Merge branch 'feat-csj' of http://47.97.125.97:3000/EN/Car into feat-csj

.gitignore

@@ -5,10 +5,6 @@ MDK-ARM/DebugConfig
 MDK-ARM/CAR.uvguix.*
 MDK-ARM/startup_stm32f103xb.lst
 MDK-ARM/RTE
-MDK-ARM/CAR.uvguix.Admin
-MDK-ARM/car.uvguix.Administrator
-MDK-ARM/CAR.uvguix.lenovo
 
 build/
 cmake/
-

.mxproject

@@ -3,7 +3,7 @@ LibFiles=Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_i2c.h;Drivers\STM32F1xx_
 
 [PreviousUsedKeilFiles]
 SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\dma.c;..\Core\Src\i2c.c;..\Core\Src\tim.c;..\Core\Src\usart.c;..\Core\Src\stm32f1xx_it.c;..\Core\Src\stm32f1xx_hal_msp.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.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_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.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_exti.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;..\Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.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.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_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.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_exti.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;..\Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;;;
-HeaderPath=..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Core\Inc;
+HeaderPath=..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc;
 CDefines=USE_HAL_DRIVER;STM32F103xB;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
 [PreviousUsedMakefileFiles]

App/Inc/app_ultrasonic.h

@@ -0,0 +1,6 @@
+#ifndef __APP_ULTRASONIC_H
+#define __APP_ULTRASONIC_H
+
+int APP_Find_Direction(void);
+
+#endif

App/Src/app_line_seek.c

@@ -44,7 +44,7 @@ void LINESEEK_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim)
 
     if (beep_time++ > 100)
     {
-        buzzer(0);
+        HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_SET);
     }
 }
 
@@ -255,7 +255,7 @@ void Hanlde_Crossroad(void)
     }
 
     beep_time = 0;
-    buzzer(1);
+    HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_RESET);
     // state = MOVE_STRAIGHT;
     // buzzer(1);
     // HAL_Delay(50);

App/Src/app_ultrasonic.c

@@ -0,0 +1,52 @@
+#include "app_ultrasonic.h"
+#include "servo.h"
+#include "hcsr04.h"
+#include "main.h"
+#include "led.h"
+#include "path_plan.h"
+
+#define BLOCK_DISTANCE 150
+
+int APP_Find_Direction(void)
+{
+    uint32_t left_block,right_block,straight_block;
+
+    // 测定左侧障碍物距离
+    SERVO_Rotate(50);
+    HAL_Delay(300);
+    left_block = sonar_mm();
+
+    // 测定正前侧障碍物距离
+    SERVO_Rotate(90);
+    HAL_Delay(300);
+    straight_block = sonar_mm();
+
+    // 测定右侧障碍物距离
+    SERVO_Rotate(150);
+    HAL_Delay(300);
+    right_block = sonar_mm();
+
+    LED_Start(7);
+
+    if(left_block > BLOCK_DISTANCE && right_block > BLOCK_DISTANCE && straight_block > BLOCK_DISTANCE)// 前左右均无障碍物，直行
+    {
+        return STRAIGHT;
+    }
+    else if(left_block < BLOCK_DISTANCE && right_block < BLOCK_DISTANCE && straight_block < BLOCK_DISTANCE)// 前左右均有障碍物，停止并鸣笛
+    {
+        LED_SetDuty(255,0,0);
+        return STOP;
+    }
+    else if(straight_block < BLOCK_DISTANCE && left_block < BLOCK_DISTANCE)// 前左有障碍物，右转
+    {
+        return RIGHT;
+    }
+    else if (straight_block < BLOCK_DISTANCE && right_block < BLOCK_DISTANCE)// 前右有障碍物，左转
+    {
+         return LEFT;
+    }
+    else
+    {
+        return STRAIGHT;
+    }
+}

