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加入Buzzer,Shake_Motor,Ultrasound

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MADAO
2025-06-24 20:46:30 +08:00
parent 5cc35cbad3
commit 20d90d8933
50 changed files with 12844 additions and 4561 deletions
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13
Core/Inc/app_threadx.h
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@@ -30,12 +30,13 @@ extern "C" {
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "headfile.h"
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
//extern MotorCommand current_motor_cmd;
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
@@ -46,7 +47,17 @@ extern "C" {
/* Private defines -----------------------------------------------------------*/
/* USER CODE BEGIN PD */
// <20>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD>define
#define EVENT_OBSTACLE_DETECTED 0x01
#define EVENT_GPS_DATA_READY 0x02
#define EVENT_BLE_COMMAND_RECEIVED 0x04
#define IMU_UPDATE_EVENT 0x08
#define EVENT_LOCATION_UPDATED 0x10
// <20><><EFBFBD>ڳ<EFBFBD><DAB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܻ<EFBFBD><DCBB><EFBFBD><EFBFBD><EFBFBD>ȥ 0x20 ?
extern TX_QUEUE ble_tx_queue;
extern TX_EVENT_FLAGS_GROUP system_events;
extern MotorCommand current_motor_cmd;
/* USER CODE END PD */
/* Main thread defines -------------------------------------------------------*/

8
Core/Inc/main.h
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@@ -57,6 +57,14 @@ void Error_Handler(void);
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define HC_Trig_Pin GPIO_PIN_0
#define HC_Trig_GPIO_Port GPIOA
#define HC_Echo_Pin GPIO_PIN_1
#define HC_Echo_GPIO_Port GPIOA
#define Shake_Motor_Pin GPIO_PIN_4
#define Shake_Motor_GPIO_Port GPIOD
#define Buzzer_Pin GPIO_PIN_5
#define Buzzer_GPIO_Port GPIOD
/* USER CODE BEGIN Private defines */

2
Core/Inc/stm32h5xx_it.h
View File

@@ -56,8 +56,10 @@ void GPDMA1_Channel3_IRQHandler(void);
void GPDMA1_Channel4_IRQHandler(void);
void GPDMA1_Channel5_IRQHandler(void);
void TIM1_UP_IRQHandler(void);
void TIM2_IRQHandler(void);
void USART1_IRQHandler(void);
void USART2_IRQHandler(void);
void UART5_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

52
Core/Inc/tim.h Normal file
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@@ -0,0 +1,52 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file tim.h
* @brief This file contains all the function prototypes for
* the tim.c file
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __TIM_H__
#define __TIM_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern TIM_HandleTypeDef htim2;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_TIM2_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __TIM_H__ */

3
Core/Inc/usart.h
View File

@@ -32,6 +32,8 @@ extern "C" {
/* USER CODE END Includes */
extern UART_HandleTypeDef huart5;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
@@ -40,6 +42,7 @@ extern UART_HandleTypeDef huart2;
/* USER CODE END Private defines */
void MX_UART5_Init(void);
void MX_USART1_UART_Init(void);
void MX_USART2_UART_Init(void);

14
Core/Src/app_threadx.c
View File

@@ -43,6 +43,20 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
TX_QUEUE ble_tx_queue;
TX_EVENT_FLAGS_GROUP system_events;
MotorCommand current_motor_cmd = {0,0};
_GPSData gps_data;
/* <20><>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
typedef struct
{
uint8_t msg_type; // 1=GPS<50><53><EFBFBD>ݣ<EFBFBD>2=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2>3=״̬<D7B4><CCAC>Ϣ
char data[128];
}BLE_Message;
/* USER CODE END PV */

25
Core/Src/gpio.c
View File

@@ -34,14 +34,39 @@
/** Configure pins
PH0-OSC_IN(PH0) ------> RCC_OSC_IN
PA13(JTMS/SWDIO) ------> DEBUG_JTMS-SWDIO
PA14(JTCK/SWCLK) ------> DEBUG_JTCK-SWCLK
*/
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(HC_Trig_GPIO_Port, HC_Trig_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOD, Shake_Motor_Pin|Buzzer_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : HC_Trig_Pin */
GPIO_InitStruct.Pin = HC_Trig_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(HC_Trig_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : Shake_Motor_Pin Buzzer_Pin */
GPIO_InitStruct.Pin = Shake_Motor_Pin|Buzzer_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
}

3
Core/Src/main.c
View File

@@ -21,6 +21,7 @@
#include "main.h"
#include "gpdma.h"
#include "memorymap.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
@@ -93,6 +94,8 @@ int main(void)
MX_GPDMA1_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_TIM2_Init();
MX_UART5_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

