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Motor_Control
Commit b941ea94 by 刘大爷来也
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修改超声波雷达和温度传感器

parent 9520ebf2
Showing with 1599 additions and 1913 deletions
Listings/MotorControl.map
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Module/Inc/common.h
......@@ -3,9 +3,6 @@
#include "stm32f10x.h"
#define D14_GET() (((GPIOD->IDR >> 14) & 1) ? 1 : 0)
// 定义系统状态的枚举类型
typedef enum {
STATE_IDLE, // 系统处于空闲状态
......@@ -28,5 +25,11 @@ void Total_GPIO_Init(void);
void Total_EXTI_Init(void);
//温度传感器时序
void TIM7_Init(void) ;
void delay_us(uint16_t us);
#endif // COMMON
Module/Inc/ds18b20.h
......@@ -3,33 +3,31 @@
#include "stm32f10x.h"
// 引脚定义
#define DS18B20_DQ_PIN (1 << 12) // PD12
#define DS18B20_PORT GPIOD
// 引脚定义
// 设置 DQ 引脚为输出模式
#define DQ_OUT() { \
GPIOD->CRH &= ~(0xF << (4 * 4)); /* 清除配置 */ \
GPIOD->CRH |= (0x3 << (4 * 4)); /* 设置为推挽输出模式，最大50MHz */ \
}
#define DS18B20_DQ_OUT_HIGH (GPIOD->BSRR = (1 << 12)) // 设置PD12为高电平
#define DS18B20_DQ_OUT_LOW (GPIOD->BRR = (1 << 12)) // 设置PD12为低电平
#define DS18B20_DQ_IN ((GPIOD->IDR & (1 << 12)) != 0) // 读取PD12的电平
// 设置 DQ 引脚为输入模式
#define DQ_IN() { \
GPIOD->CRH &= ~(0xF << (4 * 4)); /* 清除配置 */ \
GPIOD->CRH |= (0x4 << (4 * 4)); /* 设置为浮空输入模式 */ \
}
// 设置DD12 输入模式（浮空输入）
#define DQ_IN() { GPIOD->CRH &= ~(0xF << 16); GPIOD->CRH |= (0x4 << 16); }
// 获取 DQ 引脚的电平变化
#define DQ_GET() ((GPIOD->IDR & DS18B20_DQ_PIN) ? 1 : 0)
void TIM7_Init(void) ;
// DQ 输出高电平或低电平
#define DQ(x) ((x) ? (GPIOD->BSRR = DS18B20_DQ_PIN) : (GPIOD->BRR = DS18B20_DQ_PIN))
void delay_us(uint16_t us);
void DS18B20_IO_IN(void);
void DS18B20_IO_OUT(void);
uint8_t DS18B20_Init(void);
void DS18B20_Rst(void);
uint8_t DS18B20_Check(void);
char DS18B20_Init(void);
void DS18B20_Start(void);
float DS18B20_GetTemperture(void);
uint8_t DS18B20_Read_Bit(void);
uint8_t DS18B20_Read_Byte(void);
void DS18B20_Write_Byte(uint8_t data);
void DS18B20_Start(void);
short DS18B20_Get_Temperature(void);
#endif // DS18B20_H
Module/Inc/onewire.h deleted 100644 → 0
#ifndef ONEWIRE_H
#define ONEWIRE_H
#include "stm32f10x.h"
// 引脚定义
#define ONEWIRE_PIN (1 << 12) // PD12
