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36
.mxproject
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File diff suppressed because one or more lines are too long

50
CAR.ioc
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@ -2,33 +2,21 @@
CAD.formats= CAD.formats=
CAD.pinconfig= CAD.pinconfig=
CAD.provider= 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 File.Version=6
GPIO.groupedBy=Group By Peripherals GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false KeepUserPlacement=false
Mcu.CPN=STM32F103C8T6 Mcu.CPN=STM32F103C8T6
Mcu.Family=STM32F1 Mcu.Family=STM32F1
Mcu.IP0=DMA Mcu.IP0=I2C2
Mcu.IP1=I2C2 Mcu.IP1=NVIC
Mcu.IP2=NVIC Mcu.IP2=RCC
Mcu.IP3=RCC Mcu.IP3=SYS
Mcu.IP4=SYS Mcu.IP4=TIM2
Mcu.IP5=TIM2 Mcu.IP5=TIM3
Mcu.IP6=TIM3 Mcu.IP6=TIM4
Mcu.IP7=TIM4 Mcu.IP7=USART1
Mcu.IP8=USART1 Mcu.IP8=USART2
Mcu.IP9=USART2 Mcu.IPNb=9
Mcu.IPNb=10
Mcu.Name=STM32F103C(8-B)Tx Mcu.Name=STM32F103C(8-B)Tx
Mcu.Package=LQFP48 Mcu.Package=LQFP48
Mcu.Pin0=PD0-OSC_IN Mcu.Pin0=PD0-OSC_IN
@ -65,7 +53,6 @@ Mcu.UserName=STM32F103C8Tx
MxCube.Version=6.12.0 MxCube.Version=6.12.0
MxDb.Version=DB.6.0.120 MxDb.Version=DB.6.0.120
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false 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.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.EXTI15_10_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=false NVIC.ForceEnableDMAVector=false
@ -77,7 +64,6 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_2
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false 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.SysTick_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:false
NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true 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.USART2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
PA0-WKUP.GPIOParameters=PinState,GPIO_Label PA0-WKUP.GPIOParameters=PinState,GPIO_Label
@ -167,8 +153,8 @@ ProjectManager.BackupPrevious=false
ProjectManager.CompilerOptimize=6 ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=true ProjectManager.CoupleFile=true
ProjectManager.CustomerFirmwarePackage=..\\stm32\\STM32Cube_FW_F1_V1.8.0 ProjectManager.CustomerFirmwarePackage=
ProjectManager.DefaultFWLocation=false ProjectManager.DefaultFWLocation=true
ProjectManager.DeletePrevious=true ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32F103C8Tx ProjectManager.DeviceId=STM32F103C8Tx
ProjectManager.FirmwarePackage=STM32Cube FW_F1 V1.8.5 ProjectManager.FirmwarePackage=STM32Cube FW_F1 V1.8.5
@ -192,7 +178,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath= ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false ProjectManager.UnderRoot=false
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 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
RCC.ADCFreqValue=36000000 RCC.ADCFreqValue=36000000
RCC.AHBFreq_Value=72000000 RCC.AHBFreq_Value=72000000
RCC.APB1CLKDivider=RCC_HCLK_DIV2 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@ -229,7 +215,7 @@ SH.S_TIM4_CH2.ConfNb=1
TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
TIM2.IPParameters=Prescaler,Period,AutoReloadPreload TIM2.IPParameters=Prescaler,Period,AutoReloadPreload
TIM2.Period=72 - 1 TIM2.Period=72 - 1
TIM2.Prescaler=10 - 1 TIM2.Prescaler=0
TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4 TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
@ -248,15 +234,11 @@ TIM4.Prescaler=720 - 1
TIM4.Pulse-PWM\ Generation1\ CH1=100 TIM4.Pulse-PWM\ Generation1\ CH1=100
TIM4.Pulse-PWM\ Generation2\ CH2=100 TIM4.Pulse-PWM\ Generation2\ CH2=100
USART1.BaudRate=115200 USART1.BaudRate=115200
USART1.IPParameters=VirtualMode,BaudRate,Parity,WordLength USART1.IPParameters=VirtualMode,BaudRate
USART1.Parity=PARITY_NONE
USART1.VirtualMode=VM_ASYNC USART1.VirtualMode=VM_ASYNC
USART1.WordLength=WORDLENGTH_8B
USART2.BaudRate=9600 USART2.BaudRate=9600
USART2.IPParameters=VirtualMode,BaudRate,Parity,WordLength USART2.IPParameters=VirtualMode,BaudRate
USART2.Parity=PARITY_NONE
USART2.VirtualMode=VM_ASYNC USART2.VirtualMode=VM_ASYNC
USART2.WordLength=WORDLENGTH_8B
VP_SYS_VS_Systick.Mode=SysTick VP_SYS_VS_Systick.Mode=SysTick
VP_SYS_VS_Systick.Signal=SYS_VS_Systick VP_SYS_VS_Systick.Signal=SYS_VS_Systick
VP_TIM2_VS_ClockSourceINT.Mode=Internal VP_TIM2_VS_ClockSourceINT.Mode=Internal

