_TIM_PeriodElapsedCallback);
-
-    if (state)
-        distance = time_end * 346 / 200; // 计算距离，25°C空气中的音速为346m/s
-    return distance;
 }
 
+// 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;
+}

Core/Src/main.c

@@ -18,6 +18,7 @@
 /* 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 */
 
@@ -90,24 +94,43 @@ 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 */
 }
@@ -138,8 +161,7 @@ void SystemClock_Config(void)
 
   /** Initializes the CPU, AHB and APB buses clocks
    */
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
-                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;

Core/Src/stm32f1xx_it.c

@@ -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 */

MDK-ARM/CAR.uvoptx

@@ -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>
+      <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>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -295,11 +161,19 @@
       <LintExecutable></LintExecutable>
       <LintConfigFile></LintConfigFile>
       <bLintAuto>0</bLintAuto>
-      <Lin2Executable></Lin2Executable>
+      <bAutoGenD>0</bAutoGenD>
-      <Lin2ConfigFile></Lin2ConfigFile>
+      <LntExFlags>0</LntExFlags>
-      <bLin2Auto>0</bLin2Auto>
+      <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>

MDK-ARM/CAR.uvprojx

@@ -10,13 +10,14 @@
       <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>
+          <PackID>Keil.STM32F1xx_DFP.2.4.1</PackID>
-          <PackURL>http://www.keil.com/pack/</PackURL>
+          <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>
@@ -47,8 +48,8 @@
             <NotGenerated>0</NotGenerated>
             <InvalidFlash>1</InvalidFlash>
           </TargetStatus>
-          <OutputDirectory>car\</OutputDirectory>
+          <OutputDirectory>CAR\</OutputDirectory>
-          <OutputName>car</OutputName>
+          <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>