Merge branch 'feat-csj' into dev

App/Inc/app_line_seek.h

@@ -0,0 +1,6 @@
+#ifndef __APP_LINE_SEEK_H
+#define __APP_LINE_SEEK_H
+
+void App_LineSeek(void);
+
+#endif

App/Src/app_line_seek.c

@@ -0,0 +1,47 @@
+
+#include "app_line_seek.h"
+
+#include "line_seek.h"
+#include "main.h"
+#include "motor.h"
+#include "syscalls.h"
+
+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
+
+    if ((LineL1 == LOW || LineL2 == LOW) && LineR2 == LOW) // 左大弯
+    {
+        MOTOR_SetDuty(-30, 30); // 左旋
+        HAL_Delay(80);
+    }
+    else if (LineL1 == LOW && (LineR1 == LOW || LineR2 == LOW)) // 右大弯
+    {
+        MOTOR_SetDuty(30, -30); // 右旋
+        HAL_Delay(80);
+    }
+    else if (LineL1 == LOW) // 左最外侧检测
+    {
+        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
+    }
+}

CAR.ioc

@@ -31,34 +31,38 @@ Mcu.IP9=USART2
 Mcu.IPNb=10
 Mcu.Name=STM32F103C(8-B)Tx
 Mcu.Package=LQFP48
-Mcu.Pin0=PD0-OSC_IN
+Mcu.Pin0=PC13-TAMPER-RTC
-Mcu.Pin1=PD1-OSC_OUT
+Mcu.Pin1=PC14-OSC32_IN
-Mcu.Pin10=PB11
+Mcu.Pin10=PB0
-Mcu.Pin11=PA9
+Mcu.Pin11=PB1
-Mcu.Pin12=PA10
+Mcu.Pin12=PB10
-Mcu.Pin13=PA12
+Mcu.Pin13=PB11
-Mcu.Pin14=PA13
+Mcu.Pin14=PB12
-Mcu.Pin15=PA14
+Mcu.Pin15=PA9
-Mcu.Pin16=PA15
+Mcu.Pin16=PA10
-Mcu.Pin17=PB4
+Mcu.Pin17=PA12
-Mcu.Pin18=PB5
+Mcu.Pin18=PA13
-Mcu.Pin19=PB6
+Mcu.Pin19=PA14
-Mcu.Pin2=PA0-WKUP
+Mcu.Pin2=PC15-OSC32_OUT
-Mcu.Pin20=PB7
+Mcu.Pin20=PA15
-Mcu.Pin21=PB8
+Mcu.Pin21=PB4
-Mcu.Pin22=PB9
+Mcu.Pin22=PB5
-Mcu.Pin23=VP_SYS_VS_Systick
+Mcu.Pin23=PB6
-Mcu.Pin24=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin24=PB7
-Mcu.Pin25=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin25=PB8
-Mcu.Pin26=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin26=PB9
-Mcu.Pin3=PA1
+Mcu.Pin27=VP_SYS_VS_Systick
-Mcu.Pin4=PA2
+Mcu.Pin28=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin5=PA3
+Mcu.Pin29=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin6=PA7
+Mcu.Pin3=PD0-OSC_IN
-Mcu.Pin7=PB0
+Mcu.Pin30=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin8=PB1
+Mcu.Pin4=PD1-OSC_OUT
-Mcu.Pin9=PB10
+Mcu.Pin5=PA0-WKUP
-Mcu.PinsNb=27
+Mcu.Pin6=PA1
+Mcu.Pin7=PA2
+Mcu.Pin8=PA3
+Mcu.Pin9=PA7
+Mcu.PinsNb=31
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F103C8Tx
@@ -134,6 +138,11 @@ PB11.GPIO_Label=MPU6050_SDA
 PB11.Locked=true
 PB11.Mode=I2C
 PB11.Signal=I2C2_SDA
+PB12.GPIOParameters=GPIO_PuPd,GPIO_Label
+PB12.GPIO_Label=LineSeek_R2
+PB12.GPIO_PuPd=GPIO_PULLUP
+PB12.Locked=true
+PB12.Signal=GPIO_Input
 PB4.GPIOParameters=GPIO_Label
 PB4.GPIO_Label=R_FORWARD
 PB4.Locked=true
@@ -157,6 +166,21 @@ PB9.GPIOParameters=GPIO_Label
 PB9.GPIO_Label=L_FORWARD
 PB9.Locked=true
 PB9.Signal=GPIO_Output
+PC13-TAMPER-RTC.GPIOParameters=GPIO_PuPd,GPIO_Label
+PC13-TAMPER-RTC.GPIO_Label=LineSeek_L2
+PC13-TAMPER-RTC.GPIO_PuPd=GPIO_PULLUP
+PC13-TAMPER-RTC.Locked=true
+PC13-TAMPER-RTC.Signal=GPIO_Input
+PC14-OSC32_IN.GPIOParameters=GPIO_PuPd,GPIO_Label
+PC14-OSC32_IN.GPIO_Label=LineSeek_L1
+PC14-OSC32_IN.GPIO_PuPd=GPIO_PULLUP
+PC14-OSC32_IN.Locked=true
+PC14-OSC32_IN.Signal=GPIO_Input
+PC15-OSC32_OUT.GPIOParameters=GPIO_PuPd,GPIO_Label
+PC15-OSC32_OUT.GPIO_Label=LineSeek_R1
+PC15-OSC32_OUT.GPIO_PuPd=GPIO_PULLUP
+PC15-OSC32_OUT.Locked=true
+PC15-OSC32_OUT.Signal=GPIO_Input
 PD0-OSC_IN.Mode=HSE-External-Oscillator
 PD0-OSC_IN.Signal=RCC_OSC_IN
 PD1-OSC_OUT.Mode=HSE-External-Oscillator
@@ -185,7 +209,7 @@ ProjectManager.ProjectBuild=false
 ProjectManager.ProjectFileName=CAR.ioc
 ProjectManager.ProjectName=CAR
 ProjectManager.ProjectStructure=
-ProjectManager.RegisterCallBack=TIM
+ProjectManager.RegisterCallBack=TIM,USART
 ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=Makefile
 ProjectManager.ToolChainLocation=
@@ -247,12 +271,13 @@ TIM4.Period=100
 TIM4.Prescaler=720 - 1
 TIM4.Pulse-PWM\ Generation1\ CH1=100
 TIM4.Pulse-PWM\ Generation2\ CH2=100
-USART1.BaudRate=115200
+USART1.BaudRate=9600
 USART1.IPParameters=VirtualMode,BaudRate,Parity,WordLength
 USART1.Parity=PARITY_NONE
 USART1.VirtualMode=VM_ASYNC
 USART1.WordLength=WORDLENGTH_8B
-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/main.h