52
Core/Inc/dma.h
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@ -1,52 +0,0 @@
/* 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__ */

2
Core/Inc/motor.h
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@ -5,6 +5,8 @@
#include "main.h" #include "main.h"
// duty in [-100, 100]
void MOTOR_Start(void); void MOTOR_Start(void);
void MOTOR_Slip(void); void MOTOR_Slip(void);
void MOTOR_Stop(void); void MOTOR_Stop(void);

2
Core/Inc/stm32f1xx_hal_conf.h
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@ -42,7 +42,7 @@
/*#define HAL_CORTEX_MODULE_ENABLED */ /*#define HAL_CORTEX_MODULE_ENABLED */
/*#define HAL_CRC_MODULE_ENABLED */ /*#define HAL_CRC_MODULE_ENABLED */
/*#define HAL_DAC_MODULE_ENABLED */ /*#define HAL_DAC_MODULE_ENABLED */
#define HAL_DMA_MODULE_ENABLED /*#define HAL_DMA_MODULE_ENABLED */
/*#define HAL_ETH_MODULE_ENABLED */ /*#define HAL_ETH_MODULE_ENABLED */
/*#define HAL_FLASH_MODULE_ENABLED */ /*#define HAL_FLASH_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED #define HAL_GPIO_MODULE_ENABLED

