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EN:feat-hwl
EN:feat-lineseek
EN:feat-qxl
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36
.mxproject
View File

File diff suppressed because one or more lines are too long

50
CAR.ioc
View File

@ -2,33 +2,21 @@
CAD.formats=
CAD.pinconfig=
CAD.provider=
Dma.Request0=USART2_RX
Dma.RequestsNb=1
Dma.USART2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART2_RX.0.Instance=DMA1_Channel6
Dma.USART2_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART2_RX.0.MemInc=DMA_MINC_ENABLE
Dma.USART2_RX.0.Mode=DMA_NORMAL
Dma.USART2_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART2_RX.0.PeriphInc=DMA_PINC_DISABLE
Dma.USART2_RX.0.Priority=DMA_PRIORITY_HIGH
Dma.USART2_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
Mcu.CPN=STM32F103C8T6
Mcu.Family=STM32F1
Mcu.IP0=DMA
Mcu.IP1=I2C2
Mcu.IP2=NVIC
Mcu.IP3=RCC
Mcu.IP4=SYS
Mcu.IP5=TIM2
Mcu.IP6=TIM3
Mcu.IP7=TIM4
Mcu.IP8=USART1
Mcu.IP9=USART2
Mcu.IPNb=10
Mcu.IP0=I2C2
Mcu.IP1=NVIC
Mcu.IP2=RCC
Mcu.IP3=SYS
Mcu.IP4=TIM2
Mcu.IP5=TIM3
Mcu.IP6=TIM4
Mcu.IP7=USART1
Mcu.IP8=USART2
Mcu.IPNb=9
Mcu.Name=STM32F103C(8-B)Tx
Mcu.Package=LQFP48
Mcu.Pin0=PD0-OSC_IN
@ -65,7 +53,6 @@ Mcu.UserName=STM32F103C8Tx
MxCube.Version=6.12.0
MxDb.Version=DB.6.0.120
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.DMA1_Channel6_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.EXTI15_10_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=false
@ -77,7 +64,6 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_2
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.SysTick_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:false
NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
PA0-WKUP.GPIOParameters=PinState,GPIO_Label
@ -167,8 +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
@ -192,7 +178,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_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.AHBFreq_Value=72000000
RCC.APB1CLKDivider=RCC_HCLK_DIV2
@ -229,7 +215,7 @@ SH.S_TIM4_CH2.ConfNb=1
TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
TIM2.IPParameters=Prescaler,Period,AutoReloadPreload
TIM2.Period=72 - 1
TIM2.Prescaler=10 - 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
@ -248,15 +234,11 @@ TIM4.Prescaler=720 - 1
TIM4.Pulse-PWM\ Generation1\ CH1=100
TIM4.Pulse-PWM\ Generation2\ CH2=100
USART1.BaudRate=115200
USART1.IPParameters=VirtualMode,BaudRate,Parity,WordLength
USART1.Parity=PARITY_NONE
USART1.IPParameters=VirtualMode,BaudRate
USART1.VirtualMode=VM_ASYNC
USART1.WordLength=WORDLENGTH_8B
USART2.BaudRate=9600
USART2.IPParameters=VirtualMode,BaudRate,Parity,WordLength
USART2.Parity=PARITY_NONE
USART2.IPParameters=VirtualMode,BaudRate
USART2.VirtualMode=VM_ASYNC
USART2.WordLength=WORDLENGTH_8B
VP_SYS_VS_Systick.Mode=SysTick
VP_SYS_VS_Systick.Signal=SYS_VS_Systick
VP_TIM2_VS_ClockSourceINT.Mode=Internal

