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c96a1e3f0d
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9f9b8d350b
| Author | SHA1 | Date | |
|---|---|---|---|
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9f9b8d350b | ||
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efff01068e | ||
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4717e70d53 | ||
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e3e2a78fe0 |
10
CAR.ioc
10
CAR.ioc
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@ -65,7 +65,7 @@ Mcu.UserName=STM32F103C8Tx
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MxCube.Version=6.12.0
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MxDb.Version=DB.6.0.120
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NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.DMA1_Channel6_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
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NVIC.DMA1_Channel6_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
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NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.EXTI15_10_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true
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NVIC.ForceEnableDMAVector=false
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@ -75,10 +75,10 @@ NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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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.SysTick_IRQn=true\:2\: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.USART1_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.USART1_IRQn=true\:3\:1\:true\:false\:true\:true\:true\:true
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NVIC.USART2_IRQn=true\:3\:0\:true\: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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@ -244,7 +244,7 @@ TIM3.Pulse-PWM\ Generation4\ CH4=255
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TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
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TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
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TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2
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TIM4.Period=100
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TIM4.Period=0
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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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@ -1,10 +0,0 @@
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#ifndef __CONTROL_H
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#define __CONTROL_H
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#include "main.h"
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void CONTROL_CommonCmd(uint8_t type, uint8_t state);
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void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b);
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void CONTROL_Mode(uint8_t mode, uint8_t state);
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#endif
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@ -129,7 +129,7 @@
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* @brief This is the HAL system configuration section
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*/
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#define VDD_VALUE 3300U /*!< Value of VDD in mv */
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#define TICK_INT_PRIORITY 3U /*!< tick interrupt priority (lowest by default) */
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#define TICK_INT_PRIORITY 2U /*!< tick interrupt priority (lowest by default) */
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#define USE_RTOS 0U
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#define PREFETCH_ENABLE 1U
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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 1U /* 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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103
Core/Inc/syscalls.h
Normal file
103
Core/Inc/syscalls.h
Normal file
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@ -0,0 +1,103 @@
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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 <stdarg.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 <time.h>
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#include <string.h>
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#define HUART1 (&huart1)
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#define HUART2 (&huart2)
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extern UART_HandleTypeDef huart2;
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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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__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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* @brief 重定向 C 标准库 printf 函数到串口 huart2
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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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PUTCHAR_PROTOTYPE {
