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base: EN:9a9d13f7bab728c1d1286e405c20324a0e6d8e89
Branches Tags
EN:master
EN:feat-csj
EN:dev
EN:feat-hwl
EN:feat-lineseek
EN:feat-qxl
EN:feat-EN
..
compare: EN:5d3ee9bf625f026f65c8f5848f986e78fbb65ff6
Branches Tags
EN:feat-csj
EN:dev
EN:feat-hwl
EN:feat-lineseek
EN:feat-qxl
EN:feat-EN
EN:master

2 Commits
9a9d13f7ba ... 5d3ee9bf62

Author SHA1 Message Date
JasonChen
5d3ee9bf62 Merge branch 'feat-csj' into dev 2024-07-14 19:38:24 +08:00
JasonChen
e76d9f93ec 🦄 refactor: 重构外设模块到单独文件夹 2024-07-14 19:37:35 +08:00
18 changed files with 387 additions and 282 deletions
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1
.gitignore vendored
View File

@ -7,6 +7,7 @@ MDK-ARM/startup_stm32f103xb.lst
MDK-ARM/RTE
MDK-ARM/CAR.uvguix.Admin
MDK-ARM/car.uvguix.Administrator
MDK-ARM/CAR.uvguix.lenovo
build/
cmake/

2
Core/Inc/stm32f1xx_hal_conf.h
View File

@ -154,7 +154,7 @@
#define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */
#define USE_HAL_TIM_REGISTER_CALLBACKS 1U /* TIM register callback enabled */
#define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */
#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */
#define USE_HAL_USART_REGISTER_CALLBACKS 1U /* USART register callback enabled */
#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */
/* ########################## Assert Selection ############################## */

39
Core/Inc/syscalls.h
View File

@ -7,32 +7,37 @@
#include <stdio.h>
#include <stdlib.h>
#include <stm32f1xx_hal_uart.h>
#include <string.h>
#include <time.h>
#define HUART1 (&huart1)
#define HUART2 (&huart2)
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart1;
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) {
__attribute__((weak)) int _read(int file, char *ptr, int len)
{
(void)file;
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++) {
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
*ptr++ = __io_getchar();
}
return len;
}
__attribute__((weak)) int _write(int file, char *ptr, int len) {
__attribute__((weak)) int _write(int file, char *ptr, int len)
{
(void)file;
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++) {
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
__io_putchar(*ptr++);
}
return len;
@ -48,7 +53,7 @@ __attribute__((weak)) int _write(int file, char *ptr, int len) {
#endif /* __GNUC__ */
/**
* @brief 重定向 C 标准库 printf 函数到串口 huart2
* @brief 重定向 C 标准库 printf 函数到串口 huart1
* @author Suroy
* @param ch
* @param f
@ -56,27 +61,30 @@ __attribute__((weak)) int _write(int file, char *ptr, int len) {
*
* @usage printf("USART1_Target:\r\n");
*/
PUTCHAR_PROTOTYPE {
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY); // 阻塞式无限等待
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, HAL_MAX_DELAY); // 阻塞式无限等待
return ch;
}
/**
* @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 huart2
* 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 {
GETCHAR_PROTOTYPE
{
uint8_t ch = 0;
HAL_UART_Receive(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
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)
{
uint32_t delay = (HAL_RCC_GetHCLKFreq() / 4000000 * us);
while (delay--);
}
@ -88,15 +96,14 @@ void delay_us(uint16_t us) {
*
* @usage my_printf(HUART1, "USART1_Target:\r\n");
*/
void my_printf(UART_HandleTypeDef *huart, const char *buf, ...) {
const char *p = buf;
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, str, strlen(str), 0xff);
HAL_UART_Transmit(huart, (const uint8_t *)str, strlen(str), 0xff);
va_end(v);
}
#endif

13
Core/Src/gpio.c
View File

@ -45,6 +45,7 @@ void MX_GPIO_Init(void)
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
@ -58,6 +59,12 @@ void MX_GPIO_Init(void)
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, R_FORWARD_Pin|R_BACKWARD_Pin|L_BACKWARD_Pin|L_FORWARD_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : PCPin PCPin PCPin */
GPIO_InitStruct.Pin = LineSeek_L2_Pin|LineSeek_L1_Pin|LineSeek_R1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pins : PAPin PAPin */
GPIO_InitStruct.Pin = FM_K2_POWERC_Pin|FAN_GS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@ -65,6 +72,12 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = LineSeek_R2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(LineSeek_R2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = Echo_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;

4
Core/Src/usart.c
View File

@ -41,7 +41,7 @@ void MX_USART1_UART_Init(void)
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.BaudRate = 9600;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
@ -70,7 +70,7 @@ 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;

