From 0aaaa8f610ae4adf57863864101dfdf6344c1ca4 Mon Sep 17 00:00:00 2001
From: JasonChen <2805998671@qq.com>
Date: Mon, 15 Jul 2024 15:04:02 +0800
Subject: [PATCH 1/6] =?UTF-8?q?=E5=88=A0=E9=99=A4CAR.uvguix.lenovo?=
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---
MDK-ARM/CAR.uvguix.lenovo | 1941 -------------------------------------
1 file changed, 1941 deletions(-)
delete mode 100644 MDK-ARM/CAR.uvguix.lenovo
diff --git a/MDK-ARM/CAR.uvguix.lenovo b/MDK-ARM/CAR.uvguix.lenovo
deleted file mode 100644
index ac660df..0000000
--- a/MDK-ARM/CAR.uvguix.lenovo
+++ /dev/null
@@ -1,1941 +0,0 @@
-
-
-
- -6.1
-
- ### uVision Project, (C) Keil Software
-
-
- D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\MDK-ARM
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- 1900FFFF01001100434D4643546F6F6C426172427574746F6ECC880000000000000000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000018017800000000000000100000000000000000000000000000000010000000100000001801D800000000000000200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001801A800000000000000300000000000000000000000000000000010000000100000001801B80000000000000040000000000000000000000000000000001000000010000000180E57F0000000000000500000000000000000000000000000000010000000100000001801C800000000000000600000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000018000890000000000000700000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180E48B000000000000080000000000000000000000000000000001000000010000000180F07F000000000000090000000000000000000000000000000001000000010000000180E8880000000000000A00000000000000000000000000000000010000000100000001803B010000000000000B0000000000000000000000000000000001000000010000000180BB8A0000000000000C0000000000000000000000000000000001000000010000000180D88B0000000000000D0000000000000000000000000000000001000000010000000180D28B0000000000000E000000000000000000000000000000000100000001000000018093070000000000000F0000000000000000000000000000000001000000010000000180658A000000000000100000000000000000000000000000000001000000010000000180C18A000000000000110000000000000000000000000000000001000000010000000180EE8B0000000000001200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180018900000000000013000000000000000000000000000000000100000001000000
-
-
-
- 0
- 1463
- 914
-
-
-
-
-
- 1
- 0
-
- 100
- 1
-
- ../Core/Src/system_stm32f1xx.c
- 0
- 1
- 1
- 1
-
- 0
-
-
- ../Core/Src/main.c
- 0
- 106
- 114
- 1
-
- 0
-
-
- ..\User\Src\bluetooth.c
- 0
- 42
- 64
- 1
-
- 0
-
-
- ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h
- 0
- 1835
- 1857
- 1
-
- 0
-
-
- ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h
- 0
- 254
- 274
- 1
-
- 0
-
-
- ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h
- 0
- 726
- 748
- 1
-
- 0
-
-
- ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h
- 0
- 354
- 376
- 1
-
- 0
-
-
- ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h
- 0
- 1132
- 1154
- 1
-
- 0
-
-
-
-
-
From a88ab88eb56d94baba339f893835937d7bbe1dc9 Mon Sep 17 00:00:00 2001
From: JasonChen <2805998671@qq.com>
Date: Wed, 17 Jul 2024 21:19:00 +0800
Subject: [PATCH 2/6] =?UTF-8?q?=E2=9C=A8=20feat:=20=E5=AE=8C=E5=96=84?=
=?UTF-8?q?=E5=B0=8F=E8=BD=A6=E5=B7=A1=E7=BA=BF=E8=BF=90=E5=8A=A8?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
App/Inc/app_line_seek.h | 4 +
App/Src/app_line_seek.c | 291 +++++++++++++++++++++++++++++++----
App/Src/app_line_seek_v1.c | 88 +++++++++++
