修改超声波测距模块，仅返回毫米距离

.gitignore

@@ -1,4 +1,5 @@
 .vscode
+MDK-ARM/.vscode
 MDK-ARM/CAR
 MDK-ARM/DebugConfig
 MDK-ARM/CAR.uvguix.*

CAR.ioc

@@ -153,8 +153,8 @@ ProjectManager.BackupPrevious=false
 ProjectManager.CompilerOptimize=6
 ProjectManager.ComputerToolchain=false
 ProjectManager.CoupleFile=true
-ProjectManager.CustomerFirmwarePackage=..\\stm32\\STM32Cube_FW_F1_V1.8.0
-ProjectManager.DefaultFWLocation=false
+ProjectManager.CustomerFirmwarePackage=
+ProjectManager.DefaultFWLocation=true
 ProjectManager.DeletePrevious=true
 ProjectManager.DeviceId=STM32F103C8Tx
 ProjectManager.FirmwarePackage=STM32Cube FW_F1 V1.8.5
@@ -212,19 +212,20 @@ SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
 SH.S_TIM4_CH1.ConfNb=1
 SH.S_TIM4_CH2.0=TIM4_CH2,PWM Generation2 CH2
 SH.S_TIM4_CH2.ConfNb=1
-TIM2.IPParameters=Prescaler,Period
-TIM2.Period=1 - 1
-TIM2.Prescaler=72 - 1
+TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
+TIM2.IPParameters=Prescaler,Period,AutoReloadPreload
+TIM2.Period=72 - 1
+TIM2.Prescaler=0
 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.Period=100 - 1
-TIM3.Prescaler=72 - 1
-TIM3.Pulse-PWM\ Generation2\ CH2=10000 - 1
-TIM3.Pulse-PWM\ Generation3\ CH3=10000 - 1
-TIM3.Pulse-PWM\ Generation4\ CH4=10000 - 1
+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.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
@@ -232,9 +233,11 @@ TIM4.Period=100
 TIM4.Prescaler=720 - 1
 TIM4.Pulse-PWM\ Generation1\ CH1=100
 TIM4.Pulse-PWM\ Generation2\ CH2=100
-USART1.IPParameters=VirtualMode
+USART1.BaudRate=115200
+USART1.IPParameters=VirtualMode,BaudRate
 USART1.VirtualMode=VM_ASYNC
-USART2.IPParameters=VirtualMode
+USART2.BaudRate=9600
+USART2.IPParameters=VirtualMode,BaudRate
 USART2.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick

Core/Inc/bluetooth.h

@@ -0,0 +1,8 @@
+#ifndef __BLUETOOTH_H
+#define __BLUETOOTH_H
+
+#include "main.h"
+
+void BLUETOOTH_Init(void);
+
+#endif

Core/Inc/control.h

@@ -0,0 +1,10 @@
+#ifndef __CONTROL_H
+#define __CONTROL_H
+
+#include "main.h"
+
+void CONTROL_CommonCmd(uint8_t type, uint8_t state);
+void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b);
+void CONTROL_Mode(uint8_t mode, uint8_t state);
+
+#endif

Core/Inc/hcsr04.h

@@ -3,7 +3,6 @@
 
 #include "main.h"
 
-int16_t sonar_mm(void);
-float sonar(void);
+uint16_t sonar(void);
 
 #endif

Core/Inc/led.h

@@ -11,7 +11,7 @@
 void LED_Start(uint8_t led);
 void LED_Stop(uint8_t led);
 
-// duty in [0, 100]
+// duty in [0, 255]
 void LED_SetDuty(uint8_t r, uint8_t g, uint8_t b);
 
 #endif

Core/Inc/motor.h

@@ -1,7 +1,7 @@
 #ifndef __MOTOR_H
 #define __MOTOR_H
 
-// 控制电机转动
+// 控制电机转动
 
 #include "main.h"
 