@@ -57,6 +57,12 @@ void Error_Handler(void);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
+#define LineSeek_L2_Pin GPIO_PIN_13
+#define LineSeek_L2_GPIO_Port GPIOC
+#define LineSeek_L1_Pin GPIO_PIN_14
+#define LineSeek_L1_GPIO_Port GPIOC
+#define LineSeek_R1_Pin GPIO_PIN_15
+#define LineSeek_R1_GPIO_Port GPIOC
 #define FM_K2_POWERC_Pin GPIO_PIN_0
 #define FM_K2_POWERC_GPIO_Port GPIOA
 #define FAN_GS_Pin GPIO_PIN_1
@@ -71,6 +77,8 @@ void Error_Handler(void);
 #define MPU6050_SCL_GPIO_Port GPIOB
 #define MPU6050_SDA_Pin GPIO_PIN_11
 #define MPU6050_SDA_GPIO_Port GPIOB
+#define LineSeek_R2_Pin GPIO_PIN_12
+#define LineSeek_R2_GPIO_Port GPIOB
 #define Echo_Pin GPIO_PIN_12
 #define Echo_GPIO_Port GPIOA
 #define Echo_EXTI_IRQn EXTI15_10_IRQn
@@ -90,7 +98,8 @@ void Error_Handler(void);
 #define L_FORWARD_GPIO_Port GPIOB
 