CAR.ioc | 8 +-
Core/Inc/stm32f1xx_it.h | 2 +
Core/Src/main.c | 27 +++-
Core/Src/stm32f1xx_it.c | 30 ++++
Core/Src/tim.c | 20 ++-
MDK-ARM/CAR.uvoptx | 2 +-
MDK-ARM/CAR.uvprojx | 2 +-
Makefile | 3 +-
STM32-for-VSCode.config.yaml | 109 +++++++++++++
STM32Make.make | 24 ++-
User/Inc/line_seek.h | 7 +-
User/Inc/motor.h | 2 +-
User/Inc/path_plan.h | 29 ++++
User/Src/line_seek.c | 29 +++-
User/Src/motor.c | 53 ++++---
User/Src/path_plan.c | 51 ++++++
19 files changed, 705 insertions(+), 76 deletions(-)
create mode 100644 App/Src/app_line_seek_v1.c
create mode 100644 STM32-for-VSCode.config.yaml
create mode 100644 User/Inc/path_plan.h
create mode 100644 User/Src/path_plan.c
diff --git a/App/Inc/app_line_seek.h b/App/Inc/app_line_seek.h
index f1d1bf2..3c94856 100644
--- a/App/Inc/app_line_seek.h
+++ b/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
\ No newline at end of file
diff --git a/App/Src/app_line_seek.c b/App/Src/app_line_seek.c
index 31d27d0..4d99641 100644
--- a/App/Src/app_line_seek.c
+++ b/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
- HAL_Delay(80);
+ is_crossing = 0;
}
- else if (LineL1 == LOW && (LineR1 == LOW || LineR2 == LOW)) // 右大弯
+
+ if (is_crossing && GetCurrentDirection() == STRAIGHT)
{
- MOTOR_SetDuty(30, -30); // 右旋
- HAL_Delay(80);
+ LineSeek_Status[0] = '1';
+ LineSeek_Status[3] = '1';
}
- else if (LineL1 == LOW) // 左最外侧检测
+
+ switch (state)
{
- MOTOR_SetDuty(-50, 50); // 左旋
- HAL_Delay(10);
- }
- else if (LineR2 == LOW) // 右最外侧检测
- {
- MOTOR_SetDuty(50, -50); // 右旋
- HAL_Delay(10);
- }
- else if (LineL2 == LOW && LineR1 == HIGH) // 中间黑线上的传感器微调车左转
- {
- MOTOR_SetDuty(0, 50); // 左转
- }
- else if (LineL2 == HIGH && LineR1 == LOW) // 中间黑线上的传感器微调车右转
- {
- MOTOR_SetDuty(50, 0); // 右转
- }
- else if (LineL2 == LOW && LineR1 == LOW) // 都是黑色, 加速前进
- {
- MOTOR_SetDuty(50, 50); // 直走
+ case MOVE_STRAIGHT: // 直行
+ MOTOR_SetDuty(HIGH_SPEED, HIGH_SPEED);
+ if (LineSeek_Equals("0000")) // 十字路口
+ {
+ Hanlde_Crossroad();
+ }
+ else if (LineSeek_Equals("1011")) // 左微调
+ {
+ state = TUNE_LEFT;
+ }
+ else if (LineSeek_Equals("1101")) // 右微调
+ {
+ state = TUNE_RIGHT;
+ }
+ else if (LineSeek_Equals("0001")) // 左直角
+ {
+ turn_time = 0;
+ state = TURN_LEFT;
+ }
+ 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);
+}
\ No newline at end of file
diff --git a/App/Src/app_line_seek_v1.c b/App/Src/app_line_seek_v1.c
new file mode 100644
index 0000000..09e17bc
--- /dev/null
+++ b/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
+ }
+}
diff --git a/CAR.ioc b/CAR.ioc
index d149822..c40e3ad 100644
--- a/CAR.ioc
+++ b/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
diff --git a/Core/Inc/stm32f1xx_it.h b/Core/Inc/stm32f1xx_it.h
index 5e2b5bf..cff0343 100644
--- a/Core/Inc/stm32f1xx_it.h
+++ b/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 */
diff --git a/Core/Src/main.c b/Core/Src/main.c
index c01329c..de33485 100644
--- a/Core/Src/main.c
+++ b/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();
-
- /* USER CODE BEGIN 2 */
-
+ MOTOR_Init();
+ 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(HUART2, "test huart2\r\n");
+ // my_printf(HUART1, "%s\r\n", *pData);
- // 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
diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index b92439a..cb4fe63 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/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.
