✨ feat: 超声波测距

CAR.ioc

@@ -14,13 +14,13 @@ Mcu.IP3=SYS
 Mcu.IP4=TIM2
 Mcu.IP5=TIM3
 Mcu.IP6=TIM4
-Mcu.IP7=USART1
+Mcu.IP7=USART2
 Mcu.IPNb=8
 Mcu.Name=STM32F103C(8-B)Tx
 Mcu.Package=LQFP48
 Mcu.Pin0=PD0-OSC_IN
 Mcu.Pin1=PD1-OSC_OUT
-Mcu.Pin10=PA10
+Mcu.Pin10=PB11
 Mcu.Pin11=PA12
 Mcu.Pin12=PA13
 Mcu.Pin13=PA14
@@ -37,12 +37,12 @@ Mcu.Pin22=VP_TIM2_VS_ClockSourceINT
 Mcu.Pin23=VP_TIM3_VS_ClockSourceINT
 Mcu.Pin24=VP_TIM4_VS_ClockSourceINT
 Mcu.Pin3=PA1
-Mcu.Pin4=PA7
+Mcu.Pin4=PA2
-Mcu.Pin5=PB0
+Mcu.Pin5=PA3
-Mcu.Pin6=PB1
+Mcu.Pin6=PA7
-Mcu.Pin7=PB10
+Mcu.Pin7=PB0
-Mcu.Pin8=PB11
+Mcu.Pin8=PB1
-Mcu.Pin9=PA9
+Mcu.Pin9=PB10
 Mcu.PinsNb=25
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
@@ -61,6 +61,7 @@ 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.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
 PA0-WKUP.GPIO_Label=FM_K2_POWERC
@@ -72,11 +73,10 @@ PA1.GPIO_Label=FAN_GS
 PA1.Locked=true
 PA1.PinState=GPIO_PIN_SET
 PA1.Signal=GPIO_Output
-PA10.Mode=Asynchronous
+PA12.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
-PA10.Signal=USART1_RX
+PA12.GPIO_Label=Echo
-PA12.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
-PA12.GPIO_Label=SDA_C_EXTI12
 PA12.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
+PA12.GPIO_PuPd=GPIO_PULLDOWN
 PA12.Locked=true
 PA12.Signal=GPXTI12
 PA13.Mode=Serial_Wire
@@ -84,16 +84,18 @@ PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
 PA14.Signal=SYS_JTCK-SWCLK
 PA15.GPIOParameters=GPIO_Speed,GPIO_Label
-PA15.GPIO_Label=SCL_C
+PA15.GPIO_Label=Trig
 PA15.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PA15.Locked=true
 PA15.Signal=GPIO_Output
+PA2.Mode=Asynchronous
+PA2.Signal=USART2_TX
+PA3.Mode=Asynchronous
+PA3.Signal=USART2_RX
 PA7.GPIOParameters=GPIO_Label
 PA7.GPIO_Label=LED_B_TIM3CH2
 PA7.Locked=true
 PA7.Signal=S_TIM3_CH2
-PA9.Mode=Asynchronous
-PA9.Signal=USART1_TX
 PB0.GPIOParameters=GPIO_Label
 PB0.GPIO_Label=LED_G_TIM3CH3
 PB0.Locked=true
@@ -163,14 +165,14 @@ ProjectManager.ProjectBuild=false
 ProjectManager.ProjectFileName=CAR.ioc
 ProjectManager.ProjectName=CAR
 ProjectManager.ProjectStructure=
-ProjectManager.RegisterCallBack=
+ProjectManager.RegisterCallBack=TIM
 ProjectManager.StackSize=0x400
-ProjectManager.TargetToolchain=MDK-ARM V5.32
+ProjectManager.TargetToolchain=Makefile
 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_I2C2_Init-I2C2-false-HAL-true,4-MX_TIM3_Init-TIM3-false-HAL-true,5-MX_TIM4_Init-TIM4-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_TIM2_Init-TIM2-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_TIM3_Init-TIM3-false-HAL-true,5-MX_TIM4_Init-TIM4-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_USART2_UART_Init-USART2-false-HAL-true
 RCC.ADCFreqValue=36000000
 RCC.AHBFreq_Value=72000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@@ -204,8 +206,9 @@ SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
 SH.S_TIM4_CH1.ConfNb=1
 SH.S_TIM4_CH2.0=TIM4_CH2,PWM Generation2 CH2
 SH.S_TIM4_CH2.ConfNb=1
-TIM2.IPParameters=Prescaler,Period
+TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
-TIM2.Period=1 - 1
+TIM2.IPParameters=Prescaler,Period,AutoReloadPreload
+TIM2.Period=10 - 1
 TIM2.Prescaler=72 - 1
 TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
@@ -224,8 +227,8 @@ TIM4.Period=100
 TIM4.Prescaler=720 - 1
 TIM4.Pulse-PWM\ Generation1\ CH1=100
 TIM4.Pulse-PWM\ Generation2\ CH2=100
-USART1.IPParameters=VirtualMode
+USART2.IPParameters=VirtualMode
-USART1.VirtualMode=VM_ASYNC
+USART2.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 VP_TIM2_VS_ClockSourceINT.Mode=Internal

Core/Inc/hcsr04.h

@@ -3,7 +3,13 @@
 
 #include "main.h"
 