CAR.ioc

@@ -20,56 +20,61 @@ Mcu.CPN=STM32F103C8T6
 Mcu.Family=STM32F1
 Mcu.IP0=DMA
 Mcu.IP1=I2C2
+Mcu.IP10=USART2
 Mcu.IP2=NVIC
 Mcu.IP3=RCC
 Mcu.IP4=SYS
-Mcu.IP5=TIM2
+Mcu.IP5=TIM1
-Mcu.IP6=TIM3
+Mcu.IP6=TIM2
-Mcu.IP7=TIM4
+Mcu.IP7=TIM3
-Mcu.IP8=USART1
+Mcu.IP8=TIM4
-Mcu.IP9=USART2
+Mcu.IP9=USART1
-Mcu.IPNb=10
+Mcu.IPNb=11
 Mcu.Name=STM32F103C(8-B)Tx
 Mcu.Package=LQFP48
 Mcu.Pin0=PC13-TAMPER-RTC
 Mcu.Pin1=PC14-OSC32_IN
-Mcu.Pin10=PB0
+Mcu.Pin10=PA6
-Mcu.Pin11=PB1
+Mcu.Pin11=PA7
-Mcu.Pin12=PB10
+Mcu.Pin12=PB0
-Mcu.Pin13=PB11
+Mcu.Pin13=PB1
-Mcu.Pin14=PB12
+Mcu.Pin14=PB10
-Mcu.Pin15=PA9
+Mcu.Pin15=PB11
-Mcu.Pin16=PA10
+Mcu.Pin16=PB12
-Mcu.Pin17=PA12
+Mcu.Pin17=PA9
-Mcu.Pin18=PA13
+Mcu.Pin18=PA10
-Mcu.Pin19=PA14
+Mcu.Pin19=PA11
 Mcu.Pin2=PC15-OSC32_OUT
-Mcu.Pin20=PA15
+Mcu.Pin20=PA12
-Mcu.Pin21=PB4
+Mcu.Pin21=PA13
-Mcu.Pin22=PB5
+Mcu.Pin22=PA14
-Mcu.Pin23=PB6
+Mcu.Pin23=PA15
-Mcu.Pin24=PB7
+Mcu.Pin24=PB4
-Mcu.Pin25=PB8
+Mcu.Pin25=PB5
-Mcu.Pin26=PB9
+Mcu.Pin26=PB6
-Mcu.Pin27=VP_SYS_VS_Systick
+Mcu.Pin27=PB7
-Mcu.Pin28=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin28=PB8
-Mcu.Pin29=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin29=PB9
 Mcu.Pin3=PD0-OSC_IN
-Mcu.Pin30=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin30=VP_SYS_VS_Systick
+Mcu.Pin31=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin32=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin33=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin34=VP_TIM4_VS_ClockSourceINT
 Mcu.Pin4=PD1-OSC_OUT
 Mcu.Pin5=PA0-WKUP
 Mcu.Pin6=PA1
 Mcu.Pin7=PA2
 Mcu.Pin8=PA3
-Mcu.Pin9=PA7
+Mcu.Pin9=PA4
-Mcu.PinsNb=31
+Mcu.PinsNb=35
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F103C8Tx
 MxCube.Version=6.12.0
 MxDb.Version=DB.6.0.120
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.DMA1_Channel6_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.DMA1_Channel6_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.EXTI15_10_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=false
@@ -79,11 +84,12 @@ NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.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.SysTick_IRQn=true\:2\:0\:true\:false\:true\:false\:true\:false
 NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.TIM4_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.USART1_IRQn=true\:3\:1\:true\:false\:true\:true\:true\:true
+NVIC.USART2_IRQn=true\:3\:0\:true\: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
@@ -97,8 +103,12 @@ PA1.PinState=GPIO_PIN_SET
 PA1.Signal=GPIO_Output
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
+PA11.GPIOParameters=GPIO_Label
+PA11.GPIO_Label=SERVO
+PA11.Locked=true
+PA11.Signal=S_TIM1_CH4
 PA12.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
-PA12.GPIO_Label=Echo
+PA12.GPIO_Label=ECHO
 PA12.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
 PA12.GPIO_PuPd=GPIO_PULLDOWN
 PA12.Locked=true
@@ -108,7 +118,7 @@ PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
 PA14.Signal=SYS_JTCK-SWCLK
 PA15.GPIOParameters=GPIO_Speed,GPIO_Label
-PA15.GPIO_Label=Trig
+PA15.GPIO_Label=TRIG
 PA15.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PA15.Locked=true
 PA15.Signal=GPIO_Output
@@ -116,6 +126,14 @@ PA2.Mode=Asynchronous
 PA2.Signal=USART2_TX
 PA3.Mode=Asynchronous
 PA3.Signal=USART2_RX
+PA4.GPIOParameters=GPIO_Label
+PA4.GPIO_Label=HWR
+PA4.Locked=true
+PA4.Signal=GPIO_Input
+PA6.GPIOParameters=GPIO_Label
+PA6.GPIO_Label=HWL
+PA6.Locked=true
+PA6.Signal=GPIO_Input
 PA7.GPIOParameters=GPIO_Label
 PA7.GPIO_Label=LED_B_TIM3CH2
 PA7.Locked=true
@@ -202,7 +220,7 @@ ProjectManager.FreePins=false
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x200
 ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=false
+ProjectManager.LastFirmware=true
 ProjectManager.LibraryCopy=1
 ProjectManager.MainLocation=Core/Src
 ProjectManager.NoMain=false
@@ -211,14 +229,14 @@ ProjectManager.ProjectBuild=false
 ProjectManager.ProjectFileName=CAR.ioc
 ProjectManager.ProjectName=CAR
 ProjectManager.ProjectStructure=
-ProjectManager.RegisterCallBack=TIM,USART
+ProjectManager.RegisterCallBack=TIM
 ProjectManager.StackSize=0x400
-ProjectManager.TargetToolchain=Makefile
+ProjectManager.TargetToolchain=MDK-ARM V5.32
 ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_I2C2_Init-I2C2-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_TIM4_Init-TIM4-false-HAL-true,8-MX_USART2_UART_Init-USART2-false-HAL-true,9-MX_USART1_UART_Init-USART1-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_I2C2_Init-I2C2-false-HAL-true,5-MX_TIM1_Init-TIM1-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_TIM3_Init-TIM3-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_USART1_UART_Init-USART1-false-HAL-true,10-MX_USART2_UART_Init-USART2-false-HAL-true
 RCC.ADCFreqValue=36000000
 RCC.AHBFreq_Value=72000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@@ -242,6 +260,8 @@ RCC.USBFreq_Value=72000000
 RCC.VCOOutput2Freq_Value=8000000
 SH.GPXTI12.0=GPIO_EXTI12
 SH.GPXTI12.ConfNb=1
+SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
+SH.S_TIM1_CH4.ConfNb=1
 SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
 SH.S_TIM3_CH2.ConfNb=1
 SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
@@ -252,6 +272,10 @@ 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
+TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM1.IPParameters=Prescaler,Period,Channel-PWM Generation4 CH4
+TIM1.Period=2000 - 1
+TIM1.Prescaler=720 - 1
 TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
 TIM2.IPParameters=Prescaler,Period,AutoReloadPreload
 TIM2.Period=72 - 1
@@ -275,7 +299,7 @@ TIM4.Period=100
 TIM4.Prescaler=720 - 1
 TIM4.Pulse-PWM\ Generation1\ CH1=100
 TIM4.Pulse-PWM\ Generation2\ CH2=100
-USART1.BaudRate=9600
+USART1.BaudRate=115200
 USART1.IPParameters=VirtualMode,BaudRate,Parity,WordLength
 USART1.Parity=PARITY_NONE
 USART1.VirtualMode=VM_ASYNC
@@ -285,6 +309,8 @@ USART2.IPParameters=VirtualMode,BaudRate
 USART2.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_TIM1_VS_ClockSourceINT.Mode=Internal
+VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
 VP_TIM2_VS_ClockSourceINT.Mode=Internal
 VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
 VP_TIM3_VS_ClockSourceINT.Mode=Internal