*/
diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index ec3e6eb..f6251a7 100644
--- a/Core/Src/tim.c
+++ b/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();
@@ -148,9 +148,9 @@ void MX_TIM4_Init(void)
htim4.Instance = TIM4;
htim4.Init.Prescaler = 720 - 1;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
- htim4.Init.Period = 100;
+ 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 */
diff --git a/MDK-ARM/CAR.uvoptx b/MDK-ARM/CAR.uvoptx
index 2c48a98..0aa7cdf 100644
--- a/MDK-ARM/CAR.uvoptx
+++ b/MDK-ARM/CAR.uvoptx
@@ -135,7 +135,7 @@
0
CMSIS_AGDI
- -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($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)
+ -X"CMSIS-DAP_LU" -ULU_2022_8888 -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)
0
diff --git a/MDK-ARM/CAR.uvprojx b/MDK-ARM/CAR.uvprojx
index 2bbd6d4..c32984b 100644
--- a/MDK-ARM/CAR.uvprojx
+++ b/MDK-ARM/CAR.uvprojx
@@ -81,7 +81,7 @@
0
- 1
+ 0
0
diff --git a/Makefile b/Makefile
index 616ba71..fe629d7 100644
--- a/Makefile
+++ b/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
diff --git a/STM32-for-VSCode.config.yaml b/STM32-for-VSCode.config.yaml
new file mode 100644
index 0000000..223e224
--- /dev/null
+++ b/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
+
\ No newline at end of file
diff --git a/STM32Make.make b/STM32Make.make
index 7a3b0e7..059cdd7 100644
--- a/STM32Make.make
+++ b/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
diff --git a/User/Inc/line_seek.h b/User/Inc/line_seek.h
index 1ff2bdb..7954ed2 100644
--- a/User/Inc/line_seek.h
+++ b/User/Inc/line_seek.h
@@ -1,7 +1,10 @@
#ifndef __LINE_SEEK_H__
#define __LINE_SEEK_H__
-// 获取巡线状态
-void LineSeek_Get(int *p_iL1, int *p_iL2, int *p_iR1, int *p_iR2);
+extern char LineSeek_Status[5];
+
+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
\ No newline at end of file
diff --git a/User/Inc/motor.h b/User/Inc/motor.h
index 35d7a45..4a408f1 100644
--- a/User/Inc/motor.h
+++ b/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);
diff --git a/User/Inc/path_plan.h b/User/Inc/path_plan.h
new file mode 100644
index 0000000..3cb03cd
--- /dev/null
+++ b/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
diff --git a/User/Src/line_seek.c b/User/Src/line_seek.c
index 4c16608..0261ad8 100644
--- a/User/Src/line_seek.c
+++ b/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;
+}
diff --git a/User/Src/motor.c b/User/Src/motor.c
index 33d20f5..d5f7ba6 100644
--- a/User/Src/motor.c
+++ b/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(MOTOR_TIM, MOTOR_R_CHAN);
+ HAL_TIM_PWM_Start_IT(MOTOR_TIM, MOTOR_L_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 rightDuty 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 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, leftSpeed);
- __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);
+ __HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_L_CHAN, leftDuty);
+ __HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, rightDuty);
}
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 = -100;
- else if (duty > -20)
- duty = -20;
+ duty = -duty;
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;
}
diff --git a/User/Src/path_plan.c b/User/Src/path_plan.c
new file mode 100644
index 0000000..1654ac2
--- /dev/null
+++ b/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;
+}
From 87c8df4faf8dd394c11ab9892fce9accc8b64d8d Mon Sep 17 00:00:00 2001
From: JasonChen <2805998671@qq.com>
Date: Mon, 15 Jul 2024 15:04:02 +0800
Subject: [PATCH 3/6] =?UTF-8?q?=E5=88=A0=E9=99=A4CAR.uvguix.lenovo?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
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MDK-ARM/CAR.uvguix.lenovo | 1941 -------------------------------------
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-
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- -6.1
-
- ### uVision Project, (C) Keil Software
-
-
- D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\MDK-ARM