Core/Src/bluetooth.c

@@ -0,0 +1,75 @@
+#include "bluetooth.h"
+#include "usart.h"
+#include "control.h"
+#include "stdio.h"
+
+#define BUFFER_SIZE 100
+#define MESSAGE_SIZE 19
+#define CMD_NUM 9
+
+static uint8_t rxBuffer[BUFFER_SIZE], rxSize;
+static uint8_t txBuffer[BUFFER_SIZE], txSize;
+static uint8_t cmdIndex;
+
+void BLUETOOTH_Init(void)
+{
+    rxSize = 0;
+    HAL_UART_Receive_IT(&huart2, rxBuffer, 1);
+}
+
+void receiveCmd()
+{
+    // 通用协议
+    if (rxBuffer[2] == ',')
+    {
+        cmdIndex = 0;
+        for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2)
+            if (rxBuffer[i] == '0')
+                ++cmdIndex;
+            else
+                break;
+        if (cmdIndex == CMD_NUM)
+            cmdIndex = 0;
+        CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1]);
+    }
+    else
+    {
+        static uint16_t num[6];
+        switch (rxBuffer[5])
+        {
+            // 机械手
+        case 'S':
+            break;
+            // 舵机云台
+        case 'P':
+            break;
+            // 七彩灯
+        case 'C':
+            sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
+            CONTROL_RGB(num[0], num[1], num[2]);
+            break;
+
+            // 模式选择
+        case 'M':
+            sscanf(rxBuffer + 5, "%*4s%lc%lc", num, num + 1);
+            CONTROL_Mode(num[0] - '0', num[1] - '0');
+            break;
+        }
+    }
+    HAL_UART_Transmit(&huart1, rxBuffer, rxSize, 1000);
+}
+
+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/control.c

@@ -0,0 +1,88 @@
+#include "control.h"
+#include "hcsr04.h"
+#include "led.h"
+#include "motor.h"
+
+#define CMD_MOVE 0
+#define CMD_ROTATE 1
+#define CMD_BUZZER 2
+#define CMD_SPEED 3
+// #define CMD_SHAKE 4
+// #define CMD_SING 5
+#define CMD_LED 6
+// #define CMD_FIRE 7
+// #define CMD_SERVO 8
+
+void move(uint8_t state);
+void rotate(uint8_t state);
+void buzzer(uint8_t state);
+void speed(uint8_t state);
+// void shake(uint8_t state);
+// void sing(uint8_t state);
+void led(uint8_t state);
+// void fire(uint8_t state);
+// void servo(uint8_t state);
+
+void CONTROL_CommonCmd(uint8_t type, uint8_t state)
+{
+    switch (type)
+    {
+    case CMD_MOVE:
+        move(state);
+        break;
+    case CMD_ROTATE:
+        rotate(state);
+        break;
+    case CMD_BUZZER:
+        buzzer(state);
+        break;
+    case CMD_SPEED:
+        speed(state);
+        break;
+    // case CMD_SHAKE:
+    //     break;
+    // case CMD_SING:
+    //     break;
+    case CMD_LED:
+        led(state);
+        break;
+    // case CMD_FIRE:
+    //     break;
+    // case CMD_SERVO:
+    //     break;
+    }
+}
+
+void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b)
+{
+    LED_Start(LED_ALL);
+    LED_SetDuty(r, g, b);
+}
+
+void CONTROL_Mode(uint8_t mode, uint8_t state)
+{
+}
+
+void move(uint8_t state)
+{
+}
+
+void rotate(uint8_t state)
+{
+}
+
+void buzzer(uint8_t state)
+{
+    if (state)
+        HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_RESET);
+    else
+        HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_SET);
+}
+
+void speed(uint8_t state)
+{
+}
+
+void led(uint8_t state)
+{
+}

Core/Src/hcsr04.c

@@ -1,54 +1,28 @@
 #include "hcsr04.h"
 #include "tim.h"
 
-// time 的单位是 μs
-uint64_t time;     // 声明变量，用来计时
-uint64_t time_end; // 声明变量，存储回波信号时间
-uint8_t state = 1;
+// time 的单位是 1μs
+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;
 