Core/Inc/main.h

@@ -67,6 +67,10 @@ void Error_Handler(void);
 #define FM_K2_POWERC_GPIO_Port GPIOA
 #define FAN_GS_Pin GPIO_PIN_1
 #define FAN_GS_GPIO_Port GPIOA
+#define HWR_Pin GPIO_PIN_4
+#define HWR_GPIO_Port GPIOA
+#define HWL_Pin GPIO_PIN_6
+#define HWL_GPIO_Port GPIOA
 #define LED_B_TIM3CH2_Pin GPIO_PIN_7
 #define LED_B_TIM3CH2_GPIO_Port GPIOA
 #define LED_G_TIM3CH3_Pin GPIO_PIN_0
@@ -79,11 +83,13 @@ void Error_Handler(void);
 #define MPU6050_SDA_GPIO_Port GPIOB
 #define LineSeek_R2_Pin GPIO_PIN_12
 #define LineSeek_R2_GPIO_Port GPIOB
-#define Echo_Pin GPIO_PIN_12
+#define SERVO_Pin GPIO_PIN_11
-#define Echo_GPIO_Port GPIOA
+#define SERVO_GPIO_Port GPIOA
-#define Echo_EXTI_IRQn EXTI15_10_IRQn
+#define ECHO_Pin GPIO_PIN_12
-#define Trig_Pin GPIO_PIN_15
+#define ECHO_GPIO_Port GPIOA
-#define Trig_GPIO_Port GPIOA
+#define ECHO_EXTI_IRQn EXTI15_10_IRQn
+#define TRIG_Pin GPIO_PIN_15
+#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

@@ -129,7 +129,7 @@
   * @brief This is the HAL system configuration section
   */
 #define  VDD_VALUE                    3300U /*!< Value of VDD in mv */
-#define  TICK_INT_PRIORITY            3U    /*!< tick interrupt priority (lowest by default)  */
+#define  TICK_INT_PRIORITY            2U    /*!< tick interrupt priority (lowest by default)  */
 #define  USE_RTOS                     0U
 #define  PREFETCH_ENABLE              1U
 
@@ -154,7 +154,7 @@
 #define  USE_HAL_SPI_REGISTER_CALLBACKS         0U /* SPI register callback disabled       */
 #define  USE_HAL_TIM_REGISTER_CALLBACKS         1U /* TIM register callback enabled       */
 #define  USE_HAL_UART_REGISTER_CALLBACKS        0U /* UART register callback disabled      */
-#define  USE_HAL_USART_REGISTER_CALLBACKS       1U /* USART register callback enabled     */
+#define  USE_HAL_USART_REGISTER_CALLBACKS       0U /* USART register callback disabled     */
 #define  USE_HAL_WWDG_REGISTER_CALLBACKS        0U /* WWDG register callback disabled      */
 
 /* ########################## Assert Selection ############################## */

Core/Inc/stm32f1xx_it.h

@@ -59,6 +59,7 @@ void DMA1_Channel6_IRQHandler(void);
 void TIM2_IRQHandler(void);
 void TIM3_IRQHandler(void);
 void TIM4_IRQHandler(void);
+void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
 /* USER CODE BEGIN EFP */

Core/Inc/tim.h

@@ -32,6 +32,8 @@ extern "C" {
 
 /* USER CODE END Includes */
 
+extern TIM_HandleTypeDef htim1;
+
 extern TIM_HandleTypeDef htim2;
 
 extern TIM_HandleTypeDef htim3;
@@ -42,6 +44,7 @@ extern TIM_HandleTypeDef htim4;
 
 /* USER CODE END Private defines */
 
+void MX_TIM1_Init(void);
 void MX_TIM2_Init(void);
 void MX_TIM3_Init(void);
 void MX_TIM4_Init(void);

Core/Src/gpio.c

@@ -54,7 +54,7 @@ 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(Trig_GPIO_Port, Trig_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);
@@ -72,6 +72,12 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+  /*Configure GPIO pins : PAPin PAPin */
+  GPIO_InitStruct.Pin = HWR_Pin|HWL_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = LineSeek_R2_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
@@ -79,17 +85,17 @@ void MX_GPIO_Init(void)
   HAL_GPIO_Init(LineSeek_R2_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pin : PtPin */
-  GPIO_InitStruct.Pin = Echo_Pin;
+  GPIO_InitStruct.Pin = ECHO_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
   GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-  HAL_GPIO_Init(Echo_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(ECHO_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pin : PtPin */
-  GPIO_InitStruct.Pin = Trig_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(Trig_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/main.c

@@ -102,11 +102,12 @@ int main(void)
     MX_GPIO_Init();
     MX_DMA_Init();
     MX_I2C2_Init();
+    MX_TIM1_Init();
     MX_TIM2_Init();
     MX_TIM3_Init();
     MX_TIM4_Init();
-    // MX_USART2_UART_Init();
     MX_USART1_UART_Init();
+    // MX_USART2_UART_Init();
 
     /* USER CODE BEGIN 2 */
     HC_SR04_Init();

Core/Src/stm32f1xx_it.c

@@ -59,6 +59,7 @@ extern TIM_HandleTypeDef htim2;
 extern TIM_HandleTypeDef htim3;
 extern TIM_HandleTypeDef htim4;
 extern DMA_HandleTypeDef hdma_usart2_rx;
+extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;
 /* USER CODE BEGIN EV */
 
@@ -258,6 +259,20 @@ void TIM4_IRQHandler(void)
   /* USER CODE END TIM4_IRQn 1 */
 }
 
+/**
+  * @brief This function handles USART1 global interrupt.
+  */
+void USART1_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART1_IRQn 0 */
+
+  /* USER CODE END USART1_IRQn 0 */
+  HAL_UART_IRQHandler(&huart1);
+  /* USER CODE BEGIN USART1_IRQn 1 */
+
+  /* USER CODE END USART1_IRQn 1 */
+}
+
 /**
   * @brief This function handles USART2 global interrupt.
   */
@@ -280,7 +295,7 @@ void EXTI15_10_IRQHandler(void)
   /* USER CODE BEGIN EXTI15_10_IRQn 0 */
 