2
Core/Inc/stm32f1xx_it.h
View File

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

96
Core/Src/bluetooth.c
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@ -1,65 +1,75 @@
#include "bluetooth.h" #include "bluetooth.h"
#include "usart.h" #include "usart.h"
#include "control.h" #include "control.h"
#include <stdio.h> #include "stdio.h"
#include <string.h>
#define BUFFER_SIZE 100 #define BUFFER_SIZE 100
#define MESSAGE_SIZE 19 #define MESSAGE_SIZE 19
#define CMD_NUM 9 #define CMD_NUM 9
static int8_t rxBuffer[BUFFER_SIZE], txBuffer[BUFFER_SIZE]; static uint8_t rxBuffer[BUFFER_SIZE], rxSize;
static uint8_t txBuffer[BUFFER_SIZE], txSize;
static uint8_t cmdIndex; static uint8_t cmdIndex;
void BLUETOOTH_Init(void) void BLUETOOTH_Init(void)
{ {
HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100); rxSize = 0;
HAL_UART_Receive_IT(&huart2, rxBuffer, 1);
} }
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) void receiveCmd()
{ {
if (huart == &huart2 && rxBuffer[0] == '$' && rxBuffer[Size - 1] == '#') // 通用协议
if (rxBuffer[2] == ',')
{ {
// 通用协议 cmdIndex = 0;
if (rxBuffer[2] == ',') for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2)
{ if (rxBuffer[i] == '0')
++cmdIndex;
else
break;
if (cmdIndex == CMD_NUM)
cmdIndex = 0; cmdIndex = 0;
for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2) CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1]);
if (rxBuffer[i] == '0') }
++cmdIndex; else
else {
break; static uint16_t num[6];
if (cmdIndex == CMD_NUM) switch (rxBuffer[5])
cmdIndex = 0;
CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1]);
}
else
{ {
static uint16_t num[6]; // 机械手
switch (rxBuffer[5]) case 'S':
{ break;
// 机械手 // 舵机云台
case 'S': case 'P':
break; break;
// 舵机云台 // 七彩灯
case 'P': case 'C':
break; sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
// 七彩灯 CONTROL_RGB(num[0], num[1], num[2]);
case 'C': break;
sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
CONTROL_RGB(num[0], num[1], num[2]);
break;
// 模式选择 // 模式选择
case 'M': case 'M':
sscanf(rxBuffer + 5, "%*4s%c%c", num, num + 1); sscanf(rxBuffer + 5, "%*4s%lc%lc", num, num + 1);
CONTROL_Mode(num[0] - '0', num[1] - '0'); CONTROL_Mode(num[0] - '0', num[1] - '0');
break; break;
}
} }
memcpy(txBuffer, rxBuffer, Size); }
printf("%s", txBuffer); HAL_UART_Transmit(&huart1, rxBuffer, rxSize, 1000);
HAL_UART_Transmit_IT(&huart2, txBuffer, Size); }
BLUETOOTH_Init();
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if (huart == &huart2)
{
if (rxSize && rxBuffer[rxSize] == '#')
{
if (++rxSize > 10)
receiveCmd();
BLUETOOTH_Init();
}
else if (rxSize++ == 0 && rxBuffer[0] == '$')
HAL_UART_Receive_IT(&huart2, rxBuffer + rxSize, 1);
} }
} }

55
Core/Src/dma.c
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@ -1,55 +0,0 @@
/* 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 */

16
Core/Src/hcsr04.c
View File

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

21
Core/Src/motor.c
View File

@ -17,8 +17,6 @@ void MOTOR_Start(void)
HAL_TIM_PWM_Start(MOTOR_TIM, MOTOR_R_CHAN); HAL_TIM_PWM_Start(MOTOR_TIM, MOTOR_R_CHAN);
} }
/// @brief 自由滑行
/// @param
void MOTOR_Slip(void) 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); HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin | L_BACKWARD_Pin | R_FORWARD_Pin | R_BACKWARD_Pin, GPIO_PIN_RESET);
@ -26,8 +24,6 @@ void MOTOR_Slip(void)
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, MAX_SPEED); __HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, MAX_SPEED);
} }
/// @brief 刹车
/// @param
void MOTOR_Stop(void) 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); HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin | L_BACKWARD_Pin | R_FORWARD_Pin | R_BACKWARD_Pin, GPIO_PIN_RESET);
@ -35,10 +31,6 @@ void MOTOR_Stop(void)
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, 0); __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) void MOTOR_SetDuty(int8_t leftDuty, int8_t rightDuty)
{ {
leftDuty = preProcess(leftDuty, MOTOR_L); leftDuty = preProcess(leftDuty, MOTOR_L);
@ -55,12 +47,13 @@ void MOTOR_SetDuty(int8_t leftDuty, int8_t rightDuty)
int8_t preProcess(int8_t duty, uint8_t motor) 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 >= 0)
{ {
if (duty > 100)
duty = 100;
else if (duty < 20)
duty = 20;
if (motor & MOTOR_L) if (motor & MOTOR_L)
{ {
HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_SET);
@ -74,10 +67,6 @@ int8_t preProcess(int8_t duty, uint8_t motor)
} }
else else
{ {
if (duty < -100)
duty = -100;
else if (duty > -20)
duty = -20;
if (motor & MOTOR_L) if (motor & MOTOR_L)
{ {
HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_RESET);

