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EN:dev
EN:feat-hwl
EN:feat-lineseek
EN:feat-qxl
EN:feat-EN
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EN:dev
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EN:feat-qxl
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No commits in common. "9f9b8d350bfa5b5d37025fcd56f0d22fb75c1cfb" and "c96a1e3f0d2d3e1ae756c721d0f2c86d8dc9a248" have entirely different histories.
9f9b8d350b ... c96a1e3f0d

21 changed files with 376 additions and 701 deletions
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10
CAR.ioc
View File

@ -65,7 +65,7 @@ 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\:true\:false\:true\:true\:true\:true 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
@ -75,10 +75,10 @@ NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_2 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\:2\: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\:3\:1\:true\:false\:true\:true\:true\:true NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.USART2_IRQn=true\:3\:0\:true\: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
PA0-WKUP.GPIO_Label=FM_K2_POWERC PA0-WKUP.GPIO_Label=FM_K2_POWERC
@ -244,7 +244,7 @@ TIM3.Pulse-PWM\ Generation4\ CH4=255
TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2 TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2
TIM4.Period=0 TIM4.Period=100
TIM4.Prescaler=720 - 1 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

0
Peripheral/Inc/bluetooth.h → Core/Inc/bluetooth.h
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10
Core/Inc/control.h Normal file
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@ -0,0 +1,10 @@
#ifndef __CONTROL_H
#define __CONTROL_H
#include "main.h"
void CONTROL_CommonCmd(uint8_t type, uint8_t state);
void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b);
void CONTROL_Mode(uint8_t mode, uint8_t state);
#endif

0
Peripheral/Inc/hcsr04.h → Core/Inc/hcsr04.h
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0
Peripheral/Inc/led.h → Core/Inc/led.h
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0
Peripheral/Inc/motor.h → Core/Inc/motor.h
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4
Core/Inc/stm32f1xx_hal_conf.h
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@ -129,7 +129,7 @@
* @brief This is the HAL system configuration section * @brief This is the HAL system configuration section
*/ */
#define VDD_VALUE 3300U /*!< Value of VDD in mv */ #define VDD_VALUE 3300U /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY 2U /*!< tick interrupt priority (lowest by default) */ #define TICK_INT_PRIORITY 3U /*!< tick interrupt priority (lowest by default) */
#define USE_RTOS 0U #define USE_RTOS 0U
#define PREFETCH_ENABLE 1U #define PREFETCH_ENABLE 1U
@ -152,7 +152,7 @@
#define USE_HAL_IRDA_REGISTER_CALLBACKS 0U /* IRDA register callback disabled */ #define USE_HAL_IRDA_REGISTER_CALLBACKS 0U /* IRDA register callback disabled */
#define USE_HAL_SRAM_REGISTER_CALLBACKS 0U /* SRAM register callback disabled */ #define USE_HAL_SRAM_REGISTER_CALLBACKS 0U /* SRAM register callback disabled */
#define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */ #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_TIM_REGISTER_CALLBACKS 1U /* TIM register callback disabled */
#define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */ #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 0U /* USART register callback disabled */
#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */ #define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */

103
Core/Inc/syscalls.h
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@ -1,103 +0,0 @@
#ifndef __SYSCALLS_H
#define __SYSCALLS_H
#include <errno.h>
#include <signal.h>
#include <stdarg.h>
#include <stdio.h>
#include <stdlib.h>
#include <stm32f1xx_hal_uart.h>
#include <time.h>
#include <string.h>
#define HUART1 (&huart1)
#define HUART2 (&huart2)
extern UART_HandleTypeDef huart2;
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)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#define GETCHAR_PROTOTYPE int fgetc(FILE *f)
#endif /* __GNUC__ */
/**
* @brief 重定向 C 标准库 printf 函数到串口 huart2
* @author Suroy
* @param ch
* @param f
* @return int
*
* @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
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
* 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(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
return ch;
}
void delay_us(uint16_t us) {
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, ...) {
const char *p = buf;
char str[255] = {0};
va_list v;
va_start(v, buf);
vsprintf(str, buf, v);
HAL_UART_Transmit(huart, str, strlen(str), 0xff);
va_end(v);
}
#endif