 /* USER CODE BEGIN Private defines */
-
+#define LOW  (0)
+#define HIGH (1)
 /* USER CODE END Private defines */
 
 #ifdef __cplusplus

Core/Inc/syscalls.h

@@ -6,44 +6,14 @@
 #include <stdarg.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <stm32f1xx_hal_uart.h>
 #include <string.h>
 #include <time.h>
+#include "usart.h"
 
 #define HUART1 (&huart1)
 #define HUART2 (&huart2)
 
-extern UART_HandleTypeDef huart1;
+// 条件编译，适配不同平台 (GNU, GCC)
-
-extern int __io_putchar(int ch) __attribute__((weak));
-extern int __io_getchar(void) __attribute__((weak));
-
-__attribute__((weak)) int _read(int file, char *ptr, int len)
-{
-    (void)file;
-    int DataIdx;
-
-    for (DataIdx = 0; DataIdx < len; DataIdx++)
-    {
-        *ptr++ = __io_getchar();
-    }
-
-    return len;
-}
-
-__attribute__((weak)) int _write(int file, char *ptr, int len)
-{
-    (void)file;
-    int DataIdx;
-
-    for (DataIdx = 0; DataIdx < len; DataIdx++)
-    {
-        __io_putchar(*ptr++);
-    }
-    return len;
-}
-
-// 条件编译
 #ifdef __GNUC__
 #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
 #define GETCHAR_PROTOTYPE int __io_getchar(void)
@@ -52,58 +22,13 @@ __attribute__((weak)) int _write(int file, char *ptr, int len)
 #define GETCHAR_PROTOTYPE int fgetc(FILE *f)
 #endif /* __GNUC__ */
 
-/**
+int _read(int file, char *ptr, int len);
- * @brief 重定向 C 标准库 printf 函数到串口 huart1
+int _write(int file, char *ptr, int len);
- * @author Suroy
- * @param ch
- * @param f
- * @return int
- *
- * @usage printf("USART1_Target:\r\n");
- */
-PUTCHAR_PROTOTYPE
-{
-    HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, HAL_MAX_DELAY); // 阻塞式无限等待
-    return ch;
-}
 
-/**
+PUTCHAR_PROTOTYPE;
- * @brief 重定向 c库函数 getchar,scanf到 DEBUG_USARTx
+GETCHAR_PROTOTYPE;
- * 重定向 C 标准库 scanf 函数到串口 huart1
- * 注意以 空格 为结束
- * @param f
- * @return int
- *
- * @usage scanf("%c", &RecData);
- */
-GETCHAR_PROTOTYPE
-{
-    uint8_t ch = 0;
-    HAL_UART_Receive(&huart1, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
-    return ch;
-}
 
-void delay_us(uint16_t us)
+void delay_us(uint16_t us);
-{
+void my_printf(UART_HandleTypeDef *huart, const char *buf, ...);
-    uint32_t delay = (HAL_RCC_GetHCLKFreq() / 4000000 * us);
-    while (delay--);
-}
-
-/**
- * @brief 自定义printf
- * @param huart, buf
- * @return void
- *
- * @usage my_printf(HUART1, "USART1_Target:\r\n");
- */
-void my_printf(UART_HandleTypeDef *huart, const char *buf, ...)
-{
-    char str[255] = {0};
-    va_list v;
-    va_start(v, buf);
-    vsprintf(str, buf, v);
-    HAL_UART_Transmit(huart, (const uint8_t *)str, strlen(str), 0xff);
-    va_end(v);
-}
 