30
Core/Src/stm32f1xx_it.c
View File

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

2
Core/Src/tim.c
View File

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

26
Core/Src/usart.c
View File

@ -26,7 +26,6 @@
UART_HandleTypeDef huart1; UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2; UART_HandleTypeDef huart2;
DMA_HandleTypeDef hdma_usart2_rx;
/* USART1 init function */ /* USART1 init function */
@ -114,9 +113,6 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); 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 BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */ /* USER CODE END USART1_MspInit 1 */
@ -144,23 +140,6 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); 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 */ /* USART2 interrupt Init */
HAL_NVIC_SetPriority(USART2_IRQn, 0, 0); HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART2_IRQn); HAL_NVIC_EnableIRQ(USART2_IRQn);
@ -187,8 +166,6 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
*/ */
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10); 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 BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */ /* USER CODE END USART1_MspDeInit 1 */
@ -207,9 +184,6 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
*/ */
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3); HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
/* USART2 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
/* USART2 interrupt Deinit */ /* USART2 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART2_IRQn); HAL_NVIC_DisableIRQ(USART2_IRQn);
/* USER CODE BEGIN USART2_MspDeInit 1 */ /* USER CODE BEGIN USART2_MspDeInit 1 */

170
MDK-ARM/CAR.uvoptx
View File

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

69
MDK-ARM/CAR.uvprojx
View File

@ -10,13 +10,14 @@
<TargetName>CAR</TargetName> <TargetName>CAR</TargetName>
<ToolsetNumber>0x4</ToolsetNumber> <ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName> <ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>5060300::V5.06 update 3 (build 300)::ARMCC</pCCUsed> <pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
<uAC6>0</uAC6>
<TargetOption> <TargetOption>
<TargetCommonOption> <TargetCommonOption>
<Device>STM32F103C8</Device> <Device>STM32F103C8</Device>
<Vendor>STMicroelectronics</Vendor> <Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F1xx_DFP.2.2.0</PackID> <PackID>Keil.STM32F1xx_DFP.2.4.1</PackID>
<PackURL>http://www.keil.com/pack/</PackURL> <PackURL>https://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3") TZ</Cpu> <Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3") TZ</Cpu>
<FlashUtilSpec></FlashUtilSpec> <FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile> <StartupFile></StartupFile>
@ -183,6 +184,8 @@
<hadXRAM>0</hadXRAM> <hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam> <uocXRam>0</uocXRam>
<RvdsVP>0</RvdsVP> <RvdsVP>0</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<hadIRAM2>0</hadIRAM2> <hadIRAM2>0</hadIRAM2>
<hadIROM2>0</hadIROM2> <hadIROM2>0</hadIROM2>
<StupSel>8</StupSel> <StupSel>8</StupSel>
@ -323,6 +326,7 @@
<uThumb>0</uThumb> <uThumb>0</uThumb>
<uSurpInc>0</uSurpInc> <uSurpInc>0</uSurpInc>
<uC99>1</uC99> <uC99>1</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO> <useXO>0</useXO>
<v6Lang>5</v6Lang> <v6Lang>5</v6Lang>
<v6LangP>3</v6LangP> <v6LangP>3</v6LangP>
@ -335,7 +339,7 @@
<MiscControls></MiscControls> <MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F103xB</Define> <Define>USE_HAL_DRIVER,STM32F103xB</Define>
<Undefine></Undefine> <Undefine></Undefine>
<IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include</IncludePath> <IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include</IncludePath>
</VariousControls> </VariousControls>
</Cads> </Cads>
<Aads> <Aads>
@ -348,7 +352,7 @@
<NoWarn>0</NoWarn> <NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc> <uSurpInc>0</uSurpInc>
<useXO>0</useXO> <useXO>0</useXO>
<uClangAs>0</uClangAs> <ClangAsOpt>4</ClangAsOpt>
<VariousControls> <VariousControls>
<MiscControls></MiscControls> <MiscControls></MiscControls>
<Define></Define> <Define></Define>
@ -424,61 +428,6 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Core/Src/gpio.c</FilePath> <FilePath>../Core/Src/gpio.c</FilePath>
</File> </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> <File>
<FileName>i2c.c</FileName> <FileName>i2c.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>