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HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY); // 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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* @brief 重定向 c库函数 getchar,scanf到 DEBUG_USARTx
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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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GETCHAR_PROTOTYPE {
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uint8_t ch = 0;
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HAL_UART_Receive(&huart2, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
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return ch;
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}
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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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/**
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* @brief 自定义printf
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* @param huart, buf
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* @return void
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*
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* @usage my_printf(HUART1, "USART1_Target:\r\n");
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*/
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void my_printf(UART_HandleTypeDef *huart, const char *buf, ...) {
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const char *p = buf;
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char str[255] = {0};
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va_list v;
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va_start(v, buf);
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vsprintf(str, buf, v);
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HAL_UART_Transmit(huart, str, strlen(str), 0xff);
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va_end(v);
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}
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#endif
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@ -1,65 +0,0 @@
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#include "bluetooth.h"
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#include "usart.h"
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#include "control.h"
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#include <stdio.h>
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#include <string.h>
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#define BUFFER_SIZE 100
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#define MESSAGE_SIZE 19
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#define CMD_NUM 9
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static int8_t rxBuffer[BUFFER_SIZE], txBuffer[BUFFER_SIZE];
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static uint8_t cmdIndex;
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void BLUETOOTH_Init(void)
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{
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HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100);
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}
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void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
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{
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if (huart == &huart2 && rxBuffer[0] == '$' && rxBuffer[Size - 1] == '#')
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{
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// 通用协议
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if (rxBuffer[2] == ',')
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{
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cmdIndex = 0;
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for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2)
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if (rxBuffer[i] == '0')
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++cmdIndex;
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else
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break;
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if (cmdIndex == CMD_NUM)
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cmdIndex = 0;
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CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1]);
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}
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else
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{
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static uint16_t num[6];
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switch (rxBuffer[5])
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{
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// 机械手
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case 'S':
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break;
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// 舵机云台
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case 'P':
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break;
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// 七彩灯