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- 1900FFFF01001100434D4643546F6F6C426172427574746F6ECC880000000000000000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000018017800000000000000100000000000000000000000000000000010000000100000001801D800000000000000200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001801A800000000000000300000000000000000000000000000000010000000100000001801B80000000000000040000000000000000000000000000000001000000010000000180E57F0000000000000500000000000000000000000000000000010000000100000001801C800000000000000600000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000018000890000000000000700000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180E48B000000000000080000000000000000000000000000000001000000010000000180F07F000000000000090000000000000000000000000000000001000000010000000180E8880000000000000A00000000000000000000000000000000010000000100000001803B010000000000000B0000000000000000000000000000000001000000010000000180BB8A0000000000000C0000000000000000000000000000000001000000010000000180D88B0000000000000D0000000000000000000000000000000001000000010000000180D28B0000000000000E000000000000000000000000000000000100000001000000018093070000000000000F0000000000000000000000000000000001000000010000000180658A000000000000100000000000000000000000000000000001000000010000000180C18A000000000000110000000000000000000000000000000001000000010000000180EE8B0000000000001200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180018900000000000013000000000000000000000000000000000100000001000000
-
-
-
- 0
- 1463
- 914
-
-
-
-
-
- 1
- 0
-
- 100
- 1
-
- ../Core/Src/system_stm32f1xx.c
- 0
- 1
- 1
- 1
-
- 0
-
-
- ../Core/Src/main.c
- 0
- 106
- 114
- 1
-
- 0
-
-
- ..\User\Src\bluetooth.c
- 0
- 42
- 64
- 1
-
- 0
-
-
- ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h
- 0
- 1835
- 1857
- 1
-
- 0
-
-
- ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h
- 0
- 254
- 274
- 1
-
- 0
-
-
- ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h
- 0
- 726
- 748
- 1
-
- 0
-
-
- ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h
- 0
- 354
- 376
- 1
-
- 0
-
-
- ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h
- 0
- 1132
- 1154
- 1
-
- 0
-
-
-
-
-
From 7ae55eee361146182234e1923198541da507ab55 Mon Sep 17 00:00:00 2001
From: JasonChen <2805998671@qq.com>
Date: Wed, 17 Jul 2024 21:19:00 +0800
Subject: [PATCH 4/6] =?UTF-8?q?=E2=9C=A8=20feat:=20=E5=AE=8C=E5=96=84?=
=?UTF-8?q?=E5=B0=8F=E8=BD=A6=E5=B7=A1=E7=BA=BF=E8=BF=90=E5=8A=A8?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
App/Inc/app_line_seek.h | 4 +
App/Src/app_line_seek.c | 291 +++++++++++++++++++++++++++++++----
App/Src/app_line_seek_v1.c | 88 +++++++++++
CAR.ioc | 8 +-
Core/Inc/stm32f1xx_it.h | 2 +
Core/Src/main.c | 190 +++++++++++++----------
Core/Src/stm32f1xx_it.c | 27 ++++
Core/Src/tim.c | 20 ++-
MDK-ARM/CAR.uvoptx | 2 +-
MDK-ARM/CAR.uvprojx | 2 +-
Makefile | 3 +-
Peripheral/Inc/line_seek.h | 7 +-
Peripheral/Inc/motor.h | 2 +-
Peripheral/Inc/path_plan.h | 29 ++++
Peripheral/Src/line_seek.c | 31 +++-
Peripheral/Src/motor.c | 8 +-
Peripheral/Src/path_plan.c | 51 ++++++
STM32-for-VSCode.config.yaml | 109 +++++++++++++
STM32Make.make | 24 ++-
19 files changed, 762 insertions(+), 136 deletions(-)
create mode 100644 App/Src/app_line_seek_v1.c
create mode 100644 Peripheral/Inc/path_plan.h
create mode 100644 Peripheral/Src/path_plan.c
create mode 100644 STM32-for-VSCode.config.yaml
diff --git a/App/Inc/app_line_seek.h b/App/Inc/app_line_seek.h
index f1d1bf2..3c94856 100644
--- a/App/Inc/app_line_seek.h
+++ b/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
\ No newline at end of file
diff --git a/App/Src/app_line_seek.c b/App/Src/app_line_seek.c
index 31d27d0..4d99641 100644
--- a/App/Src/app_line_seek.c
+++ b/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
- HAL_Delay(80);
+ is_crossing = 0;
}
- else if (LineL1 == LOW && (LineR1 == LOW || LineR2 == LOW)) // 右大弯
+
+ if (is_crossing && GetCurrentDirection() == STRAIGHT)
