实现蓝牙协议解析

CAR.ioc

@@ -2,21 +2,33 @@
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
+Dma.Request0=USART2_RX
+Dma.RequestsNb=1
+Dma.USART2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART2_RX.0.Instance=DMA1_Channel6
+Dma.USART2_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART2_RX.0.MemInc=DMA_MINC_ENABLE
+Dma.USART2_RX.0.Mode=DMA_NORMAL
+Dma.USART2_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART2_RX.0.PeriphInc=DMA_PINC_DISABLE
+Dma.USART2_RX.0.Priority=DMA_PRIORITY_HIGH
+Dma.USART2_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 Mcu.CPN=STM32F103C8T6
 Mcu.Family=STM32F1
-Mcu.IP0=I2C2
+Mcu.IP0=DMA
-Mcu.IP1=NVIC
+Mcu.IP1=I2C2
-Mcu.IP2=RCC
+Mcu.IP2=NVIC
-Mcu.IP3=SYS
+Mcu.IP3=RCC
-Mcu.IP4=TIM2
+Mcu.IP4=SYS
-Mcu.IP5=TIM3
+Mcu.IP5=TIM2
-Mcu.IP6=TIM4
+Mcu.IP6=TIM3
-Mcu.IP7=USART1
+Mcu.IP7=TIM4
-Mcu.IP8=USART2
+Mcu.IP8=USART1
-Mcu.IPNb=9
+Mcu.IP9=USART2
+Mcu.IPNb=10
 Mcu.Name=STM32F103C(8-B)Tx
 Mcu.Package=LQFP48
 Mcu.Pin0=PD0-OSC_IN
@@ -53,6 +65,7 @@ Mcu.UserName=STM32F103C8Tx
 MxCube.Version=6.12.0
 MxDb.Version=DB.6.0.120
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.DMA1_Channel6_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.EXTI15_10_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=false
@@ -64,6 +77,7 @@ 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.USART1_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
@@ -153,8 +167,8 @@ ProjectManager.BackupPrevious=false
 ProjectManager.CompilerOptimize=6
 ProjectManager.ComputerToolchain=false
 ProjectManager.CoupleFile=true
-ProjectManager.CustomerFirmwarePackage=
+ProjectManager.CustomerFirmwarePackage=..\\stm32\\STM32Cube_FW_F1_V1.8.0
-ProjectManager.DefaultFWLocation=true
+ProjectManager.DefaultFWLocation=false
 ProjectManager.DeletePrevious=true
 ProjectManager.DeviceId=STM32F103C8Tx
 ProjectManager.FirmwarePackage=STM32Cube FW_F1 V1.8.5
@@ -178,7 +192,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_I2C2_Init-I2C2-false-HAL-true,4-MX_TIM2_Init-TIM2-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_TIM4_Init-TIM4-false-HAL-true,7-MX_USART1_UART_Init-USART1-false-HAL-true,8-MX_USART2_UART_Init-USART2-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_I2C2_Init-I2C2-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_TIM4_Init-TIM4-false-HAL-true,8-MX_USART1_UART_Init-USART1-false-HAL-true,9-MX_USART2_UART_Init-USART2-false-HAL-true
 RCC.ADCFreqValue=36000000
 RCC.AHBFreq_Value=72000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@@ -215,7 +229,7 @@ SH.S_TIM4_CH2.ConfNb=1
 TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
 TIM2.IPParameters=Prescaler,Period,AutoReloadPreload
 TIM2.Period=72 - 1
-TIM2.Prescaler=0
+TIM2.Prescaler=10 - 1
 TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
@@ -234,11 +248,15 @@ TIM4.Prescaler=720 - 1
 TIM4.Pulse-PWM\ Generation1\ CH1=100
 TIM4.Pulse-PWM\ Generation2\ CH2=100
 USART1.BaudRate=115200
-USART1.IPParameters=VirtualMode,BaudRate
+USART1.IPParameters=VirtualMode,BaudRate,Parity,WordLength
+USART1.Parity=PARITY_NONE
 USART1.VirtualMode=VM_ASYNC
+USART1.WordLength=WORDLENGTH_8B
 USART2.BaudRate=9600
-USART2.IPParameters=VirtualMode,BaudRate
+USART2.IPParameters=VirtualMode,BaudRate,Parity,WordLength
+USART2.Parity=PARITY_NONE
 USART2.VirtualMode=VM_ASYNC
+USART2.WordLength=WORDLENGTH_8B
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 VP_TIM2_VS_ClockSourceINT.Mode=Internal