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case 'C':
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sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
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CONTROL_RGB(num[0], num[1], num[2]);
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break;
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// 模式选择
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case 'M':
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sscanf(rxBuffer + 5, "%*4s%c%c", num, num + 1);
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CONTROL_Mode(num[0] - '0', num[1] - '0');
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break;
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}
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}
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memcpy(txBuffer, rxBuffer, Size);
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printf("%s", txBuffer);
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HAL_UART_Transmit_IT(&huart2, txBuffer, Size);
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BLUETOOTH_Init();
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}
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}
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@ -1,88 +0,0 @@
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#include "control.h"
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#include "hcsr04.h"
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#include "led.h"
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#include "motor.h"
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#define CMD_MOVE 0
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#define CMD_ROTATE 1
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#define CMD_BUZZER 2
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#define CMD_SPEED 3
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// #define CMD_SHAKE 4
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// #define CMD_SING 5
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#define CMD_LED 6
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// #define CMD_FIRE 7
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// #define CMD_SERVO 8
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void move(uint8_t state);
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void rotate(uint8_t state);
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void buzzer(uint8_t state);
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void speed(uint8_t state);
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// void shake(uint8_t state);
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// void sing(uint8_t state);
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void led(uint8_t state);
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// void fire(uint8_t state);
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// void servo(uint8_t state);
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void CONTROL_CommonCmd(uint8_t type, uint8_t state)
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{
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switch (type)
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{
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case CMD_MOVE:
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move(state);
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break;
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case CMD_ROTATE:
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rotate(state);
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break;
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case CMD_BUZZER:
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buzzer(state);
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break;
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case CMD_SPEED:
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speed(state);
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break;
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// case CMD_SHAKE:
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// break;
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// case CMD_SING:
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// break;
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case CMD_LED:
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led(state);
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break;
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// case CMD_FIRE:
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// break;
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// case CMD_SERVO:
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// break;
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}
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}
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void CONTROL_RGB(uint8_t r, uint8_t g, uint8_t b)
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{
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LED_Start(LED_ALL);
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LED_SetDuty(r, g, b);
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}
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void CONTROL_Mode(uint8_t mode, uint8_t state)