{
- MOTOR_SetDuty(30, -30); // 右旋
- HAL_Delay(80);
+ LineSeek_Status[0] = '1';
+ LineSeek_Status[3] = '1';
}
- else if (LineL1 == LOW) // 左最外侧检测
+
+ switch (state)
{
- MOTOR_SetDuty(-50, 50); // 左旋
- HAL_Delay(10);
- }
- else if (LineR2 == LOW) // 右最外侧检测
- {
- MOTOR_SetDuty(50, -50); // 右旋
- HAL_Delay(10);
- }
- else if (LineL2 == LOW && LineR1 == HIGH) // 中间黑线上的传感器微调车左转
- {
- MOTOR_SetDuty(0, 50); // 左转
- }
- else if (LineL2 == HIGH && LineR1 == LOW) // 中间黑线上的传感器微调车右转
- {
- MOTOR_SetDuty(50, 0); // 右转
- }
- else if (LineL2 == LOW && LineR1 == LOW) // 都是黑色, 加速前进
- {
- MOTOR_SetDuty(50, 50); // 直走
+ case MOVE_STRAIGHT: // 直行
+ MOTOR_SetDuty(HIGH_SPEED, HIGH_SPEED);
+ if (LineSeek_Equals("0000")) // 十字路口
+ {
+ Hanlde_Crossroad();
+ }
+ else if (LineSeek_Equals("1011")) // 左微调
+ {
+ state = TUNE_LEFT;
+ }
+ else if (LineSeek_Equals("1101")) // 右微调
+ {
+ state = TUNE_RIGHT;
+ }
+ else if (LineSeek_Equals("0001")) // 左直角
+ {
+ turn_time = 0;
+ state = TURN_LEFT;
+ }
+ 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);
+}
\ No newline at end of file
diff --git a/App/Src/app_line_seek_v1.c b/App/Src/app_line_seek_v1.c
new file mode 100644
index 0000000..09e17bc
--- /dev/null
+++ b/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
+ }
+}
diff --git a/CAR.ioc b/CAR.ioc
index fbc58ae..aeeb1fe 100644
--- a/CAR.ioc
+++ b/CAR.ioc
@@ -86,6 +86,8 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_2
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.SysTick_IRQn=true\:2\: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.USART1_IRQn=true\:3\:1\:true\:false\:true\:true\:true\:true
NVIC.USART2_IRQn=true\:3\:0\:true\:false\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -278,19 +280,21 @@ 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
diff --git a/Core/Inc/stm32f1xx_it.h b/Core/Inc/stm32f1xx_it.h
index 63af3ef..3f1ab9b 100644
--- a/Core/Inc/stm32f1xx_it.h
+++ b/Core/Inc/stm32f1xx_it.h
@@ -58,6 +58,8 @@ void SysTick_Handler(void);
void DMA1_Channel6_IRQHandler(void);
void TIM2_IRQHandler(void);
void USART1_IRQHandler(void);
+void TIM3_IRQHandler(void);
+void TIM4_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 e0a7a4b..de33485 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -18,16 +18,21 @@
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
+
#include "dma.h"
+#include "gpio.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
-#include "gpio.h"
/* 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 */
@@ -67,96 +72,113 @@ 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 BEGIN 1 */
+ uint8_t pData[10] = {1, 2, 3};
+ /* USER CODE END 1 */
- /* USER CODE END 1 */
+ /* MCU Configuration--------------------------------------------------------*/
- /* MCU Configuration--------------------------------------------------------*/
+ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+ HAL_Init();
- /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
- HAL_Init();
+ /* USER CODE BEGIN Init */
- /* USER CODE BEGIN Init */
+ /* USER CODE END Init */
- /* USER CODE END Init */
+ /* Configure the system clock */
+ SystemClock_Config();
- /* Configure the system clock */
- SystemClock_Config();
+ /* USER CODE BEGIN SysInit */
- /* USER CODE BEGIN SysInit */
+ /* USER CODE END SysInit */
- /* USER CODE END SysInit */
+ /* Initialize all configured peripherals */
+ MX_GPIO_Init();
+ MX_DMA_Init();
+ MX_I2C2_Init();
+ MX_TIM2_Init();
+ MX_TIM3_Init();
+ MX_TIM4_Init();
+ // MX_USART2_UART_Init();
+ MX_USART1_UART_Init();
- /* Initialize all configured peripherals */
- MX_GPIO_Init();
- MX_DMA_Init();
- MX_I2C2_Init();
- MX_TIM1_Init();
- MX_TIM2_Init();
- MX_TIM3_Init();
- MX_TIM4_Init();
- // MX_USART1_UART_Init();
- MX_USART2_UART_Init();
- /* USER CODE BEGIN 2 */
- BLUETOOTH_Init();
- HC_SR04_Init();
- /* USER CODE END 2 */
+ /* USER CODE BEGIN 2 */
+ HC_SR04_Init();
+ BLUETOOTH_Init();
+ MOTOR_Init();
+ PathPlanner_Init();
+ LineSeek_Init();
+ /* USER CODE END 2 */