 // HACK 临时的 delay 解决方法
 void delay_us(uint16_t us);
 
-int16_t sonar_mm(void) // 测距并返回单位为毫米的距离结果
+uint16_t sonar(void) // 测距并返回单位为毫米的距离结果
 {
-    uint32_t distance, distance_mm = 0;
+    // 超时则返回5m距离
+    uint32_t distance = 5000;
     HAL_GPIO_WritePin(SCL_C_GPIO_Port, SCL_C_Pin, GPIO_PIN_SET);   // 输出高电平
     delay_us(15);                                                  // 延时15微秒
     HAL_GPIO_WritePin(SCL_C_GPIO_Port, SCL_C_Pin, GPIO_PIN_RESET); // 输出低电平
 
-    while (state)
-        ;
-    state = 1;
+    // HACK 考虑RTOS优化
+    HAL_Delay(15);
 
-    // BUG 现在 time 的单位是 1μs
-    if (time_end / 100 < 38) // 判断是否小于38毫秒，大于38毫秒的就是超时，直接调到下面返回0
-    {
-        distance = (time_end * 346) / 2; // 计算距离，25°C空气中的音速为346m/s
-        distance_mm = distance / 100;    // 因为上面的time_end的单位是10微秒，所以要得出单位为毫米的距离结果，还得除以100
-    }
-    return distance_mm; // 返回测距结果
-}
-
-float sonar(void) // 测距并返回单位为米的距离结果
-{
-    uint32_t distance, distance_mm = 0;
-    float distance_m = 0;
-    HAL_GPIO_WritePin(SCL_C_GPIO_Port, SCL_C_Pin, GPIO_PIN_SET);   // 输出高电平
-    delay_us(15);                                                  // 延时15微秒
-    HAL_GPIO_WritePin(SCL_C_GPIO_Port, SCL_C_Pin, GPIO_PIN_RESET); // 输出低电平
-    
-    while (state)
-        ;
-    state = 1;
-
-    // BUG 现在 time 的单位是 1μs
-    if (time_end / 100 < 38)
-    {
-        distance = (time_end * 346) / 2;
-        distance_mm = distance / 100;
-        distance_m = distance_mm / 1000;
-    }
-    return distance_m;
+    if (state)
+        distance = time_end * 346 / 2000; // 计算距离，25°C空气中的音速为346m/s
+    return distance;
 }
 
 void delay_us(uint16_t us)
@@ -72,14 +46,14 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
     {
         if (HAL_GPIO_ReadPin(SDA_C_EXTI12_GPIO_Port, SDA_C_EXTI12_Pin))
         {
-            HAL_TIM_Base_Start_IT(&htim2);
             time = 0;
+            HAL_TIM_Base_Start_IT(&htim2);
         }
         else
         {
             time_end = time;
             HAL_TIM_Base_Stop_IT(&htim2);
-            state = 0;
+            state = 1;
         }
     }
 }

Core/Src/tim.c

@@ -43,9 +43,9 @@ void MX_TIM2_Init(void)
 
   /* USER CODE END TIM2_Init 1 */
   htim2.Instance = TIM2;
-  htim2.Init.Prescaler = 72 - 1;
+  htim2.Init.Prescaler = 0;
   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim2.Init.Period = 1 - 1;
+  htim2.Init.Period = 72 - 1;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
@@ -84,9 +84,9 @@ void MX_TIM3_Init(void)
 
   /* USER CODE END TIM3_Init 1 */
   htim3.Instance = TIM3;
-  htim3.Init.Prescaler = 72 - 1;
+  htim3.Init.Prescaler = 720 - 1;
   htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim3.Init.Period = 100 - 1;
+  htim3.Init.Period = 256 - 1;
   htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
@@ -109,7 +109,7 @@ void MX_TIM3_Init(void)
     Error_Handler();
   }
   sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 10000 - 1;
+  sConfigOC.Pulse = 255;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
   if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)

