MADAO/ManGoWalk_STM32
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This commit is contained in:
MADAO
2025-07-08 23:30:16 +08:00
parent a635b6d5eb
commit a9884051f8
21 changed files with 7673 additions and 7958 deletions
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28
Core/Src/app_threadx.c
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@@ -36,7 +36,7 @@
// BLE define // BLE define
#define BLE_RX_THREAD_STACK_SIZE 2048 #define BLE_RX_THREAD_STACK_SIZE 2048
#define BLE_RX_THREAD_PRIORITY 10 #define BLE_RX_THREAD_PRIORITY 9
#define BLE_TX_THREAD_STACK_SIZE 2048 #define BLE_TX_THREAD_STACK_SIZE 2048
#define BLE_TX_THREAD_PRIORITY 10 #define BLE_TX_THREAD_PRIORITY 10
// IMU thread config // IMU thread config
@@ -212,19 +212,25 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
7, 7, // 这里的优先级 7, 7, // 这里的优先级
TX_NO_TIME_SLICE, TX_NO_TIME_SLICE,
TX_AUTO_START); TX_AUTO_START);
if(status != TX_SUCCESS)
{
return status;
}
// //
// HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n"); // HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
status = ControlThreadCreate(); // status = ControlThreadCreate();
if(status != TX_SUCCESS) // if(status != TX_SUCCESS)
{ // {
return status; // return status;
} // }
status = Encoder_ThreadCreate(); // status = Encoder_ThreadCreate();
if(status != TX_SUCCESS) // if(status != TX_SUCCESS)
{ // {
return status; // return status;
} // }
return TX_SUCCESS; return TX_SUCCESS;
} }

3
Core/Src/main.c
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@@ -106,6 +106,9 @@ int main(void)
imu600_init(); imu600_init();
GPS_Init(); GPS_Init();
DWT_Init(); DWT_Init();
PWM_GPIO_TIM_Init();
HAL_TIM_IC_Start_IT(&htim5,TIM_CHANNEL_1);
// Buzzer_Open();
// HCBle_InitDMAReception(); // HCBle_InitDMAReception();
// HAL_Delay(200); // HAL_Delay(200);
// GPS_Init(); // GPS_Init();

165
MDK-ARM/AutoGuideStick.uvguix.madao
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13
MDK-ARM/AutoGuideStick.uvoptx
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@@ -152,18 +152,18 @@
<Bp> <Bp>
<Number>0</Number> <Number>0</Number>
<Type>0</Type> <Type>0</Type>
<LineNumber>124</LineNumber> <LineNumber>110</LineNumber>
<EnabledFlag>1</EnabledFlag> <EnabledFlag>1</EnabledFlag>
<Address>134223930</Address> <Address>134265834</Address>
<ByteObject>0</ByteObject> <ByteObject>0</ByteObject>
<HtxType>0</HtxType> <HtxType>0</HtxType>
<ManyObjects>0</ManyObjects> <ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject> <SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess> <BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount> <BreakIfRCount>1</BreakIfRCount>
<Filename>../Core/Src/app_threadx.c</Filename> <Filename>..\fun\Ultrasound.c</Filename>
<ExecCommand></ExecCommand> <ExecCommand></ExecCommand>
<Expression>\\AutoGuideStick\../Core/Src/app_threadx.c\124</Expression> <Expression>\\AutoGuideStick\../fun/Ultrasound.c\110</Expression>
</Bp> </Bp>
</Breakpoint> </Breakpoint>
<WatchWindow1> <WatchWindow1>
@@ -289,6 +289,11 @@
<WinNumber>2</WinNumber> <WinNumber>2</WinNumber>
<ItemText>status</ItemText> <ItemText>status</ItemText>
</Ww> </Ww>
<Ww>
<count>8</count>
<WinNumber>2</WinNumber>
<ItemText>distance_cm</ItemText>
</Ww>
</WatchWindow2> </WatchWindow2>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>