-int16_t sonar_mm(void);
+extern uint32_t sonor_distance; // 测量出的距离，单位mm
-float sonar(void);
+extern uint8_t sonor_state; // 测距状态变量，0：未测量，1：正在测量，2：已测量
+
+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();
 
 #endif

Core/Inc/main.h

@@ -71,11 +71,11 @@ void Error_Handler(void);
 #define MPU6050_SCL_GPIO_Port GPIOB
 #define MPU6050_SDA_Pin GPIO_PIN_11
 #define MPU6050_SDA_GPIO_Port GPIOB
-#define SDA_C_EXTI12_Pin GPIO_PIN_12
+#define Echo_Pin GPIO_PIN_12
-#define SDA_C_EXTI12_GPIO_Port GPIOA
+#define Echo_GPIO_Port GPIOA
-#define SDA_C_EXTI12_EXTI_IRQn EXTI15_10_IRQn
+#define Echo_EXTI_IRQn EXTI15_10_IRQn
-#define SCL_C_Pin GPIO_PIN_15
+#define Trig_Pin GPIO_PIN_15
-#define SCL_C_GPIO_Port GPIOA
+#define Trig_GPIO_Port GPIOA
 #define R_FORWARD_Pin GPIO_PIN_4
 #define R_FORWARD_GPIO_Port GPIOB
 #define R_BACKWARD_Pin GPIO_PIN_5

Core/Inc/stm32f1xx_hal_conf.h

@@ -152,7 +152,7 @@
 #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_SPI_REGISTER_CALLBACKS         0U /* SPI register callback disabled       */
-#define  USE_HAL_TIM_REGISTER_CALLBACKS         0U /* TIM 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_WWDG_REGISTER_CALLBACKS        0U /* WWDG register callback disabled      */

Core/Inc/stm32f1xx_it.h

@@ -56,6 +56,7 @@ void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
 void TIM2_IRQHandler(void);
+void USART2_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 

Core/Inc/syscalls.h

@@ -0,0 +1,138 @@
+/**
+ ******************************************************************************
+ * @file      syscalls.c
+ * @author    Suroy Wrote with Auto-generated by STM32CubeIDE
+ * @url       https://suroy.cn
+ * @brief     STM32CubeIDE Minimal System calls file
+ *
+ *            For more information about which c-functions
+ *            need which of these lowlevel functions
+ *            please consult the Newlib libc-manual
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2020-2022 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Includes */
+#ifndef __SYSCALLS_H
+#define __SYSCALLS_H
+#include <errno.h>
+#include <signal.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stm32f1xx_hal_uart.h>
+#include <sys/stat.h>
+#include <sys/time.h>
+#include <time.h>
+
+extern UART_HandleTypeDef huart2;
+
+/* Variables */
+extern int __io_putchar(int ch) __attribute__((weak));
+extern int __io_getchar(void) __attribute__((weak));
+
+/* Functions */
+
+__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__ */
+
+/**
+ * 函数功能: 重定向 c库函数 printf到 DEBUG_USARTx
+ * 输入参数: 无
+ * 返 回 值: 无
+ * 说    明：无
+ */
+PUTCHAR_PROTOTYPE {
+    HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 0xFFFF); // 阻塞式无限等待
+    return ch;
+}
+
+/**
+ * 函数功能: 重定向 c库函数 getchar,scanf到 DEBUG_USARTx
+ * 输入参数: 无
+ * 返 回 值: 无
+ * 说    明：无
+ */
+GETCHAR_PROTOTYPE {
+    uint8_t ch = 0;
+    HAL_UART_Receive(&huart2, &ch, 1, 0xFFFF);
+
+    return ch;
+}
+
+/* 非GCC模式才允许编译使用即 Keil、IAR 等 */
+#ifndef __GNUC__
+
+/**
+ * @brief 重定向 C 标准库 printf 函数到串口 huart2
+ * 适用于 Keil、IAR 等IDE；不适用 GCC
+ * @author Suroy
+ * @param ch
+ * @param f
+ * @return int
+ *
+ * @usage printf("USART1_Target:\r\n");
+ */
+int fputc(int ch, FILE *f) {
+    // 采用轮询方式发送1字节数据，超时时间为无限等待
+    HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY); // huart2是串口的句柄
+    return ch;
+}
+
+/**
+ * @brief fgets 重定向
+ * 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);
+ */
+int fgetc(FILE *f) {
+    uint8_t ch;
+    HAL_UART_Receive(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY); // huart2是串口的句柄
+    return ch;
+}
+
+#endif /* __GNUC__ */
+
+void delay_us(uint16_t us) {
+    uint32_t delay = (HAL_RCC_GetHCLKFreq() / 4000000 * us);
+    while (delay--);
+}
+#endif

Core/Inc/usart.h

@@ -32,13 +32,13 @@ extern "C" {
 
 /* USER CODE END Includes */
 
-extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart2;
 
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
-void MX_USART1_UART_Init(void);
+void MX_USART2_UART_Init(void);
 
