generated from Template/H563ZI-HAL-CMake-Template
Final
This commit is contained in:
@@ -36,7 +36,7 @@
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||||
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||||
// BLE define
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||||
#define BLE_RX_THREAD_STACK_SIZE 2048
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||||
#define BLE_RX_THREAD_PRIORITY 10
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||||
#define BLE_RX_THREAD_PRIORITY 9
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#define BLE_TX_THREAD_STACK_SIZE 2048
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#define BLE_TX_THREAD_PRIORITY 10
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// IMU thread config
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@@ -212,19 +212,25 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
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7, 7, // 这里的优先级
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TX_NO_TIME_SLICE,
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TX_AUTO_START);
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if(status != TX_SUCCESS)
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{
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return status;
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}
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//
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// HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
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status = ControlThreadCreate();
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if(status != TX_SUCCESS)
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{
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return status;
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}
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status = Encoder_ThreadCreate();
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if(status != TX_SUCCESS)
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{
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return status;
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}
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// status = ControlThreadCreate();
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// if(status != TX_SUCCESS)
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// {
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// return status;
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// }
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// status = Encoder_ThreadCreate();
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// if(status != TX_SUCCESS)
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// {
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// return status;
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// }
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return TX_SUCCESS;
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}
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@@ -106,6 +106,9 @@ int main(void)
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imu600_init();
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GPS_Init();
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DWT_Init();
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PWM_GPIO_TIM_Init();
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HAL_TIM_IC_Start_IT(&htim5,TIM_CHANNEL_1);
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// Buzzer_Open();
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// HCBle_InitDMAReception();
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// HAL_Delay(200);
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// GPS_Init();
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File diff suppressed because one or more lines are too long
@@ -152,18 +152,18 @@
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<Bp>
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<Number>0</Number>
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<Type>0</Type>
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<LineNumber>124</LineNumber>
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<LineNumber>110</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<Address>134223930</Address>
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<Address>134265834</Address>
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<ByteObject>0</ByteObject>
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<HtxType>0</HtxType>
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||||
<ManyObjects>0</ManyObjects>
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>../Core/Src/app_threadx.c</Filename>
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<Filename>..\fun\Ultrasound.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression>\\AutoGuideStick\../Core/Src/app_threadx.c\124</Expression>
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<Expression>\\AutoGuideStick\../fun/Ultrasound.c\110</Expression>
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</Bp>
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</Breakpoint>
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<WatchWindow1>
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@@ -289,6 +289,11 @@
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<WinNumber>2</WinNumber>
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<ItemText>status</ItemText>
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</Ww>
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<Ww>
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<count>8</count>
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<WinNumber>2</WinNumber>
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<ItemText>distance_cm</ItemText>
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</Ww>
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</WatchWindow2>
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<Tracepoint>
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<THDelay>0</THDelay>
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Binary file not shown.
@@ -26,232 +26,8 @@ Project File Date: 07/02/2025
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<h2>Output:</h2>
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*** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
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Rebuild target 'AutoGuideStick'
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compiling main.c...
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compiling stm32h5xx_hal_msp.c...
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compiling stm32h5xx_hal_timebase_tim.c...
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compiling tim.c...
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compiling gpdma.c...
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compiling stm32h5xx_it.c...
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compiling stm32h5xx_hal_tim.c...
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assembling startup_stm32h563xx.s...
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compiling app_azure_rtos.c...
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compiling memorymap.c...
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compiling app_threadx.c...
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compiling gpio.c...
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compiling usart.c...
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compiling stm32h5xx_hal_cortex.c...
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compiling stm32h5xx_hal_tim_ex.c...
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assembling tx_initialize_low_level.S...
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compiling stm32h5xx_hal_rcc.c...
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||||
compiling stm32h5xx_hal_flash.c...
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compiling stm32h5xx_hal_flash_ex.c...
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compiling stm32h5xx_hal_rcc_ex.c...
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||||
compiling stm32h5xx_hal_gpio.c...
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compiling stm32h5xx_hal_dma.c...
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compiling stm32h5xx_hal_pwr.c...
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compiling stm32h5xx_hal_dma_ex.c...
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compiling stm32h5xx_hal_pwr_ex.c...
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||||
compiling stm32h5xx_hal.c...
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||||
compiling stm32h5xx_hal_exti.c...
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||||
compiling stm32h5xx_hal_uart_ex.c...