204
MDK-ARM/CAR.uvguix.lenovo
View File

File diff suppressed because one or more lines are too long

258
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>
@ -190,7 +166,7 @@
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\Core\Src\hcsr04.c</Filename>
<Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/hcsr04.c\39</Expression>
</Bp>
@ -222,7 +198,7 @@
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\Core\Src\hcsr04.c</Filename>
<Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/hcsr04.c\45</Expression>
</Bp>
@ -238,10 +214,42 @@
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\Core\Src\hcsr04.c</Filename>
<Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\car\../Core/Src/hcsr04.c\32</Expression>
</Bp>
<Bp>
<Number>4</Number>
<Type>0</Type>
<LineNumber>99</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>../Core/Src/main.c</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>5</Number>
<Type>0</Type>
<LineNumber>97</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>../Core/Src/main.c</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
<Ww>
@ -295,11 +303,19 @@
<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>
@ -340,66 +356,6 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Core\Src\bluetooth.c</PathWithFileName>
<FilenameWithoutPath>bluetooth.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>3</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Core\Src\control.c</PathWithFileName>
<FilenameWithoutPath>control.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>4</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Core\Src\hcsr04.c</PathWithFileName>
<FilenameWithoutPath>hcsr04.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>5</FileNumber>
<FileType>1</FileType>
<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>
@ -407,7 +363,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>8</FileNumber>
<FileNumber>3</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -419,7 +375,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>9</FileNumber>
<FileNumber>4</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -431,7 +387,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>10</FileNumber>
<FileNumber>5</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -443,7 +399,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>11</FileNumber>
<FileNumber>6</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -455,7 +411,7 @@
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>12</FileNumber>
<FileNumber>7</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -467,7 +423,7 @@
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<File>
<GroupNumber>2</GroupNumber>
<FileNumber>13</FileNumber>
<FileNumber>8</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -479,7 +435,7 @@
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<File>
<GroupNumber>2</GroupNumber>
<FileNumber>14</FileNumber>
<FileNumber>9</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -499,7 +455,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>15</FileNumber>
<FileNumber>10</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -511,7 +467,7 @@
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<File>
<GroupNumber>3</GroupNumber>
<FileNumber>16</FileNumber>
<FileNumber>11</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -523,7 +479,7 @@
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<File>
<GroupNumber>3</GroupNumber>
<FileNumber>17</FileNumber>
<FileNumber>12</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -535,7 +491,7 @@
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<File>
<GroupNumber>3</GroupNumber>
<FileNumber>18</FileNumber>
<FileNumber>13</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -547,7 +503,7 @@
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<File>
<GroupNumber>3</GroupNumber>
<FileNumber>19</FileNumber>
<FileNumber>14</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -559,7 +515,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>20</FileNumber>
<FileNumber>15</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -571,7 +527,7 @@
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<File>
<GroupNumber>3</GroupNumber>
<FileNumber>21</FileNumber>
<FileNumber>16</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -583,7 +539,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>22</FileNumber>
<FileNumber>17</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -595,7 +551,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>23</FileNumber>
<FileNumber>18</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -607,7 +563,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>24</FileNumber>
<FileNumber>19</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -619,7 +575,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>25</FileNumber>
<FileNumber>20</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -631,7 +587,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>26</FileNumber>
<FileNumber>21</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -643,7 +599,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>27</FileNumber>
<FileNumber>22</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -655,7 +611,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>28</FileNumber>
<FileNumber>23</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -667,7 +623,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>29</FileNumber>
<FileNumber>24</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -687,7 +643,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>4</GroupNumber>
<FileNumber>30</FileNumber>
<FileNumber>25</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -699,6 +655,74 @@
</File>
</Group>
<Group>
<GroupName>Application/User/Service</GroupName>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>26</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\Src\bluetooth.c</PathWithFileName>
<FilenameWithoutPath>bluetooth.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>27</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\Src\control.c</PathWithFileName>
<FilenameWithoutPath>control.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>28</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
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<bDave2>0</bDave2>
<PathWithFileName>..\User\Src\hcsr04.c</PathWithFileName>
<FilenameWithoutPath>hcsr04.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
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</File>
<File>
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<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\Src\led.c</PathWithFileName>
<FilenameWithoutPath>led.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>30</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\Src\motor.c</PathWithFileName>
<FilenameWithoutPath>motor.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>
<GroupName>::CMSIS</GroupName>
<tvExp>0</tvExp>