Core/Inc/dma.h

@@ -0,0 +1,52 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    dma.h
+  * @brief   This file contains all the function prototypes for
+  *          the dma.c file
+  ******************************************************************************
+  * @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 */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __DMA_H__
+#define __DMA_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* DMA memory to memory transfer handles -------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_DMA_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __DMA_H__ */
+

Core/Inc/motor.h

@@ -5,8 +5,6 @@
 
 #include "main.h"
 
-// duty in [-100, 100]
-
 void MOTOR_Start(void);
 void MOTOR_Slip(void);
 void MOTOR_Stop(void);

Core/Inc/stm32f1xx_hal_conf.h

@@ -42,7 +42,7 @@
 /*#define HAL_CORTEX_MODULE_ENABLED   */
 /*#define HAL_CRC_MODULE_ENABLED   */
 /*#define HAL_DAC_MODULE_ENABLED   */
-/*#define HAL_DMA_MODULE_ENABLED   */
+#define HAL_DMA_MODULE_ENABLED
 /*#define HAL_ETH_MODULE_ENABLED   */
 /*#define HAL_FLASH_MODULE_ENABLED   */
 #define HAL_GPIO_MODULE_ENABLED

Core/Inc/stm32f1xx_it.h

@@ -55,7 +55,9 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void DMA1_Channel6_IRQHandler(void);
 void TIM2_IRQHandler(void);
+void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
 /* USER CODE BEGIN EFP */

Core/Src/bluetooth.c

@@ -1,23 +1,24 @@
 #include "bluetooth.h"
 #include "usart.h"
 #include "control.h"
-#include "stdio.h"
+#include <stdio.h>
+#include <string.h>
 
 #define BUFFER_SIZE 100
 #define MESSAGE_SIZE 19
 #define CMD_NUM 9
 
-static uint8_t rxBuffer[BUFFER_SIZE], rxSize;
+static int8_t rxBuffer[BUFFER_SIZE], txBuffer[BUFFER_SIZE];
-static uint8_t txBuffer[BUFFER_SIZE], txSize;
 static uint8_t cmdIndex;
 
 void BLUETOOTH_Init(void)
 {
-    rxSize = 0;
+    HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100);
-    HAL_UART_Receive_IT(&huart2, rxBuffer, 1);
 }
 
-void receiveCmd()
+void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
+{
+    if (huart == &huart2 && rxBuffer[0] == '$' && rxBuffer[Size - 1] == '#')
     {
         // 通用协议
         if (rxBuffer[2] == ',')
@@ -51,25 +52,14 @@ void receiveCmd()
 
                 // 模式选择
             case 'M':
-            sscanf(rxBuffer + 5, "%*4s%lc%lc", num, num + 1);
+                sscanf(rxBuffer + 5, "%*4s%c%c", num, num + 1);
                 CONTROL_Mode(num[0] - '0', num[1] - '0');
                 break;
             }
         }
-    HAL_UART_Transmit(&huart1, rxBuffer, rxSize, 1000);
+        memcpy(txBuffer, rxBuffer, Size);
-}
+				printf("%s", txBuffer);
-
+        HAL_UART_Transmit_IT(&huart2, txBuffer, Size);
-void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
-{
-    if (huart == &huart2)
-    {
-        if (rxSize && rxBuffer[rxSize] == '#')
-        {
-            if (++rxSize > 10)
-                receiveCmd();
         BLUETOOTH_Init();
     }
-        else if (rxSize++ == 0 && rxBuffer[0] == '$')
-            HAL_UART_Receive_IT(&huart2, rxBuffer + rxSize, 1);
-    }
 }