65
Core/Src/bluetooth.c Normal file
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@ -0,0 +1,65 @@
#include "bluetooth.h"
#include "usart.h"
#include "control.h"
#include <stdio.h>
#include <string.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 cmdIndex;
void BLUETOOTH_Init(void)
{
HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100);
}
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
if (huart == &huart2 && rxBuffer[0] == '$' && rxBuffer[Size - 1] == '#')
{
// 通用协议
if (rxBuffer[2] == ',')
{
cmdIndex = 0;
for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2)
if (rxBuffer[i] == '0')
++cmdIndex;
else
break;
if (cmdIndex == CMD_NUM)
cmdIndex = 0;
CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1]);
}
else
{
static uint16_t num[6];
switch (rxBuffer[5])
{
// 机械手
case 'S':
break;
// 舵机云台
case 'P':
break;
// 七彩灯
case 'C':
sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
CONTROL_RGB(num[0], num[1], num[2]);
break;
// 模式选择
case 'M':
sscanf(rxBuffer + 5, "%*4s%c%c", 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);
BLUETOOTH_Init();
}
}

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

32
Peripheral/Src/hcsr04.c → Core/Src/hcsr04.c
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@ -1,10 +1,12 @@
#include "hcsr04.h" #include "hcsr04.h"
#include "tim.h" #include "tim.h"
#include <stdio.h>
static uint64_t time_start; // 声明变量，用来计时 static 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
uint8_t sonor_state; // 测距状态变量，0：未测量，1：正在测量，2：已测量 static int16_t delay_time = -1; // 用于延时
uint32_t sonor_distance; // 测量出的距离，单位mm uint8_t sonor_state; // 测距状态变量，0：未测量，1：正在测量，2：已测量
uint32_t sonor_distance; // 测量出的距离，单位mm
void delay_us(uint16_t us); void delay_us(uint16_t us);
void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim); void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim);
@ -35,12 +37,28 @@ uint32_t sonar_mm(void)
return sonor_distance; return sonor_distance;
} }
/// @brief 微秒级延时
/// @param us 取值范围0-32767
void delay_us(uint16_t us)
{
if (us == 0)
return;
delay_time = us;
time = 0;
HAL_TIM_Base_Start_IT(&htim2);
while (time < us)
;
delay_time = -1;
}
void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{ {
if (htim == &htim2) if (htim == &htim2)
{ {
// 每10us自增一 // 每10us自增一
++time_start; ++time;
if (delay_us > 0 && time * 10 >= delay_time)
HAL_TIM_Base_Stop_IT(&htim2);
} }
} }
@ -50,12 +68,12 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{ {
if (HAL_GPIO_ReadPin(Echo_GPIO_Port, Echo_Pin)) if (HAL_GPIO_ReadPin(Echo_GPIO_Port, Echo_Pin))
{ {
time_start = 0; time = 0;
HAL_TIM_Base_Start_IT(&htim2); HAL_TIM_Base_Start_IT(&htim2);
} }
else else
{ {
time_end = time_start; time_end = time;
HAL_TIM_Base_Stop_IT(&htim2); HAL_TIM_Base_Stop_IT(&htim2);
sonor_state = 2; sonor_state = 2;
Sonar_CP_Callback(); Sonar_CP_Callback();