52
Core/Inc/dma.h
View File

@ -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
View File

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

2
Core/Inc/stm32f1xx_hal_conf.h
View File

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

2
Core/Inc/stm32f1xx_it.h
View File

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

32
Core/Src/bluetooth.c
View File

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

55
Core/Src/dma.c
View File

@ -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 "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 uint64_t time_end; // 声明变量，存储回波信号时间
static uint8_t state;
static int16_t delay_time = -1; // 用于延时
static uint8_t state = 0;
// HACK 临时的 delay 解决方法
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);
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;
}
void delay_us(uint16_t us)
{
delay_time = us;
time = 0;
HAL_TIM_Base_Start_IT(&htim2);
time = 0;
while (time < us)
;
delay_time = -1;
HAL_TIM_Base_Stop_IT(&htim2);
}
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if (htim == &htim2)
{
++time;
if (delay_us > 0 && time == delay_time)
HAL_TIM_Base_Stop_IT(&htim2);
}
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)

21
Core/Src/motor.c
View File

@ -17,8 +17,6 @@ void MOTOR_Start(void)
HAL_TIM_PWM_Start(MOTOR_TIM, MOTOR_R_CHAN);
}
/// @brief 自由滑行
/// @param
void MOTOR_Slip(void)
{
HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin | L_BACKWARD_Pin | R_FORWARD_Pin | R_BACKWARD_Pin, GPIO_PIN_RESET);
@ -26,8 +24,6 @@ void MOTOR_Slip(void)
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, MAX_SPEED);
}
/// @brief 刹车
/// @param
void MOTOR_Stop(void)
{
HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin | L_BACKWARD_Pin | R_FORWARD_Pin | R_BACKWARD_Pin, GPIO_PIN_RESET);
@ -35,10 +31,6 @@ void MOTOR_Stop(void)
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, 0);
}
/// @brief 控制电机占空比
/// @param leftDuty 绝对值 20-100, 支持正负
/// @param rightDuty 绝对值 20-100，支持正负
void MOTOR_SetDuty(int8_t leftDuty, int8_t rightDuty)
{
leftDuty = preProcess(leftDuty, MOTOR_L);
@ -54,13 +46,14 @@ void MOTOR_SetDuty(int8_t leftDuty, int8_t rightDuty)
}
int8_t preProcess(int8_t duty, uint8_t motor)
{
if (duty >= 0)
{
if (duty > 100)
duty = 100;
else if (duty < 20)
duty = 20;
else if (duty < -100)
duty = -100;
if (duty >= 0)
{
if (motor & MOTOR_L)
{
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
{
if (duty < -100)
duty = -100;
else if (duty > -20)
duty = -20;
if (motor & MOTOR_L)
{
HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_RESET);