Core/Src/usart.c

@@ -69,7 +69,7 @@ void MX_USART2_UART_Init(void)
 
   /* USER CODE END USART2_Init 1 */
   huart2.Instance = USART2;
-  huart2.Init.BaudRate = 115200;
+  huart2.Init.BaudRate = 9600;
   huart2.Init.WordLength = UART_WORDLENGTH_8B;
   huart2.Init.StopBits = UART_STOPBITS_1;
   huart2.Init.Parity = UART_PARITY_NONE;

MDK-ARM/CAR.uvoptx

@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8"?>
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
 <ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
 
   <SchemaVersion>1.0</SchemaVersion>
@@ -45,7 +45,7 @@
         <PageWidth>79</PageWidth>
         <PageLength>66</PageLength>
         <TabStop>8</TabStop>
-        <ListingPath />
+        <ListingPath></ListingPath>
       </OPTLEX>
       <ListingPage>
         <CreateCListing>1</CreateCListing>
@@ -104,16 +104,16 @@
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
         <nTsel>3</nTsel>
-        <sDll />
-        <sDllPa />
-        <sDlgDll />
-        <sDlgPa />
-        <sIfile />
-        <tDll />
-        <tDllPa />
-        <tDlgDll />
-        <tDlgPa />
-        <tIfile />
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
         <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
@@ -130,7 +130,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMDBGFLAGS</Key>
-          <Name />
+          <Name></Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -140,7 +140,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name />
+          <Name></Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -167,8 +167,8 @@
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>0</BreakIfRCount>
           <Filename>../Core/Src/main.c</Filename>
-          <ExecCommand />
-          <Expression />
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
         </Bp>
         <Bp>
           <Number>1</Number>
@@ -183,8 +183,8 @@
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>0</BreakIfRCount>
           <Filename>..\Core\Src\motor.c</Filename>
-          <ExecCommand />
-          <Expression />
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
         </Bp>
       </Breakpoint>
       <Tracepoint>
@@ -216,19 +216,19 @@
         <newCpu>0</newCpu>
         <uProt>0</uProt>
       </DebugFlag>
-      <LintExecutable />
-      <LintConfigFile />
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
       <bLintAuto>0</bLintAuto>
       <bAutoGenD>0</bAutoGenD>
       <LntExFlags>0</LntExFlags>
-      <pMisraName />
-      <pszMrule />
-      <pSingCmds />
-      <pMultCmds />
-      <pMisraNamep />
-      <pszMrulep />
-      <pSingCmdsp />
-      <pMultCmdsp />
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
         <EnableFlashSeq>0</EnableFlashSeq>
@@ -272,8 +272,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\Src\led.c</PathWithFileName>
-      <FilenameWithoutPath>led.c</FilenameWithoutPath>
+      <PathWithFileName>..\Core\Src\bluetooth.c</PathWithFileName>
+      <FilenameWithoutPath>bluetooth.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -284,8 +284,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\Src\motor.c</PathWithFileName>
-      <FilenameWithoutPath>motor.c</FilenameWithoutPath>
+      <PathWithFileName>..\Core\Src\control.c</PathWithFileName>
+      <FilenameWithoutPath>control.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -308,6 +308,30 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
+      <PathWithFileName>..\Core\Src\led.c</PathWithFileName>
+      <FilenameWithoutPath>led.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>6</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Core\Src\motor.c</PathWithFileName>
+      <FilenameWithoutPath>motor.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>7</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
       <PathWithFileName>../Core/Src/main.c</PathWithFileName>
       <FilenameWithoutPath>main.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -315,7 +339,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>6</FileNumber>
+      <FileNumber>8</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -327,7 +351,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>7</FileNumber>
+      <FileNumber>9</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -339,7 +363,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>8</FileNumber>
+      <FileNumber>10</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -351,7 +375,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>9</FileNumber>
+      <FileNumber>11</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -363,7 +387,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>10</FileNumber>
+      <FileNumber>12</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -375,7 +399,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>11</FileNumber>
+      <FileNumber>13</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -395,7 +419,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>14</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -407,7 +431,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>13</FileNumber>
+      <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -419,7 +443,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>14</FileNumber>
+      <FileNumber>16</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -431,7 +455,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>15</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -443,7 +467,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -455,7 +479,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -467,7 +491,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -479,7 +503,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -491,7 +515,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -503,7 +527,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -515,7 +539,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -527,7 +551,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -539,7 +563,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -551,7 +575,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -563,7 +587,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -583,9 +607,9 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>27</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>../Core/Src/system_stm32f1xx.c</PathWithFileName>