 /* USER CODE BEGIN Prototypes */
 

Core/Src/gpio.c

@@ -53,7 +53,7 @@ void MX_GPIO_Init(void)
   HAL_GPIO_WritePin(GPIOA, FM_K2_POWERC_Pin|FAN_GS_Pin, GPIO_PIN_SET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(SCL_C_GPIO_Port, SCL_C_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOB, R_FORWARD_Pin|R_BACKWARD_Pin|L_BACKWARD_Pin|L_FORWARD_Pin, GPIO_PIN_RESET);
@@ -66,17 +66,17 @@ void MX_GPIO_Init(void)
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
   /*Configure GPIO pin : PtPin */
-  GPIO_InitStruct.Pin = SDA_C_EXTI12_Pin;
+  GPIO_InitStruct.Pin = Echo_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-  HAL_GPIO_Init(SDA_C_EXTI12_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(Echo_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pin : PtPin */
-  GPIO_InitStruct.Pin = SCL_C_Pin;
+  GPIO_InitStruct.Pin = Trig_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-  HAL_GPIO_Init(SCL_C_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(Trig_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pins : PBPin PBPin PBPin PBPin */
   GPIO_InitStruct.Pin = R_FORWARD_Pin|R_BACKWARD_Pin|L_BACKWARD_Pin|L_FORWARD_Pin;

Core/Src/hcsr04.c

@@ -1,83 +1,60 @@
 #include "hcsr04.h"
 
+#include "stm32f1xx_hal_tim.h"
 #include "tim.h"
 
-// time 的单位是 μs
 uint64_t time;           // 声明变量，用来计时
 uint64_t time_end;       // 声明变量，存储回波信号时间
-uint8_t state = 1;
+uint8_t sonor_state = 1; // 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
 
-// HACK 临时的 delay 解决方法
+void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim);
-void delay_us(uint16_t us);
 
-int16_t sonar_mm(void) // 测距并返回单位为毫米的距离结果
+// 初始化超声波测距
-{
+void HC_SR04_Init(void) {
-    uint32_t distance, distance_mm = 0;
+    // 禁用JTAG
-    HAL_GPIO_WritePin(SCL_C_GPIO_Port, SCL_C_Pin, GPIO_PIN_SET);   // 输出高电平
+    __HAL_RCC_AFIO_CLK_ENABLE();
+    __HAL_AFIO_REMAP_SWJ_NOJTAG();
+
+    // 注册定时器中断溢出回调
+    HAL_TIM_RegisterCallback(&htim2, HAL_TIM_PERIOD_ELAPSED_CB_ID, HCSR04_HAL_TIM_PeriodElapsedCallback);
+}
+
+// 启动测距，单位：mm
+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(SCL_C_GPIO_Port, SCL_C_Pin, GPIO_PIN_RESET); // 输出低电平
+    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
-    while (state);
+        sonor_distance = (time_end * 346) / 2;                   // 计算距离，25°C空气中的音速为346m/s
-    state = 1;
+        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
-
-    // BUG 现在 time 的单位是 1μs
-    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
-        distance = (time_end * 346) / 2; // 计算距离，25°C空气中的音速为346m/s
-        distance_mm = 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 distance_mm; // 返回测距结果
+    return sonor_distance;
 }
 
-float sonar(void) // 测距并返回单位为米的距离结果
+void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim) {
-{
+    if (htim == &htim2) { // 每10us自增一
-    uint32_t distance, distance_mm = 0;
+        time++;
-    float distance_m = 0;
-    HAL_GPIO_WritePin(SCL_C_GPIO_Port, SCL_C_Pin, GPIO_PIN_SET);   // 输出高电平
-    delay_us(15);                                                  // 延时15微秒
-    HAL_GPIO_WritePin(SCL_C_GPIO_Port, SCL_C_Pin, GPIO_PIN_RESET); // 输出低电平
-
-    while (state);
-    state = 1;
-
-    // BUG 现在 time 的单位是 1μs
-    if (time_end / 100 < 38)
-    {
-        distance = (time_end * 346) / 2;
-        distance_mm = distance / 100;
-        distance_m = distance_mm / 1000;
     }
-    return distance_m;
 }
 
-void delay_us(uint16_t us)
+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;
-    while (time < us);
+        } else {
-    HAL_TIM_Base_Stop_IT(&htim2);
-}
-
-void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
-{
-    if (htim == &htim2)
-        ++time;
-}
-
-void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
-{
-    if (GPIO_Pin == SDA_C_EXTI12_Pin)
-    {
-        if (HAL_GPIO_ReadPin(SDA_C_EXTI12_GPIO_Port, SDA_C_EXTI12_Pin))
-        {
-            HAL_TIM_Base_Start_IT(&htim2);
-            time = 0;
-        }
-        else
-        {
             time_end = time;
             HAL_TIM_Base_Stop_IT(&htim2);
-            state = 0;
+            sonor_state = 2;
+            Sonar_CP_Callback();
         }
     }
 }
+
+// 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() {
+    printf("distance = %d (mm)\n", sonor_distance);
+    sonor_state = 0;
+}

Core/Src/main.c

@@ -26,8 +26,10 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "hcsr04.h"
 #include "led.h"
 #include "motor.h"
+#include "syscalls.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -59,6 +61,9 @@ void SystemClock_Config(void);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
+// void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
+//     printf("main.c\n");
+// }
 
 /* USER CODE END 0 */
 
@@ -92,29 +97,22 @@ int main(void) {
     MX_I2C2_Init();
     MX_TIM3_Init();
     MX_TIM4_Init();
-    MX_USART1_UART_Init();
     MX_TIM2_Init();
+    MX_USART2_UART_Init();
     /* USER CODE BEGIN 2 */
+    HC_SR04_Init();
 
     /* USER CODE END 2 */
 
     /* Infinite loop */
     /* USER CODE BEGIN WHILE */
     while (1) {
-        int Distance_mm = sonar_mm();
+        printf("test\n");
-        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 (Distance_mm < 100) {
+        if (sonor_state == 0) {
-            LED_Start(LED_R);
+            sonar_mm();
-            MOTOR_Start();
-        } else {
-            LED_Stop(LED_R);
-            MOTOR_Stop();
         }
+
         HAL_Delay(300); // 延时300毫秒
 
         /* USER CODE END WHILE */

Core/Src/stm32f1xx_it.c

@@ -56,6 +56,7 @@
 
 /* External variables --------------------------------------------------------*/
 extern TIM_HandleTypeDef htim2;
+extern UART_HandleTypeDef huart2;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -212,6 +213,20 @@ void TIM2_IRQHandler(void)
   /* USER CODE END TIM2_IRQn 1 */
 }
 
+/**
+  * @brief This function handles USART2 global interrupt.
+  */
+void USART2_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART2_IRQn 0 */
+
+  /* USER CODE END USART2_IRQn 0 */
+  HAL_UART_IRQHandler(&huart2);
+  /* USER CODE BEGIN USART2_IRQn 1 */
+
+  /* USER CODE END USART2_IRQn 1 */
+}
+
 /**
   * @brief This function handles EXTI line[15:10] interrupts.
   */
@@ -220,7 +235,7 @@ void EXTI15_10_IRQHandler(void)
   /* USER CODE BEGIN EXTI15_10_IRQn 0 */
 
   /* USER CODE END EXTI15_10_IRQn 0 */
-  HAL_GPIO_EXTI_IRQHandler(SDA_C_EXTI12_Pin);
+  HAL_GPIO_EXTI_IRQHandler(Echo_Pin);
   /* USER CODE BEGIN EXTI15_10_IRQn 1 */
 
   /* USER CODE END EXTI15_10_IRQn 1 */

Core/Src/syscalls.c

@@ -28,6 +28,7 @@
 #include <signal.h>
 #include <time.h>
 #include <sys/time.h>
+#include <sys/times.h>
 
 
 /* Variables */

Core/Src/tim.c

@@ -45,9 +45,9 @@ void MX_TIM2_Init(void)
   htim2.Instance = TIM2;
   htim2.Init.Prescaler = 72 - 1;
   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim2.Init.Period = 1 - 1;
+  htim2.Init.Period = 10 - 1;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
   if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
   {
     Error_Handler();

Core/Src/usart.c

@@ -24,35 +24,35 @@
 #include <stdio.h>
 /* USER CODE END 0 */
 
-UART_HandleTypeDef huart1;
+UART_HandleTypeDef huart2;
 
-/* USART1 init function */
+/* USART2 init function */
 
-void MX_USART1_UART_Init(void)
+void MX_USART2_UART_Init(void)
 {
 
-  /* USER CODE BEGIN USART1_Init 0 */
+  /* USER CODE BEGIN USART2_Init 0 */
 
-  /* USER CODE END USART1_Init 0 */
+  /* USER CODE END USART2_Init 0 */
 
-  /* USER CODE BEGIN USART1_Init 1 */
+  /* USER CODE BEGIN USART2_Init 1 */
 
-  /* USER CODE END USART1_Init 1 */
+  /* USER CODE END USART2_Init 1 */
-  huart1.Instance = USART1;
+  huart2.Instance = USART2;
-  huart1.Init.BaudRate = 115200;
+  huart2.Init.BaudRate = 115200;
-  huart1.Init.WordLength = UART_WORDLENGTH_8B;
+  huart2.Init.WordLength = UART_WORDLENGTH_8B;
-  huart1.Init.StopBits = UART_STOPBITS_1;
+  huart2.Init.StopBits = UART_STOPBITS_1;
-  huart1.Init.Parity = UART_PARITY_NONE;
+  huart2.Init.Parity = UART_PARITY_NONE;
-  huart1.Init.Mode = UART_MODE_TX_RX;
+  huart2.Init.Mode = UART_MODE_TX_RX;
-  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
-  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
-  if (HAL_UART_Init(&huart1) != HAL_OK)
+  if (HAL_UART_Init(&huart2) != HAL_OK)
   {
     Error_Handler();
   }
-  /* USER CODE BEGIN USART1_Init 2 */
+  /* USER CODE BEGIN USART2_Init 2 */
 
-  /* USER CODE END USART1_Init 2 */
+  /* USER CODE END USART2_Init 2 */
 
 }
 
@@ -60,71 +60,63 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 {
 
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(uartHandle->Instance==USART1)
+  if(uartHandle->Instance==USART2)
   {
-  /* USER CODE BEGIN USART1_MspInit 0 */
+  /* USER CODE BEGIN USART2_MspInit 0 */
 
-  /* USER CODE END USART1_MspInit 0 */
+  /* USER CODE END USART2_MspInit 0 */
-    /* USART1 clock enable */
+    /* USART2 clock enable */
-    __HAL_RCC_USART1_CLK_ENABLE();
+    __HAL_RCC_USART2_CLK_ENABLE();
 
     __HAL_RCC_GPIOA_CLK_ENABLE();
-    /**USART1 GPIO Configuration
+    /**USART2 GPIO Configuration
-    PA9     ------> USART1_TX
+    PA2     ------> USART2_TX
-    PA10     ------> USART1_RX
+    PA3     ------> USART2_RX
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_9;
+    GPIO_InitStruct.Pin = GPIO_PIN_2;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-    GPIO_InitStruct.Pin = GPIO_PIN_10;
+    GPIO_InitStruct.Pin = GPIO_PIN_3;
     GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  /* USER CODE BEGIN USART1_MspInit 1 */
+    /* USART2 interrupt Init */
+    HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(USART2_IRQn);
+  /* USER CODE BEGIN USART2_MspInit 1 */
 