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{
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}
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void move(uint8_t state)
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{
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}
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void rotate(uint8_t state)
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{
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}
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void buzzer(uint8_t state)
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{
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if (state)
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HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_RESET);
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else
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HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_SET);
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}
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void speed(uint8_t state)
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{
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}
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void led(uint8_t state)
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{
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}
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@ -102,31 +102,21 @@ int main(void)
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// MX_USART1_UART_Init();
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MX_USART2_UART_Init();
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/* USER CODE BEGIN 2 */
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HC_SR04_Init();
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BLUETOOTH_Init();
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// HC_SR04_Init();
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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int Distance_mm = sonar_mm();
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int Distance_m = Distance_mm / 1000;
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int Distance_m_p = Distance_mm % 1000;
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printf("Distance_mm = %d\n", Distance_mm);
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printf("Distance_m = %d\n", Distance_m);
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printf("Distance_m_p = %d\n", Distance_m_p);
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// printf("test\n");
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if (Distance_mm < 100)
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{
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LED_Start(LED_R);
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MOTOR_Start();
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}
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else
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{
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LED_Stop(LED_R);
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MOTOR_Stop();
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}
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HAL_Delay(300); // 延时300毫秒
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// if (sonor_state == 0)
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// {
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// sonar_mm();
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// }
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// HAL_Delay(300); // 延时300毫秒
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/* USER CODE END WHILE */
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@ -161,7 +151,8 @@ void SystemClock_Config(void)
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
|
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
|
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
|
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|
|
|
|||
|
|
@ -115,7 +115,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
|
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
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|
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/* USART1 interrupt Init */
|
||||
HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
|
||||
HAL_NVIC_SetPriority(USART1_IRQn, 3, 1);
|
||||
HAL_NVIC_EnableIRQ(USART1_IRQn);
|
||||
/* USER CODE BEGIN USART1_MspInit 1 */
|
||||
|
||||
|
|
@ -162,7 +162,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
|
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__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
|
||||
|
||||
/* USART2 interrupt Init */
|
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HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
|
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HAL_NVIC_SetPriority(USART2_IRQn, 3, 0);
|
||||
HAL_NVIC_EnableIRQ(USART2_IRQn);
|
||||
/* USER CODE BEGIN USART2_MspInit 1 */
|
||||
|
||||
|
|
@ -219,18 +219,5 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
|
|||
}
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
int fputc(int c, FILE* f)
|
||||