   /* USER CODE END EXTI15_10_IRQn 0 */
-  HAL_GPIO_EXTI_IRQHandler(Echo_Pin);
+  HAL_GPIO_EXTI_IRQHandler(ECHO_Pin);
   /* USER CODE BEGIN EXTI15_10_IRQn 1 */
 
   /* USER CODE END EXTI15_10_IRQn 1 */

Core/Src/tim.c

@@ -24,10 +24,80 @@
 
 /* USER CODE END 0 */
 
+TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim4;
 
+/* TIM1 init function */
+void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 720 - 1;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 2000 - 1;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+  HAL_TIM_MspPostInit(&htim1);
+
+}
 /* TIM2 init function */
 void MX_TIM2_Init(void)
 {
@@ -192,7 +262,18 @@ void MX_TIM4_Init(void)
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM2)
+  if(tim_baseHandle->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspInit 0 */
+
+  /* USER CODE END TIM1_MspInit 0 */
+    /* TIM1 clock enable */
+    __HAL_RCC_TIM1_CLK_ENABLE();
+  /* USER CODE BEGIN TIM1_MspInit 1 */
+
+  /* USER CODE END TIM1_MspInit 1 */
+  }
+  else if(tim_baseHandle->Instance==TIM2)
   {
   /* USER CODE BEGIN TIM2_MspInit 0 */
 
@@ -242,11 +323,30 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 {
 
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(timHandle->Instance==TIM3)
+  if(timHandle->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspPostInit 0 */
+
+  /* USER CODE END TIM1_MspPostInit 0 */
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM1 GPIO Configuration
+    PA11     ------> TIM1_CH4
+    */
+    GPIO_InitStruct.Pin = SERVO_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    HAL_GPIO_Init(SERVO_GPIO_Port, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM1_MspPostInit 1 */
+
+  /* USER CODE END TIM1_MspPostInit 1 */
+  }
+  else if(timHandle->Instance==TIM3)
   {
   /* USER CODE BEGIN TIM3_MspPostInit 0 */
 
   /* USER CODE END TIM3_MspPostInit 0 */
+
     __HAL_RCC_GPIOA_CLK_ENABLE();
     __HAL_RCC_GPIOB_CLK_ENABLE();
     /**TIM3 GPIO Configuration
@@ -294,7 +394,18 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM2)
+  if(tim_baseHandle->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspDeInit 0 */
+
+  /* USER CODE END TIM1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM1_CLK_DISABLE();
+  /* USER CODE BEGIN TIM1_MspDeInit 1 */
+
+  /* USER CODE END TIM1_MspDeInit 1 */
+  }
+  else if(tim_baseHandle->Instance==TIM2)
   {
   /* USER CODE BEGIN TIM2_MspDeInit 0 */
 

Core/Src/usart.c

@@ -41,7 +41,7 @@ void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 9600;
+  huart1.Init.BaudRate = 115200;
   huart1.Init.WordLength = UART_WORDLENGTH_8B;
   huart1.Init.StopBits = UART_STOPBITS_1;
   huart1.Init.Parity = UART_PARITY_NONE;
@@ -114,6 +114,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* USART1 interrupt Init */
+    HAL_NVIC_SetPriority(USART1_IRQn, 3, 1);
+    HAL_NVIC_EnableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspInit 1 */
 
   /* USER CODE END USART1_MspInit 1 */
@@ -159,7 +162,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
 
     /* USART2 interrupt Init */
-    HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(USART2_IRQn, 3, 0);
     HAL_NVIC_EnableIRQ(USART2_IRQn);
   /* USER CODE BEGIN USART2_MspInit 1 */
 
@@ -184,6 +187,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
 
+    /* USART1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspDeInit 1 */
 
   /* USER CODE END USART1_MspDeInit 1 */
@@ -215,4 +220,5 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 
 /* USER CODE BEGIN 1 */
 
+
 /* USER CODE END 1 */

MDK-ARM/CAR.uvoptx

@@ -157,70 +157,54 @@
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
-          <LineNumber>39</LineNumber>
+          <LineNumber>34</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134225148</Address>
+          <Address>134226582</Address>
           <ByteObject>0</ByteObject>
           <HtxType>0</HtxType>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>1</BreakIfRCount>
-          <Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename>
+          <Filename>..\Peripheral\Src\bluetooth.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\car\../Core/Src/hcsr04.c\39</Expression>
+          <Expression>\\CAR\../Peripheral/Src/bluetooth.c\34</Expression>
         </Bp>
         <Bp>
           <Number>1</Number>
           <Type>0</Type>
-          <LineNumber>98</LineNumber>
+          <LineNumber>32</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134229854</Address>
+          <Address>134221102</Address>
           <ByteObject>0</ByteObject>
           <HtxType>0</HtxType>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>1</BreakIfRCount>
-          <Filename>../Core/Src/main.c</Filename>
+          <Filename>..\Peripheral\Src\control.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\car\../Core/Src/main.c\98</Expression>
+          <Expression>\\CAR\../Peripheral/Src/control.c\32</Expression>
         </Bp>
         <Bp>
           <Number>2</Number>
           <Type>0</Type>
-          <LineNumber>45</LineNumber>
+          <LineNumber>24</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134220846</Address>
+          <Address>0</Address>
           <ByteObject>0</ByteObject>
           <HtxType>0</HtxType>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
+          <BreakIfRCount>0</BreakIfRCount>
-          <Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename>
+          <Filename>..\Peripheral\Src\bluetooth.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\car\../Core/Src/hcsr04.c\45</Expression>
+          <Expression></Expression>
         </Bp>
         <Bp>
           <Number>3</Number>
           <Type>0</Type>
-          <LineNumber>32</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134229764</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>D:\OneDrive\OneDrive - my.swjtu.edu.cn\Data\program code\Projects\Car\Core\Src\hcsr04.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\car\../Core/Src/hcsr04.c\32</Expression>
-        </Bp>
-        <Bp>
-          <Number>4</Number>
-          <Type>0</Type>
           <LineNumber>99</LineNumber>
           <EnabledFlag>1</EnabledFlag>
           <Address>0</Address>
@@ -235,7 +219,7 @@
           <Expression></Expression>
         </Bp>
         <Bp>
-          <Number>5</Number>
+          <Number>4</Number>
           <Type>0</Type>
           <LineNumber>97</LineNumber>
           <EnabledFlag>1</EnabledFlag>
@@ -255,22 +239,25 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>time</ItemText>
+          <ItemText>num,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>1</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>distance</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow1>
         <Mm>
           <WinNumber>1</WinNumber>
-          <SubType>0</SubType>
+          <SubType>8</SubType>
-          <ItemText>&amp;rxSize</ItemText>
+          <ItemText>rxBuffer</ItemText>
           <AccSizeX>0</AccSizeX>
         </Mm>
       </MemoryWindow1>
+      <MemoryWindow2>
+        <Mm>
+          <WinNumber>2</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>num</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow2>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -315,7 +302,7 @@
       <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
-        <EnableFlashSeq>0</EnableFlashSeq>
+        <EnableFlashSeq>1</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
@@ -344,7 +331,7 @@
   </Group>
 