67
MDK-ARM/CAR.uvprojx
View File

@ -10,7 +10,8 @@
<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>
@ -183,6 +184,8 @@
<hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam>
<RvdsVP>0</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<hadIRAM2>0</hadIRAM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
@ -323,6 +326,7 @@
<uThumb>0</uThumb>
<uSurpInc>0</uSurpInc>
<uC99>1</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO>
<v6Lang>5</v6Lang>
<v6LangP>3</v6LangP>
@ -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;../Drivers/CMSIS/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;../User/Inc</IncludePath>
</VariousControls>
</Cads>
<Aads>
@ -348,7 +352,7 @@
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
<uClangAs>0</uClangAs>
<ClangAsOpt>4</ClangAsOpt>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -389,31 +393,6 @@
<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>
<FilePath>..\Core\Src\led.c</FilePath>
</File>
<File>
<FileName>motor.c</FileName>
<FileType>1</FileType>
<FilePath>..\Core\Src\motor.c</FilePath>
</File>
<File>
<FileName>main.c</FileName>
<FileType>1</FileType>
@ -461,6 +440,7 @@
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
@ -596,6 +576,36 @@
</File>
</Files>
</Group>
<Group>
<GroupName>Application/User/Service</GroupName>
<Files>
<File>
<FileName>bluetooth.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\Src\bluetooth.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\Src\control.c</FilePath>
</File>
<File>
<FileName>hcsr04.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\Src\hcsr04.c</FilePath>
</File>
<File>
<FileName>led.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\Src\led.c</FilePath>
</File>
<File>
<FileName>motor.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\Src\motor.c</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>::CMSIS</GroupName>
</Group>
@ -624,4 +634,5 @@
</Layer>
</Layers>
</LayerInfo>
</Project>

0
Core/Inc/bluetooth.h → User/Inc/bluetooth.h
View File

0
Core/Inc/control.h → User/Inc/control.h
View File

2
Core/Inc/hcsr04.h → User/Inc/hcsr04.h
View File

@ -10,6 +10,6 @@ void HC_SR04_Init(void);
uint32_t sonar_mm(void);
// 测距完毕回调，执行完自定义任务后将sonor_state置0
void Sonar_CP_Callback();
void Sonar_CP_Callback(void);
#endif

0
Core/Inc/led.h → User/Inc/led.h
View File

0
Core/Inc/motor.h → User/Inc/motor.h
View File

6
Core/Src/bluetooth.c → User/Src/bluetooth.c
View File

@ -1,9 +1,11 @@
#include "bluetooth.h"
#include "usart.h"
#include "control.h"
#include <stdio.h>
#include <string.h>
#include "control.h"
#include "usart.h"
#define BUFFER_SIZE 100
#define MESSAGE_SIZE 19
#define CMD_NUM 9

0
Core/Src/control.c → User/Src/control.c
View File

35
Core/Src/hcsr04.c → User/Src/hcsr04.c
View File

@ -11,7 +11,8 @@ uint32_t sonor_distance; // 测量出的距离，单位mm
void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim);
// 初始化超声波测距
void HC_SR04_Init(void) {
void HC_SR04_Init(void)
{
// 禁用JTAG
__HAL_RCC_AFIO_CLK_ENABLE();
__HAL_AFIO_REMAP_SWJ_NOJTAG();
@ -21,40 +22,50 @@ void HC_SR04_Init(void) {
}
// 启动测距，单位：mm
uint32_t sonar_mm(void) {
uint32_t sonar_mm(void)
{
sonor_state = 1;
HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_SET); // 输出高电平
delay_us(15); // 延时15微秒
HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_RESET); // 输出低电平
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
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
sonor_distance = (time_end * 346) / 2; // 计算距离，25°C空气中的音速为346m/s
sonor_distance = sonor_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 sonor_distance;
}
void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim) {
if (htim == &htim2) { // 每10us自增一
void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim)
{
if (htim == &htim2)
{ // 每10us自增一
time++;
}
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
if (GPIO_Pin == Echo_Pin) {
if (HAL_GPIO_ReadPin(Echo_GPIO_Port, Echo_Pin)) {
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if (GPIO_Pin == Echo_Pin)
{
if (HAL_GPIO_ReadPin(Echo_GPIO_Port, Echo_Pin))
{
HAL_TIM_Base_Start_IT(&htim2);
time = 0;
} else {
}
else
{
time_end = time;
HAL_TIM_Base_Stop_IT(&htim2);
sonor_state = 2;
Sonar_CP_Callback();
sonor_state = 0;
}
}
}
// 测距完毕回调，执行完自定义任务后将sonor_state置0
__attribute__((weak)) void Sonar_CP_Callback() {
// 测距完毕回调，执行完自定义任务后将sonor_state置0void
__attribute__((weak)) void Sonar_CP_Callback(void)
{
printf("distance = %d (mm)\n", sonor_distance);
sonor_state = 0;
}

0
Core/Src/led.c → User/Src/led.c
View File

0
Core/Src/motor.c → User/Src/motor.c
View File