-  /* USER CODE END USART1_MspInit 1 */
+  /* USER CODE END USART2_MspInit 1 */
   }
 }
 
 void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 {
 
-  if(uartHandle->Instance==USART1)
+  if(uartHandle->Instance==USART2)
   {
-  /* USER CODE BEGIN USART1_MspDeInit 0 */
+  /* USER CODE BEGIN USART2_MspDeInit 0 */
 
-  /* USER CODE END USART1_MspDeInit 0 */
+  /* USER CODE END USART2_MspDeInit 0 */
     /* Peripheral clock disable */
-    __HAL_RCC_USART1_CLK_DISABLE();
+    __HAL_RCC_USART2_CLK_DISABLE();
 
-    /**USART1 GPIO Configuration
+    /**USART2 GPIO Configuration
-    PA9     ------> USART1_TX
+    PA2     ------> USART2_TX
-    PA10     ------> USART1_RX
+    PA3     ------> USART2_RX
     */
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
 
-  /* USER CODE BEGIN USART1_MspDeInit 1 */
+    /* USART2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART2_IRQn);
+  /* USER CODE BEGIN USART2_MspDeInit 1 */
 
-  /* USER CODE END USART1_MspDeInit 1 */
+  /* USER CODE END USART2_MspDeInit 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 */

MDK-ARM/CAR.uvoptx

@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8"?>
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
 <ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
 
   <SchemaVersion>1.0</SchemaVersion>
@@ -45,7 +45,7 @@
         <PageWidth>79</PageWidth>
         <PageLength>66</PageLength>
         <TabStop>8</TabStop>
-        <ListingPath />
+        <ListingPath></ListingPath>
       </OPTLEX>
       <ListingPage>
         <CreateCListing>1</CreateCListing>
@@ -104,16 +104,16 @@
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
         <nTsel>3</nTsel>
-        <sDll />
+        <sDll></sDll>
-        <sDllPa />
+        <sDllPa></sDllPa>
-        <sDlgDll />
+        <sDlgDll></sDlgDll>
-        <sDlgPa />
+        <sDlgPa></sDlgPa>
-        <sIfile />
+        <sIfile></sIfile>
-        <tDll />
+        <tDll></tDll>
-        <tDllPa />
+        <tDllPa></tDllPa>
-        <tDlgDll />
+        <tDlgDll></tDlgDll>
-        <tDlgPa />
+        <tDlgPa></tDlgPa>
-        <tIfile />
+        <tIfile></tIfile>
         <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
@@ -130,7 +130,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMDBGFLAGS</Key>
-          <Name />
+          <Name></Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -140,7 +140,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name />
+          <Name></Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -167,8 +167,8 @@
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>0</BreakIfRCount>
           <Filename>../Core/Src/main.c</Filename>
-          <ExecCommand />
+          <ExecCommand></ExecCommand>
-          <Expression />
+          <Expression></Expression>
         </Bp>
         <Bp>
           <Number>1</Number>
@@ -183,8 +183,8 @@
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>0</BreakIfRCount>
           <Filename>..\Core\Src\motor.c</Filename>
-          <ExecCommand />
+          <ExecCommand></ExecCommand>
-          <Expression />
+          <Expression></Expression>
         </Bp>
       </Breakpoint>
       <Tracepoint>
@@ -216,19 +216,19 @@
         <newCpu>0</newCpu>
         <uProt>0</uProt>
       </DebugFlag>
-      <LintExecutable />
+      <LintExecutable></LintExecutable>
-      <LintConfigFile />
+      <LintConfigFile></LintConfigFile>
       <bLintAuto>0</bLintAuto>
       <bAutoGenD>0</bAutoGenD>
       <LntExFlags>0</LntExFlags>
-      <pMisraName />
+      <pMisraName></pMisraName>
-      <pszMrule />
+      <pszMrule></pszMrule>
-      <pSingCmds />
+      <pSingCmds></pSingCmds>
-      <pMultCmds />
+      <pMultCmds></pMultCmds>
-      <pMisraNamep />
+      <pMisraNamep></pMisraNamep>
-      <pszMrulep />
+      <pszMrulep></pszMrulep>
-      <pSingCmdsp />
+      <pSingCmdsp></pSingCmdsp>
-      <pMultCmdsp />
+      <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
         <EnableFlashSeq>0</EnableFlashSeq>
@@ -577,7 +577,7 @@
 
   <Group>
     <GroupName>Drivers/CMSIS</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/CAR.uvprojx