   <Group>
-    <GroupName>Core</GroupName>
+    <GroupName>Application/User/App</GroupName>
     <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
@@ -356,8 +343,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Core/Src/main.c</PathWithFileName>
+      <PathWithFileName>..\App\Src\app_line_seek.c</PathWithFileName>
-      <FilenameWithoutPath>main.c</FilenameWithoutPath>
+      <FilenameWithoutPath>app_line_seek.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -368,14 +355,58 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
+      <PathWithFileName>..\App\Src\app_ultrasonic.c</PathWithFileName>
+      <FilenameWithoutPath>app_ultrasonic.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+  </Group>
+
+  <Group>
+    <GroupName>Application/User/Core</GroupName>
+    <tvExp>1</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>3</GroupNumber>
+      <FileNumber>4</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Core\Src\syscalls.c</PathWithFileName>
+      <FilenameWithoutPath>syscalls.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>3</GroupNumber>
+      <FileNumber>5</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>1</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Core/Src/main.c</PathWithFileName>
+      <FilenameWithoutPath>main.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>3</GroupNumber>
+      <FileNumber>6</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
       <PathWithFileName>../Core/Src/gpio.c</PathWithFileName>
       <FilenameWithoutPath>gpio.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>2</GroupNumber>
+      <GroupNumber>3</GroupNumber>
-      <FileNumber>4</FileNumber>
+      <FileNumber>7</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -386,8 +417,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>2</GroupNumber>
+      <GroupNumber>3</GroupNumber>
-      <FileNumber>5</FileNumber>
+      <FileNumber>8</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -398,8 +429,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>2</GroupNumber>
+      <GroupNumber>3</GroupNumber>
-      <FileNumber>6</FileNumber>
+      <FileNumber>9</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -410,8 +441,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>2</GroupNumber>
+      <GroupNumber>3</GroupNumber>
-      <FileNumber>7</FileNumber>
+      <FileNumber>10</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -422,8 +453,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>2</GroupNumber>
+      <GroupNumber>3</GroupNumber>
-      <FileNumber>8</FileNumber>
+      <FileNumber>11</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -434,8 +465,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>2</GroupNumber>
+      <GroupNumber>3</GroupNumber>
-      <FileNumber>9</FileNumber>
+      <FileNumber>12</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -445,15 +476,107 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+  </Group>
+
+  <Group>
+    <GroupName>Application/User/Peripheral</GroupName>
+    <tvExp>1</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
     <File>
-      <GroupNumber>2</GroupNumber>
+      <GroupNumber>4</GroupNumber>
-      <FileNumber>10</FileNumber>
+      <FileNumber>13</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Core\Src\syscalls.c</PathWithFileName>
+      <PathWithFileName>..\Peripheral\Src\bluetooth.c</PathWithFileName>
-      <FilenameWithoutPath>syscalls.c</FilenameWithoutPath>
+      <FilenameWithoutPath>bluetooth.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>14</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Peripheral\Src\control.c</PathWithFileName>
+      <FilenameWithoutPath>control.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>15</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Peripheral\Src\hcsr04.c</PathWithFileName>
+      <FilenameWithoutPath>hcsr04.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>16</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Peripheral\Src\infrared.c</PathWithFileName>
+      <FilenameWithoutPath>infrared.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>17</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Peripheral\Src\led.c</PathWithFileName>
+      <FilenameWithoutPath>led.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>18</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Peripheral\Src\line_seek.c</PathWithFileName>
+      <FilenameWithoutPath>line_seek.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>19</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Peripheral\Src\motor.c</PathWithFileName>
+      <FilenameWithoutPath>motor.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>20</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Peripheral\Src\servo.c</PathWithFileName>
+      <FilenameWithoutPath>servo.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -466,8 +589,8 @@
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>11</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -478,8 +601,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -490,8 +613,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>13</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -502,8 +625,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>14</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -514,8 +637,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>15</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -526,8 +649,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -538,8 +661,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -550,8 +673,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -562,8 +685,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -574,8 +697,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -586,8 +709,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>31</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -598,8 +721,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>32</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -610,8 +733,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -622,8 +745,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>34</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -634,8 +757,8 @@
       <bShared>0</bShared>
     </File>
     <File>
-      <GroupNumber>3</GroupNumber>
+      <GroupNumber>5</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>35</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -654,8 +777,8 @@
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
-      <GroupNumber>4</GroupNumber>
+      <GroupNumber>6</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>36</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -667,106 +790,6 @@
     </File>
   </Group>
 