- /* Infinite loop */
- /* USER CODE BEGIN WHILE */
- while (1)
- {
- /* USER CODE END WHILE */
-
- /* USER CODE BEGIN 3 */
-
- }
- /* USER CODE END 3 */
+ /* Infinite loop */
+ /* USER CODE BEGIN WHILE */
+ while (1)
+ {
+ // my_printf(HUART1, "%s\r\n", *pData);
+
+ // 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
+
+ /* 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 */
@@ -164,33 +186,33 @@ 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 9258712..748479e 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/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 huart1;
extern UART_HandleTypeDef huart2;
@@ -241,6 +243,31 @@ void USART1_IRQHandler(void)
/* USER CODE BEGIN USART1_IRQn 1 */
/* USER CODE END USART1_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 */
}
/**
diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index 5ff3c10..a263420 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -158,7 +158,7 @@ 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();
@@ -218,9 +218,9 @@ void MX_TIM4_Init(void)
htim4.Instance = TIM4;
htim4.Init.Prescaler = 720 - 1;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
- htim4.Init.Period = 100;
+ 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();
@@ -295,6 +295,10 @@ 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 */
@@ -306,6 +310,10 @@ 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 */
@@ -418,6 +426,9 @@ 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 */
@@ -429,6 +440,9 @@ 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 */
diff --git a/MDK-ARM/CAR.uvoptx b/MDK-ARM/CAR.uvoptx
index 2478158..9521874 100644
--- a/MDK-ARM/CAR.uvoptx
+++ b/MDK-ARM/CAR.uvoptx
@@ -135,7 +135,7 @@
0
CMSIS_AGDI
- -X"" -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)
+ -X"CMSIS-DAP_LU" -ULU_2022_8888 -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)
0
diff --git a/MDK-ARM/CAR.uvprojx b/MDK-ARM/CAR.uvprojx
index f392583..78067dd 100644
--- a/MDK-ARM/CAR.uvprojx
+++ b/MDK-ARM/CAR.uvprojx
@@ -81,7 +81,7 @@
0
- 1
+ 0
0
diff --git a/Makefile b/Makefile
index 616ba71..fe629d7 100644
--- a/Makefile
+++ b/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
diff --git a/Peripheral/Inc/line_seek.h b/Peripheral/Inc/line_seek.h
index 7873655..7954ed2 100644
--- a/Peripheral/Inc/line_seek.h
+++ b/Peripheral/Inc/line_seek.h
@@ -1,9 +1,10 @@
#ifndef __LINE_SEEK_H__
#define __LINE_SEEK_H__
-#include "main.h"
+extern char LineSeek_Status[5];
-// 获取巡线状态
-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
\ No newline at end of file
diff --git a/Peripheral/Inc/motor.h b/Peripheral/Inc/motor.h
index 35d7a45..4a408f1 100644
--- a/Peripheral/Inc/motor.h
+++ b/Peripheral/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);
diff --git a/Peripheral/Inc/path_plan.h b/Peripheral/Inc/path_plan.h
new file mode 100644
index 0000000..3cb03cd
--- /dev/null
+++ b/Peripheral/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
diff --git a/Peripheral/Src/line_seek.c b/Peripheral/Src/line_seek.c
index 446215a..5779674 100644
--- a/Peripheral/Src/line_seek.c
+++ b/Peripheral/Src/line_seek.c
@@ -1,14 +1,43 @@
#include "line_seek.h"
+#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;
+}
diff --git a/Peripheral/Src/motor.c b/Peripheral/Src/motor.c
index cf1860b..d5f7ba6 100644
--- a/Peripheral/Src/motor.c
+++ b/Peripheral/Src/motor.c
@@ -3,7 +3,7 @@
#include "tim.h"
#define MAX_SPEED 100
-#define MIN_SPEED 15
+#define MIN_SPEED 5
#define MOTOR_L 1
#define MOTOR_R 2
#define MOTOR_TIM (&htim4)
@@ -12,10 +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(MOTOR_TIM, MOTOR_R_CHAN);
+ HAL_TIM_PWM_Start_IT(MOTOR_TIM, MOTOR_L_CHAN);
+ HAL_TIM_PWM_Start_IT(MOTOR_TIM, MOTOR_R_CHAN);
}
/// @brief 自由滑行
diff --git a/Peripheral/Src/path_plan.c b/Peripheral/Src/path_plan.c
new file mode 100644
index 0000000..1654ac2
--- /dev/null
+++ b/Peripheral/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;
+}
diff --git a/STM32-for-VSCode.config.yaml b/STM32-for-VSCode.config.yaml
new file mode 100644
index 0000000..223e224
--- /dev/null
+++ b/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
+
\ No newline at end of file
diff --git a/STM32Make.make b/STM32Make.make
index 7a3b0e7..059cdd7 100644
--- a/STM32Make.make
+++ b/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
From 2efc1e837530c825f4dade6d6c04c8bad9d0f8a4 Mon Sep 17 00:00:00 2001
From: JasonChen <2805998671@qq.com>
Date: Wed, 17 Jul 2024 21:30:41 +0800
Subject: [PATCH 5/6] =?UTF-8?q?feat:=20=E5=B0=8F=E8=BD=A6=E5=B7=A1?=
=?UTF-8?q?=E7=BA=BF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
User/Inc/path_plan.h | 29 +++++++++++++++++++++++++++++
1 file changed, 29 insertions(+)
create mode 100644 User/Inc/path_plan.h
diff --git a/User/Inc/path_plan.h b/User/Inc/path_plan.h
new file mode 100644
index 0000000..3cb03cd
--- /dev/null
+++ b/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
From bb23d452ca81823e5b3544e4dbdfd3149fc94c43 Mon Sep 17 00:00:00 2001
From: JasonChen <2805998671@qq.com>
Date: Wed, 17 Jul 2024 22:14:32 +0800
Subject: [PATCH 6/6] =?UTF-8?q?=E5=90=88=E5=B9=B6=EF=BC=9A=E5=AE=8C?=
=?UTF-8?q?=E5=96=84=E5=B0=8F=E8=BD=A6=E5=B7=A1=E7=BA=BF=E8=BF=90=E5=8A=A8?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
App/Src/app_line_seek.c | 4 +--
App/Src/app_ultrasonic.c | 1 +
Core/Inc/main.h | 4 ---
Core/Inc/stm32f1xx_it.h | 2 +-
Core/Src/main.c | 3 +-
Core/Src/stm32f1xx_it.c | 61 +++++++++++++++++++++-------------------
Core/Src/tim.c | 2 +-
Makefile | 24 +++++++++-------
Peripheral/Src/control.c | 4 +--
User/Inc/path_plan.h | 29 -------------------
10 files changed, 55 insertions(+), 79 deletions(-)
delete mode 100644 User/Inc/path_plan.h
diff --git a/App/Src/app_line_seek.c b/App/Src/app_line_seek.c
index 4d99641..5e1e5ae 100644
--- a/App/Src/app_line_seek.c
+++ b/App/Src/app_line_seek.c
@@ -44,7 +44,7 @@ void LINESEEK_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim)
if (beep_time++ > 100)
{
- buzzer(0);
+ HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_SET);
}
}
@@ -255,7 +255,7 @@ void Hanlde_Crossroad(void)
}
beep_time = 0;
- buzzer(1);
+ HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_RESET);
// state = MOVE_STRAIGHT;
// buzzer(1);
// HAL_Delay(50);
diff --git a/App/Src/app_ultrasonic.c b/App/Src/app_ultrasonic.c
index 724a251..2a2e5c2 100644
--- a/App/Src/app_ultrasonic.c
+++ b/App/Src/app_ultrasonic.c
@@ -3,6 +3,7 @@
#include "hcsr04.h"
#include "main.h"
#include "led.h"
+#include "path_plan.h"
#define BLOCK_DISTANCE 150
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index afa8e32..d01cff8 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -106,10 +106,6 @@ void Error_Handler(void);
/* USER CODE BEGIN Private defines */
#define LOW (0)
#define HIGH (1)
-#define LEFT (0)
-#define STRAIGHT (1)
-#define RIGHT (2)
-#define STOP (3)
/* USER CODE END Private defines */
#ifdef __cplusplus
diff --git a/Core/Inc/stm32f1xx_it.h b/Core/Inc/stm32f1xx_it.h
index 3f1ab9b..64ba1a0 100644
--- a/Core/Inc/stm32f1xx_it.h
+++ b/Core/Inc/stm32f1xx_it.h
@@ -57,9 +57,9 @@ void PendSV_Handler(void);
void SysTick_Handler(void);
void DMA1_Channel6_IRQHandler(void);
void TIM2_IRQHandler(void);
-void USART1_IRQHandler(void);
void TIM3_IRQHandler(void);
void TIM4_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 de33485..883b377 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -102,11 +102,12 @@ int main(void)
MX_GPIO_Init();
MX_DMA_Init();
MX_I2C2_Init();
+ MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
- // MX_USART2_UART_Init();
MX_USART1_UART_Init();
+ // MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HC_SR04_Init();
diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index 748479e..fb7ced6 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -1,20 +1,20 @@
/* USER CODE BEGIN Header */
/**
- ******************************************************************************
- * @file stm32f1xx_it.c
- * @brief Interrupt Service Routines.
