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add Encoder and PID control and Abstacle control

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This commit is contained in:
MADAO
2025-07-03 00:29:57 +08:00
parent 0361cd17af
commit a635b6d5eb
49 changed files with 9072 additions and 7610 deletions
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1
Core/Inc/app_threadx.h
View File

@@ -58,6 +58,7 @@ extern "C" {
extern TX_QUEUE ble_tx_queue;
extern TX_EVENT_FLAGS_GROUP system_events;
extern TX_EVENT_FLAGS_GROUP sensor_events; //传感器事件组
extern TX_EVENT_FLAGS_GROUP response_events; //避障
//typedef struct
//{
//// uint32_t msg_type; // 应该使用 int --- 4字节

4
Core/Inc/main.h
View File

@@ -59,6 +59,8 @@ void Error_Handler(void);
/* Private defines -----------------------------------------------------------*/
#define PWMA_Pin GPIO_PIN_2
#define PWMA_GPIO_Port GPIOC
#define HC_Echo_Pin GPIO_PIN_0
#define HC_Echo_GPIO_Port GPIOA
#define PWMB_Pin GPIO_PIN_1
#define PWMB_GPIO_Port GPIOB
#define AIN1_Pin GPIO_PIN_0
@@ -77,8 +79,6 @@ void Error_Handler(void);
#define E2A_GPIO_Port GPIOC
#define E2B_Pin GPIO_PIN_7
#define E2B_GPIO_Port GPIOC
#define HC_Echo_Pin GPIO_PIN_8
#define HC_Echo_GPIO_Port GPIOC
#define HC_Trig_Pin GPIO_PIN_9
#define HC_Trig_GPIO_Port GPIOC
#define Shake_Motor_Pin GPIO_PIN_12

1
Core/Inc/stm32h5xx_it.h
View File

@@ -57,6 +57,7 @@ void GPDMA1_Channel4_IRQHandler(void);
void GPDMA1_Channel5_IRQHandler(void);
void TIM2_IRQHandler(void);
void TIM3_IRQHandler(void);
void TIM5_IRQHandler(void);
void TIM6_IRQHandler(void);
void USART2_IRQHandler(void);
void USART3_IRQHandler(void);

3
Core/Inc/tim.h
View File

@@ -40,6 +40,8 @@ extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern TIM_HandleTypeDef htim5;
extern TIM_HandleTypeDef htim8;
/* USER CODE BEGIN Private defines */
@@ -50,6 +52,7 @@ void MX_TIM1_Init(void);
void MX_TIM2_Init(void);
void MX_TIM3_Init(void);
void MX_TIM4_Init(void);
void MX_TIM5_Init(void);
void MX_TIM8_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

88
Core/Src/app_threadx.c
View File

@@ -59,6 +59,8 @@
TX_EVENT_FLAGS_GROUP system_events;
TX_EVENT_FLAGS_GROUP sensor_events;
TX_EVENT_FLAGS_GROUP response_events; // 用于避障事件实现
MotorCommand current_motor_cmd = {0,0};
_GPSData gps_data;
@@ -95,6 +97,13 @@ TX_QUEUE im948_uart_rx_queue;
TX_THREAD gps_task;
ULONG gps_task_stack[GPS_TASK_STACK_SIZE / sizeof(ULONG)];
static TX_THREAD obstacle_thread;
static UCHAR obstacle_stack[512];
//超声波
static UCHAR ultrasonic_stack[512];
static void obstacle_thread_entry(ULONG);
TX_THREAD ultrasonic_task_thread;
/* USER CODE END 1 */
/* USER CODE END 1 */
@@ -182,7 +191,40 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
{
return status;
}
HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
// obstacle_thread create
status = tx_thread_create(&obstacle_thread,
"obstacle",
obstacle_thread_entry,
0,obstacle_stack,sizeof(obstacle_stack),8,8,TX_NO_TIME_SLICE,TX_AUTO_START);
if(status != TX_SUCCESS)
{
return status;
}
status = tx_thread_create(&ultrasonic_task_thread,
"Ultrasonic",
ultrasonic_task_entry,
0,
ultrasonic_stack,
sizeof(ultrasonic_stack),
7, 7, // 这里的优先级
TX_NO_TIME_SLICE,
TX_AUTO_START);
//
// HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
status = ControlThreadCreate();
if(status != TX_SUCCESS)
{
return status;
}
status = Encoder_ThreadCreate();
if(status != TX_SUCCESS)
{
return status;
}
return TX_SUCCESS;
}
@@ -206,6 +248,48 @@ void MX_ThreadX_Init(void)
}
/* USER CODE BEGIN 1 */
//新加入的 obstacle
static void obstacle_thread_entry(ULONG arg)
{
while(1)
{
ULONG evt; // 这个应该是用来接收数据的
tx_event_flags_get(&response_events,EVENT_OBSTACLE_DETECTED,TX_OR_CLEAR,&evt,TX_WAIT_FOREVER);
switch(obstacle_level)
{
case 1: // 远
Buzzer_Open();
Shake_Motor_Open();
tx_thread_sleep(30);
Buzzer_Close();
Shake_Motor_Close();
break;
case 2:
for(int i = 0; i < 2;i++)
{
Buzzer_Open();
Shake_Motor_Open();
tx_thread_sleep(50);
Buzzer_Close();
Shake_Motor_Close();
tx_thread_sleep(30);
}
break;
case 3: // 近
Buzzer_Open();
Shake_Motor_Open();
tx_thread_sleep(150);
Buzzer_Close();
Shake_Motor_Close();
break;
default:
break;
}
tx_thread_sleep(20);
}
}
/* USER CODE END 1 */