-  <Group>
-    <GroupName>User</GroupName>
-    <tvExp>1</tvExp>
-    <tvExpOptDlg>0</tvExpOptDlg>
-    <cbSel>0</cbSel>
-    <RteFlg>0</RteFlg>
-    <File>
-      <GroupNumber>5</GroupNumber>
-      <FileNumber>27</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\Src\bluetooth.c</PathWithFileName>
-      <FilenameWithoutPath>bluetooth.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>5</GroupNumber>
-      <FileNumber>28</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\Src\control.c</PathWithFileName>
-      <FilenameWithoutPath>control.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>5</GroupNumber>
-      <FileNumber>29</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\Src\hcsr04.c</PathWithFileName>
-      <FilenameWithoutPath>hcsr04.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>5</GroupNumber>
-      <FileNumber>30</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\Src\led.c</PathWithFileName>
-      <FilenameWithoutPath>led.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>5</GroupNumber>
-      <FileNumber>31</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\Src\motor.c</PathWithFileName>
-      <FilenameWithoutPath>motor.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>5</GroupNumber>
-      <FileNumber>32</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\Src\line_seek.c</PathWithFileName>
-      <FilenameWithoutPath>line_seek.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-  </Group>
-
-  <Group>
-    <GroupName>App</GroupName>
-    <tvExp>0</tvExp>
-    <tvExpOptDlg>0</tvExpOptDlg>
-    <cbSel>0</cbSel>
-    <RteFlg>0</RteFlg>
-    <File>
-      <GroupNumber>6</GroupNumber>
-      <FileNumber>33</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\App\Src\app_line_seek.c</PathWithFileName>
-      <FilenameWithoutPath>app_line_seek.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-  </Group>
-
   <Group>
     <GroupName>::CMSIS</GroupName>
     <tvExp>0</tvExp>

MDK-ARM/CAR.uvprojx

@@ -16,8 +16,8 @@
         <TargetCommonOption>
           <Device>STM32F103C8</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F1xx_DFP.2.2.0</PackID>
+          <PackID>Keil.STM32F1xx_DFP.2.4.1</PackID>
-          <PackURL>http://www.keil.com/pack/</PackURL>
+          <PackURL>https://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3") TZ</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
@@ -48,8 +48,8 @@
             <NotGenerated>0</NotGenerated>
             <InvalidFlash>1</InvalidFlash>
           </TargetStatus>
-          <OutputDirectory>car\</OutputDirectory>
+          <OutputDirectory>CAR\</OutputDirectory>
-          <OutputName>car</OutputName>
+          <OutputName>CAR</OutputName>
           <CreateExecutable>1</CreateExecutable>
           <CreateLib>0</CreateLib>
           <CreateHexFile>1</CreateHexFile>
@@ -339,7 +339,7 @@
               <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F103xB</Define>
               <Undefine></Undefine>
-              <IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include;../User/Inc;../App/Inc</IncludePath>
+              <IncludePath>../App/Inc;../Core/Inc;../Peripheral/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -352,7 +352,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>0</uSurpInc>
             <useXO>0</useXO>
-            <ClangAsOpt>4</ClangAsOpt>
+            <ClangAsOpt>1</ClangAsOpt>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define></Define>
@@ -391,8 +391,28 @@
           </Files>
         </Group>
         <Group>
-          <GroupName>Core</GroupName>
+          <GroupName>Application/User/App</GroupName>
           <Files>
+            <File>
+              <FileName>app_line_seek.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\App\Src\app_line_seek.c</FilePath>
+            </File>
+            <File>
+              <FileName>app_ultrasonic.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\App\Src\app_ultrasonic.c</FilePath>
+            </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Application/User/Core</GroupName>
+          <Files>
+            <File>
+              <FileName>syscalls.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Core\Src\syscalls.c</FilePath>
+            </File>
             <File>
               <FileName>main.c</FileName>
               <FileType>1</FileType>
@@ -407,57 +427,6 @@
               <FileName>dma.c</FileName>
               <FileType>1</FileType>
               <FilePath>../Core/Src/dma.c</FilePath>
-              <FileOption>
-                <CommonProperty>
-                  <UseCPPCompiler>2</UseCPPCompiler>
-                  <RVCTCodeConst>0</RVCTCodeConst>
-                  <RVCTZI>0</RVCTZI>
-                  <RVCTOtherData>0</RVCTOtherData>
-                  <ModuleSelection>0</ModuleSelection>
-                  <IncludeInBuild>1</IncludeInBuild>
-                  <AlwaysBuild>2</AlwaysBuild>
-                  <GenerateAssemblyFile>2</GenerateAssemblyFile>
-                  <AssembleAssemblyFile>2</AssembleAssemblyFile>
-                  <PublicsOnly>2</PublicsOnly>
-                  <StopOnExitCode>11</StopOnExitCode>
-                  <CustomArgument></CustomArgument>
-                  <IncludeLibraryModules></IncludeLibraryModules>
-                  <ComprImg>1</ComprImg>
-                </CommonProperty>
-                <FileArmAds>
-                  <Cads>
-                    <interw>2</interw>
-                    <Optim>0</Optim>
-                    <oTime>2</oTime>
-                    <SplitLS>2</SplitLS>
-                    <OneElfS>2</OneElfS>
-                    <Strict>2</Strict>
-                    <EnumInt>2</EnumInt>
-                    <PlainCh>2</PlainCh>
-                    <Ropi>2</Ropi>
-                    <Rwpi>2</Rwpi>
-                    <wLevel>0</wLevel>
-                    <uThumb>2</uThumb>
-                    <uSurpInc>2</uSurpInc>
-                    <uC99>2</uC99>
-                    <uGnu>2</uGnu>
-                    <useXO>2</useXO>
-                    <v6Lang>0</v6Lang>
-                    <v6LangP>0</v6LangP>
-                    <vShortEn>2</vShortEn>
-                    <vShortWch>2</vShortWch>
-                    <v6Lto>2</v6Lto>
-                    <v6WtE>2</v6WtE>
-                    <v6Rtti>2</v6Rtti>
-                    <VariousControls>
-                      <MiscControls></MiscControls>
-                      <Define></Define>
-                      <Undefine></Undefine>
-                      <IncludePath></IncludePath>
-                    </VariousControls>
-                  </Cads>
-                </FileArmAds>
-              </FileOption>
             </File>
             <File>
               <FileName>i2c.c</FileName>
@@ -484,10 +453,50 @@
               <FileType>1</FileType>
               <FilePath>../Core/Src/stm32f1xx_hal_msp.c</FilePath>
             </File>
+          </Files>
+        </Group>
+        <Group>
+          <GroupName>Application/User/Peripheral</GroupName>
+          <Files>
             <File>
-              <FileName>syscalls.c</FileName>
+              <FileName>bluetooth.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\Core\Src\syscalls.c</FilePath>
+              <FilePath>..\Peripheral\Src\bluetooth.c</FilePath>
+            </File>
+            <File>
+              <FileName>control.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Peripheral\Src\control.c</FilePath>
+            </File>
+            <File>
+              <FileName>hcsr04.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Peripheral\Src\hcsr04.c</FilePath>
+            </File>
+            <File>
+              <FileName>infrared.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Peripheral\Src\infrared.c</FilePath>
+            </File>
+            <File>
+              <FileName>led.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Peripheral\Src\led.c</FilePath>
+            </File>
+            <File>
+              <FileName>line_seek.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Peripheral\Src\line_seek.c</FilePath>
+            </File>
+            <File>
+              <FileName>motor.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Peripheral\Src\motor.c</FilePath>
+            </File>
+            <File>
+              <FileName>servo.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Peripheral\Src\servo.c</FilePath>
             </File>
           </Files>
         </Group>
@@ -581,51 +590,6 @@
             </File>
           </Files>
         </Group>
-        <Group>
-          <GroupName>User</GroupName>
-          <Files>
-            <File>
-              <FileName>bluetooth.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\Src\bluetooth.c</FilePath>
-            </File>
-            <File>
-              <FileName>control.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\Src\control.c</FilePath>
-            </File>
-            <File>
-              <FileName>hcsr04.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\Src\hcsr04.c</FilePath>
-            </File>
-            <File>
-              <FileName>led.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\Src\led.c</FilePath>
-            </File>
-            <File>
-              <FileName>motor.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\Src\motor.c</FilePath>
-            </File>
-            <File>
-              <FileName>line_seek.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\Src\line_seek.c</FilePath>
-            </File>
-          </Files>
-        </Group>
-        <Group>
-          <GroupName>App</GroupName>
-          <Files>
-            <File>
-              <FileName>app_line_seek.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\App\Src\app_line_seek.c</FilePath>
-            </File>
-          </Files>
-        </Group>
         <Group>
           <GroupName>::CMSIS</GroupName>
         </Group>