 #endif

Core/Src/main.c

@@ -27,6 +27,7 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "bluetooth.h"
 #include "hcsr04.h"
 #include "led.h"
 #include "motor.h"
@@ -72,7 +73,8 @@ void SystemClock_Config(void);
  * @brief  The application entry point.
  * @retval int
  */
-int main(void) {
+int main(void)
+{
     /* USER CODE BEGIN 1 */
 
     /* USER CODE END 1 */
@@ -102,9 +104,9 @@ int main(void) {
     MX_TIM4_Init();
     MX_USART2_UART_Init();
     MX_USART1_UART_Init();
-
     /* USER CODE BEGIN 2 */
     HC_SR04_Init();
+    BLUETOOTH_Init();
 
     /* USER CODE BEGIN 2 */
 
@@ -112,14 +114,14 @@ int main(void) {
 
     /* Infinite loop */
     /* USER CODE BEGIN WHILE */
-    while (1) {
+    while (1)
-        printf("test\n");
+    {
+        my_printf(HUART1, "test huart1 \r\n");
+        my_printf(HUART2, "test huart2\r\n");
 
-        if (sonor_state == 0) {
+        // App_LineSeek();
-            sonar_mm();
-        }
 
-        HAL_Delay(300); // 延时300毫秒
+        // HAL_Delay(300); // 延时300毫秒
 
         /* USER CODE END WHILE */
 
@@ -132,7 +134,8 @@ int main(void) {
  * @brief System Clock Configuration
  * @retval None
  */
-void SystemClock_Config(void) {
+void SystemClock_Config(void)
+{
     RCC_OscInitTypeDef RCC_OscInitStruct = {0};
     RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
 
@@ -146,7 +149,8 @@ void SystemClock_Config(void) {
     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) {
+    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+    {
         Error_Handler();
     }
 
@@ -158,7 +162,8 @@ void SystemClock_Config(void) {
     RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
     RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
 
-    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
+    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+    {
         Error_Handler();
     }
 }
@@ -171,11 +176,13 @@ void SystemClock_Config(void) {
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
-void Error_Handler(void) {
+void Error_Handler(void)
+{
     /* USER CODE BEGIN Error_Handler_Debug */
     /* User can add his own implementation to report the HAL error return state */
     __disable_irq();
-    while (1) {
+    while (1)
+    {
     }
     /* USER CODE END Error_Handler_Debug */
 }
@@ -188,7 +195,8 @@ void Error_Handler(void) {
  * @param  line: assert_param error line source number
  * @retval None
  */
-void assert_failed(uint8_t *file, uint32_t line) {
+void assert_failed(uint8_t *file, uint32_t line)
+{
     /* 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) */

Core/Src/syscalls.c

@@ -1,69 +1,10 @@
-/**
- ******************************************************************************
- * @file      syscalls.c
- * @author    Auto-generated by STM32CubeMX
- * @brief     Minimal System calls file
- *
- *            For more information about which c-functions
- *            need which of these lowlevel functions
- *            please consult the Newlib libc-manual
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2020-2024 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.
- *
- ******************************************************************************
- */
 
-/* Includes */
+#include "syscalls.h"
-#include <sys/stat.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <stdio.h>
-#include <signal.h>
-#include <time.h>
-#include <sys/time.h>
-#include <sys/times.h>
 
+extern UART_HandleTypeDef huart1;
 
-/* Variables */
+// 条件编译，适配不同平台 (GNU, GCC)
-extern int __io_putchar(int ch) __attribute__((weak));
+#ifdef __GNUC__
-extern int __io_getchar(void) __attribute__((weak));
-
-
-char *__env[1] = { 0 };
-char **environ = __env;
-
-
-/* Functions */
-void initialise_monitor_handles()
-{
-}
-
-int _getpid(void)
-{
-  return 1;
-}
-
-int _kill(int pid, int sig)
-{
-  (void)pid;
-  (void)sig;
-  errno = EINVAL;
-  return -1;
-}
-
-void _exit (int status)
-{
-  _kill(status, -1);
-  while (1) {}    /* Make sure we hang here */
-}
-
 __attribute__((weak)) int _read(int file, char *ptr, int len)
 {
     (void)file;
@@ -88,89 +29,58 @@ __attribute__((weak)) int _write(int file, char *ptr, int len)
     }
     return len;
 }
+#endif
 