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||||
compiling stm32h5xx_hal_uart.c...
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||||
compiling system_stm32h5xx.c...
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||||
compiling tx_initialize_high_level.c...
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||||
compiling tx_initialize_kernel_enter.c...
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||||
compiling tx_initialize_kernel_setup.c...
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||||
compiling tx_thread_stack_error_handler.c...
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||||
compiling tx_thread_stack_error_notify.c...
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compiling tx_thread_system_resume.c...
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compiling tx_block_allocate.c...
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assembling tx_thread_context_restore.S...
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compiling tx_block_pool_cleanup.c...
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assembling tx_thread_context_save.S...
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assembling tx_thread_interrupt_control.S...
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assembling tx_thread_interrupt_disable.S...
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||||
assembling tx_thread_interrupt_restore.S...
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||||
assembling tx_thread_schedule.S...
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assembling tx_thread_stack_build.S...
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||||
assembling tx_thread_system_return.S...
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||||
assembling tx_timer_interrupt.S...
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compiling tx_block_pool_create.c...
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compiling tx_block_pool_delete.c...
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compiling tx_block_pool_info_get.c...
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compiling tx_block_pool_initialize.c...
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compiling tx_block_pool_prioritize.c...
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compiling tx_block_release.c...
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||||
compiling tx_byte_allocate.c...
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compiling tx_byte_pool_cleanup.c...
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compiling tx_byte_pool_create.c...
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||||
compiling tx_byte_pool_delete.c...
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||||
compiling tx_byte_pool_info_get.c...
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||||
compiling tx_byte_pool_initialize.c...
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||||
compiling tx_byte_pool_prioritize.c...
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||||
compiling tx_byte_pool_search.c...
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||||
compiling tx_byte_release.c...
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||||
compiling tx_event_flags_cleanup.c...
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||||
compiling tx_event_flags_create.c...
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||||
compiling tx_event_flags_delete.c...
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||||
compiling tx_event_flags_get.c...
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||||
compiling tx_event_flags_info_get.c...
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||||
compiling tx_event_flags_initialize.c...
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||||
compiling tx_event_flags_set.c...
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||||
compiling tx_event_flags_set_notify.c...
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||||
compiling tx_mutex_cleanup.c...
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||||
compiling tx_mutex_create.c...
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||||
compiling tx_mutex_delete.c...
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||||
compiling tx_mutex_get.c...
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||||
compiling tx_mutex_info_get.c...
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||||
compiling tx_mutex_initialize.c...
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||||
compiling tx_mutex_prioritize.c...
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||||
compiling tx_mutex_priority_change.c...
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||||
compiling tx_mutex_put.c...
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||||
compiling tx_queue_cleanup.c...
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||||
compiling tx_queue_create.c...
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||||
compiling tx_queue_delete.c...
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||||
compiling tx_queue_flush.c...
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||||
compiling tx_queue_front_send.c...
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||||
compiling tx_queue_info_get.c...
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||||
compiling tx_queue_initialize.c...
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||||
compiling tx_queue_prioritize.c...
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||||
compiling tx_queue_receive.c...
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||||
compiling tx_queue_send.c...
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||||
compiling tx_queue_send_notify.c...
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||||
compiling tx_semaphore_ceiling_put.c...
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||||
compiling tx_semaphore_cleanup.c...
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||||
compiling tx_semaphore_create.c...
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||||
compiling tx_semaphore_delete.c...
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||||
compiling tx_semaphore_get.c...
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||||
compiling tx_semaphore_info_get.c...
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||||
compiling tx_semaphore_initialize.c...
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||||
compiling tx_semaphore_prioritize.c...
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||||
compiling tx_semaphore_put.c...
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||||
compiling tx_semaphore_put_notify.c...
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||||
compiling tx_thread_create.c...
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||||
compiling tx_thread_delete.c...
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||||
compiling tx_thread_entry_exit_notify.c...
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||||
compiling tx_thread_identify.c...
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||||
compiling tx_thread_info_get.c...
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||||
compiling tx_thread_initialize.c...
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||||
compiling tx_thread_preemption_change.c...
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||||
compiling tx_thread_priority_change.c...
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||||
compiling tx_thread_relinquish.c...
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||||
compiling tx_thread_reset.c...
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||||
compiling tx_thread_resume.c...