MDK-ARM/EventRecorderStub.scvd

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

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.4.0-B60] date: [Tue Jul 16 20:05:56 CST 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.4.0-B60] date: [Wed Jul 17 21:44:09 CST 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------
@@ -62,14 +62,18 @@ 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 \
-User/Src/hcsr04.c \
+Peripheral/Src/hcsr04.c \
-User/Src/motor.c \
+Peripheral/Src/motor.c \
-User/Src/led.c \
+Peripheral/Src/led.c \
-User/Src/bluetooth.c \
+Peripheral/Src/bluetooth.c \
-User/Src/control.c \
+Peripheral/Src/control.c \
-User/Src/line_seek.c \
+Peripheral/Src/line_seek.c \
-User/Src/path_plan.c \
+Peripheral/Src/path_plan.c \
-App/Src/app_line_seek.c
+Peripheral/Src/servo.c \
+Peripheral/Src/infrared.c \
+App/Src/app_line_seek.c \
+App/Src/app_ultrasonic.c
+
 
 # ASM sources
 ASM_SOURCES =  \
@@ -130,7 +134,7 @@ AS_INCLUDES =
 # C includes
 C_INCLUDES =  \
 -ICore/Inc \
--IUser/Inc \
+-IPeripheral/Inc \
 -IApp/Inc \
 -IDrivers/STM32F1xx_HAL_Driver/Inc \
 -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy \

Peripheral/Inc/control.h

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

Peripheral/Inc/infrared.h

@@ -0,0 +1,21 @@
+#ifndef __INFRARED_H
+#define __INFRARED_H
+
+// 红外避障模块
+
+#include "main.h"
+
+// 有障碍
+#define INFRARED_MEET 0
+// 无障碍
+#define INFRARED_NONE 1
+
+/// @brief 红外模块检测左前方20-30厘米（估计值）是否有障碍
+/// @return 有障碍：INFRARED_MEET 无障碍：INFRARED_NONE
+uint8_t INFRARED_GetL();
+
+/// @brief 红外模块检测右前方20-30厘米（估计值）是否有障碍
+/// @return 有障碍：INFRARED_MEET 无障碍：INFRARED_NONE
+uint8_t INFRARED_GetR();
+
+#endif

Peripheral/Inc/servo.h

@@ -0,0 +1,12 @@
+#ifndef __SERVO_H
+#define __SERVO_H
+
+#include "main.h"
+
+void SERVO_Init();
+
+/// @brief 控制舵机转动
+/// @param degree 0-180
+void SERVO_Rotate(uint8_t degree);
+
+#endif

Peripheral/Src/bluetooth.c

@@ -1,29 +1,41 @@
 #include "bluetooth.h"
-
+#include "usart.h"
+#include "control.h"
 #include <stdio.h>
 #include <string.h>
-
+#include "syscalls.h"
-#include "control.h"
-#include "usart.h"
 
 #define BUFFER_SIZE 100
 #define MESSAGE_SIZE 19
 #define CMD_NUM 9
 
-static int8_t rxBuffer[BUFFER_SIZE], txBuffer[BUFFER_SIZE];
+static int8_t rxBuffer[BUFFER_SIZE], txBuffer[10000];
+static uint16_t txLen;
 static uint8_t cmdIndex;
 
 void BLUETOOTH_Init(void)
 {
-    HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100);
+    HAL_UARTEx_ReceiveToIdle_IT(&huart2, rxBuffer, 100);
+    // HAL_UART_Receive_IT(&huart2, txBuffer + txLen, 1);
 }
 