0
Peripheral/Src/led.c → Core/Src/led.c
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61
Core/Src/main.c
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@ -102,21 +102,31 @@ int main(void)
// MX_USART1_UART_Init(); // MX_USART1_UART_Init();
MX_USART2_UART_Init(); MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
BLUETOOTH_Init(); HC_SR04_Init();
// HC_SR04_Init();
/* USER CODE END 2 */ /* USER CODE END 2 */
/* Infinite loop */ /* Infinite loop */
/* USER CODE BEGIN WHILE */ /* USER CODE BEGIN WHILE */
while (1) while (1)
{ {
// printf("test\n"); int Distance_mm = sonar_mm();
int Distance_m = Distance_mm / 1000;
int Distance_m_p = Distance_mm % 1000;
printf("Distance_mm = %d\n", Distance_mm);
printf("Distance_m = %d\n", Distance_m);
printf("Distance_m_p = %d\n", Distance_m_p);
// if (sonor_state == 0) if (Distance_mm < 100)
// { {
// sonar_mm(); LED_Start(LED_R);
// } MOTOR_Start();
// HAL_Delay(300); // 延时300毫秒 }
else
{
LED_Stop(LED_R);
MOTOR_Stop();
}
HAL_Delay(300); // 延时300毫秒
/* USER CODE END WHILE */ /* USER CODE END WHILE */
@ -126,17 +136,17 @@ int main(void)
} }
/** /**
* @brief System Clock Configuration * @brief System Clock Configuration
* @retval None * @retval None
*/ */
void SystemClock_Config(void) void SystemClock_Config(void)
{ {
RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the RCC Oscillators according to the specified parameters /** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure. * in the RCC_OscInitTypeDef structure.
*/ */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
@ -150,9 +160,8 @@ void SystemClock_Config(void)
} }
/** Initializes the CPU, AHB and APB buses clocks /** Initializes the CPU, AHB and APB buses clocks
*/ */
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
@ -169,9 +178,9 @@ void SystemClock_Config(void)
/* USER CODE END 4 */ /* USER CODE END 4 */
/** /**
* @brief This function is executed in case of error occurrence. * @brief This function is executed in case of error occurrence.
* @retval None * @retval None
*/ */
void Error_Handler(void) void Error_Handler(void)
{ {
/* USER CODE BEGIN Error_Handler_Debug */ /* USER CODE BEGIN Error_Handler_Debug */
@ -183,14 +192,14 @@ void Error_Handler(void)
/* USER CODE END Error_Handler_Debug */ /* USER CODE END Error_Handler_Debug */
} }
#ifdef USE_FULL_ASSERT #ifdef USE_FULL_ASSERT
/** /**
* @brief Reports the name of the source file and the source line number * @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred. * where the assert_param error has occurred.
* @param file: pointer to the source file name * @param file: pointer to the source file name
* @param line: assert_param error line source number * @param line: assert_param error line source number
* @retval None * @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 CODE BEGIN 6 */

47
Peripheral/Src/motor.c → Core/Src/motor.c
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@ -3,7 +3,6 @@
#include "tim.h" #include "tim.h"
#define MAX_SPEED 100 #define MAX_SPEED 100
#define MIN_SPEED 15
#define MOTOR_L 1 #define MOTOR_L 1
#define MOTOR_R 2 #define MOTOR_R 2
#define MOTOR_TIM (&htim4) #define MOTOR_TIM (&htim4)
@ -38,21 +37,30 @@ void MOTOR_Stop(void)
/// @brief 控制电机占空比 /// @brief 控制电机占空比
/// @param leftDuty 绝对值 0或20-100, 支持正负 /// @param leftDuty 绝对值 20-100, 支持正负
/// @param rightDuty 绝对值 0或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);
rightDuty = preProcess(rightDuty, MOTOR_R); rightDuty = preProcess(rightDuty, MOTOR_R);
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_L_CHAN, leftDuty); uint16_t leftSpeed = (uint32_t)MAX_SPEED * leftDuty / 100;
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, rightDuty); __HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_L_CHAN, leftSpeed);
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, leftSpeed);
uint16_t rightSpeed = (uint32_t)MAX_SPEED * rightDuty / 100;
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_L_CHAN, rightSpeed);
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, rightSpeed);
} }
int8_t preProcess(int8_t duty, uint8_t motor) int8_t preProcess(int8_t duty, uint8_t motor)
{ {
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);
@ -63,11 +71,13 @@ int8_t preProcess(int8_t duty, uint8_t motor)
HAL_GPIO_WritePin(R_FORWARD_GPIO_Port, R_FORWARD_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(R_FORWARD_GPIO_Port, R_FORWARD_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_RESET);
} }
} }
else if (duty < 0) else
{ {
duty = -duty; 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);
@ -79,24 +89,5 @@ int8_t preProcess(int8_t duty, uint8_t motor)
HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_SET);
} }
} }
else
{
duty = MAX_SPEED;
if (motor & MOTOR_L)
{
HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(L_BACKWARD_GPIO_Port, L_BACKWARD_Pin, GPIO_PIN_RESET);
}
if (motor & MOTOR_R)
{
HAL_GPIO_WritePin(R_FORWARD_GPIO_Port, R_FORWARD_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_RESET);
}
}
if (duty > MAX_SPEED)
duty = MAX_SPEED;
if (duty < MIN_SPEED)
duty = MIN_SPEED;
return duty; return duty;
} }