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||||
compiling tx_thread_shell_entry.c...
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||||
compiling tx_thread_sleep.c...
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||||
compiling tx_thread_stack_analyze.c...
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||||
compiling tx_thread_suspend.c...
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||||
compiling tx_thread_system_preempt_check.c...
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||||
compiling tx_thread_system_suspend.c...
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||||
compiling tx_thread_terminate.c...
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||||
compiling tx_thread_time_slice.c...
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||||
compiling tx_thread_time_slice_change.c...
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||||
compiling tx_thread_timeout.c...
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||||
compiling tx_thread_wait_abort.c...
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||||
compiling tx_time_get.c...
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||||
compiling tx_time_set.c...
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||||
compiling txe_block_allocate.c...
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||||
compiling txe_block_pool_create.c...
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||||
compiling txe_block_pool_delete.c...
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||||
compiling txe_block_pool_info_get.c...
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||||
compiling txe_block_pool_prioritize.c...
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||||
compiling txe_block_release.c...
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||||
compiling txe_byte_allocate.c...
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||||
compiling txe_byte_pool_create.c...
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||||
compiling txe_byte_pool_delete.c...
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||||
compiling txe_byte_pool_info_get.c...
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||||
compiling txe_byte_pool_prioritize.c...
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||||
compiling txe_byte_release.c...
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||||
compiling txe_event_flags_create.c...
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||||
compiling txe_event_flags_delete.c...
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||||
compiling txe_event_flags_get.c...
|
||||
compiling txe_event_flags_info_get.c...
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||||
compiling txe_event_flags_set.c...
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||||
compiling txe_event_flags_set_notify.c...
|
||||
compiling txe_mutex_create.c...
|
||||
compiling txe_mutex_delete.c...
|
||||
compiling txe_mutex_get.c...
|
||||
compiling txe_mutex_info_get.c...
|
||||
compiling txe_mutex_prioritize.c...
|
||||
compiling txe_mutex_put.c...
|
||||
compiling txe_queue_create.c...
|
||||
compiling txe_queue_delete.c...
|
||||
compiling txe_queue_flush.c...
|
||||
compiling txe_queue_front_send.c...
|
||||
compiling txe_queue_info_get.c...
|
||||
compiling txe_queue_prioritize.c...
|
||||
compiling txe_queue_receive.c...
|
||||
compiling txe_queue_send.c...
|
||||
compiling txe_queue_send_notify.c...
|
||||
compiling txe_semaphore_ceiling_put.c...
|
||||
compiling txe_semaphore_create.c...
|
||||
compiling txe_semaphore_delete.c...
|
||||
compiling txe_semaphore_get.c...
|
||||
compiling txe_semaphore_info_get.c...
|
||||
compiling txe_semaphore_prioritize.c...
|
||||
compiling txe_semaphore_put.c...
|
||||
compiling txe_semaphore_put_notify.c...
|
||||
compiling txe_thread_create.c...
|
||||
compiling txe_thread_delete.c...
|
||||
compiling txe_thread_entry_exit_notify.c...
|
||||
compiling txe_thread_info_get.c...
|
||||
compiling txe_thread_preemption_change.c...
|
||||
compiling txe_thread_priority_change.c...
|
||||
compiling txe_thread_relinquish.c...
|
||||
compiling txe_thread_reset.c...
|
||||
compiling txe_thread_resume.c...
|
||||
compiling txe_thread_suspend.c...
|
||||
compiling txe_thread_terminate.c...
|
||||
compiling txe_thread_time_slice_change.c...
|
||||
compiling txe_thread_wait_abort.c...
|
||||
compiling tx_timer_activate.c...
|
||||
compiling tx_timer_change.c...
|
||||
compiling tx_timer_create.c...
|
||||
compiling tx_timer_deactivate.c...
|
||||
compiling tx_timer_delete.c...
|
||||
compiling tx_timer_expiration_process.c...
|
||||
compiling tx_timer_info_get.c...
|
||||
compiling tx_timer_initialize.c...
|
||||
compiling tx_timer_system_activate.c...
|
||||
compiling tx_timer_system_deactivate.c...
|
||||
compiling tx_timer_thread_entry.c...
|
||||
compiling txe_timer_activate.c...
|
||||
compiling txe_timer_change.c...
|
||||
compiling txe_timer_create.c...
|
||||
compiling txe_timer_deactivate.c...