+// void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
+// {
+//     if (huart == &huart2)
+//     {
+//         ++txLen;
+//         if (txLen == 10000)
+//             txLen = 0;
+//     }
+// }
+
 void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 {
     if (huart == &huart2 && rxBuffer[0] == '$' && rxBuffer[Size - 1] == '#')
     {
+        rxBuffer[Size] = '\0';
         // 通用协议
-        if (rxBuffer[2] == ',')
+        if (mode == MODE_REMOTE && rxBuffer[2] == ',')
         {
             cmdIndex = 0;
             for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2)
@@ -33,11 +45,19 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
                     break;
             if (cmdIndex == CMD_NUM)
                 cmdIndex = 0;
-            CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1]);
+            CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1] - '0');
         }
         else
         {
             static uint16_t num[6];
+
+            // 模式选择
+            if (rxBuffer[5] == 'M')
+            {
+                sscanf(rxBuffer + 5, "%*4s%c%c", num, num + 1);
+                CONTROL_Mode(num[0] - '0', num[1] - '0');
+            }
+            else if (mode == MODE_REMOTE)
                 switch (rxBuffer[5])
                 {
                     // 机械手
@@ -51,17 +71,17 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
                     sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
                     CONTROL_RGB(num[0], num[1], num[2]);
                     break;
-
-                    // 模式选择
-                case 'M':
-                    sscanf(rxBuffer + 5, "%*4s%c%c", num, num + 1);
-                    CONTROL_Mode(num[0] - '0', num[1] - '0');
-                    break;
                 }
         }
-        memcpy(txBuffer, rxBuffer, Size);
+        // my_printf(&huart2, rxBuffer);
-        printf("%s", txBuffer);
+        // strcpy(txBuffer + txLen, rxBuffer);
-        HAL_UART_Transmit_IT(&huart2, txBuffer, Size);
+        // if (txLen + Size >= 9999)
+        //     txLen = 0;
+        // else
+        //     txLen += Size;
+        // txBuffer[txLen] = '\0';
+        // if (strcmp(rxBuffer, "$send#") == 0)
+        //     my_printf(&huart2, txBuffer);
         BLUETOOTH_Init();
     }
 }

Peripheral/Src/control.c

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

Peripheral/Src/hcsr04.c

@@ -1,11 +1,10 @@
 #include "hcsr04.h"
-
-#include "stm32f1xx_hal_tim.h"
 #include "tim.h"
+#include "syscalls.h"
 
-uint64_t time;           // 声明变量，用来计时
+static uint64_t time_start; // 声明变量，用来计时
-uint64_t time_end;       // 声明变量，存储回波信号时间
+static uint64_t time_end;   // 声明变量，存储回波信号时间
-uint8_t sonor_state = 1; // 测距状态变量，0：未测量，1：正在测量，2：已测量
+uint8_t sonor_state;        // 测距状态变量，0：未测量，1：正在测量，2：已测量
 uint32_t sonor_distance;    // 测量出的距离，单位mm
 
 void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim);
@@ -25,9 +24,9 @@ void HC_SR04_Init(void)
 uint32_t sonar_mm(void)
 {
     sonor_state = 1;
-    HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_SET);   // 输出高电平
+    HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_SET);   // 输出高电平
     delay_us(15);                                                // 延时15微秒
-    HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_RESET); // 输出低电平
+    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
@@ -39,33 +38,34 @@ uint32_t sonar_mm(void)
 void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 {
     if (htim == &htim2)
-    { // 每10us自增一
+    {
-        time++;
+        // 每10us自增一
+        ++time_start;
     }
 }
 
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 {
-    if (GPIO_Pin == Echo_Pin)
+    if (GPIO_Pin == ECHO_Pin)
     {
-        if (HAL_GPIO_ReadPin(Echo_GPIO_Port, Echo_Pin))
+        if (HAL_GPIO_ReadPin(ECHO_GPIO_Port, ECHO_Pin))
         {
+            time_start = 0;
             HAL_TIM_Base_Start_IT(&htim2);
-            time = 0;
         }
         else
         {
-            time_end = time;
+            time_end = time_start;
             HAL_TIM_Base_Stop_IT(&htim2);
             sonor_state = 2;
             Sonar_CP_Callback();
-            sonor_state = 0;
         }
     }
 }
 
-// 测距完毕回调，执行完自定义任务后将sonor_state置0void
+// 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(void)
+__attribute__((weak)) void Sonar_CP_Callback()
 {
-    printf("distance = %d (mm)\n", sonor_distance);
+    my_printf(HUART2, "distance = %d (mm)\n", sonor_distance);
+    sonor_state = 0;
 }

Peripheral/Src/infrared.c

@@ -0,0 +1,11 @@
+#include "infrared.h"
+
+inline uint8_t INFRARED_GetL()
+{
+    return HAL_GPIO_ReadPin(HWL_GPIO_Port, HWL_Pin);
+}
+
+inline uint8_t INFRARED_GetR()
+{
+    return HAL_GPIO_ReadPin(HWR_GPIO_Port, HWR_Pin);
+}

Peripheral/Src/line_seek.c

@@ -1,4 +1,3 @@
-
 #include "line_seek.h"
 
 #include "main.h"

Peripheral/Src/servo.c

@@ -0,0 +1,15 @@
+#include "servo.h"
+#include "tim.h"
+
+void SERVO_Init()
+{
+    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
+}
+
+void SERVO_Rotate(uint8_t degree)
+{
+    if (degree > 180)
+        degree = 180;
+    uint16_t compare = 200.0 / 180 * degree + 50;
+    __HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_4, compare);
+}

User/Inc/control.h

@@ -1,10 +0,0 @@
-#ifndef __CONTROL_H
-#define __CONTROL_H
-
-#include "main.h"
-
-void CONTROL_CommonCmd(uint8_t type, uint8_t state);
-void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b);
-void CONTROL_Mode(uint8_t mode, uint8_t state);
-
-#endif

User/Src/control.c

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