@@ -1,7 +1,10 @@
-<?xml version="1.0" encoding="UTF-8"?>
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
-<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" noNamespaceSchemaLocation="project_projx.xsd">
+<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
+
   <SchemaVersion>2.1</SchemaVersion>
+
   <Header>### uVision Project, (C) Keil Software</Header>
+
   <Targets>
     <Target>
       <TargetName>CAR</TargetName>
@@ -16,28 +19,28 @@
           <PackID>Keil.STM32F1xx_DFP.2.2.0</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF)  CLOCK(8000000) CPUTYPE("Cortex-M3") TZ</Cpu>
-          <FlashUtilSpec />
+          <FlashUtilSpec></FlashUtilSpec>
-          <StartupFile />
+          <StartupFile></StartupFile>
-          <FlashDriverDll />
+          <FlashDriverDll></FlashDriverDll>
           <DeviceId>0</DeviceId>
-          <RegisterFile />
+          <RegisterFile></RegisterFile>
-          <MemoryEnv />
+          <MemoryEnv></MemoryEnv>
-          <Cmp />
+          <Cmp></Cmp>
-          <Asm />
+          <Asm></Asm>
-          <Linker />
+          <Linker></Linker>
-          <OHString />
+          <OHString></OHString>
-          <InfinionOptionDll />
+          <InfinionOptionDll></InfinionOptionDll>
-          <SLE66CMisc />
+          <SLE66CMisc></SLE66CMisc>
-          <SLE66AMisc />
+          <SLE66AMisc></SLE66AMisc>
-          <SLE66LinkerMisc />
+          <SLE66LinkerMisc></SLE66LinkerMisc>
           <SFDFile>$$Device:STM32F103C8$SVD\STM32F103xx.svd</SFDFile>
           <bCustSvd>0</bCustSvd>
           <UseEnv>0</UseEnv>
-          <BinPath />
+          <BinPath></BinPath>
-          <IncludePath />
+          <IncludePath></IncludePath>
-          <LibPath />
+          <LibPath></LibPath>
-          <RegisterFilePath />
+          <RegisterFilePath></RegisterFilePath>
-          <DBRegisterFilePath />
+          <DBRegisterFilePath></DBRegisterFilePath>
           <TargetStatus>
             <Error>0</Error>
             <ExitCodeStop>0</ExitCodeStop>
@@ -52,15 +55,15 @@
           <CreateHexFile>1</CreateHexFile>
           <DebugInformation>1</DebugInformation>
           <BrowseInformation>1</BrowseInformation>
-          <ListingPath />
+          <ListingPath></ListingPath>
           <HexFormatSelection>1</HexFormatSelection>
           <Merge32K>0</Merge32K>
           <CreateBatchFile>0</CreateBatchFile>
           <BeforeCompile>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name />
+            <UserProg1Name></UserProg1Name>
-            <UserProg2Name />
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopU1X>0</nStopU1X>
@@ -69,8 +72,8 @@
           <BeforeMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name />
+            <UserProg1Name></UserProg1Name>
-            <UserProg2Name />
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopB1X>0</nStopB1X>
@@ -79,15 +82,15 @@
           <AfterMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>1</RunUserProg2>
-            <UserProg1Name />
+            <UserProg1Name></UserProg1Name>
-            <UserProg2Name />
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
           <SelectedForBatchBuild>1</SelectedForBatchBuild>
-          <SVCSIdString />
+          <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
           <UseCPPCompiler>0</UseCPPCompiler>
@@ -101,8 +104,8 @@
           <AssembleAssemblyFile>0</AssembleAssemblyFile>
           <PublicsOnly>0</PublicsOnly>
           <StopOnExitCode>3</StopOnExitCode>
-          <CustomArgument />
+          <CustomArgument></CustomArgument>
-          <IncludeLibraryModules />
+          <IncludeLibraryModules></IncludeLibraryModules>
           <ComprImg>0</ComprImg>
         </CommonProperty>
         <DllOption>
@@ -111,7 +114,7 @@
           <SimDlgDll>DCM.DLL</SimDlgDll>
           <SimDlgDllArguments>-pCM3</SimDlgDllArguments>
           <TargetDllName>SARMCM3.DLL</TargetDllName>
-          <TargetDllArguments />
+          <TargetDllArguments></TargetDllArguments>
           <TargetDlgDll>TCM.DLL</TargetDlgDll>
           <TargetDlgDllArguments>-pCM3</TargetDlgDllArguments>
         </DllOption>
@@ -136,10 +139,10 @@
           <bUseTDR>1</bUseTDR>
           <Flash2>BIN\UL2V8M.DLL</Flash2>
           <Flash3>"" ()</Flash3>
-          <Flash4 />
+          <Flash4></Flash4>
-          <pFcarmOut />
+          <pFcarmOut></pFcarmOut>
-          <pFcarmGrp />
+          <pFcarmGrp></pFcarmGrp>
-          <pFcArmRoot />
+          <pFcArmRoot></pFcArmRoot>
           <FcArmLst>0</FcArmLst>
         </Utilities>
         <TargetArmAds>
@@ -172,7 +175,7 @@
             <RvctClst>0</RvctClst>
             <GenPPlst>0</GenPPlst>
             <AdsCpuType>"Cortex-M3"</AdsCpuType>
-            <RvctDeviceName />
+            <RvctDeviceName></RvctDeviceName>
             <mOS>0</mOS>
             <uocRom>0</uocRom>
             <uocRam>0</uocRam>
@@ -306,7 +309,7 @@
                 <Size>0x0</Size>
               </OCR_RVCT10>
             </OnChipMemories>
-            <RvctStartVector />
+            <RvctStartVector></RvctStartVector>
           </ArmAdsMisc>
           <Cads>
             <interw>1</interw>
@@ -333,9 +336,9 @@
             <v6WtE>0</v6WtE>
             <v6Rtti>0</v6Rtti>
             <VariousControls>
-              <MiscControls />
+              <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F103xB</Define>
-              <Undefine />
+              <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>
             </VariousControls>
           </Cads>
@@ -351,10 +354,10 @@
             <useXO>0</useXO>
             <ClangAsOpt>4</ClangAsOpt>
             <VariousControls>
-              <MiscControls />
+              <MiscControls></MiscControls>
-              <Define />
+              <Define></Define>
-              <Undefine />
+              <Undefine></Undefine>
-              <IncludePath />
+              <IncludePath></IncludePath>
             </VariousControls>
           </Aads>
           <LDads>
@@ -364,15 +367,15 @@
             <noStLib>0</noStLib>
             <RepFail>1</RepFail>
             <useFile>0</useFile>
-            <TextAddressRange />
+            <TextAddressRange></TextAddressRange>
-            <DataAddressRange />
+            <DataAddressRange></DataAddressRange>
-            <pXoBase />
+            <pXoBase></pXoBase>
-            <ScatterFile />
+            <ScatterFile></ScatterFile>
-            <IncludeLibs />
+            <IncludeLibs></IncludeLibs>
-            <IncludeLibsPath />
+            <IncludeLibsPath></IncludeLibsPath>
-            <Misc />
+            <Misc></Misc>
-            <LinkerInputFile />
+            <LinkerInputFile></LinkerInputFile>
-            <DisabledWarnings />
+            <DisabledWarnings></DisabledWarnings>
           </LDads>
         </TargetArmAds>
       </TargetOption>
@@ -538,6 +541,7 @@
       </Groups>
     </Target>
   </Targets>
+
   <RTE>
     <apis/>
     <components>
@@ -550,6 +554,7 @@
     </components>
     <files/>
   </RTE>
+
   <LayerInfo>
     <Layers>
       <Layer>
@@ -558,5 +563,5 @@
       </Layer>
     </Layers>
   </LayerInfo>
-</Project>
 