|
||||
compiling txe_timer_delete.c...
|
||||
compiling txe_timer_info_get.c...
|
||||
../fun/HCBle.c(144): warning: illegal character encoding in string literal [-Winvalid-source-encoding]
|
||||
144 | HCBle_SendData("? <BD><E2><CE><F6>ʧ<B0><DC>: %s\r\n", frame);
|
||||
| ^~~~~~~~~~~~~~~~ ~~~~~~~~
|
||||
1 warning generated.
|
||||
compiling HCBle.c...
|
||||
compiling gps.c...
|
||||
compiling Buzzer.c...
|
||||
compiling Shake_Motor.c...
|
||||
compiling Ultrasound.c...
|
||||
compiling Motor.c...
|
||||
compiling encoder.c...
|
||||
compiling imu948.c...
|
||||
../fun/IMU.c(1236): warning: passing 'char[6]' to parameter of type 'U8 *' (aka 'unsigned char *') converts between pointers to integer types where one is of the unique plain 'char' type and the other is not [-Wpointer-sign]
|
||||
1236 | Cmd_22("im948");
|
||||
| ^~~~~~~
|
||||
../fun/IMU.c(386): note: passing argument to parameter 'bleName' here
|
||||
386 | void Cmd_22(U8 *bleName)
|
||||
| ^
|
||||
../fun/IMU.c(1239): warning: passing 'char[9]' to parameter of type 'U8 *' (aka 'unsigned char *') converts between pointers to integer types where one is of the unique plain 'char' type and the other is not [-Wpointer-sign]
|
||||
1239 | Cmd_22("helloBle");
|
||||
| ^~~~~~~~~~
|
||||
../fun/IMU.c(386): note: passing argument to parameter 'bleName' here
|
||||
386 | void Cmd_22(U8 *bleName)
|
||||
| ^
|
||||
2 warnings generated.
|
||||
compiling IMU.c...
|
||||
linking...
|
||||
Program Size: Code=87692 RO-data=1352 RW-data=20 ZI-data=18156
|
||||
FromELF: creating hex file...
|
||||
"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 3 Warning(s).
|
||||
Build target 'AutoGuideStick'
|
||||
"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
|
||||
|
||||
<h2>Software Packages used:</h2>
|
||||
|
||||
@@ -275,7 +51,7 @@ Package Vendor: Keil
|
||||
|
||||
* Component: ARM::CMSIS:CORE@5.6.0
|
||||
Include file: CMSIS/Core/Include/tz_context.h
|
||||
Build Time Elapsed: 00:00:25
|
||||
Build Time Elapsed: 00:00:02
|
||||
</pre>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,7 +1,7 @@
|
||||
Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !)
|
||||
CompilerVersion: 6210000::V6.21::ARMCLANG
|
||||
F (startup_stm32h563xx.s)(0x68654635)(--target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -masm=auto -Wa,armasm,--diag_suppress=A1950W -c
|
||||
|
||||
|
||||
-gdwarf-4 -Wa,armasm,--pd,"__MICROLIB SETA 1" -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include
|
||||
|
||||
-I./RTE/_AutoGuideStick
|
||||
@@ -142,7 +142,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
|
||||
-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
|
||||
|
||||
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
|
||||
|
||||
|
||||
-o autoguidestick/gpdma.o -MD)
|
||||
I (..\Core\Inc\main.hc.\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000)
|
||||
I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x685C2A98)
|
||||
@@ -2077,7 +2077,7 @@ I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
|
||||
|
||||
-o autoguidestick/tx_event_flags_info_get.o -MD)
|
||||
I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
|
||||
I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
|
||||
I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
|
||||
I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
|
||||
I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
|
||||
I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
|
||||
@@ -2254,7 +2254,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdarg.h)(0x6569B012)
|
||||
I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
|
||||
I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
|
||||
F (../Middlewares/ST/threadx/common/src/tx_mutex_initialize.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
|
||||
|
||||
|
||||
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
|
||||
|
||||
-D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
|
||||
@@ -2297,7 +2297,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.h)(0x6569B012)
|
||||
I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
|
||||
F (../Middlewares/ST/threadx/common/src/tx_mutex_priority_change.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
|
||||
|
||||
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