-int _close(int file)
+/**
+ * @brief 重定向 C 标准库 printf 函数到串口 huart1
+ * @author Suroy
+ * @param ch
+ * @param f
+ * @return int
+ *
+ * @usage printf("USART1_Target:\r\n");
+ */
+PUTCHAR_PROTOTYPE
 {
-  (void)file;
+    HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, HAL_MAX_DELAY); // 阻塞式无限等待
-  return -1;
+    return ch;
 }
 
-
+/**
-int _fstat(int file, struct stat *st)
+ * @brief 重定向 c库函数 getchar,scanf到 DEBUG_USARTx
+ * 重定向 C 标准库 scanf 函数到串口 huart1
+ * 注意以 空格 为结束
+ * @param f
+ * @return int
+ *
+ * @usage scanf("%c", &RecData);
+ */
+GETCHAR_PROTOTYPE
 {
-  (void)file;
+    uint8_t ch = 0;
-  st->st_mode = S_IFCHR;
+    HAL_UART_Receive(&huart1, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
-  return 0;
+    return ch;
 }
 
-int _isatty(int file)
+void delay_us(uint16_t us)
 {
-  (void)file;
+    uint32_t delay = (HAL_RCC_GetHCLKFreq() / 4000000 * us);
-  return 1;
+    while (delay--);
 }
 
-int _lseek(int file, int ptr, int dir)
+/**
+ * @brief 自定义printf
+ * @param huart, buf
+ * @return void
+ *
+ * @usage my_printf(HUART1, "USART1_Target:\r\n");
+ */
+void my_printf(UART_HandleTypeDef *huart, const char *buf, ...)
 {
-  (void)file;
+    char str[255] = {0};
-  (void)ptr;
+    va_list v;
-  (void)dir;
+    va_start(v, buf);
-  return 0;
+    vsprintf(str, buf, v);
-}
+    HAL_UART_Transmit(huart, (const uint8_t *)str, strlen(str), 0xff);
-
+    va_end(v);
-int _open(char *path, int flags, ...)
-{
-  (void)path;
-  (void)flags;
-  /* Pretend like we always fail */
-  return -1;
-}
-
-int _wait(int *status)
-{
-  (void)status;
-  errno = ECHILD;
-  return -1;
-}
-
-int _unlink(char *name)
-{
-  (void)name;
-  errno = ENOENT;
-  return -1;
-}
-
-int _times(struct tms *buf)
-{
-  (void)buf;
-  return -1;
-}
-
-int _stat(char *file, struct stat *st)
-{
-  (void)file;
-  st->st_mode = S_IFCHR;
-  return 0;
-}
-
-int _link(char *old, char *new)
-{
-  (void)old;
-  (void)new;
-  errno = EMLINK;
-  return -1;
-}
-
-int _fork(void)
-{
-  errno = EAGAIN;
-  return -1;
-}
-
-int _execve(char *name, char **argv, char **env)
-{
-  (void)name;
-  (void)argv;
-  (void)env;
-  errno = ENOMEM;
-  return -1;
 }

MDK-ARM/CAR.uvoptx

@@ -344,7 +344,7 @@
   </Group>
 
   <Group>
-    <GroupName>Application/User/Core</GroupName>
+    <GroupName>Core</GroupName>
     <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
@@ -445,6 +445,18 @@
       <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\syscalls.c</PathWithFileName>
+      <FilenameWithoutPath>syscalls.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -455,7 +467,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>10</FileNumber>
+      <FileNumber>11</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -467,7 +479,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>11</FileNumber>
+      <FileNumber>12</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -479,7 +491,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>13</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -491,7 +503,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>13</FileNumber>
+      <FileNumber>14</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -503,7 +515,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>14</FileNumber>
+      <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -515,7 +527,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>15</FileNumber>
+      <FileNumber>16</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -527,7 +539,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -539,7 +551,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -551,7 +563,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -563,7 +575,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -575,7 +587,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -587,7 +599,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -599,7 +611,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -611,7 +623,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -623,7 +635,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -643,7 +655,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -656,14 +668,14 @@
   </Group>
 