BIN
MDK-ARM/AutoGuideStick/AutoGuideStick.axf
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230
MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
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@@ -26,232 +26,8 @@ Project File Date: 07/02/2025
<h2>Output:</h2> <h2>Output:</h2>
*** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin' *** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
Rebuild target 'AutoGuideStick' Build target 'AutoGuideStick'
compiling main.c... "AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
compiling stm32h5xx_hal_msp.c...
compiling stm32h5xx_hal_timebase_tim.c...
compiling tim.c...
compiling gpdma.c...
compiling stm32h5xx_it.c...
compiling stm32h5xx_hal_tim.c...
assembling startup_stm32h563xx.s...
compiling app_azure_rtos.c...
compiling memorymap.c...
compiling app_threadx.c...
compiling gpio.c...
compiling usart.c...
compiling stm32h5xx_hal_cortex.c...
compiling stm32h5xx_hal_tim_ex.c...
assembling tx_initialize_low_level.S...
compiling stm32h5xx_hal_rcc.c...
compiling stm32h5xx_hal_flash.c...
compiling stm32h5xx_hal_flash_ex.c...
compiling stm32h5xx_hal_rcc_ex.c...
compiling stm32h5xx_hal_gpio.c...
compiling stm32h5xx_hal_dma.c...
compiling stm32h5xx_hal_pwr.c...
compiling stm32h5xx_hal_dma_ex.c...
compiling stm32h5xx_hal_pwr_ex.c...
compiling stm32h5xx_hal.c...
compiling stm32h5xx_hal_exti.c...
compiling stm32h5xx_hal_uart_ex.c...
compiling stm32h5xx_hal_uart.c...
compiling system_stm32h5xx.c...
compiling tx_initialize_high_level.c...
compiling tx_initialize_kernel_enter.c...
compiling tx_initialize_kernel_setup.c...
compiling tx_thread_stack_error_handler.c...
compiling tx_thread_stack_error_notify.c...
compiling tx_thread_system_resume.c...
compiling tx_block_allocate.c...
assembling tx_thread_context_restore.S...
compiling tx_block_pool_cleanup.c...
assembling tx_thread_context_save.S...
assembling tx_thread_interrupt_control.S...
assembling tx_thread_interrupt_disable.S...
assembling tx_thread_interrupt_restore.S...
assembling tx_thread_schedule.S...
assembling tx_thread_stack_build.S...
assembling tx_thread_system_return.S...
assembling tx_timer_interrupt.S...
compiling tx_block_pool_create.c...
compiling tx_block_pool_delete.c...
compiling tx_block_pool_info_get.c...
compiling tx_block_pool_initialize.c...
compiling tx_block_pool_prioritize.c...
compiling tx_block_release.c...
compiling tx_byte_allocate.c...
compiling tx_byte_pool_cleanup.c...
compiling tx_byte_pool_create.c...
compiling tx_byte_pool_delete.c...
compiling tx_byte_pool_info_get.c...
compiling tx_byte_pool_initialize.c...
compiling tx_byte_pool_prioritize.c...
compiling tx_byte_pool_search.c...
compiling tx_byte_release.c...
compiling tx_event_flags_cleanup.c...
compiling tx_event_flags_create.c...
compiling tx_event_flags_delete.c...
compiling tx_event_flags_get.c...
compiling tx_event_flags_info_get.c...
compiling tx_event_flags_initialize.c...
compiling tx_event_flags_set.c...