17
Core/Src/usart.c
View File

@ -115,7 +115,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USART1 interrupt Init */ /* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART1_IRQn, 3, 1); HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART1_IRQn); HAL_NVIC_EnableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspInit 1 */ /* USER CODE BEGIN USART1_MspInit 1 */
@ -162,7 +162,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx); __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
/* USART2 interrupt Init */ /* USART2 interrupt Init */
HAL_NVIC_SetPriority(USART2_IRQn, 3, 0); HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART2_IRQn); HAL_NVIC_EnableIRQ(USART2_IRQn);
/* USER CODE BEGIN USART2_MspInit 1 */ /* USER CODE BEGIN USART2_MspInit 1 */
@ -219,5 +219,18 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
} }
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
int fputc(int c, FILE* f)
{
static uint8_t ch;
ch = c;
HAL_UART_Transmit(&huart1, &ch, 1, 1000);
return c;
}
int fgetc(FILE* f)
{
static uint8_t ch;
HAL_UART_Receive(&huart1, &ch, 1, 0xffff);
return ch;
}
/* USER CODE END 1 */ /* USER CODE END 1 */

275
MDK-ARM/CAR.uvoptx
View File

@ -117,31 +117,6 @@
<pMon>BIN\CMSIS_AGDI.dll</pMon> <pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt> </DebugOpt>
<TargetDriverDllRegistry> <TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key>
<Name>-L70 -Z18 -C0 -M0 -T1</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGTARM</Key>
<Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMDBGFLAGS</Key>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<Name>-X"" -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name></Name>
</SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>UL2CM3</Key> <Key>UL2CM3</Key>
@ -153,79 +128,7 @@
<Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name> <Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
</SetRegEntry> </SetRegEntry>
</TargetDriverDllRegistry> </TargetDriverDllRegistry>
<Breakpoint> <Breakpoint/>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>34</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134226582</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\Peripheral\Src\bluetooth.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\CAR\../Peripheral/Src/bluetooth.c\34</Expression>
</Bp>
<Bp>
<Number>1</Number>
<Type>0</Type>
<LineNumber>32</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134221102</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\Peripheral\Src\control.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\CAR\../Peripheral/Src/control.c\32</Expression>
</Bp>
<Bp>
<Number>2</Number>
<Type>0</Type>
<LineNumber>24</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>..\Peripheral\Src\bluetooth.c</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>num,0x0A</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>
<WinNumber>1</WinNumber>
<SubType>8</SubType>
<ItemText>rxBuffer</ItemText>
<AccSizeX>0</AccSizeX>
</Mm>
</MemoryWindow1>
<MemoryWindow2>
<Mm>
<WinNumber>2</WinNumber>
<SubType>0</SubType>
<ItemText>num</ItemText>
<AccSizeX>0</AccSizeX>
</Mm>
</MemoryWindow2>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>
</Tracepoint> </Tracepoint>
@ -280,7 +183,7 @@
<Group> <Group>
<GroupName>Application/MDK-ARM</GroupName> <GroupName>Application/MDK-ARM</GroupName>
<tvExp>0</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -311,6 +214,66 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <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> <PathWithFileName>../Core/Src/main.c</PathWithFileName>
<FilenameWithoutPath>main.c</FilenameWithoutPath> <FilenameWithoutPath>main.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -318,7 +281,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>3</FileNumber> <FileNumber>8</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -330,7 +293,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>4</FileNumber> <FileNumber>9</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -342,7 +305,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>5</FileNumber> <FileNumber>10</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -354,7 +317,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>6</FileNumber> <FileNumber>11</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -366,7 +329,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>7</FileNumber> <FileNumber>12</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -378,7 +341,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>8</FileNumber> <FileNumber>13</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -390,7 +353,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>9</FileNumber> <FileNumber>14</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -402,74 +365,6 @@