   <Group>
-    <GroupName>Application/User/Service</GroupName>
+    <GroupName>User</GroupName>
     <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -675,7 +687,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>27</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -687,7 +699,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -699,7 +711,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -711,7 +723,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>30</FileNumber>
+      <FileNumber>31</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -721,6 +733,38 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>5</GroupNumber>
+      <FileNumber>32</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\Src\line_seek.c</PathWithFileName>
+      <FilenameWithoutPath>line_seek.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+  </Group>
+
+  <Group>
+    <GroupName>App</GroupName>
+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>6</GroupNumber>
+      <FileNumber>33</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\App\Src\app_line_seek.c</PathWithFileName>
+      <FilenameWithoutPath>app_line_seek.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>

MDK-ARM/CAR.uvprojx

@@ -339,7 +339,7 @@
               <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F103xB</Define>
               <Undefine></Undefine>
-              <IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include;../User/Inc</IncludePath>
+              <IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include;../User/Inc;../App/Inc</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -391,7 +391,7 @@
           </Files>
         </Group>
         <Group>
-          <GroupName>Application/User/Core</GroupName>
+          <GroupName>Core</GroupName>
           <Files>
             <File>
               <FileName>main.c</FileName>
@@ -484,6 +484,11 @@
               <FileType>1</FileType>
               <FilePath>../Core/Src/stm32f1xx_hal_msp.c</FilePath>
             </File>
+            <File>
+              <FileName>syscalls.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Core\Src\syscalls.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -577,7 +582,7 @@
           </Files>
         </Group>
         <Group>
-          <GroupName>Application/User/Service</GroupName>
+          <GroupName>User</GroupName>
           <Files>
             <File>
               <FileName>bluetooth.c</FileName>
@@ -604,6 +609,21 @@
               <FileType>1</FileType>
               <FilePath>..\User\Src\motor.c</FilePath>
             </File>
+            <File>
+              <FileName>line_seek.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\Src\line_seek.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>App</GroupName>
+          <Files>
+            <File>
+              <FileName>app_line_seek.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\App\Src\app_line_seek.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>

Makefile

@@ -39,6 +39,7 @@ C_SOURCES =  \
 Core/Src/main.c \
 Core/Src/gpio.c \
 Core/Src/i2c.c \
+Core/Src/syscalls.c \
 Core/Src/tim.c \
 Core/Src/dma.c \
 Core/Src/usart.c \
@@ -61,12 +62,13 @@ 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 \
-Core/Src/hcsr04.c \
+User/Src/hcsr04.c \
-Core/Src/motor.c \
+User/Src/motor.c \
-Core/Src/led.c \
+User/Src/led.c \
-Core/Src/syscalls.c \
+User/Src/bluetooth.c \
-Core/Src/bluetooth.c \
+User/Src/control.c \
-Core/Src/control.c
+User/Src/line_seek.c \
+App/Src/app_line_seek.c
 
 # ASM sources
 ASM_SOURCES =  \
@@ -127,6 +129,8 @@ AS_INCLUDES =
 # C includes
 C_INCLUDES =  \
 -ICore/Inc \
+-IUser/Inc \
+-IApp/Inc \
 -IDrivers/STM32F1xx_HAL_Driver/Inc \
 -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy \
 -IDrivers/CMSIS/Device/ST/STM32F1xx/Include \

User/Inc/line_seek.h

@@ -0,0 +1,7 @@
+#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);
+
+#endif

User/Src/line_seek.c

@@ -0,0 +1,17 @@
+
+#include "line_seek.h"
+
+#include "main.h"
+
+/**
+ * @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)
+{
+    *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);
+}