{
|
||||
static uint8_t ch;
|
||||
ch = c;
|
||||
HAL_UART_Transmit(&huart1, &ch, 1, 1000);
|
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return c;
|
||||
}
|
||||
|
||||
int fgetc(FILE* f)
|
||||
{
|
||||
static uint8_t ch;
|
||||
HAL_UART_Receive(&huart1, &ch, 1, 0xffff);
|
||||
return ch;
|
||||
}
|
||||
/* USER CODE END 1 */
|
||||
|
|
|
|||
|
|
@ -117,6 +117,31 @@
|
|||
<pMon>BIN\CMSIS_AGDI.dll</pMon>
|
||||
</DebugOpt>
|
||||
<TargetDriverDllRegistry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>ARMRTXEVENTFLAGS</Key>
|
||||
<Name>-L70 -Z18 -C0 -M0 -T1</Name>
|
||||
</SetRegEntry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>DLGTARM</Key>
|
||||
<Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)</Name>
|
||||
</SetRegEntry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>ARMDBGFLAGS</Key>
|
||||
<Name></Name>
|
||||
</SetRegEntry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>CMSIS_AGDI</Key>
|
||||
<Name>-X"" -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
|
||||
</SetRegEntry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>DLGUARM</Key>
|
||||
<Name></Name>
|
||||
</SetRegEntry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>UL2CM3</Key>
|
||||
|
|
@ -128,7 +153,79 @@
|
|||
<Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
|
||||
</SetRegEntry>
|
||||
</TargetDriverDllRegistry>
|
||||
<Breakpoint/>
|
||||
<Breakpoint>
|
||||
<Bp>
|
||||
<Number>0</Number>
|
||||
<Type>0</Type>
|
||||
<LineNumber>34</LineNumber>
|
||||
<EnabledFlag>1</EnabledFlag>
|
||||
<Address>134226582</Address>
|
||||
<ByteObject>0</ByteObject>
|
||||
<HtxType>0</HtxType>
|
||||
<ManyObjects>0</ManyObjects>
|
||||
<SizeOfObject>0</SizeOfObject>
|
||||
<BreakByAccess>0</BreakByAccess>
|
||||
<BreakIfRCount>1</BreakIfRCount>
|
||||
<Filename>..\Peripheral\Src\bluetooth.c</Filename>
|
||||
<ExecCommand></ExecCommand>
|
||||
<Expression>\\CAR\../Peripheral/Src/bluetooth.c\34</Expression>
|
||||
</Bp>
|
||||
<Bp>
|
||||
<Number>1</Number>
|
||||
<Type>0</Type>
|
||||
<LineNumber>32</LineNumber>
|
||||
<EnabledFlag>1</EnabledFlag>
|
||||
<Address>134221102</Address>
|
||||
<ByteObject>0</ByteObject>
|
||||
<HtxType>0</HtxType>
|
||||
<ManyObjects>0</ManyObjects>
|
||||
<SizeOfObject>0</SizeOfObject>
|
||||
<BreakByAccess>0</BreakByAccess>
|
||||
<BreakIfRCount>1</BreakIfRCount>
|
||||
<Filename>..\Peripheral\Src\control.c</Filename>
|
||||
<ExecCommand></ExecCommand>
|
||||
<Expression>\\CAR\../Peripheral/Src/control.c\32</Expression>
|
||||
</Bp>
|
||||
<Bp>
|
||||
<Number>2</Number>
|
||||
<Type>0</Type>
|
||||
<LineNumber>24</LineNumber>
|
||||
<EnabledFlag>1</EnabledFlag>
|
||||
<Address>0</Address>
|
||||
<ByteObject>0</ByteObject>
|
||||
<HtxType>0</HtxType>
|
||||
<ManyObjects>0</ManyObjects>
|
||||
<SizeOfObject>0</SizeOfObject>
|
||||
<BreakByAccess>0</BreakByAccess>
|
||||
<BreakIfRCount>0</BreakIfRCount>
|
||||
<Filename>..\Peripheral\Src\bluetooth.c</Filename>
|
||||
<ExecCommand></ExecCommand>
|
||||
<Expression></Expression>
|
||||
</Bp>
|
||||
</Breakpoint>
|
||||
<WatchWindow1>
|
||||
<Ww>
|
||||
<count>0</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>num,0x0A</ItemText>
|
||||
</Ww>
|
||||
</WatchWindow1>
|
||||
<MemoryWindow1>
|
||||
<Mm>
|
||||
<WinNumber>1</WinNumber>
|
||||
<SubType>8</SubType>
|
||||
<ItemText>rxBuffer</ItemText>
|
||||
<AccSizeX>0</AccSizeX>
|
||||
</Mm>
|
||||
</MemoryWindow1>
|
||||
<MemoryWindow2>
|
||||
<Mm>
|
||||
<WinNumber>2</WinNumber>
|
||||
<SubType>0</SubType>
|
||||
<ItemText>num</ItemText>
|
||||
<AccSizeX>0</AccSizeX>
|
||||
</Mm>
|
||||
</MemoryWindow2>
|
||||
<Tracepoint>
|
||||
<THDelay>0</THDelay>
|
||||
</Tracepoint>
|
||||
|
|
@ -183,7 +280,7 @@
|
|||
|
||||
<Group>
|
||||
<GroupName>Application/MDK-ARM</GroupName>
|
||||
<tvExp>1</tvExp>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<cbSel>0</cbSel>
|
||||
<RteFlg>0</RteFlg>
|
||||
|
|
@ -214,66 +311,6 @@
|
|||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Core\Src\bluetooth.c</PathWithFileName>
|
||||
<FilenameWithoutPath>bluetooth.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>3</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Core\Src\control.c</PathWithFileName>
|
||||
<FilenameWithoutPath>control.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>4</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Core\Src\hcsr04.c</PathWithFileName>
|
||||
<FilenameWithoutPath>hcsr04.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>5</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Core\Src\led.c</PathWithFileName>
|
||||
<FilenameWithoutPath>led.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>6</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Core\Src\motor.c</PathWithFileName>
|
||||
<FilenameWithoutPath>motor.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>7</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Core/Src/main.c</PathWithFileName>
|
||||
<FilenameWithoutPath>main.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
|
|
@ -281,7 +318,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>8</FileNumber>
|
||||
<FileNumber>3</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -293,7 +330,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>9</FileNumber>
|
||||