2
Core/Src/gpio.c
View File

@@ -46,10 +46,10 @@ void MX_GPIO_Init(void)
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */

2
Core/Src/main.c
View File

@@ -100,10 +100,12 @@ int main(void)
MX_UART4_Init();
MX_TIM1_Init();
MX_TIM8_Init();
MX_TIM5_Init();
/* USER CODE BEGIN 2 */
imu600_init();
GPS_Init();
DWT_Init();
// HCBle_InitDMAReception();
// HAL_Delay(200);
// GPS_Init();

15
Core/Src/stm32h5xx_it.c
View File

@@ -58,6 +58,7 @@
/* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim5;
extern DMA_NodeTypeDef Node_GPDMA1_Channel5;
extern DMA_QListTypeDef List_GPDMA1_Channel5;
extern DMA_HandleTypeDef handle_GPDMA1_Channel5;
@@ -242,6 +243,20 @@ void TIM3_IRQHandler(void)
/* USER CODE END TIM3_IRQn 1 */
}
/**
* @brief This function handles TIM5 global interrupt.
*/
void TIM5_IRQHandler(void)
{
/* USER CODE BEGIN TIM5_IRQn 0 */
/* USER CODE END TIM5_IRQn 0 */
HAL_TIM_IRQHandler(&htim5);
/* USER CODE BEGIN TIM5_IRQn 1 */
/* USER CODE END TIM5_IRQn 1 */
}
/**
* @brief This function handles TIM6 global interrupt.
*/

139
Core/Src/tim.c
View File

@@ -28,6 +28,7 @@ TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
TIM_HandleTypeDef htim5;
TIM_HandleTypeDef htim8;
/* TIM1 init function */
@@ -51,7 +52,7 @@ void MX_TIM1_Init(void)
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
@@ -126,7 +127,6 @@ void MX_TIM3_Init(void)
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM3_Init 1 */
@@ -147,10 +147,6 @@ void MX_TIM3_Init(void)
{
Error_Handler();
}
if (HAL_TIM_IC_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
{
Error_Handler();
@@ -161,14 +157,6 @@ void MX_TIM3_Init(void)
{
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(&htim3, &sConfigIC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
@@ -236,6 +224,59 @@ void MX_TIM4_Init(void)
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/* TIM5 init function */
void MX_TIM5_Init(void)
{
/* USER CODE BEGIN TIM5_Init 0 */
/* USER CODE END TIM5_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
/* USER CODE BEGIN TIM5_Init 1 */
/* USER CODE END TIM5_Init 1 */
htim5.Instance = TIM5;
htim5.Init.Prescaler = 250-1;
htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
htim5.Init.Period = 4294967295;
htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim5) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_IC_Init(&htim5) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &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(&htim5, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM5_Init 2 */
/* USER CODE END TIM5_Init 2 */
}
/* TIM8 init function */
void MX_TIM8_Init(void)
@@ -258,7 +299,7 @@ void MX_TIM8_Init(void)
htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim8.Init.RepetitionCounter = 0;
htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
@@ -303,7 +344,7 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
*/
GPIO_InitStruct.Pin = E1A_Pin|E1B_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
@@ -327,7 +368,7 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
*/
GPIO_InitStruct.Pin = E2A_Pin|E2B_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
@@ -365,17 +406,6 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
/* TIM3 clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**TIM3 GPIO Configuration
PC8 ------> TIM3_CH3
*/
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_AF2_TIM3;
HAL_GPIO_Init(HC_Echo_GPIO_Port, &GPIO_InitStruct);
/* TIM3 interrupt Init */
HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
@@ -394,6 +424,32 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM4_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM5)
{
/* USER CODE BEGIN TIM5_MspInit 0 */
/* USER CODE END TIM5_MspInit 0 */
/* TIM5 clock enable */
__HAL_RCC_TIM5_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM5 GPIO Configuration
PA0 ------> TIM5_CH1
*/
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_AF2_TIM5;
HAL_GPIO_Init(HC_Echo_GPIO_Port, &GPIO_InitStruct);
/* TIM5 interrupt Init */
HAL_NVIC_SetPriority(TIM5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM5_IRQn);
/* USER CODE BEGIN TIM5_MspInit 1 */
/* USER CODE END TIM5_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{
@@ -509,14 +565,6 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
/* Peripheral clock disable */
__HAL_RCC_TIM3_CLK_DISABLE();
/**TIM3 GPIO Configuration
PB1 ------> TIM3_CH4
PC8 ------> TIM3_CH3
*/
HAL_GPIO_DeInit(PWMB_GPIO_Port, PWMB_Pin);
HAL_GPIO_DeInit(HC_Echo_GPIO_Port, HC_Echo_Pin);
/* TIM3 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspDeInit 1 */
@@ -534,6 +582,25 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM4_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM5)
{
/* USER CODE BEGIN TIM5_MspDeInit 0 */
/* USER CODE END TIM5_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM5_CLK_DISABLE();
/**TIM5 GPIO Configuration
PA0 ------> TIM5_CH1
*/
HAL_GPIO_DeInit(HC_Echo_GPIO_Port, HC_Echo_Pin);
/* TIM5 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM5_IRQn);
/* USER CODE BEGIN TIM5_MspDeInit 1 */
/* USER CODE END TIM5_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */