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a874b283f4
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81c3c7c1ed
| Author | SHA1 | Date | |
|---|---|---|---|
| 81c3c7c1ed | |||
| 2450e3b5b3 |
47
CAR.ioc
47
CAR.ioc
|
|
@ -14,13 +14,13 @@ Mcu.IP3=SYS
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Mcu.IP4=TIM2
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Mcu.IP5=TIM3
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Mcu.IP6=TIM4
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Mcu.IP7=USART1
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Mcu.IP7=USART2
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Mcu.IPNb=8
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Mcu.Name=STM32F103C(8-B)Tx
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Mcu.Package=LQFP48
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Mcu.Pin0=PD0-OSC_IN
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Mcu.Pin1=PD1-OSC_OUT
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Mcu.Pin10=PA10
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Mcu.Pin10=PB11
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Mcu.Pin11=PA12
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Mcu.Pin12=PA13
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Mcu.Pin13=PA14
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@ -37,12 +37,12 @@ Mcu.Pin22=VP_TIM2_VS_ClockSourceINT
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Mcu.Pin23=VP_TIM3_VS_ClockSourceINT
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Mcu.Pin24=VP_TIM4_VS_ClockSourceINT
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Mcu.Pin3=PA1
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Mcu.Pin4=PA7
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Mcu.Pin5=PB0
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Mcu.Pin6=PB1
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Mcu.Pin7=PB10
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Mcu.Pin8=PB11
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Mcu.Pin9=PA9
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Mcu.Pin4=PA2
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Mcu.Pin5=PA3
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Mcu.Pin6=PA7
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Mcu.Pin7=PB0
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Mcu.Pin8=PB1
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Mcu.Pin9=PB10
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Mcu.PinsNb=25
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Mcu.ThirdPartyNb=0
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Mcu.UserConstants=
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@ -61,6 +61,7 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_2
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NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.SysTick_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:false
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NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
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NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
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NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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PA0-WKUP.GPIOParameters=PinState,GPIO_Label
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PA0-WKUP.GPIO_Label=FM_K2_POWERC
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@ -72,11 +73,10 @@ PA1.GPIO_Label=FAN_GS
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PA1.Locked=true
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PA1.PinState=GPIO_PIN_SET
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PA1.Signal=GPIO_Output
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PA10.Mode=Asynchronous
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PA10.Signal=USART1_RX
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PA12.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
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PA12.GPIO_Label=SDA_C_EXTI12
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PA12.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
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PA12.GPIO_Label=Echo
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PA12.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
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PA12.GPIO_PuPd=GPIO_PULLDOWN
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PA12.Locked=true
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PA12.Signal=GPXTI12
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PA13.Mode=Serial_Wire
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@ -84,16 +84,18 @@ PA13.Signal=SYS_JTMS-SWDIO
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PA14.Mode=Serial_Wire
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PA14.Signal=SYS_JTCK-SWCLK
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PA15.GPIOParameters=GPIO_Speed,GPIO_Label
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PA15.GPIO_Label=SCL_C
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PA15.GPIO_Label=Trig
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PA15.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
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PA15.Locked=true
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PA15.Signal=GPIO_Output
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PA2.Mode=Asynchronous
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PA2.Signal=USART2_TX
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PA3.Mode=Asynchronous
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PA3.Signal=USART2_RX