Core/Src/dma.c

@@ -0,0 +1,55 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    dma.c
+  * @brief   This file provides code for the configuration
+  *          of all the requested memory to memory DMA transfers.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "dma.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/*----------------------------------------------------------------------------*/
+/* Configure DMA                                                              */
+/*----------------------------------------------------------------------------*/
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/**
+  * Enable DMA controller clock
+  */
+void MX_DMA_Init(void)
+{
+
+  /* DMA controller clock enable */
+  __HAL_RCC_DMA1_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA1_Channel6_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
+
+}
+
+/* USER CODE BEGIN 2 */
+
+/* USER CODE END 2 */
+

Core/Src/hcsr04.c

@@ -1,10 +1,11 @@
 #include "hcsr04.h"
 #include "tim.h"
 
-// time 的单位是 1μs
+// time 的单位是 10μs
 static volatile uint64_t time; // 声明变量，用来计时
 static uint64_t time_end;      // 声明变量，存储回波信号时间
-static uint8_t state = 0;
+static uint8_t state;
+static int16_t delay_time = -1; // 用于延时
 
 // HACK 临时的 delay 解决方法
 void delay_us(uint16_t us);
@@ -21,23 +22,28 @@ uint16_t sonar(void) // 测距并返回单位为毫米的距离结果
     HAL_Delay(15);
 
     if (state)
-        distance = time_end * 346 / 2000; // 计算距离，25°C空气中的音速为346m/s
+        distance = time_end * 346 / 200; // 计算距离，25°C空气中的音速为346m/s
     return distance;
 }
 
 void delay_us(uint16_t us)
 {
-    HAL_TIM_Base_Start_IT(&htim2);
+    delay_time = us;
     time = 0;
+    HAL_TIM_Base_Start_IT(&htim2);
     while (time < us)
         ;
-    HAL_TIM_Base_Stop_IT(&htim2);
+    delay_time = -1;
 }
 
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 {
     if (htim == &htim2)
+    {
         ++time;
+        if (delay_us > 0 && time == delay_time)
+            HAL_TIM_Base_Stop_IT(&htim2);
+    }
 }
 
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)

Core/Src/motor.c

@@ -17,6 +17,8 @@ void MOTOR_Start(void)
 	HAL_TIM_PWM_Start(MOTOR_TIM, MOTOR_R_CHAN);
 }
 
+/// @brief 自由滑行
+/// @param  
 void MOTOR_Slip(void)
 {
 	HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin | L_BACKWARD_Pin | R_FORWARD_Pin | R_BACKWARD_Pin, GPIO_PIN_RESET);
@@ -24,6 +26,8 @@ void MOTOR_Slip(void)
 	__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, MAX_SPEED);
 }
 
+/// @brief 刹车
+/// @param  
 void MOTOR_Stop(void)
 {
 	HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin | L_BACKWARD_Pin | R_FORWARD_Pin | R_BACKWARD_Pin, GPIO_PIN_RESET);
@@ -31,6 +35,10 @@ void MOTOR_Stop(void)
 	__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, 0);
 }
 
+/// @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
 void MOTOR_SetDuty(int8_t leftDuty, int8_t rightDuty)
 {
 	leftDuty = preProcess(leftDuty, MOTOR_L);
@@ -47,13 +55,12 @@ void MOTOR_SetDuty(int8_t leftDuty, int8_t rightDuty)
 
 int8_t preProcess(int8_t duty, uint8_t motor)
 {
-	if (duty > 100)
-		duty = 100;
-	else if (duty < -100)
-		duty = -100;
-
 	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);
@@ -67,6 +74,10 @@ int8_t preProcess(int8_t duty, uint8_t motor)
 	}
 	else
 	{
+		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_RESET);

Core/Src/stm32f1xx_it.c

@@ -56,6 +56,8 @@
 
 /* External variables --------------------------------------------------------*/
 extern TIM_HandleTypeDef htim2;
+extern DMA_HandleTypeDef hdma_usart2_rx;
+extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;
 /* USER CODE BEGIN EV */
 
@@ -199,6 +201,20 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32f1xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles DMA1 channel6 global interrupt.
+  */
+void DMA1_Channel6_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel6_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel6_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart2_rx);
+  /* USER CODE BEGIN DMA1_Channel6_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel6_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM2 global interrupt.
   */
@@ -213,6 +229,20 @@ void TIM2_IRQHandler(void)
   /* USER CODE END TIM2_IRQn 1 */
 }
 
+/**
+  * @brief This function handles USART1 global interrupt.
+  */
+void USART1_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART1_IRQn 0 */
+
+  /* USER CODE END USART1_IRQn 0 */
+  HAL_UART_IRQHandler(&huart1);
+  /* USER CODE BEGIN USART1_IRQn 1 */
+
+  /* USER CODE END USART1_IRQn 1 */
+}
+
 /**
   * @brief This function handles USART2 global interrupt.
   */

Core/Src/tim.c

@@ -43,7 +43,7 @@ void MX_TIM2_Init(void)
 
   /* USER CODE END TIM2_Init 1 */
   htim2.Instance = TIM2;
-  htim2.Init.Prescaler = 0;
+  htim2.Init.Prescaler = 10 - 1;
   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
   htim2.Init.Period = 72 - 1;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;

Core/Src/usart.c

@@ -26,6 +26,7 @@
 
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
+DMA_HandleTypeDef hdma_usart2_rx;
 
 /* USART1 init function */
 
@@ -113,6 +114,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* USART1 interrupt Init */
+    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspInit 1 */
 
   /* USER CODE END USART1_MspInit 1 */
@@ -140,6 +144,23 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* USART2 DMA Init */
+    /* USART2_RX Init */
+    hdma_usart2_rx.Instance = DMA1_Channel6;
+    hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart2_rx.Init.Mode = DMA_NORMAL;
+    hdma_usart2_rx.Init.Priority = DMA_PRIORITY_HIGH;
+    if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
+
     /* USART2 interrupt Init */
     HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
     HAL_NVIC_EnableIRQ(USART2_IRQn);
@@ -166,6 +187,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
 
+    /* USART1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspDeInit 1 */
 
   /* USER CODE END USART1_MspDeInit 1 */
@@ -184,6 +207,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
 
+    /* USART2 DMA DeInit */
+    HAL_DMA_DeInit(uartHandle->hdmarx);
+
     /* USART2 interrupt Deinit */
     HAL_NVIC_DisableIRQ(USART2_IRQn);
   /* USER CODE BEGIN USART2_MspDeInit 1 */