30
Core/Src/stm32h5xx_it.c
View File

@@ -56,6 +56,7 @@
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim2;
extern DMA_NodeTypeDef Node_GPDMA1_Channel5;
extern DMA_QListTypeDef List_GPDMA1_Channel5;
extern DMA_HandleTypeDef handle_GPDMA1_Channel5;
@@ -63,6 +64,7 @@ extern DMA_HandleTypeDef handle_GPDMA1_Channel4;
extern DMA_NodeTypeDef Node_GPDMA1_Channel3;
extern DMA_QListTypeDef List_GPDMA1_Channel3;
extern DMA_HandleTypeDef handle_GPDMA1_Channel3;
extern UART_HandleTypeDef huart5;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
extern TIM_HandleTypeDef htim1;
@@ -225,6 +227,20 @@ void TIM1_UP_IRQHandler(void)
/* USER CODE END TIM1_UP_IRQn 1 */
}
/**
* @brief This function handles TIM2 global interrupt.
*/
void TIM2_IRQHandler(void)
{
/* USER CODE BEGIN TIM2_IRQn 0 */
/* USER CODE END TIM2_IRQn 0 */
HAL_TIM_IRQHandler(&htim2);
/* USER CODE BEGIN TIM2_IRQn 1 */
/* USER CODE END TIM2_IRQn 1 */
}
/**
* @brief This function handles USART1 global interrupt.
*/
@@ -267,6 +283,20 @@ void USART2_IRQHandler(void)
/* USER CODE END USART2_IRQn 1 */
}
/**
* @brief This function handles UART5 global interrupt.
*/
void UART5_IRQHandler(void)
{
/* USER CODE BEGIN UART5_IRQn 0 */
/* USER CODE END UART5_IRQn 0 */
HAL_UART_IRQHandler(&huart5);
/* USER CODE BEGIN UART5_IRQn 1 */
/* USER CODE END UART5_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

141
Core/Src/tim.c Normal file
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@@ -0,0 +1,141 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file tim.c
* @brief This file provides code for the configuration
* of the TIM instances.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "tim.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
TIM_HandleTypeDef htim2;
/* TIM2 init function */
void MX_TIM2_Init(void)
{
/* USER CODE BEGIN TIM2_Init 0 */
/* USER CODE END TIM2_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
/* USER CODE BEGIN TIM2_Init 1 */
/* USER CODE END TIM2_Init 1 */
htim2.Instance = TIM2;
htim2.Init.Prescaler = 250 - 1;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 4294967295;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_IC_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE END TIM2_Init 2 */
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(tim_baseHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* TIM2 clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA1 ------> TIM2_CH2
*/
GPIO_InitStruct.Pin = HC_Echo_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(HC_Echo_GPIO_Port, &GPIO_InitStruct);
/* TIM2 interrupt Init */
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
}
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspDeInit 0 */
/* USER CODE END TIM2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM2_CLK_DISABLE();
/**TIM2 GPIO Configuration
PA1 ------> TIM2_CH2
*/
HAL_GPIO_DeInit(HC_Echo_GPIO_Port, HC_Echo_Pin);
/* TIM2 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspDeInit 1 */
/* USER CODE END TIM2_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

105
Core/Src/usart.c
View File

@@ -24,6 +24,7 @@
/* USER CODE END 0 */
UART_HandleTypeDef huart5;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
DMA_NodeTypeDef Node_GPDMA1_Channel5;
@@ -34,6 +35,49 @@ DMA_NodeTypeDef Node_GPDMA1_Channel3;
DMA_QListTypeDef List_GPDMA1_Channel3;
DMA_HandleTypeDef handle_GPDMA1_Channel3;
/* UART5 init function */
void MX_UART5_Init(void)
{
/* USER CODE BEGIN UART5_Init 0 */
/* USER CODE END UART5_Init 0 */
/* USER CODE BEGIN UART5_Init 1 */
/* USER CODE END UART5_Init 1 */
huart5.Instance = UART5;
huart5.Init.BaudRate = 9600;
huart5.Init.WordLength = UART_WORDLENGTH_8B;
huart5.Init.StopBits = UART_STOPBITS_1;
huart5.Init.Parity = UART_PARITY_NONE;
huart5.Init.Mode = UART_MODE_TX_RX;
huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart5.Init.OverSampling = UART_OVERSAMPLING_16;
huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart5.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart5) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart5, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart5, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart5) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN UART5_Init 2 */
/* USER CODE END UART5_Init 2 */
}
/* USART1 init function */
void MX_USART1_UART_Init(void)
@@ -129,7 +173,44 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitTypeDef GPIO_InitStruct = {0};
DMA_NodeConfTypeDef NodeConfig= {0};
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
if(uartHandle->Instance==USART1)
if(uartHandle->Instance==UART5)
{
/* USER CODE BEGIN UART5_MspInit 0 */
/* USER CODE END UART5_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART5;
PeriphClkInitStruct.Uart5ClockSelection = RCC_UART5CLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* UART5 clock enable */
__HAL_RCC_UART5_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**UART5 GPIO Configuration
PB12 ------> UART5_RX
PB13 ------> UART5_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF14_UART5;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* UART5 interrupt Init */
HAL_NVIC_SetPriority(UART5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(UART5_IRQn);
/* USER CODE BEGIN UART5_MspInit 1 */
/* USER CODE END UART5_MspInit 1 */
}
else if(uartHandle->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspInit 0 */
@@ -347,7 +428,27 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{
if(uartHandle->Instance==USART1)
if(uartHandle->Instance==UART5)
{
/* USER CODE BEGIN UART5_MspDeInit 0 */
/* USER CODE END UART5_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_UART5_CLK_DISABLE();
/**UART5 GPIO Configuration
PB12 ------> UART5_RX
PB13 ------> UART5_TX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);
/* UART5 interrupt Deinit */
HAL_NVIC_DisableIRQ(UART5_IRQn);
/* USER CODE BEGIN UART5_MspDeInit 1 */
/* USER CODE END UART5_MspDeInit 1 */
}
else if(uartHandle->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspDeInit 0 */