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PA7.GPIOParameters=GPIO_Label
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PA7.GPIO_Label=LED_B_TIM3CH2
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PA7.Locked=true
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PA7.Signal=S_TIM3_CH2
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PA9.Mode=Asynchronous
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PA9.Signal=USART1_TX
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PB0.GPIOParameters=GPIO_Label
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PB0.GPIO_Label=LED_G_TIM3CH3
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PB0.Locked=true
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@ -163,14 +165,14 @@ ProjectManager.ProjectBuild=false
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ProjectManager.ProjectFileName=CAR.ioc
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ProjectManager.ProjectName=CAR
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ProjectManager.ProjectStructure=
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ProjectManager.RegisterCallBack=
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ProjectManager.RegisterCallBack=TIM
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ProjectManager.StackSize=0x400
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ProjectManager.TargetToolchain=MDK-ARM V5.32
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ProjectManager.TargetToolchain=Makefile
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ProjectManager.ToolChainLocation=
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ProjectManager.UAScriptAfterPath=
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ProjectManager.UAScriptBeforePath=
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ProjectManager.UnderRoot=false
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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
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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
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RCC.ADCFreqValue=36000000
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RCC.AHBFreq_Value=72000000
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RCC.APB1CLKDivider=RCC_HCLK_DIV2
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@ -204,8 +206,9 @@ SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
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SH.S_TIM4_CH1.ConfNb=1
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SH.S_TIM4_CH2.0=TIM4_CH2,PWM Generation2 CH2
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SH.S_TIM4_CH2.ConfNb=1
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TIM2.IPParameters=Prescaler,Period
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TIM2.Period=1 - 1
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TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
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TIM2.IPParameters=Prescaler,Period,AutoReloadPreload
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TIM2.Period=10 - 1
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TIM2.Prescaler=72 - 1
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TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
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TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
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@ -224,8 +227,8 @@ TIM4.Period=100
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TIM4.Prescaler=720 - 1
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TIM4.Pulse-PWM\ Generation1\ CH1=100
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TIM4.Pulse-PWM\ Generation2\ CH2=100
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USART1.IPParameters=VirtualMode
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USART1.VirtualMode=VM_ASYNC
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USART2.IPParameters=VirtualMode
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USART2.VirtualMode=VM_ASYNC
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VP_SYS_VS_Systick.Mode=SysTick
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VP_SYS_VS_Systick.Signal=SYS_VS_Systick
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VP_TIM2_VS_ClockSourceINT.Mode=Internal
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@ -3,7 +3,13 @@
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#include "main.h"
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int16_t sonar_mm(void);
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float sonar(void);
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extern uint32_t sonor_distance; // 测量出的距离，单位mm
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extern uint8_t sonor_state; // 测距状态变量，0：未测量，1：正在测量，2：已测量
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void HC_SR04_Init(void);
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uint32_t sonar_mm(void);
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// 测距完毕回调，执行完自定义任务后将sonor_state置0
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void Sonar_CP_Callback();
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#endif
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@ -71,11 +71,11 @@ void Error_Handler(void);
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#define MPU6050_SCL_GPIO_Port GPIOB
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#define MPU6050_SDA_Pin GPIO_PIN_11
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#define MPU6050_SDA_GPIO_Port GPIOB
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#define SDA_C_EXTI12_Pin GPIO_PIN_12
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#define SDA_C_EXTI12_GPIO_Port GPIOA