MDK-ARM/CAR.uvprojx

@@ -1,7 +1,10 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" noNamespaceSchemaLocation="project_projx.xsd">
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
+
   <SchemaVersion>2.1</SchemaVersion>
+
   <Header>### uVision Project, (C) Keil Software</Header>
+
   <Targets>
     <Target>
       <TargetName>CAR</TargetName>
@@ -16,28 +19,28 @@
           <PackID>Keil.STM32F1xx_DFP.2.4.1</PackID>
           <PackURL>https://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF)  CLOCK(8000000) CPUTYPE("Cortex-M3") TZ</Cpu>
-          <FlashUtilSpec />
-          <StartupFile />
-          <FlashDriverDll />
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll></FlashDriverDll>
           <DeviceId>0</DeviceId>
-          <RegisterFile />
-          <MemoryEnv />
-          <Cmp />
-          <Asm />
-          <Linker />
-          <OHString />
-          <InfinionOptionDll />
-          <SLE66CMisc />
-          <SLE66AMisc />
-          <SLE66LinkerMisc />
+          <RegisterFile></RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
           <SFDFile>$$Device:STM32F103C8$SVD\STM32F103xx.svd</SFDFile>
           <bCustSvd>0</bCustSvd>
           <UseEnv>0</UseEnv>
-          <BinPath />
-          <IncludePath />
-          <LibPath />
-          <RegisterFilePath />
-          <DBRegisterFilePath />
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
           <TargetStatus>
             <Error>0</Error>
             <ExitCodeStop>0</ExitCodeStop>
@@ -52,15 +55,15 @@
           <CreateHexFile>1</CreateHexFile>
           <DebugInformation>1</DebugInformation>
           <BrowseInformation>1</BrowseInformation>
-          <ListingPath />
+          <ListingPath></ListingPath>
           <HexFormatSelection>1</HexFormatSelection>
           <Merge32K>0</Merge32K>
           <CreateBatchFile>0</CreateBatchFile>
           <BeforeCompile>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name />
-            <UserProg2Name />
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopU1X>0</nStopU1X>
@@ -69,8 +72,8 @@
           <BeforeMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name />
-            <UserProg2Name />
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopB1X>0</nStopB1X>
@@ -79,15 +82,15 @@
           <AfterMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>1</RunUserProg2>
-            <UserProg1Name />
-            <UserProg2Name />
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
           <SelectedForBatchBuild>1</SelectedForBatchBuild>
-          <SVCSIdString />
+          <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
           <UseCPPCompiler>0</UseCPPCompiler>
@@ -101,8 +104,8 @@
           <AssembleAssemblyFile>0</AssembleAssemblyFile>
           <PublicsOnly>0</PublicsOnly>
           <StopOnExitCode>3</StopOnExitCode>
-          <CustomArgument />
-          <IncludeLibraryModules />
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
           <ComprImg>0</ComprImg>
         </CommonProperty>
         <DllOption>
@@ -111,7 +114,7 @@
           <SimDlgDll>DCM.DLL</SimDlgDll>
           <SimDlgDllArguments>-pCM3</SimDlgDllArguments>
           <TargetDllName>SARMCM3.DLL</TargetDllName>
-          <TargetDllArguments />
+          <TargetDllArguments></TargetDllArguments>
           <TargetDlgDll>TCM.DLL</TargetDlgDll>
           <TargetDlgDllArguments>-pCM3</TargetDlgDllArguments>
         </DllOption>
@@ -136,10 +139,10 @@
           <bUseTDR>1</bUseTDR>
           <Flash2>BIN\UL2V8M.DLL</Flash2>
           <Flash3>"" ()</Flash3>
-          <Flash4 />
-          <pFcarmOut />
-          <pFcarmGrp />
-          <pFcArmRoot />
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
           <FcArmLst>0</FcArmLst>
         </Utilities>
         <TargetArmAds>
@@ -172,7 +175,7 @@
             <RvctClst>0</RvctClst>