30
Core/Src/stm32f1xx_it.c
View File

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

2
Core/Src/tim.c
View File

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

26
Core/Src/usart.c
View File

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

170
MDK-ARM/CAR.uvoptx
View File

@ -78,33 +78,6 @@
<IsCurrentTarget>1</IsCurrentTarget>
</OPTFL>
<CpuCode>18</CpuCode>
<Books>
<Book>
<Number>0</Number>
<Title>Quick Start Guide (MCBSTM32E)</Title>
<Path>E:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\STM32E_QSG.pdf</Path>
</Book>
<Book>
<Number>1</Number>
<Title>Base Board Schematics (MCBSTM32E)</Title>
<Path>E:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e-base-board-schematics.pdf</Path>
</Book>
<Book>
<Number>2</Number>
<Title>Display Board Schematics (MCBSTM32E)</Title>
<Path>E:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e-display-board-schematics.pdf</Path>
</Book>
<Book>
<Number>3</Number>
<Title>User Manual (MCBSTM32E)</Title>
<Path>E:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e.chm</Path>
</Book>
<Book>
<Number>4</Number>
<Title>MCBSTM32E Evaluation Board Web Page (MCBSTM32E)</Title>
<Path>http://www.keil.com/mcbstm32e/</Path>
</Book>
</Books>
<DebugOpt>
<uSim>0</uSim>
<uTrg>1</uTrg>
@ -127,7 +100,10 @@
<tRSysVw>1</tRSysVw>
<sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime>
<nTsel>2</nTsel>
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>3</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@ -181,88 +157,36 @@
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>39</LineNumber>
<LineNumber>98</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134225148</Address>
<Address>0</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>
<BreakIfRCount>0</BreakIfRCount>
<Filename>../Core/Src/main.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/hcsr04.c\39</Expression>
<Expression></Expression>
</Bp>
<Bp>
<Number>1</Number>
<Type>0</Type>
<LineNumber>98</LineNumber>
<LineNumber>31</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134229854</Address>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>../Core/Src/main.c</Filename>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\Core\Src\motor.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/main.c\98</Expression>
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<Type>0</Type>
<LineNumber>45</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134220846</Address>
<ByteObject>0</ByteObject>
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<Filename>..\Core\Src\hcsr04.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/hcsr04.c\45</Expression>
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<Bp>
<Number>3</Number>
<Type>0</Type>
<LineNumber>32</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134229764</Address>
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<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\Core\Src\hcsr04.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/hcsr04.c\32</Expression>
<Expression></Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>time</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>distance</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>
<WinNumber>1</WinNumber>
<SubType>0</SubType>
<ItemText>&amp;rxSize</ItemText>
<AccSizeX>0</AccSizeX>
</Mm>
</MemoryWindow1>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
@ -295,11 +219,19 @@
<LintExecutable></LintExecutable>
<LintConfigFile></LintConfigFile>
<bLintAuto>0</bLintAuto>
<Lin2Executable></Lin2Executable>
<Lin2ConfigFile></Lin2ConfigFile>
<bLin2Auto>0</bLin2Auto>
<bAutoGenD>0</bAutoGenD>
<LntExFlags>0</LntExFlags>
<pMisraName></pMisraName>
<pszMrule></pszMrule>
<pSingCmds></pSingCmds>
<pMultCmds></pMultCmds>
<pMisraNamep></pMisraNamep>
<pszMrulep></pszMrulep>
<pSingCmdsp></pSingCmdsp>
<pMultCmdsp></pMultCmdsp>
<DebugDescription>
<Enable>1</Enable>
<EnableFlashSeq>0</EnableFlashSeq>
<EnableLog>0</EnableLog>
<Protocol>2</Protocol>
<DbgClock>10000000</DbgClock>
@ -424,18 +356,6 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Core/Src/dma.c</PathWithFileName>
<FilenameWithoutPath>dma.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>10</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Core/Src/i2c.c</PathWithFileName>
<FilenameWithoutPath>i2c.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
@ -443,7 +363,7 @@
</File>
<File>
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<FileNumber>11</FileNumber>
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<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -455,7 +375,7 @@
</File>
<File>
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@ -467,7 +387,7 @@
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@ -479,7 +399,7 @@
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@ -499,7 +419,7 @@
<RteFlg>0</RteFlg>
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@ -511,7 +431,7 @@
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@ -523,7 +443,7 @@
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@ -535,7 +455,7 @@
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@ -547,7 +467,7 @@
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@ -559,7 +479,7 @@
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@ -571,7 +491,7 @@
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@ -583,7 +503,7 @@
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@ -643,7 +563,7 @@
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@ -667,7 +587,7 @@
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@ -687,7 +607,7 @@
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69
MDK-ARM/CAR.uvprojx
View File

@ -10,13 +10,14 @@
<TargetName>CAR</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<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>
<TargetCommonOption>
<Device>STM32F103C8</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F1xx_DFP.2.2.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<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></FlashUtilSpec>
<StartupFile></StartupFile>
@ -183,6 +184,8 @@
<hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam>
<RvdsVP>0</RvdsVP>
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<RvdsCdeCp>0</RvdsCdeCp>
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<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
@ -323,6 +326,7 @@
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@ -335,7 +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</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>
</Cads>
<Aads>
@ -348,7 +352,7 @@
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<VariousControls>
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<Define></Define>
@ -424,61 +428,6 @@
<FileType>1</FileType>
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</File>
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<FileArmAds>
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</Cads>
</FileArmAds>
</FileOption>
</File>
<File>
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