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#define SDA_C_EXTI12_EXTI_IRQn EXTI15_10_IRQn
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#define SCL_C_Pin GPIO_PIN_15
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#define SCL_C_GPIO_Port GPIOA
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#define Echo_Pin GPIO_PIN_12
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#define Echo_GPIO_Port GPIOA
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#define Echo_EXTI_IRQn EXTI15_10_IRQn
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#define Trig_Pin GPIO_PIN_15
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#define Trig_GPIO_Port GPIOA
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#define R_FORWARD_Pin GPIO_PIN_4
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#define R_FORWARD_GPIO_Port GPIOB
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#define R_BACKWARD_Pin GPIO_PIN_5
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@ -152,7 +152,7 @@
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#define USE_HAL_IRDA_REGISTER_CALLBACKS 0U /* IRDA register callback disabled */
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#define USE_HAL_SRAM_REGISTER_CALLBACKS 0U /* SRAM register callback disabled */
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#define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */
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#define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */
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#define USE_HAL_TIM_REGISTER_CALLBACKS 1U /* TIM register callback enabled */
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#define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */
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#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */
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#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */
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@ -56,6 +56,7 @@ void DebugMon_Handler(void);
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void PendSV_Handler(void);
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void SysTick_Handler(void);
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void TIM2_IRQHandler(void);
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void USART2_IRQHandler(void);
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void EXTI15_10_IRQHandler(void);
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/* USER CODE BEGIN EFP */
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138
Core/Inc/syscalls.h
Normal file
138
Core/Inc/syscalls.h
Normal file
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@ -0,0 +1,138 @@
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/**
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******************************************************************************
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* @file syscalls.c
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* @author Suroy Wrote with Auto-generated by STM32CubeIDE
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* @url https://suroy.cn
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* @brief STM32CubeIDE Minimal System calls file
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*
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* For more information about which c-functions
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* need which of these lowlevel functions
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* please consult the Newlib libc-manual
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2020-2022 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* Includes */
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#ifndef __SYSCALLS_H
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#define __SYSCALLS_H
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#include <errno.h>
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#include <signal.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <stm32f1xx_hal_uart.h>
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#include <sys/stat.h>
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#include <sys/time.h>
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#include <time.h>
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extern UART_HandleTypeDef huart2;
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/* Variables */
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extern int __io_putchar(int ch) __attribute__((weak));
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extern int __io_getchar(void) __attribute__((weak));
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/* Functions */
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__attribute__((weak)) int _read(int file, char *ptr, int len) {
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(void)file;
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int DataIdx;
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for (DataIdx = 0; DataIdx < len; DataIdx++) {
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*ptr++ = __io_getchar();
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}
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return len;
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}
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__attribute__((weak)) int _write(int file, char *ptr, int len) {
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(void)file;
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int DataIdx;
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for (DataIdx = 0; DataIdx < len; DataIdx++) {
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__io_putchar(*ptr++);