<FileNumber>4</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -305,7 +342,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>10</FileNumber>
|
||||
<FileNumber>5</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -317,7 +354,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>11</FileNumber>
|
||||
<FileNumber>6</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -329,7 +366,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>12</FileNumber>
|
||||
<FileNumber>7</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -341,7 +378,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>13</FileNumber>
|
||||
<FileNumber>8</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -353,7 +390,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>14</FileNumber>
|
||||
<FileNumber>9</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -365,6 +402,74 @@
|
|||
</File>
|
||||
</Group>
|
||||
|
||||
<Group>
|
||||
<GroupName>Application/User/Peripheral</GroupName>
|
||||
<tvExp>1</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<cbSel>0</cbSel>
|
||||
<RteFlg>0</RteFlg>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>10</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Peripheral\Src\bluetooth.c</PathWithFileName>
|
||||
<FilenameWithoutPath>bluetooth.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>11</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Peripheral\Src\control.c</PathWithFileName>
|
||||
<FilenameWithoutPath>control.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>12</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Peripheral\Src\hcsr04.c</PathWithFileName>
|
||||
<FilenameWithoutPath>hcsr04.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>13</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Peripheral\Src\led.c</PathWithFileName>
|
||||
<FilenameWithoutPath>led.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>14</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\Peripheral\Src\motor.c</PathWithFileName>
|
||||
<FilenameWithoutPath>motor.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
</Group>
|
||||
|
||||
<Group>
|
||||
<GroupName>Drivers/STM32F1xx_HAL_Driver</GroupName>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -372,7 +477,7 @@
|
|||
<cbSel>0</cbSel>
|
||||
<RteFlg>0</RteFlg>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>15</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -384,7 +489,7 @@
|
|||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>16</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -396,7 +501,7 @@
|
|||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>17</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -408,7 +513,7 @@
|
|||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>18</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -420,7 +525,7 @@
|
|||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>19</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -432,7 +537,7 @@
|
|||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>20</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -444,7 +549,7 @@
|
|||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>21</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -456,7 +561,7 @@
|
|||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>22</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -468,7 +573,7 @@
|
|||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>23</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -480,7 +585,7 @@
|
|||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>24</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -492,7 +597,7 @@
|
|||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>25</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -504,7 +609,7 @@
|
|||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>26</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -516,7 +621,7 @@
|
|||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>27</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -528,7 +633,7 @@
|
|||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>28</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -540,7 +645,7 @@
|
|||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>29</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
@ -560,7 +665,7 @@
|
|||
<cbSel>0</cbSel>
|
||||
<RteFlg>0</RteFlg>
|
||||
<File>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>30</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
|
|
|
|||
|
|
@ -81,7 +81,7 @@
|
|||
</BeforeMake>
|
||||
<AfterMake>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg2>1</RunUserProg2>
|
||||
<RunUserProg2>0</RunUserProg2>
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
|
|
@ -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</IncludePath>
|
||||
<IncludePath>../Core/Inc;../Peripheral/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include</IncludePath>
|
||||
</VariousControls>
|
||||
</Cads>
|
||||
<Aads>
|
||||
|
|
@ -393,31 +393,6 @@
|
|||
<Group>
|
||||