+</Project>

MDK-ARM/startup_stm32f103xb.lst

@@ -461,11 +461,11 @@ ARM Macro Assembler    Page 8
 
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
 ork --depend=car\startup_stm32f103xb.d -ocar\startup_stm32f103xb.o -I.\RTE\_CAR
- -IE:\Users\lenovo\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include -
+ -IE:\Users\Administrator\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\In
-IE:\Users\lenovo\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.2.0\Device\Includ
+clude -IE:\Users\Administrator\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.2.0
-e --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 536" --pr
+\Device\Include --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION 
-edefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --predefine="_RTE_ SET
+SETA 536" --predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --predef
-A 1" --list=startup_stm32f103xb.lst startup_stm32f103xb.s
+ine="_RTE_ SETA 1" --list=startup_stm32f103xb.lst startup_stm32f103xb.s
 
 
 

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.4.0-B60] date: [Thu Jul 11 23:29:43 CST 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.4.0-B60] date: [Sat Jul 13 14:09:19 CST 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------
@@ -60,10 +60,10 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c \
 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c \
 Core/Src/system_stm32f1xx.c \
 Core/Src/sysmem.c \
-Core/Src/syscalls.c \
 Core/Src/hcsr04.c \
 Core/Src/motor.c \
 Core/Src/led.c \
+Core/Src/syscalls.c
 
 # ASM sources
 ASM_SOURCES =  \

STM32Make.make

@@ -0,0 +1,263 @@
+##########################################################################################################################
+# File automatically-generated by STM32forVSCode
+##########################################################################################################################
+
+# ------------------------------------------------
+# Generic Makefile (based on gcc)
+#
+# ChangeLog :
+#	2017-02-10 - Several enhancements + project update mode
+#   2015-07-22 - first version
+# ------------------------------------------------
+
+######################################
+# target
+######################################
+TARGET = CAR
+
+
+######################################
+# building variables
+######################################
+# debug build?
+DEBUG = 1
+# optimization
+OPT = -Og
+
+
+#######################################
+# paths
+#######################################
+# Build path
+BUILD_DIR = build
+
+######################################
+# source
+######################################
+# C sources
+C_SOURCES =  \
+Core/Src/gpio.c \
+Core/Src/hcsr04.c \
+Core/Src/i2c.c \
+Core/Src/led.c \
+Core/Src/main.c \
+Core/Src/motor.c \
+Core/Src/stm32f1xx_hal_msp.c \
+Core/Src/stm32f1xx_it.c \
+Core/Src/syscalls.c \
+Core/Src/sysmem.c \
+Core/Src/system_stm32f1xx.c \
+Core/Src/tim.c \
+Core/Src/usart.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c
+
+
+CPP_SOURCES = \
+
+
+# ASM sources
+ASM_SOURCES =  \
+startup_stm32f103xb.s
+
+
+
+#######################################
+# binaries
+#######################################
+PREFIX = arm-none-eabi-
+POSTFIX = "
+# The gcc compiler bin path can be either defined in make command via GCC_PATH variable (> make GCC_PATH=xxx)
+# either it can be added to the PATH environment variable.
+GCC_PATH="E:/PROGRAM FILES/GNU ARM EMBEDDED TOOLCHAIN/10 2021.10/BIN
+ifdef GCC_PATH
+CXX = $(GCC_PATH)/$(PREFIX)g++$(POSTFIX)
+CC = $(GCC_PATH)/$(PREFIX)gcc$(POSTFIX)
+AS = $(GCC_PATH)/$(PREFIX)gcc$(POSTFIX) -x assembler-with-cpp
+CP = $(GCC_PATH)/$(PREFIX)objcopy$(POSTFIX)
+SZ = $(GCC_PATH)/$(PREFIX)size$(POSTFIX)
+else
+CXX = $(PREFIX)g++
+CC = $(PREFIX)gcc
+AS = $(PREFIX)gcc -x assembler-with-cpp
+CP = $(PREFIX)objcopy
+SZ = $(PREFIX)size
+endif
+HEX = $(CP) -O ihex
+BIN = $(CP) -O binary -S
+
+#######################################
+# CFLAGS
+#######################################
+# cpu
+CPU = -mcpu=cortex-m3
+
+# fpu
+FPU = 
+
+# float-abi
+FLOAT-ABI = 
+
+# mcu
+MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)
+
+# macros for gcc
+# AS defines
+AS_DEFS = 
+
+# C defines
+C_DEFS =  \
+-DSTM32F103xB \
+-DUSE_HAL_DRIVER
+
+
+# CXX defines
+CXX_DEFS =  \
+-DSTM32F103xB \
+-DUSE_HAL_DRIVER
+
+
+# AS includes
+AS_INCLUDES = \
+
+# C includes
+C_INCLUDES =  \
+-ICore/Inc \
+-IDrivers/CMSIS/Device/ST/STM32F1xx/Include \
+-IDrivers/CMSIS/Include \
+-IDrivers/STM32F1xx_HAL_Driver/Inc \
+-IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy
+
+
+
+# compile gcc flags
+ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
+
+CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
+
+CXXFLAGS = $(MCU) $(CXX_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -feliminate-unused-debug-types
+
+ifeq ($(DEBUG), 1)
+CFLAGS += -g -gdwarf -ggdb
+CXXFLAGS += -g -gdwarf -ggdb
+endif
+
+# Add additional flags
+CFLAGS += -Wall -fdata-sections -ffunction-sections 
+ASFLAGS += -Wall -fdata-sections -ffunction-sections 
+CXXFLAGS += 
+
+# Generate dependency information
+CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"
+CXXFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"
+
+#######################################
+# LDFLAGS
+#######################################
+# link script
+LDSCRIPT = STM32F103C8Tx_FLASH.ld
+
+# libraries
+LIBS = -lc -lm -lnosys 
+LIBDIR = \
+
+
+# Additional LD Flags from config file
+ADDITIONALLDFLAGS = -Wl,--print-memory-usage -specs=nano.specs 
+
+LDFLAGS = $(MCU) $(ADDITIONALLDFLAGS) -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections
+
+# default action: build all
+all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
+
+
+#######################################
+# build the application
+#######################################
+# list of cpp program objects
+OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(CPP_SOURCES:.cpp=.o)))
+vpath %.cpp $(sort $(dir $(CPP_SOURCES)))
+
+# list of C objects
+OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
+vpath %.c $(sort $(dir $(C_SOURCES)))
+
+# list of ASM program objects
+UPPER_CASE_ASM_SOURCES = $(filter %.S,$(ASM_SOURCES))
+LOWER_CASE_ASM_SOURCES = $(filter %.s,$(ASM_SOURCES))
+
+OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(UPPER_CASE_ASM_SOURCES:.S=.o)))
+OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(LOWER_CASE_ASM_SOURCES:.s=.o)))
+vpath %.s $(sort $(dir $(ASM_SOURCES)))
+
+$(BUILD_DIR)/%.o: %.cpp STM32Make.make | $(BUILD_DIR) 
+	$(CXX) -c $(CXXFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.cpp=.lst)) $< -o $@
+
+$(BUILD_DIR)/%.o: %.cxx STM32Make.make | $(BUILD_DIR) 
+	$(CXX) -c $(CXXFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.cxx=.lst)) $< -o $@
+
+$(BUILD_DIR)/%.o: %.c STM32Make.make | $(BUILD_DIR) 
+	$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
+
+$(BUILD_DIR)/%.o: %.s STM32Make.make | $(BUILD_DIR)
+	$(AS) -c $(CFLAGS) $< -o $@
+
+$(BUILD_DIR)/%.o: %.S STM32Make.make | $(BUILD_DIR)
+	$(AS) -c $(CFLAGS) $< -o $@
+
+$(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) STM32Make.make
+	$(CC) $(OBJECTS) $(LDFLAGS) -o $@
+	$(SZ) $@
+
+$(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
+	$(HEX) $< $@
+
+$(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
+	$(BIN) $< $@
+
+$(BUILD_DIR):
+	mkdir $@
+
+#######################################
+# flash
+#######################################
+flash: $(BUILD_DIR)/$(TARGET).elf
+	"E:/PROGRAM FILES/OPENOCD-20231002-0.12.0/BIN/OPENOCD.EXE" -f ./openocd.cfg -c "program $(BUILD_DIR)/$(TARGET).elf verify reset exit"
+
+#######################################
+# erase
+#######################################
+erase: $(BUILD_DIR)/$(TARGET).elf
+	"E:/PROGRAM FILES/OPENOCD-20231002-0.12.0/BIN/OPENOCD.EXE" -f ./openocd.cfg -c "init; reset halt; stm32f1x mass_erase 0; exit"
+
+#######################################
+# clean up
+#######################################
+clean:
+	cmd /c rd /s /q $(BUILD_DIR)
+
+#######################################
+# custom makefile rules
+#######################################
+
+
+	
+#######################################
+# dependencies
+#######################################
+-include $(wildcard $(BUILD_DIR)/*.d)
+
+# *** EOF ***