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}
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return len;
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}
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// 条件编译
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#ifdef __GNUC__
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#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
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#define GETCHAR_PROTOTYPE int __io_getchar(void)
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#else
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#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
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#define GETCHAR_PROTOTYPE int fgetc(FILE *f)
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#endif /* __GNUC__ */
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/**
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* 函数功能: 重定向 c库函数 printf到 DEBUG_USARTx
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* 输入参数: 无
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* 返 回 值: 无
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* 说 明：无
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*/
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PUTCHAR_PROTOTYPE {
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HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 0xFFFF); // 阻塞式无限等待
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return ch;
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}
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/**
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* 函数功能: 重定向 c库函数 getchar,scanf到 DEBUG_USARTx
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* 输入参数: 无
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* 返 回 值: 无
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* 说 明：无
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*/
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GETCHAR_PROTOTYPE {
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uint8_t ch = 0;
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HAL_UART_Receive(&huart2, &ch, 1, 0xFFFF);
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return ch;
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}
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/* 非GCC模式才允许编译使用即 Keil、IAR 等 */
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#ifndef __GNUC__
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/**
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* @brief 重定向 C 标准库 printf 函数到串口 huart2
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* 适用于 Keil、IAR 等IDE；不适用 GCC
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* @author Suroy
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* @param ch
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* @param f
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* @return int
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*
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* @usage printf("USART1_Target:\r\n");
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*/
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int fputc(int ch, FILE *f) {
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// 采用轮询方式发送1字节数据，超时时间为无限等待
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HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY); // huart2是串口的句柄
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return ch;
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}
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/**
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* @brief fgets 重定向
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* 重定向 C 标准库 scanf 函数到串口 huart2
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* 注意以 空格 为结束
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* @param f
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* @return int
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*
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* @usage scanf("%c", &RecData);
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*/
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int fgetc(FILE *f) {
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uint8_t ch;
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HAL_UART_Receive(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY); // huart2是串口的句柄
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return ch;
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}
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#endif /* __GNUC__ */
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void delay_us(uint16_t us) {
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uint32_t delay = (HAL_RCC_GetHCLKFreq() / 4000000 * us);
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while (delay--);
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}
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#endif
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@ -32,13 +32,13 @@ extern "C" {
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|
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/* USER CODE END Includes */
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extern UART_HandleTypeDef huart1;
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extern UART_HandleTypeDef huart2;
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/* USER CODE BEGIN Private defines */
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|
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/* USER CODE END Private defines */
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|
||||
void MX_USART1_UART_Init(void);