|
||||
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
|
||||
|
||||
-D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
|
||||
|
||||
@@ -2341,7 +2341,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdarg.h)(0x6569B012)
|
||||
F (../Middlewares/ST/threadx/common/src/tx_queue_cleanup.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
|
||||
|
||||
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
|
||||
|
||||
|
||||
-D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
|
||||
|
||||
-I./RTE/_AutoGuideStick
|
||||
@@ -2429,7 +2429,7 @@ I (..\fun\Shake_Motor.hG.\fun\Ultrasound.h..\fun\Buzzer.h)(0x00000000)
|
||||
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
|
||||
|
||||
-D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun
|
||||
|
||||
|
||||
-I./RTE/_AutoGuideStick
|
||||
|
||||
-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -136,6 +136,7 @@ void HCBle_ParseAndHandleFrame(const char *frame)
|
||||
HCBle_SendData("left=%d, right=%d\r\n", cmd.LeftSpeed, cmd.RightSpeed);
|
||||
// HCBle_SendData("left=%d, right=%d\r\n", left, right);
|
||||
DriveBOTH(cmd.LeftSpeed,cmd.RightSpeed); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
// DriveBOTH(cmd.LeftSpeed,cmd.RightSpeed);
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
81
fun/Motor.c
81
fun/Motor.c
@@ -64,23 +64,68 @@ void MotorB_Speed(uint8_t speed)
|
||||
// ʾ<><CABE> ͬʱ<CDAC><CAB1><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>A/B
|
||||
// <20><>ʾ <20><><EFBFBD><EFBFBD> Dir 0 ---- ǰ<><C7B0> go forward
|
||||
// <20><><EFBFBD><EFBFBD> Dir 1 ---- <20><><EFBFBD><EFBFBD> go forward
|
||||
void DriveBOTH(int16_t speedA,int16_t speedB)
|
||||
//void DriveBOTH(int16_t speedA,int16_t speedB)
|
||||
//{
|
||||
// // <20><><EFBFBD><EFBFBD> A
|
||||
// if (speedA >= 0) MotorA_Dir(0);
|
||||
// else
|
||||
// {
|
||||
// MotorA_Dir(1);
|
||||
// speedA = -speedA;
|
||||
// }
|
||||
// MotorA_Speed(speedA);
|
||||
//
|
||||
// // <20><><EFBFBD><EFBFBD> B
|
||||
// if (speedB >= 0) MotorB_Dir(0);
|
||||
// else
|
||||
// {
|
||||
// MotorB_Dir(1);
|
||||
// speedB = -speedB;
|
||||
// }
|
||||
// MotorB_Speed(speedB);
|
||||
//}
|
||||
|
||||
|
||||
// Motor.c <20><><EFBFBD>Ͻ<EFBFBD><CFBD>д<EFBFBD><D0B4><EFBFBD>
|
||||
void DriveBOTH(int16_t speedA, int16_t speedB)
|
||||
{
|
||||
// <20><><EFBFBD><EFBFBD> A
|
||||
if (speedA >= 0) MotorA_Dir(0);
|
||||
else
|
||||
{
|
||||
MotorA_Dir(1);
|
||||
speedA = -speedA;
|
||||
}
|
||||
MotorA_Speed(speedA);
|
||||
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>A
|
||||
if(speedA == 0) {
|
||||
// <20>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>͵<EFBFBD>ƽ
|
||||
HAL_GPIO_WritePin(AIN1_GPIO_Port, AIN1_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(AIN2_GPIO_Port, AIN2_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
else if(speedA > 0) {
|
||||
HAL_GPIO_WritePin(AIN1_GPIO_Port, AIN1_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(AIN2_GPIO_Port, AIN2_Pin, GPIO_PIN_RESET);
|
||||
speedA = abs(speedA); // ȡ<><C8A1><EFBFBD><EFBFBD>ֵ
|
||||
}
|
||||
else {
|
||||
HAL_GPIO_WritePin(AIN1_GPIO_Port, AIN1_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(AIN2_GPIO_Port, AIN2_Pin, GPIO_PIN_SET);
|
||||
speedA = abs(speedA); // ȡ<><C8A1><EFBFBD><EFBFBD>ֵ
|
||||
}
|
||||
|
||||
|
||||
// <20><><EFBFBD><EFBFBD> B
|
||||
if (speedB >= 0) MotorA_Dir(0);
|
||||
else
|
||||
{
|
||||
MotorB_Dir(1);
|
||||
speedB = -speedB;
|
||||
}
|
||||
MotorB_Speed(speedB);
|
||||
}
|
||||
if(speedB == 0) {
|
||||
// <20>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>͵<EFBFBD>ƽ
|
||||
HAL_GPIO_WritePin(BIN1_GPIO_Port, BIN1_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(BIN2_GPIO_Port, BIN2_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
else if(speedB > 0) {
|
||||
HAL_GPIO_WritePin(BIN1_GPIO_Port, BIN1_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(BIN2_GPIO_Port, BIN2_Pin, GPIO_PIN_RESET);
|
||||
speedB = abs(speedB); // ȡ<><C8A1><EFBFBD><EFBFBD>ֵ
|
||||
}
|
||||
else {
|
||||
HAL_GPIO_WritePin(BIN1_GPIO_Port, BIN1_Pin, GPIO_PIN_RESET);
|
||||
HAL_GPIO_WritePin(BIN2_GPIO_Port, BIN2_Pin, GPIO_PIN_SET);
|
||||
speedB = abs(speedB); // ȡ<><C8A1><EFBFBD><EFBFBD>ֵ
|
||||
}
|
||||
// ͬ<><CDAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>B...