#define ONEWIRE_PORT GPIOD
// 初始化 One-Wire 总线 (PE1)
void Onewire_Init(void);
// 设置引脚为输出模式
void Onewire_Pin_Output(void);
// 设置引脚为输入模式
void Onewire_Pin_Input(void);
// 复位 One-Wire 总线并检测传感器是否存在
uint8_t Onewire_Reset(void);
// 向 One-Wire 设备发送一位数据
void Onewire_SendBit(unsigned char Bit);
// 从 One-Wire 设备接收一位数据
unsigned char Onewire_ReceiveBit(void);
// 向 One-Wire 设备发送一个字节数据
void Onewire_SendByte(unsigned char Byte);
// 从 One-Wire 设备接收一个字节数据
unsigned char Onewire_ReceiveByte(void);
#endif // ONEWIRE_H
Module/Inc/parking_sensor.h
......@@ -3,26 +3,25 @@
#include "stm32f10x.h" // 包含STM32F103的寄存器定义头文件
#define CALCULATE_DISTANCE(pulse_time) ((pulse_time) * 0.017f)
// 全局变量
extern volatile uint32_t pulse_time ; // 脉宽时间
extern volatile double distance_cm ; // 距离
extern volatile float distance_cm ; // 距离
extern volatile uint8_t capture_state ; // 捕获状态标志
// 动态配置 PE0 - PE15 引脚
void Configure_PE_Pin(uint8_t pin, uint8_t mode);
void WaitForEdgeAndCalculatePulseWidth(void);
// 初始化 TIM2 为捕获模式
void TIM2_Capture_Init(void);
// 发送触发信号
void SendTriggerSignal(void);
double CalculateDistance();
void SendTriggerSignal(uint8_t pin);
void Parking_Sensor_Interruption(void);
......
Module/Inc/temperature_sensor.h deleted 100644 → 0
// ds18b20.h
#ifndef TEMPERATURE_SENSOR_H
#define TEMPERATURE_SENSOR_H
void TemperatureSensor_ConvertT(void); // 启动温度转换
float TemperatureSensor_ReadT(void); // 读取温度数据
#endif
Module/Inc/uart_log.h
......@@ -15,4 +15,6 @@ void Serial_Write(char ch);
// 打印格式化字符串
void Serial_Printf(const char *format, ...);
void Serial_PrintFloat(float num);
#endif // UART_LOG_H
Module/Src/common.c
......@@ -6,6 +6,7 @@
#include "emergency_stop.h"
#include "uart_log.h"
void Delay(uint32_t time, char unit) {
uint32_t cycles = 0;
......@@ -39,6 +40,7 @@ void Delay(uint32_t time, char unit) {
void Total_GPIO_Init(void) {
//RCC->APB2ENR |= 1 << 0;
//电机配置01
// 使能 GPIOC 和 GPIOF 的时钟
RCC->APB2ENR |= RCC_APB2ENR_IOPCEN;
......@@ -115,14 +117,16 @@ void Total_GPIO_Init(void) {
//倒车雷达
// 配置PE10-PE15为推挽输出，默认为低电平
GPIOE->CRH &= ~(0xFFFFF << 8); // 清空PE10-PE15配置
GPIOE->CRH |= 0x11111 << 8; // 设置PE10-PE15为推挽输出
GPIOE->BRR = 0xFC00; // 默认低电平（PE10到PE15）
//GPIOE->CRH &= ~(0xFFFFF << 8); // 清空PE10-PE15配置
//GPIOE->CRH |= 0x11111 << 8; // 设置PE10-PE15为推挽输出
//GPIOE->BRR = 0xFC00; // 默认低电平（PE10到PE15）
// 配置 PD14 为上拉输入模式
GPIOD->CRH &= ~(0xF << 24); // 清空 PD14 的配置
GPIOD->CRH |= (0x4 << 24); // 设置为上拉/下拉输入模式
GPIOD->CRH |= (0x4 << 24); // 设置为输入模式，并且配置为下拉模式
//GPIOD->ODR &= ~(1 << 14); // 配置 PD14 为下拉
//行走距离开关 distance_switch
......@@ -162,21 +166,18 @@ void Total_GPIO_Init(void) {
void Total_EXTI_Init(void) {
// 设置优先级组为组2 (2位抢占优先级 + 2位子优先级)
//SCB->AIRCR = (0x05FA << 16) | (2 << 8); // 设置优先级分组
SCB->AIRCR = (0x05FA << 16) | (2 << 8); // 设置优先级分组
// 倒车雷达中断
AFIO->EXTICR[3] &= ~AFIO_EXTICR4_EXTI14; // 清除EXTI14
AFIO->EXTICR[3] |= AFIO_EXTICR4_EXTI14_PD; // 将PD14连接到EXTI14
EXTI->FTSR &= ~EXTI_FTSR_TR14; // 先清除下降沿触发配置
EXTI->RTSR &= ~EXTI_RTSR_TR14; // 先清除上升沿触发配置
EXTI->RTSR |= EXTI_RTSR_TR14; // 上升沿触发
EXTI->FTSR |= EXTI_RTSR_TR14; // 下降沿触发
EXTI->FTSR |= EXTI_FTSR_TR14; // 下降沿触发
EXTI->IMR |= EXTI_IMR_MR14; // 使能中断
EXTI->IMR |= EXTI_IMR_MR14; // 使能中断
NVIC_EnableIRQ(EXTI15_10_IRQn);
NVIC_SetPriority(EXTI15_10_IRQn, 0x02); // 设置中断优先级
NVIC_EnableIRQ(EXTI15_10_IRQn); // 注意：EXTI10-15 共享一个中断向量
NVIC_SetPriority(EXTI15_10_IRQn, 0x06); // 设置中断优先级
// 行走距离开关中断
AFIO->EXTICR[1] &= ~(AFIO_EXTICR2_EXTI6); // 清除EXTI6的配置
......@@ -184,14 +185,14 @@ void Total_EXTI_Init(void) {
AFIO->EXTICR[3] &= ~(AFIO_EXTICR4_EXTI15); // 清除EXTI15的配置
AFIO->EXTICR[3] |= AFIO_EXTICR4_EXTI15_PG; // 连接PG15到EXTI15
EXTI->RTSR |= EXTI_RTSR_TR6 | EXTI_RTSR_TR15; // 配置上升沿触发
EXTI->FTSR |= EXTI_FTSR_TR6 | EXTI_FTSR_TR15; // 配置下降沿触发
EXTI->IMR |= EXTI_IMR_MR6 | EXTI_IMR_MR15; // 使能中断线6和15
EXTI->IMR |= EXTI_IMR_MR6 | EXTI_IMR_MR15; // 使能中断线6和15
// 使能EXTI9_5_IRQn中断
//NVIC_EnableIRQ(EXTI9_5_IRQn); // PD6 属于 EXTI9_5_IRQn
NVIC_SetPriority(EXTI9_5_IRQn, 0x0B); // 设置中断优先级
//NVIC_SetPriority(EXTI9_5_IRQn, 0x0B); // 设置中断优先级
// 使能EXTI15_10_IRQn中断
//NVIC_EnableIRQ(EXTI15_10_IRQn); // EXTI15 属于 EXTI15_10_IRQn
......@@ -206,7 +207,7 @@ void Total_EXTI_Init(void) {
AFIO->EXTICR[0] |= AFIO_EXTICR1_EXTI0_PE; // 连接PE0到EXTI0
EXTI->RTSR |= EXTI_RTSR_TR9 | EXTI_RTSR_TR0; // 配置上升沿触发
EXTI->FTSR |= EXTI_FTSR_TR9 | EXTI_FTSR_TR0; // 配置下降沿触发
EXTI->FTSR |= EXTI_FTSR_TR9 | EXTI_FTSR_TR0; // 配置下降沿触发
EXTI->IMR |= EXTI_IMR_MR9 | EXTI_IMR_MR0; // 使能中断线9和0
// 使能EXTI9_5_IRQn中断
......@@ -266,13 +267,13 @@ void EXTI9_5_IRQHandler(void) {
// 处理 PD6 中断
StateMachineHandler(STATE_DISTANCE_SWITCH_ACTIVE);
// 清除中断标志位
EXTI->PR = EXTI_PR_PR6;
EXTI->PR |= EXTI_PR_PR6;
}
if (EXTI->PR & EXTI_PR_PR9) { // 检查是否是 EXTI 线 9 触发了中断
// 处理 PB9 中断
StateMachineHandler(STATE_PHOTOELECTRIC_SWITCH_ACTIVE);
// 清除中断标志位
EXTI->PR = EXTI_PR_PR9;
EXTI->PR |= EXTI_PR_PR9;
}
}
......@@ -282,7 +283,7 @@ void EXTI0_IRQHandler(void) {
// 处理PE0中断
StateMachineHandler(STATE_PHOTOELECTRIC_SWITCH_ACTIVE);
// 清除中断标志位
EXTI->PR = EXTI_PR_PR0;
EXTI->PR |= EXTI_PR_PR0;
}
}
......@@ -292,13 +293,14 @@ void EXTI0_IRQHandler(void) {
void EXTI15_10_IRQHandler(void) {
// 处理 PD14 中断
if (EXTI->PR & EXTI_PR_PR14) { // 检查是否是EXTI线14触发了中断
StateMachineHandler(STATE_PARKING_SENSOR_ACTIVE);
EXTI->PR = EXTI_PR_PR14; // 清除中断标志位
StateMachineHandler(STATE_PARKING_SENSOR_ACTIVE);
//EXTI->PR |= EXTI_PR_PR14; // 清除中断标志位
}
if (EXTI->PR & EXTI_PR_PR15) { // 检查是否是EXTI线15触发了中断
Serial_Print("EXTI15 triggered\n");
StateMachineHandler(STATE_DISTANCE_SWITCH_ACTIVE);
EXTI->PR = EXTI_PR_PR15; // 清除中断标志位
EXTI->PR |= EXTI_PR_PR15; // 清除中断标志位
}
}
......@@ -308,6 +310,40 @@ void EXTI2_IRQHandler(void) {
// 处理PE2中断（急停按钮）
StateMachineHandler(STATE_EMERGENCY_STOP);
// 清除中断标志位
EXTI->PR = EXTI_PR_PR2;
EXTI->PR |= EXTI_PR_PR2;
}
}
void TIM7_Init(void) {
// 使能TIM7时钟
RCC->APB1ENR |= RCC_APB1ENR_TIM7EN;
// 设定预分频器，让定时器的时钟为1MHz（假设系统时钟为16MHz）
// 16MHz / 16 = 1MHz
TIM7->PSC = 71;
// 自动重装载值（最大值）
TIM7->ARR = 0xFFFF;
// 计数器从0开始
TIM7->CNT = 0;
// 不启动定时器（启动时可以调用`TIM7->CR1 |= TIM_CR1_CEN;`）
}
void delay_us(uint16_t us)
{
uint16_t differ = 0xFFFF - us - 5;
TIM7->CNT = differ;
// 使能定时器
TIM7->CR1 |= TIM_CR1_CEN;
while (TIM7->CNT < 0xFFFF - 5)
{
// 等待计数器达到目标值
}
// 停止定时器
TIM7->CR1 &= ~TIM_CR1_CEN;
}
Module/Src/common.c.orig
......@@ -39,6 +39,7 @@ void Delay(uint32_t time, char unit) {
void Total_GPIO_Init(void) {
//RCC->APB2ENR |= 1 << 0;
//电机配置01
// 使能 GPIOC 和 GPIOF 的时钟
RCC->APB2ENR |= RCC_APB2ENR_IOPCEN;