compiling tx_event_flags_set_notify.c...
compiling tx_mutex_cleanup.c...
compiling tx_mutex_create.c...
compiling tx_mutex_delete.c...
compiling tx_mutex_get.c...
compiling tx_mutex_info_get.c...
compiling tx_mutex_initialize.c...
compiling tx_mutex_prioritize.c...
compiling tx_mutex_priority_change.c...
compiling tx_mutex_put.c...
compiling tx_queue_cleanup.c...
compiling tx_queue_create.c...
compiling tx_queue_delete.c...
compiling tx_queue_flush.c...
compiling tx_queue_front_send.c...
compiling tx_queue_info_get.c...
compiling tx_queue_initialize.c...
compiling tx_queue_prioritize.c...
compiling tx_queue_receive.c...
compiling tx_queue_send.c...
compiling tx_queue_send_notify.c...
compiling tx_semaphore_ceiling_put.c...
compiling tx_semaphore_cleanup.c...
compiling tx_semaphore_create.c...
compiling tx_semaphore_delete.c...
compiling tx_semaphore_get.c...
compiling tx_semaphore_info_get.c...
compiling tx_semaphore_initialize.c...
compiling tx_semaphore_prioritize.c...
compiling tx_semaphore_put.c...
compiling tx_semaphore_put_notify.c...
compiling tx_thread_create.c...
compiling tx_thread_delete.c...
compiling tx_thread_entry_exit_notify.c...
compiling tx_thread_identify.c...
compiling tx_thread_info_get.c...
compiling tx_thread_initialize.c...
compiling tx_thread_preemption_change.c...
compiling tx_thread_priority_change.c...
compiling tx_thread_relinquish.c...
compiling tx_thread_reset.c...
compiling tx_thread_resume.c...
compiling tx_thread_shell_entry.c...
compiling tx_thread_sleep.c...
compiling tx_thread_stack_analyze.c...
compiling tx_thread_suspend.c...
compiling tx_thread_system_preempt_check.c...
compiling tx_thread_system_suspend.c...
compiling tx_thread_terminate.c...
compiling tx_thread_time_slice.c...
compiling tx_thread_time_slice_change.c...
compiling tx_thread_timeout.c...
compiling tx_thread_wait_abort.c...
compiling tx_time_get.c...
compiling tx_time_set.c...
compiling txe_block_allocate.c...
compiling txe_block_pool_create.c...
compiling txe_block_pool_delete.c...
compiling txe_block_pool_info_get.c...
compiling txe_block_pool_prioritize.c...
compiling txe_block_release.c...
compiling txe_byte_allocate.c...
compiling txe_byte_pool_create.c...
compiling txe_byte_pool_delete.c...
compiling txe_byte_pool_info_get.c...
compiling txe_byte_pool_prioritize.c...
compiling txe_byte_release.c...
compiling txe_event_flags_create.c...
compiling txe_event_flags_delete.c...
compiling txe_event_flags_get.c...
compiling txe_event_flags_info_get.c...
compiling txe_event_flags_set.c...
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).
<h2>Software Packages used:</h2> <h2>Software Packages used:</h2>
@@ -275,7 +51,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE@5.6.0 * Component: ARM::CMSIS:CORE@5.6.0
Include file: CMSIS/Core/Include/tz_context.h Include file: CMSIS/Core/Include/tz_context.h
Build Time Elapsed: 00:00:25 Build Time Elapsed: 00:00:02
</pre> </pre>
</body> </body>
</html> </html>