</File> </File>
</Group> </Group>
<Group>
<GroupName>Application/User/Peripheral</GroupName>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>10</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Peripheral\Src\bluetooth.c</PathWithFileName>
<FilenameWithoutPath>bluetooth.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>11</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Peripheral\Src\control.c</PathWithFileName>
<FilenameWithoutPath>control.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>12</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Peripheral\Src\hcsr04.c</PathWithFileName>
<FilenameWithoutPath>hcsr04.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>13</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Peripheral\Src\led.c</PathWithFileName>
<FilenameWithoutPath>led.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>14</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Peripheral\Src\motor.c</PathWithFileName>
<FilenameWithoutPath>motor.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group> <Group>
<GroupName>Drivers/STM32F1xx_HAL_Driver</GroupName> <GroupName>Drivers/STM32F1xx_HAL_Driver</GroupName>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -477,7 +372,7 @@
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>15</FileNumber> <FileNumber>15</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -489,7 +384,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>16</FileNumber> <FileNumber>16</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -501,7 +396,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>17</FileNumber> <FileNumber>17</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -513,7 +408,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>18</FileNumber> <FileNumber>18</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -525,7 +420,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>19</FileNumber> <FileNumber>19</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -537,7 +432,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>20</FileNumber> <FileNumber>20</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -549,7 +444,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>21</FileNumber> <FileNumber>21</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -561,7 +456,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>22</FileNumber> <FileNumber>22</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -573,7 +468,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>23</FileNumber> <FileNumber>23</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -585,7 +480,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>24</FileNumber> <FileNumber>24</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -597,7 +492,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>25</FileNumber> <FileNumber>25</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -609,7 +504,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>26</FileNumber> <FileNumber>26</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -621,7 +516,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>27</FileNumber> <FileNumber>27</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -633,7 +528,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>28</FileNumber> <FileNumber>28</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -645,7 +540,7 @@
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>29</FileNumber> <FileNumber>29</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
@ -665,7 +560,7 @@
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>4</GroupNumber>
<FileNumber>30</FileNumber> <FileNumber>30</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>