             <GenPPlst>0</GenPPlst>
             <AdsCpuType>"Cortex-M3"</AdsCpuType>
-            <RvctDeviceName />
+            <RvctDeviceName></RvctDeviceName>
             <mOS>0</mOS>
             <uocRom>0</uocRom>
             <uocRam>0</uocRam>
@@ -306,7 +309,7 @@
                 <Size>0x0</Size>
               </OCR_RVCT10>
             </OnChipMemories>
-            <RvctStartVector />
+            <RvctStartVector></RvctStartVector>
           </ArmAdsMisc>
           <Cads>
             <interw>1</interw>
@@ -333,10 +336,10 @@
             <v6WtE>0</v6WtE>
             <v6Rtti>0</v6Rtti>
             <VariousControls>
-              <MiscControls />
+              <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F103xB</Define>
-              <Undefine />
-              <IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include</IncludePath>
+              <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>
             </VariousControls>
           </Cads>
           <Aads>
@@ -351,10 +354,10 @@
             <useXO>0</useXO>
             <ClangAsOpt>4</ClangAsOpt>
             <VariousControls>
-              <MiscControls />
-              <Define />
-              <Undefine />
-              <IncludePath />
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
             </VariousControls>
           </Aads>
           <LDads>
@@ -364,15 +367,15 @@
             <noStLib>0</noStLib>
             <RepFail>1</RepFail>
             <useFile>0</useFile>
-            <TextAddressRange />
-            <DataAddressRange />
-            <pXoBase />
-            <ScatterFile />
-            <IncludeLibs />
-            <IncludeLibsPath />
-            <Misc />
-            <LinkerInputFile />
-            <DisabledWarnings />
+            <TextAddressRange></TextAddressRange>
+            <DataAddressRange></DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile></ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
           </LDads>
         </TargetArmAds>
       </TargetOption>
@@ -390,6 +393,21 @@
         <Group>
           <GroupName>Application/User/Core</GroupName>
           <Files>
+            <File>
+              <FileName>bluetooth.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Core\Src\bluetooth.c</FilePath>
+            </File>
+            <File>
+              <FileName>control.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Core\Src\control.c</FilePath>
+            </File>
+            <File>
+              <FileName>hcsr04.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Core\Src\hcsr04.c</FilePath>
+            </File>
             <File>
               <FileName>led.c</FileName>
               <FileType>1</FileType>
@@ -400,11 +418,6 @@
               <FileType>1</FileType>
               <FilePath>..\Core\Src\motor.c</FilePath>
             </File>
-            <File>
-              <FileName>hcsr04.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Core\Src\hcsr04.c</FilePath>
-            </File>
             <File>
               <FileName>main.c</FileName>
               <FileType>1</FileType>
@@ -538,25 +551,18 @@
       </Groups>
     </Target>
   </Targets>
+
   <RTE>
-    <apis />
+    <apis/>
     <components>
       <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="4.3.0" condition="CMSIS Core">
-        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="4.5.0" />
+        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="4.5.0"/>
         <targetInfos>
-          <targetInfo name="CAR" />
+          <targetInfo name="CAR"/>
         </targetInfos>
       </component>
     </components>
-    <files />
+    <files/>
   </RTE>
-  <LayerInfo>
-    <Layers>
-      <Layer>
-        <LayName>CAR</LayName>
-        <LayPrjMark>1</LayPrjMark>
-      </Layer>
-    </Layers>
-  </LayerInfo>
-</Project>
 
+</Project>