10370
MDK-ARM/AutoGuideStick/AutoGuideStick.hex
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File diff suppressed because it is too large Load Diff

2430
MDK-ARM/AutoGuideStick/AutoGuideStick.htm
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2272
MDK-ARM/AutoGuideStick/AutoGuideStick.map
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File diff suppressed because it is too large Load Diff

14
MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep
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@@ -1,7 +1,7 @@
Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !) Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !)
CompilerVersion: 6210000::V6.21::ARMCLANG 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 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 -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 -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 -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 -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) -o autoguidestick/gpdma.o -MD)
I (..\Core\Inc\main.hc.\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000) I (..\Core\Inc\main.hc.\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000)
I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x685C2A98) 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) -o autoguidestick/tx_event_flags_info_get.o -MD)
I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA) 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 (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012) I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA) 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_trace.h)(0x683FA4DA)
I (..\Middlewares\ST\threadx\common\inc\tx_mutex.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 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 -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 -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) 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 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 -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 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 -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 -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 -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 -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 -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 -I./RTE/_AutoGuideStick
-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include

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MDK-ARM/AutoGuideStick/app_threadx.o
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MDK-ARM/AutoGuideStick/encoder.o
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MDK-ARM/AutoGuideStick/hcble.o
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MDK-ARM/AutoGuideStick/main.o
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MDK-ARM/AutoGuideStick/motor.o
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MDK-ARM/AutoGuideStick/ultrasound.o
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1
fun/HCBle.c
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@@ -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", cmd.LeftSpeed, cmd.RightSpeed);
// HCBle_SendData("left=%d, right=%d\r\n", left, right); // 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); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// DriveBOTH(cmd.LeftSpeed,cmd.RightSpeed);
return; return;
} }

81
fun/Motor.c
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@@ -64,23 +64,68 @@ void MotorB_Speed(uint8_t speed)
// ʾ<><CABE> ͬʱ<CDAC><CAB1><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>A/B // ʾ<><CABE> ͬʱ<CDAC><CAB1><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>A/B
// <20><>ʾ <20><><EFBFBD><EFBFBD> Dir 0 ---- ǰ<><C7B0> go forward // <20><>ʾ <20><><EFBFBD><EFBFBD> Dir 0 ---- ǰ<><C7B0> go forward
// <20><><EFBFBD><EFBFBD> Dir 1 ---- <20><><EFBFBD><EFBFBD> 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 // // <20><><EFBFBD><EFBFBD> A
if (speedA >= 0) MotorA_Dir(0); // if (speedA >= 0) MotorA_Dir(0);
else // else
{ // {
MotorA_Dir(1); // MotorA_Dir(1);
speedA = -speedA; // speedA = -speedA;
} // }
MotorA_Speed(speedA); // MotorA_Speed(speedA);
//
// // <20><><EFBFBD><EFBFBD> B
// if (speedB >= 0) MotorB_Dir(0);
// else
// {
// MotorB_Dir(1);
// speedB = -speedB;
// }
// MotorB_Speed(speedB);
//}
// <20><><EFBFBD><EFBFBD> B
if (speedB >= 0) MotorA_Dir(0); // Motor.c <20><><EFBFBD>Ͻ<EFBFBD><CFBD>д<EFBFBD><D0B4><EFBFBD>
else void DriveBOTH(int16_t speedA, int16_t speedB)
{ {
MotorB_Dir(1); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>A
speedB = -speedB; if(speedA == 0) {
} // <20>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>͵<EFBFBD>ƽ
MotorB_Speed(speedB); 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>ֵ
}
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);
} }

1
fun/Ultrasound.c
View File

@@ -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> // ֪ͨ<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); tx_event_flags_set(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR);
} }
HAL_TIM_IC_Start_IT(&htim5,TIM_CHANNEL_1);
} }
} }

1
fun/Ultrasound.h
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@@ -7,6 +7,7 @@
#define EVENT_ECHO_DONE 0x01 #define EVENT_ECHO_DONE 0x01
extern volatile uint8_t obstacle_level; extern volatile uint8_t obstacle_level;
extern volatile uint32_t distance_cm;
void DWT_Init(void); void DWT_Init(void);
/******** /********
delay_us() <20><><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5> (ʹ<><CAB9>DWT) <20><>ȷ<EFBFBD><C8B7> delay_us() <20><><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5> (ʹ<><CAB9>DWT) <20><>ȷ<EFBFBD><C8B7>

22
fun/encoder.c
View File

@@ -85,8 +85,8 @@ UINT ControlThreadCreate(void)
static void control_thread_entry(ULONG arg) static void control_thread_entry(ULONG arg)
{ {
int16_t pwmL = 0, pwmR = 0; static int16_t pwmL = 0, pwmR = 0;
float integralL = 0, integralR = 0; static float integralL = 0, integralR = 0;
float Kp = 1.0f, Ki = 0.1f; float Kp = 1.0f, Ki = 0.1f;
while (1) while (1)
@@ -97,6 +97,18 @@ static void control_thread_entry(ULONG arg)
integralL += errorL; integralL += errorL;
integralR += errorR; 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); pwmL += (int16_t)(Kp * errorL + Ki * integralL);
pwmR += (int16_t)(Kp * errorR + Ki * integralR); 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) 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> return (speed - 60) * 1.5; // <20><><EFBFBD><EFBFBD>
} }