59
MDK-ARM/CAR.uvprojx
View File

@ -81,7 +81,7 @@
</BeforeMake> </BeforeMake>
<AfterMake> <AfterMake>
<RunUserProg1>0</RunUserProg1> <RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2> <RunUserProg2>1</RunUserProg2>
<UserProg1Name></UserProg1Name> <UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name> <UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode> <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
@ -339,7 +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;../Peripheral/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</IncludePath>
</VariousControls> </VariousControls>
</Cads> </Cads>
<Aads> <Aads>
@ -393,6 +393,31 @@
<Group> <Group>
<GroupName>Application/User/Core</GroupName> <GroupName>Application/User/Core</GroupName>
<Files> <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> <File>
<FileName>main.c</FileName> <FileName>main.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
@ -435,36 +460,6 @@
</File> </File>
</Files> </Files>
</Group> </Group>
<Group>
<GroupName>Application/User/Peripheral</GroupName>
<Files>
<File>
<FileName>bluetooth.c</FileName>
<FileType>1</FileType>
<FilePath>..\Peripheral\Src\bluetooth.c</FilePath>
</File>
<File>
<FileName>control.c</FileName>
<FileType>1</FileType>
<FilePath>..\Peripheral\Src\control.c</FilePath>
</File>
<File>
<FileName>hcsr04.c</FileName>
<FileType>1</FileType>
<FilePath>..\Peripheral\Src\hcsr04.c</FilePath>
</File>
<File>
<FileName>led.c</FileName>
<FileType>1</FileType>
<FilePath>..\Peripheral\Src\led.c</FilePath>
</File>
<File>
<FileName>motor.c</FileName>
<FileType>1</FileType>
<FilePath>..\Peripheral\Src\motor.c</FilePath>
</File>
</Files>
</Group>
<Group> <Group>
<GroupName>Drivers/STM32F1xx_HAL_Driver</GroupName> <GroupName>Drivers/STM32F1xx_HAL_Driver</GroupName>
<Files> <Files>

9
MDK-ARM/EventRecorderStub.scvd
View File

@ -1,9 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<component_viewer schemaVersion="0.1" xmlns:xs="http://www.w3.org/2001/XMLSchema-instance" xs:noNamespaceSchemaLocation="Component_Viewer.xsd">
<component name="EventRecorderStub" version="1.0.0"/> <!--name and version of the component-->
<events>
</events>
</component_viewer>

21
Peripheral/Inc/control.h
View File

@ -1,21 +0,0 @@
#ifndef __CONTROL_H
#define __CONTROL_H
#include "main.h"
#define MODE_STOP 0
// 遥控模式
#define MODE_REMOTE 1
// 巡线模式
#define MODE_PATROL 2
// 避障模式
#define MODE_AVOID 3
// 小车运行模式
extern uint8_t mode;
void CONTROL_CommonCmd(uint8_t type, uint8_t state);
void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b);
void CONTROL_Mode(uint8_t new_mode, uint8_t state);
#endif

87
Peripheral/Src/bluetooth.c
View File

@ -1,87 +0,0 @@
#include "bluetooth.h"
#include "usart.h"
#include "control.h"
#include <stdio.h>
#include <string.h>
#include "syscalls.h"
#define BUFFER_SIZE 100
#define MESSAGE_SIZE 19
#define CMD_NUM 9
static int8_t rxBuffer[BUFFER_SIZE], txBuffer[10000];
static uint16_t txLen;
static uint8_t cmdIndex;
void BLUETOOTH_Init(void)
{
HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100);
// HAL_UART_Receive_IT(&huart2, txBuffer + txLen, 1);
}
// void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
// {
// if (huart == &huart2)
// {
// ++txLen;
// if (txLen == 10000)
// txLen = 0;
// }
// }
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
if (huart == &huart2 && rxBuffer[0] == '$' && rxBuffer[Size - 1] == '#')
{
rxBuffer[Size] = '\0';
// 通用协议
if (mode == MODE_REMOTE && rxBuffer[2] == ',')
{
cmdIndex = 0;
for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2)
if (rxBuffer[i] == '0')
++cmdIndex;
else
break;
if (cmdIndex == CMD_NUM)
cmdIndex = 0;
CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1] - '0');
}
else
{
static uint16_t num[6];
// 模式选择
if (rxBuffer[5] == 'M')
{
sscanf(rxBuffer + 5, "%*4s%c%c", num, num + 1);
CONTROL_Mode(num[0] - '0', num[1] - '0');
}
else if (mode == MODE_REMOTE)
switch (rxBuffer[5])
{
// 机械手
case 'S':
break;
// 舵机云台
case 'P':
break;
// 七彩灯
case 'C':
sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
CONTROL_RGB(num[0], num[1], num[2]);
break;
}
}
// my_printf(&huart2, rxBuffer);
// strcpy(txBuffer + txLen, rxBuffer);
// if (txLen + Size >= 9999)
// txLen = 0;
// else
// txLen += Size;
// txBuffer[txLen] = '\0';
// if (strcmp(rxBuffer, "$send#") == 0)
// my_printf(&huart2, txBuffer);
BLUETOOTH_Init();
}
}