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void MX_USART2_UART_Init(void);
|
||||
|
||||
/* USER CODE BEGIN Prototypes */
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||||
|
||||
|
|
|
|||
|
|
@ -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 */
|
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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;
|
||||
HAL_GPIO_Init(SDA_C_EXTI12_GPIO_Port, &GPIO_InitStruct);
|
||||
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
|
||||
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;
|
||||
|
|
|
|||
|
|
@ -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 delay_us(uint16_t us);
|
||||
void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim);
|
||||
|
||||
int16_t sonar_mm(void) // 测距并返回单位为毫米的距离结果
|
||||
{
|
||||
uint32_t distance, distance_mm = 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
|
||||
// 初始化超声波测距
|
||||
void HC_SR04_Init(void) {
|
||||
// 禁用JTAG
|
||||
__HAL_RCC_AFIO_CLK_ENABLE();
|
||||
__HAL_AFIO_REMAP_SWJ_NOJTAG();
|
||||
|
||||
while (state);
|
||||
state = 1;
|
||||
|
||||
// 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
|
||||
// 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);
|
||||
}
|
||||
|
||||
float sonar(void) // 测距并返回单位为米的距离结果
|
||||
{
|
||||
uint32_t distance, distance_mm = 0;
|
||||
float distance_m = 0;
|
||||
HAL_GPIO_WritePin(SCL_C_GPIO_Port, SCL_C_Pin, GPIO_PIN_SET); // 输出高电平
|
||||
// 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
|
||||
|
||||
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;
|
||||
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
|
||||
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 distance_m;
|
||||
return sonor_distance;
|
||||
}
|
||||
|
||||
void delay_us(uint16_t us)
|
||||
{
|
||||
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)) {
|
||||
HAL_TIM_Base_Start_IT(&htim2);
|
||||
time = 0;
|
||||
while (time < us);
|
||||
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
|
||||
{
|
||||
} 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;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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();
|
||||
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);
|
||||
printf("test\n");
|
||||
|
||||
if (Distance_mm < 100) {
|
||||
LED_Start(LED_R);
|
||||
MOTOR_Start();
|
||||
} else {
|
||||
LED_Stop(LED_R);
|
||||
MOTOR_Stop();
|
||||
if (sonor_state == 0) {
|
||||
sonar_mm();
|
||||
}
|
||||
|
||||
HAL_Delay(300); // 延时300毫秒
|
||||
|
||||
/* USER CODE END WHILE */
|
||||
|
|
|
|||
|
|
@ -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 */
|
||||
|
|
|
|||
|
|
@ -28,6 +28,7 @@
|
|||
#include <signal.h>
|
||||
#include <time.h>
|
||||
#include <sys/time.h>
|
||||
#include <sys/times.h>
|
||||
|
||||
|
||||
/* Variables */
|
||||
|
|
|
|||
|
|
@ -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();
|
||||
|
|
|
|||
|
|
@ -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 */
|
||||
huart1.Instance = USART1;
|
||||
huart1.Init.BaudRate = 115200;
|
||||
huart1.Init.WordLength = UART_WORDLENGTH_8B;
|
||||
huart1.Init.StopBits = UART_STOPBITS_1;
|
||||
huart1.Init.Parity = UART_PARITY_NONE;
|
||||
huart1.Init.Mode = UART_MODE_TX_RX;
|
||||
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
||||
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
|
||||
if (HAL_UART_Init(&huart1) != HAL_OK)
|
||||
/* USER CODE END USART2_Init 1 */
|
||||
huart2.Instance = USART2;
|
||||
huart2.Init.BaudRate = 115200;
|
||||
huart2.Init.WordLength = UART_WORDLENGTH_8B;
|
||||
huart2.Init.StopBits = UART_STOPBITS_1;
|
||||
huart2.Init.Parity = UART_PARITY_NONE;
|
||||
huart2.Init.Mode = UART_MODE_TX_RX;
|
||||
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
||||
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
|
||||
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 */
|
||||
/* USART1 clock enable */
|
||||
__HAL_RCC_USART1_CLK_ENABLE();
|
||||
/* USER CODE END USART2_MspInit 0 */
|
||||
/* USART2 clock enable */
|
||||
__HAL_RCC_USART2_CLK_ENABLE();
|
||||
|
||||
__HAL_RCC_GPIOA_CLK_ENABLE();
|
||||
/**USART1 GPIO Configuration
|
||||
PA9 ------> USART1_TX
|
||||
PA10 ------> USART1_RX
|
||||
/**USART2 GPIO Configuration
|
||||
PA2 ------> USART2_TX
|
||||
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
|
||||
PA9 ------> USART1_TX
|
||||
PA10 ------> USART1_RX
|
||||
/**USART2 GPIO Configuration
|
||||
PA2 ------> USART2_TX
|
||||
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 */
|
||||
|
|
|
|||
|
|
@ -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 />
|
||||
<sDllPa />
|
||||
<sDlgDll />
|
||||
<sDlgPa />
|
||||
<sIfile />
|
||||
<tDll />
|
||||
<tDllPa />
|
||||
<tDlgDll />
|
||||
<tDlgPa />
|
||||
<tIfile />
|
||||
<sDll></sDll>
|
||||
<sDllPa></sDllPa>
|
||||
<sDlgDll></sDlgDll>
|
||||
<sDlgPa></sDlgPa>
|
||||
<sIfile></sIfile>
|
||||
<tDll></tDll>
|
||||
<tDllPa></tDllPa>
|
||||
<tDlgDll></tDlgDll>
|
||||
<tDlgPa></tDlgPa>
|
||||
<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 />
|
||||
<Expression />
|
||||
<ExecCommand></ExecCommand>
|
||||
<Expression></Expression>
|
||||
</Bp>
|
||||
<Bp>
|
||||
<Number>1</Number>
|
||||
|
|
@ -183,8 +183,8 @@
|
|||
<BreakByAccess>0</BreakByAccess>
|
||||
<BreakIfRCount>0</BreakIfRCount>
|
||||
<Filename>..\Core\Src\motor.c</Filename>
|
||||
<ExecCommand />
|
||||
<Expression />
|
||||
<ExecCommand></ExecCommand>
|
||||
<Expression></Expression>
|
||||
</Bp>
|
||||
</Breakpoint>
|
||||
<Tracepoint>
|
||||
|
|
@ -216,19 +216,19 @@
|
|||
<newCpu>0</newCpu>
|
||||
<uProt>0</uProt>
|
||||
</DebugFlag>
|
||||
<LintExecutable />
|
||||
<LintConfigFile />
|
||||
<LintExecutable></LintExecutable>
|
||||
<LintConfigFile></LintConfigFile>
|
||||
<bLintAuto>0</bLintAuto>
|