<GroupName>Application/User/Core</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>bluetooth.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Core\Src\bluetooth.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>control.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Core\Src\control.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>hcsr04.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Core\Src\hcsr04.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>led.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Core\Src\led.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>motor.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Core\Src\motor.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>main.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
|
|
@ -460,6 +435,36 @@
|
|||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>Application/User/Peripheral</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>bluetooth.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Peripheral\Src\bluetooth.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>control.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Peripheral\Src\control.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>hcsr04.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Peripheral\Src\hcsr04.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>led.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Peripheral\Src\led.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>motor.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Peripheral\Src\motor.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>Drivers/STM32F1xx_HAL_Driver</GroupName>
|
||||
<Files>
|
||||
|
|
|
|||
9
MDK-ARM/EventRecorderStub.scvd
Normal file
9
MDK-ARM/EventRecorderStub.scvd
Normal file
|
|
@ -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>
|
||||
21
Peripheral/Inc/control.h
Normal file
21
Peripheral/Inc/control.h
Normal file
|
|
@ -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
|
||||
87
Peripheral/Src/bluetooth.c
Normal file
87
Peripheral/Src/bluetooth.c
Normal file
|
|
@ -0,0 +1,87 @@
|
|||
#include "bluetooth.h"
|
||||
#include "usart.h"
|
||||
#include "control.h"
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "syscalls.h"
|
||||
|
||||
#define BUFFER_SIZE 100
|
||||
#define MESSAGE_SIZE 19
|
||||
#define CMD_NUM 9
|
||||
|
||||
static int8_t rxBuffer[BUFFER_SIZE], txBuffer[10000];
|
||||
static uint16_t txLen;
|
||||
static uint8_t cmdIndex;
|
||||
|
||||
void BLUETOOTH_Init(void)
|
||||
{
|
||||
HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100);
|
||||
// HAL_UART_Receive_IT(&huart2, txBuffer + txLen, 1);
|
||||
}
|
||||
|
||||
// void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
|
||||
// {
|
||||
// if (huart == &huart2)
|
||||
// {
|
||||
// ++txLen;
|
||||
// if (txLen == 10000)
|
||||
// txLen = 0;
|
||||
// }
|
||||
// }
|
||||
|
||||
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
|
||||
{
|
||||
if (huart == &huart2 && rxBuffer[0] == '$' && rxBuffer[Size - 1] == '#')
|
||||
{
|
||||
rxBuffer[Size] = '\0';
|
||||
// 通用协议
|
||||
if (mode == MODE_REMOTE && rxBuffer[2] == ',')
|
||||
{
|
||||
cmdIndex = 0;
|
||||
for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2)
|
||||
if (rxBuffer[i] == '0')
|
||||
++cmdIndex;
|
||||
else
|
||||
break;
|
||||
if (cmdIndex == CMD_NUM)
|
||||
cmdIndex = 0;
|
||||
CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1] - '0');
|
||||
}
|
||||
else
|
||||
{
|
||||
static uint16_t num[6];
|
||||
|
||||
// 模式选择
|
||||
if (rxBuffer[5] == 'M')
|
||||
{
|
||||
sscanf(rxBuffer + 5, "%*4s%c%c", num, num + 1);
|
||||
CONTROL_Mode(num[0] - '0', num[1] - '0');
|
||||
}
|
||||
else if (mode == MODE_REMOTE)
|
||||
switch (rxBuffer[5])
|
||||
{
|
||||
// 机械手
|
||||
case 'S':
|
||||
break;
|
||||
// 舵机云台
|
||||
case 'P':
|
||||
break;
|
||||
// 七彩灯
|
||||
case 'C':
|
||||
sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
|
||||
CONTROL_RGB(num[0], num[1], num[2]);
|
||||
break;
|
||||
}
|
||||
}
|
||||
// my_printf(&huart2, rxBuffer);
|
||||
// strcpy(txBuffer + txLen, rxBuffer);
|
||||
// if (txLen + Size >= 9999)
|
||||
// txLen = 0;
|
||||
// else
|
||||
// txLen += Size;
|
||||
// txBuffer[txLen] = '\0';
|
||||
// if (strcmp(rxBuffer, "$send#") == 0)
|
||||
// my_printf(&huart2, txBuffer);
|
||||
BLUETOOTH_Init();
|
||||
}
|
||||
}
|
||||
189
Peripheral/Src/control.c
Normal file
189
Peripheral/Src/control.c
Normal file
|
|
@ -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_Start();
|
||||
break;
|
||||
case MODE_PATROL:
|
||||
break;
|
||||
case MODE_AVOID:
|
||||
break;
|
||||
default:
|
||||
mode = MODE_STOP;
|
||||
MOTOR_Stop();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void carMove(uint8_t state)
|
||||
{
|
||||
if (state == 0)
|
||||
MOTOR_Stop();
|
||||
else
|
||||
{
|
||||
MOTOR_Start();
|
||||
switch (state)
|
||||
{
|
||||
// 前进
|
||||
case 1:
|
||||
MOTOR_SetDuty(speed, speed);
|
||||
break;
|
||||
// 后退
|
||||
case 2:
|
||||
MOTOR_SetDuty(-speed, -speed);
|
||||
break;
|
||||
// 左转
|
||||
case 3:
|
||||
MOTOR_SetDuty(0, speed);
|
||||
break;
|
||||
// 右转
|
||||
case 4:
|
||||
MOTOR_SetDuty(speed, 0);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void carSpin(uint8_t state)
|
||||
{
|
||||
if (state == 1)
|
||||
MOTOR_SetDuty(speed, -speed);
|
||||
else if (state == 2)
|
||||
MOTOR_SetDuty(-speed, speed);
|
||||
}
|
||||
|
||||
void callBuzzer(uint8_t state)
|
||||
{
|
||||
HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_RESET);
|
||||
HAL_Delay(200);
|
||||
HAL_GPIO_WritePin(FM_K2_POWERC_GPIO_Port, FM_K2_POWERC_Pin, GPIO_PIN_SET);