MDK-ARM/CAR.uvoptx

@@ -78,6 +78,33 @@
         <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>
@@ -100,10 +127,7 @@
         <tRSysVw>1</tRSysVw>
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
-        <bEvRecOn>1</bEvRecOn>
+        <nTsel>2</nTsel>
-        <bSchkAxf>0</bSchkAxf>
-        <bTchkAxf>0</bTchkAxf>
-        <nTsel>3</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -157,36 +181,88 @@
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
-          <LineNumber>98</LineNumber>
+          <LineNumber>39</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>0</Address>
+          <Address>134225148</Address>
           <ByteObject>0</ByteObject>
           <HtxType>0</HtxType>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>0</BreakIfRCount>
+          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>../Core/Src/main.c</Filename>
+          <Filename>..\Core\Src\hcsr04.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression></Expression>
+          <Expression>\\car\../Core/Src/hcsr04.c\39</Expression>
         </Bp>
         <Bp>
           <Number>1</Number>
           <Type>0</Type>
-          <LineNumber>31</LineNumber>
+          <LineNumber>98</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>0</Address>
+          <Address>134229854</Address>
           <ByteObject>0</ByteObject>
           <HtxType>0</HtxType>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>0</BreakIfRCount>
+          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\Core\Src\motor.c</Filename>
+          <Filename>../Core/Src/main.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression></Expression>
+          <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>
@@ -219,19 +295,11 @@
       <LintExecutable></LintExecutable>
       <LintConfigFile></LintConfigFile>
       <bLintAuto>0</bLintAuto>
-      <bAutoGenD>0</bAutoGenD>
+      <Lin2Executable></Lin2Executable>
-      <LntExFlags>0</LntExFlags>
+      <Lin2ConfigFile></Lin2ConfigFile>
-      <pMisraName></pMisraName>
+      <bLin2Auto>0</bLin2Auto>
-      <pszMrule></pszMrule>
-      <pSingCmds></pSingCmds>
-      <pMultCmds></pMultCmds>
-      <pMisraNamep></pMisraNamep>
-      <pszMrulep></pszMrulep>
-      <pSingCmdsp></pSingCmdsp>
-      <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
-        <EnableFlashSeq>0</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
@@ -356,6 +424,18 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
+      <PathWithFileName>../Core/Src/dma.c</PathWithFileName>
+      <FilenameWithoutPath>dma.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>10</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
       <PathWithFileName>../Core/Src/i2c.c</PathWithFileName>
       <FilenameWithoutPath>i2c.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -363,7 +443,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>10</FileNumber>
+      <FileNumber>11</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -375,7 +455,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>11</FileNumber>
+      <FileNumber>12</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -387,7 +467,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>13</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -399,7 +479,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>13</FileNumber>
+      <FileNumber>14</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -419,7 +499,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>14</FileNumber>
+      <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -431,7 +511,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>15</FileNumber>
+      <FileNumber>16</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -443,7 +523,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -455,7 +535,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -467,7 +547,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -479,7 +559,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -491,7 +571,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -503,7 +583,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -515,7 +595,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -527,7 +607,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -539,7 +619,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -551,7 +631,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -563,7 +643,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -575,7 +655,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>27</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -587,7 +667,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -607,7 +687,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

MDK-ARM/CAR.uvprojx

@@ -10,14 +10,13 @@
       <TargetName>CAR</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
+      <pCCUsed>5060300::V5.06 update 3 (build 300)::ARMCC</pCCUsed>
-      <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F103C8</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F1xx_DFP.2.4.1</PackID>
+          <PackID>Keil.STM32F1xx_DFP.2.2.0</PackID>
-          <PackURL>https://www.keil.com/pack/</PackURL>
+          <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF)  CLOCK(8000000) CPUTYPE("Cortex-M3") TZ</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
@@ -184,8 +183,6 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>0</RvdsVP>
-            <RvdsMve>0</RvdsMve>
-            <RvdsCdeCp>0</RvdsCdeCp>
             <hadIRAM2>0</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -326,7 +323,6 @@
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
-            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>5</v6Lang>
             <v6LangP>3</v6LangP>
@@ -339,7 +335,7 @@
               <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;../Drivers/CMSIS/Include</IncludePath>
+              <IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -352,7 +348,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>0</uSurpInc>
             <useXO>0</useXO>
-            <ClangAsOpt>4</ClangAsOpt>
+            <uClangAs>0</uClangAs>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define></Define>
@@ -428,6 +424,61 @@
               <FileType>1</FileType>
               <FilePath>../Core/Src/gpio.c</FilePath>
             </File>
+            <File>
+              <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>
               <FileType>1</FileType>