189
Peripheral/Src/control.c
View File

@ -1,189 +0,0 @@
#include "control.h"
#include "hcsr04.h"
#include "led.h"
#include "motor.h"
#define CMD_MOVE 0
#define CMD_ROTATE 1
#define CMD_BUZZER 2
#define CMD_SPEED 3
// #define CMD_SHAKE 4
// #define CMD_SING 5
#define CMD_LED 6
// #define CMD_FIRE 7
// #define CMD_SERVO 8
// 小车默认速度
static int8_t speed = 20;
uint8_t mode = MODE_REMOTE;
void carMove(uint8_t state);
void carSpin(uint8_t state);
void callBuzzer(uint8_t state);
void setSpeed(uint8_t state);
// void shake(uint8_t state);
// void sing(uint8_t state);
void setLed(uint8_t state);
// void fire(uint8_t state);
// void servo(uint8_t state);
void CONTROL_CommonCmd(uint8_t type, uint8_t state)
{
switch (type)
{
case CMD_MOVE:
carMove(state);
break;
case CMD_ROTATE:
carSpin(state);
break;
case CMD_BUZZER:
callBuzzer(state);
break;
case CMD_SPEED:
setSpeed(state);
break;
// case CMD_SHAKE:
// break;
// case CMD_SING:
// break;
case CMD_LED:
setLed(state);
break;
// case CMD_FIRE:
// break;
// case CMD_SERVO:
// break;
}
}
void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b)
{
LED_Start(LED_ALL);
LED_SetDuty(r, g, b);
}
void CONTROL_Mode(uint8_t new_mode, uint8_t state)
{
if (state == 0)
{
mode = MODE_STOP;
MOTOR_Stop();
}
else
{
mode = new_mode;
switch (new_mode)
{
case MODE_REMOTE:
speed = 20;
MOTOR_SetDuty(speed, speed);
MOTOR_Start();
break;
case MODE_PATROL:
break;
case MODE_AVOID:
break;
default:
mode = MODE_STOP;
MOTOR_Stop();
break;
}
}
}
void carMove(uint8_t state)
{
if (state == 0)
MOTOR_Stop();
else
{
MOTOR_Start();
switch (state)
{
// 前进
case 1:
MOTOR_SetDuty(speed, speed);
break;
// 后退
case 2:
MOTOR_SetDuty(-speed, -speed);
break;
// 左转
case 3:
MOTOR_SetDuty(0, speed);
break;
// 右转
case 4:
MOTOR_SetDuty(speed, 0);
break;
}
}
}
void carSpin(uint8_t state)
{
if (state == 1)
MOTOR_SetDuty(speed, -speed);
else if (state == 2)
MOTOR_SetDuty(-speed, speed);
}
void callBuzzer(uint8_t state)
{
HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_RESET);
HAL_Delay(200);
HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_SET);
}
void setSpeed(uint8_t state)
{
if (state == 1)
speed += 10;
else if (state == 2)
speed -= 10;
if (speed > 100)
speed = 100;
else if (speed < 20)
speed = 20;
}
void setLed(uint8_t state)
{
LED_Start(LED_ALL);
switch (state)
{
// 白
case 1:
LED_SetDuty(255, 255, 255);
break;
// 红
case 2:
LED_SetDuty(255, 0, 0);
break;
// 绿
case 3:
LED_SetDuty(0, 255, 0);
break;
// 蓝
case 4:
LED_SetDuty(0, 0, 255);
break;
// 青
case 5:
LED_SetDuty(0, 255, 255);
break;
// 品红
case 6:
LED_SetDuty(255, 0, 255);
break;
// 黄
case 7:
LED_SetDuty(255, 255, 0);
break;
// 关
default:
LED_SetDuty(0, 0, 0);
break;
}
}