|
||||
|
||||
|
||||
// <20><><EFBFBD><EFBFBD>PWM
|
||||
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, speedA);
|
||||
__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_4, speedB);
|
||||
}
|
||||
@@ -123,6 +123,7 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
|
||||
// ֪ͨ<CDA8><D6AA><EFBFBD><EFBFBD> ȡ<><C8A1>ע<EFBFBD><D7A2><EFBFBD>Ի<EFBFBD><D4BB>Ѳ<EFBFBD><D1B2><EFBFBD><EFBFBD>߳<EFBFBD>
|
||||
tx_event_flags_set(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR);
|
||||
}
|
||||
HAL_TIM_IC_Start_IT(&htim5,TIM_CHANNEL_1);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -7,6 +7,7 @@
|
||||
#define EVENT_ECHO_DONE 0x01
|
||||
|
||||
extern volatile uint8_t obstacle_level;
|
||||
extern volatile uint32_t distance_cm;
|
||||
void DWT_Init(void);
|
||||
/********
|
||||
delay_us() <20><><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5> (ʹ<><CAB9>DWT) <20><>ȷ<EFBFBD><C8B7>
|
||||
|
||||
@@ -85,8 +85,8 @@ UINT ControlThreadCreate(void)
|
||||
|
||||
static void control_thread_entry(ULONG arg)
|
||||
{
|
||||
int16_t pwmL = 0, pwmR = 0;
|
||||
float integralL = 0, integralR = 0;
|
||||
static int16_t pwmL = 0, pwmR = 0;
|
||||
static float integralL = 0, integralR = 0;
|
||||
float Kp = 1.0f, Ki = 0.1f;
|
||||
|
||||
while (1)
|
||||
@@ -96,7 +96,19 @@ static void control_thread_entry(ULONG arg)
|
||||
|
||||
integralL += errorL;
|
||||
integralR += errorR;
|
||||
|
||||
// <20>ڻ<EFBFBD><DABB><EFBFBD><EFBFBD>ۼӺ<DBBC><D3BA><EFBFBD><EFBFBD>ӿ<EFBFBD><D3BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
if (errorL == 0) integralL = 0;
|
||||
if (errorR == 0) integralR = 0;
|
||||
|
||||
const float max_integral = 1000.0f;
|
||||
if(integralL > max_integral) integralL = max_integral;
|
||||
if(integralL < -max_integral) integralL = -max_integral;
|
||||
|
||||
if(integralR > max_integral) integralR = max_integral;
|
||||
if(integralR < -max_integral) integralR = -max_integral;
|
||||
// ͬ<><CDAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>integralR...
|
||||
|
||||
pwmL += (int16_t)(Kp * errorL + Ki * integralL);
|
||||
pwmR += (int16_t)(Kp * errorR + Ki * integralR);
|
||||
|
||||
@@ -111,9 +123,13 @@ static void control_thread_entry(ULONG arg)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
int16_t map_speed_to_rpm(int speed)
|
||||
{
|
||||
if (speed < 60) return 0;
|
||||
if (abs(speed) < 30) return 0;
|
||||
return (speed - 60) * 1.5; // <20><><EFBFBD><EFBFBD>
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user