||||
<bAutoGenD>0</bAutoGenD>
|
||||
<LntExFlags>0</LntExFlags>
|
||||
<pMisraName />
|
||||
<pszMrule />
|
||||
<pSingCmds />
|
||||
<pMultCmds />
|
||||
<pMisraNamep />
|
||||
<pszMrulep />
|
||||
<pSingCmdsp />
|
||||
<pMultCmdsp />
|
||||
<pMisraName></pMisraName>
|
||||
<pszMrule></pszMrule>
|
||||
<pSingCmds></pSingCmds>
|
||||
<pMultCmds></pMultCmds>
|
||||
<pMisraNamep></pMisraNamep>
|
||||
<pszMrulep></pszMrulep>
|
||||
<pSingCmdsp></pSingCmdsp>
|
||||
<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>
|
||||
|
|
|
|||
|
|
@ -1,7 +1,10 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" noNamespaceSchemaLocation="project_projx.xsd">
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
|
||||
<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 />
|
||||
<StartupFile />
|
||||
<FlashDriverDll />
|
||||
<FlashUtilSpec></FlashUtilSpec>
|
||||
<StartupFile></StartupFile>
|
||||
<FlashDriverDll></FlashDriverDll>
|
||||
<DeviceId>0</DeviceId>
|
||||
<RegisterFile />
|
||||
<MemoryEnv />
|
||||
<Cmp />
|
||||
<Asm />
|
||||
<Linker />
|
||||
<OHString />
|
||||
<InfinionOptionDll />
|
||||
<SLE66CMisc />
|
||||
<SLE66AMisc />
|
||||
<SLE66LinkerMisc />
|
||||
<RegisterFile></RegisterFile>
|
||||
<MemoryEnv></MemoryEnv>
|
||||
<Cmp></Cmp>
|
||||
<Asm></Asm>
|
||||
<Linker></Linker>
|
||||
<OHString></OHString>
|
||||
<InfinionOptionDll></InfinionOptionDll>
|
||||
<SLE66CMisc></SLE66CMisc>
|
||||
<SLE66AMisc></SLE66AMisc>
|
||||
<SLE66LinkerMisc></SLE66LinkerMisc>
|
||||
<SFDFile>$$Device:STM32F103C8$SVD\STM32F103xx.svd</SFDFile>
|
||||
<bCustSvd>0</bCustSvd>
|
||||
<UseEnv>0</UseEnv>
|
||||
<BinPath />
|
||||
<IncludePath />
|
||||
<LibPath />
|
||||
<RegisterFilePath />
|
||||
<DBRegisterFilePath />
|
||||
<BinPath></BinPath>
|
||||
<IncludePath></IncludePath>
|
||||
<LibPath></LibPath>
|
||||
<RegisterFilePath></RegisterFilePath>
|
||||
<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 />
|
||||
<UserProg2Name />
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopU1X>0</nStopU1X>
|
||||
|
|
@ -69,8 +72,8 @@
|
|||
<BeforeMake>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg2>0</RunUserProg2>
|
||||
<UserProg1Name />
|
||||
<UserProg2Name />
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopB1X>0</nStopB1X>
|
||||
|
|
@ -79,15 +82,15 @@
|
|||
<AfterMake>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg2>1</RunUserProg2>
|
||||
<UserProg1Name />
|
||||
<UserProg2Name />
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<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 />
|
||||
<IncludeLibraryModules />
|
||||
<CustomArgument></CustomArgument>
|
||||
<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 />
|
||||
<pFcarmOut />
|
||||
<pFcarmGrp />
|
||||
<pFcArmRoot />
|
||||
<Flash4></Flash4>
|
||||
<pFcarmOut></pFcarmOut>
|
||||
<pFcarmGrp></pFcarmGrp>
|
||||
<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 />
|
||||
<Define />
|
||||
<Undefine />
|
||||
<IncludePath />
|
||||
<MiscControls></MiscControls>
|
||||
<Define></Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath></IncludePath>
|
||||
</VariousControls>
|
||||
</Aads>
|
||||
<LDads>
|
||||
|
|
@ -364,15 +367,15 @@
|
|||
<noStLib>0</noStLib>
|
||||
<RepFail>1</RepFail>
|
||||
<useFile>0</useFile>
|
||||
<TextAddressRange />
|
||||
<DataAddressRange />
|
||||
<pXoBase />
|
||||
<ScatterFile />
|
||||
<IncludeLibs />
|
||||
<IncludeLibsPath />
|
||||
<Misc />
|
||||
<LinkerInputFile />
|
||||
<DisabledWarnings />
|
||||
<TextAddressRange></TextAddressRange>
|
||||
<DataAddressRange></DataAddressRange>
|
||||
<pXoBase></pXoBase>
|
||||
<ScatterFile></ScatterFile>
|
||||
<IncludeLibs></IncludeLibs>
|
||||
<IncludeLibsPath></IncludeLibsPath>
|
||||
<Misc></Misc>
|
||||
<LinkerInputFile></LinkerInputFile>
|
||||
<DisabledWarnings></DisabledWarnings>
|
||||
</LDads>
|
||||
</TargetArmAds>
|
||||
</TargetOption>
|
||||
|
|
@ -538,18 +541,20 @@
|
|||
</Groups>
|
||||
</Target>
|
||||
</Targets>
|
||||
|
||||
<RTE>
|
||||
<apis />
|
||||
<apis/>
|
||||
<components>
|
||||
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="4.3.0" condition="CMSIS Core">
|
||||
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="4.5.0" />
|
||||
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="4.5.0"/>
|
||||
<targetInfos>
|
||||
<targetInfo name="CAR" />
|
||||
<targetInfo name="CAR"/>
|
||||
</targetInfos>
|
||||
</component>
|
||||
</components>
|
||||
<files />
|
||||
<files/>
|
||||
</RTE>
|
||||
|
||||
<LayerInfo>
|
||||
<Layers>
|
||||
<Layer>
|
||||
|
|
@ -558,5 +563,5 @@
|
|||
</Layer>
|
||||
</Layers>
|
||||
</LayerInfo>
|
||||
</Project>
|
||||
|
||||
</Project>
|
||||
|
|
|
|||
|
|
@ -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\lenovo\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.2.0\Device\Includ
|
||||
e --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA 536" --pr
|
||||
edefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --predefine="_RTE_ SET
|
||||
A 1" --list=startup_stm32f103xb.lst startup_stm32f103xb.s
|
||||
-IE:\Users\Administrator\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\In
|
||||
clude -IE:\Users\Administrator\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.2.0
|
||||
\Device\Include --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION
|
||||
SETA 536" --predefine="_RTE_ SETA 1" --predefine="STM32F10X_MD SETA 1" --predef
|
||||
ine="_RTE_ SETA 1" --list=startup_stm32f103xb.lst startup_stm32f103xb.s
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
4
Makefile
4
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 = \
|
||||
|
|
|
|||
263
STM32Make.make
Normal file
263
STM32Make.make
Normal file
|
|
@ -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 ***
|
||||
Loading…
Reference in New Issue
Block a user