- ******************************************************************************
- * @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 stm32f1xx_it.c
+ * @brief Interrupt Service Routines.
+ ******************************************************************************
+ * @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 ------------------------------------------------------------------*/
@@ -77,9 +77,9 @@ void NMI_Handler(void)
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
- while (1)
- {
- }
+ while (1)
+ {
+ }
/* USER CODE END NonMaskableInt_IRQn 1 */
}
@@ -232,17 +232,6 @@ void TIM2_IRQHandler(void)
}
/**
- * @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 TIM3 global interrupt.
*/
void TIM3_IRQHandler(void)
@@ -270,6 +259,20 @@ void TIM4_IRQHandler(void)
/* USER CODE END TIM4_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/tim.c b/Core/Src/tim.c
index a263420..72c4bcd 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -218,7 +218,7 @@ void MX_TIM4_Init(void)
htim4.Instance = TIM4;
htim4.Init.Prescaler = 720 - 1;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
- htim4.Init.Period = 100;
+ htim4.Init.Period = 100;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
diff --git a/Makefile b/Makefile
index fe629d7..3b62267 100644
--- a/Makefile
+++ b/Makefile
@@ -1,5 +1,5 @@
##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.4.0-B60] date: [Tue Jul 16 20:05:56 CST 2024]
+# File automatically-generated by tool: [projectgenerator] version: [4.4.0-B60] date: [Wed Jul 17 21:44:09 CST 2024]
##########################################################################################################################
# ------------------------------------------------
@@ -62,14 +62,18 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c \
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c \
Core/Src/system_stm32f1xx.c \
Core/Src/sysmem.c \
-User/Src/hcsr04.c \
-User/Src/motor.c \
-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
+Peripheral/Src/hcsr04.c \
+Peripheral/Src/motor.c \
+Peripheral/Src/led.c \
+Peripheral/Src/bluetooth.c \
+Peripheral/Src/control.c \
+Peripheral/Src/line_seek.c \
+Peripheral/Src/path_plan.c \
+Peripheral/Src/servo.c \
+Peripheral/Src/infrared.c \
+App/Src/app_line_seek.c \
+App/Src/app_ultrasonic.c
+
# ASM sources
ASM_SOURCES = \
@@ -130,7 +134,7 @@ AS_INCLUDES =
# C includes
C_INCLUDES = \
-ICore/Inc \
--IUser/Inc \
+-IPeripheral/Inc \
-IApp/Inc \
-IDrivers/STM32F1xx_HAL_Driver/Inc \
-IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy \
diff --git a/Peripheral/Src/control.c b/Peripheral/Src/control.c
index 9765e99..e5afd94 100644
--- a/Peripheral/Src/control.c
+++ b/Peripheral/Src/control.c
@@ -78,7 +78,7 @@ void CONTROL_Mode(uint8_t new_mode, uint8_t state)
case MODE_REMOTE:
speed = 20;
MOTOR_SetDuty(speed, speed);
- MOTOR_Start();
+ MOTOR_Init();
break;
case MODE_PATROL:
break;
@@ -98,7 +98,7 @@ void carMove(uint8_t state)
MOTOR_Stop();
else
{
- MOTOR_Start();
+ MOTOR_Init();
switch (state)
{
// 前进
diff --git a/User/Inc/path_plan.h b/User/Inc/path_plan.h
deleted file mode 100644
index 3cb03cd..0000000
--- a/User/Inc/path_plan.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#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