|
||||
}
|
||||
|
||||
void setSpeed(uint8_t state)
|
||||
{
|
||||
if (state == 1)
|
||||
speed += 10;
|
||||
else if (state == 2)
|
||||
speed -= 10;
|
||||
if (speed > 100)
|
||||
speed = 100;
|
||||
else if (speed < 20)
|
||||
speed = 20;
|
||||
}
|
||||
|
||||
void setLed(uint8_t state)
|
||||
{
|
||||
LED_Start(LED_ALL);
|
||||
switch (state)
|
||||
{
|
||||
// 白
|
||||
case 1:
|
||||
LED_SetDuty(255, 255, 255);
|
||||
break;
|
||||
// 红
|
||||
case 2:
|
||||
LED_SetDuty(255, 0, 0);
|
||||
break;
|
||||
// 绿
|
||||
case 3:
|
||||
LED_SetDuty(0, 255, 0);
|
||||
break;
|
||||
// 蓝
|
||||
case 4:
|
||||
LED_SetDuty(0, 0, 255);
|
||||
break;
|
||||
// 青
|
||||
case 5:
|
||||
LED_SetDuty(0, 255, 255);
|
||||
break;
|
||||
// 品红
|
||||
case 6:
|
||||
LED_SetDuty(255, 0, 255);
|
||||
break;
|
||||
// 黄
|
||||
case 7:
|
||||
LED_SetDuty(255, 255, 0);
|
||||
break;
|
||||
// 关
|
||||
default:
|
||||
LED_SetDuty(0, 0, 0);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,10 +1,8 @@
|
|||
#include "hcsr04.h"
|
||||
#include "tim.h"
|
||||
#include <stdio.h>
|
||||
|
||||
static uint64_t time; // 声明变量，用来计时
|
||||
static uint64_t time_start; // 声明变量，用来计时
|
||||
static uint64_t time_end; // 声明变量，存储回波信号时间
|
||||
static int16_t delay_time = -1; // 用于延时
|
||||
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
|
||||
|
||||
|
|
@ -37,28 +35,12 @@ uint32_t sonar_mm(void)
|
|||
return sonor_distance;
|
||||
}
|
||||
|
||||
/// @brief 微秒级延时
|
||||
/// @param us 取值范围0-32767
|
||||
void delay_us(uint16_t us)
|
||||
{
|
||||
if (us == 0)
|
||||
return;
|
||||
delay_time = us;
|
||||
time = 0;
|
||||
HAL_TIM_Base_Start_IT(&htim2);
|
||||
while (time < us)
|
||||
;
|
||||
delay_time = -1;
|
||||
}
|
||||
|
||||
void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
||||
{
|
||||
if (htim == &htim2)
|
||||
{
|
||||
// 每10us自增一
|
||||
++time;
|
||||
if (delay_us > 0 && time * 10 >= delay_time)
|
||||
HAL_TIM_Base_Stop_IT(&htim2);
|
||||
++time_start;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -68,12 +50,12 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
|
|||
{
|
||||
if (HAL_GPIO_ReadPin(Echo_GPIO_Port, Echo_Pin))
|
||||
{
|
||||
time = 0;
|
||||
time_start = 0;
|
||||
HAL_TIM_Base_Start_IT(&htim2);
|
||||
}
|
||||
else
|
||||
{
|
||||
time_end = time;
|
||||
time_end = time_start;
|
||||
HAL_TIM_Base_Stop_IT(&htim2);
|
||||
sonor_state = 2;
|
||||
Sonar_CP_Callback();
|
||||
|
|
@ -3,6 +3,7 @@
|
|||
#include "tim.h"
|
||||
|
||||
#define MAX_SPEED 100
|
||||
#define MIN_SPEED 15
|
||||
#define MOTOR_L 1
|
||||
#define MOTOR_R 2
|
||||
#define MOTOR_TIM (&htim4)
|
||||
|
|
@ -37,30 +38,21 @@ void MOTOR_Stop(void)
|
|||
|
||||
/// @brief 控制电机占空比
|
||||
|
||||
/// @param leftDuty 绝对值 20-100, 支持正负
|
||||
/// @param rightDuty 绝对值 20-100，支持正负
|
||||
/// @param leftDuty 绝对值 0或20-100, 支持正负
|
||||
/// @param rightDuty 绝对值 0或20-100，支持正负
|
||||
void MOTOR_SetDuty(int8_t leftDuty, int8_t rightDuty)
|
||||
{
|
||||
leftDuty = preProcess(leftDuty, MOTOR_L);
|
||||
rightDuty = preProcess(rightDuty, MOTOR_R);
|
||||
|
||||
uint16_t leftSpeed = (uint32_t)MAX_SPEED * leftDuty / 100;
|
||||
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_L_CHAN, leftSpeed);
|
||||
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, leftSpeed);
|
||||
|
||||
uint16_t rightSpeed = (uint32_t)MAX_SPEED * rightDuty / 100;
|
||||
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_L_CHAN, rightSpeed);
|
||||
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, rightSpeed);
|
||||
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_L_CHAN, leftDuty);
|
||||
__HAL_TIM_SetCompare(MOTOR_TIM, MOTOR_R_CHAN, rightDuty);
|
||||
}
|
||||
|
||||
int8_t preProcess(int8_t duty, uint8_t motor)
|
||||
{
|
||||
if (duty >= 0)
|
||||
if (duty > 0)
|
||||
{
|
||||
if (duty > 100)
|
||||
duty = 100;
|
||||
else if (duty < 20)
|
||||
duty = 20;
|
||||
if (motor & MOTOR_L)
|
||||
{
|
||||
HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_SET);
|
||||
|
|
@ -71,13 +63,11 @@ int8_t preProcess(int8_t duty, uint8_t motor)
|
|||
HAL_GPIO_WritePin(R_FORWARD_GPIO_Port, R_FORWARD_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
|
||||
}
|
||||
else
|
||||
else if (duty < 0)
|
||||
{
|
||||
if (duty < -100)
|
||||
duty = -100;
|
||||
else if (duty > -20)
|
||||
duty = -20;
|
||||
duty = -duty;
|
||||
if (motor & MOTOR_L)
|
||||
{
|
||||
HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_RESET);
|
||||
|
|
@ -89,5 +79,24 @@ int8_t preProcess(int8_t duty, uint8_t motor)
|
|||
HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_SET);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
duty = MAX_SPEED;
|
||||
if (motor & MOTOR_L)
|
||||
{
|
||||
HAL_GPIO_WritePin(L_FORWARD_GPIO_Port, L_FORWARD_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(L_BACKWARD_GPIO_Port, L_BACKWARD_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
if (motor & MOTOR_R)
|
||||
{
|
||||
HAL_GPIO_WritePin(R_FORWARD_GPIO_Port, R_FORWARD_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(R_BACKWARD_GPIO_Port, R_BACKWARD_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
}
|
||||
|
||||
if (duty > MAX_SPEED)
|
||||
duty = MAX_SPEED;
|
||||
if (duty < MIN_SPEED)
|
||||
duty = MIN_SPEED;
|
||||
return duty;
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user