......@@ -106,11 +107,11 @@ void Total_GPIO_Init(void) {
GPIOG->CRL |= (0x3 << (4*1)); // 配置 PG1 为通用推挽输出
// 配置 PE7, PE8 为复用推挽输出 (50 MHz)
GPIOE->CRH &= ~(0xF << (4*1)); // 清空 PE7 配置 (位20-23)
GPIOE->CRH |= (0x3 << (4*1)); // 配置 PE7 为通用推挽输出
GPIOE->CRL &= ~(0xF << (4*7)); // 清空 PE7 配置 (位20-23)
GPIOE->CRL |= (0x3 << (4*7)); // 配置 PE7 为通用推挽输出
GPIOE->CRH &= ~(0xF << (4*2)); // 清空 PE8 配置 (位24-27)
GPIOE->CRH |= (0x3 << (4*2)); // 配置 PE8 为通用推挽输出
GPIOE->CRH &= ~(0xF << (4*0)); // 清空 PE8 配置 (位24-27)
GPIOE->CRH |= (0x3 << (4*0)); // 配置 PE8 为通用推挽输出
//倒车雷达
......@@ -120,8 +121,9 @@ void Total_GPIO_Init(void) {
GPIOE->BRR = 0xFC00; // 默认低电平（PE10到PE15）
// 配置 PD14 为上拉输入模式
GPIOD->CRH &= ~(0xF << 24); // 清空 PD14 的配置
GPIOD->CRH |= (0x4 << 24); // 设置为上拉/下拉输入模式
GPIOD->CRH &= ~(0xF << 24); // 清空 PD14 的配置
GPIOD->CRH |= (0x8 << 24); // 设置为输入模式，并且配置为下拉模式
GPIOD->ODR &= ~(1 << 14); // 配置 PD14 为下拉
//行走距离开关 distance_switch
......@@ -153,7 +155,7 @@ void Total_GPIO_Init(void) {
// 配置 PE2 为输入上拉
GPIOE->CRL &= ~(0xF << (2 * 4)); // 清除 PE2 配置位
GPIOE->CRL |= (0x8 << (2 * 4)); // 配置 PE2 为上拉输入模式
GPIOE->ODR |= (1 << 2);
GPIOE->ODR |= (1 << 2);
//蜂鸣器 buzzer
GPIOE->CRH &= ~(0xF << (4 * 1));
......@@ -167,16 +169,13 @@ void Total_EXTI_Init(void) {
// 倒车雷达中断
AFIO->EXTICR[3] &= ~AFIO_EXTICR4_EXTI14; // 清除EXTI14
AFIO->EXTICR[3] |= AFIO_EXTICR4_EXTI14_PD; // 将PD14连接到EXTI14
EXTI->IMR |= EXTI_IMR_MR14; // 使能中断
EXTI->FTSR &= ~EXTI_FTSR_TR14; // 先清除下降沿触发配置
EXTI->RTSR &= ~EXTI_RTSR_TR14; // 先清除上升沿触发配置
EXTI->RTSR |= EXTI_RTSR_TR14; // 上升沿触发
EXTI->FTSR |= EXTI_RTSR_TR14; // 下降沿触发
EXTI->FTSR |= EXTI_FTSR_TR14; // 下降沿触发
EXTI->IMR |= EXTI_IMR_MR14; // 使能中断
NVIC_EnableIRQ(EXTI15_10_IRQn);
NVIC_SetPriority(EXTI15_10_IRQn, 0x05); // 设置中断优先级
NVIC_EnableIRQ(EXTI15_10_IRQn); // 注意：EXTI10-15 共享一个中断向量
NVIC_SetPriority(EXTI15_10_IRQn, 0x06); // 设置中断优先级
// 行走距离开关中断
AFIO->EXTICR[1] &= ~(AFIO_EXTICR2_EXTI6); // 清除EXTI6的配置
......@@ -184,17 +183,18 @@ EXTI->RTSR &= ~EXTI_RTSR_TR14; // 先清除上升沿触发配置
AFIO->EXTICR[3] &= ~(AFIO_EXTICR4_EXTI15); // 清除EXTI15的配置
AFIO->EXTICR[3] |= AFIO_EXTICR4_EXTI15_PG; // 连接PG15到EXTI15
EXTI->IMR |= EXTI_IMR_MR6 | EXTI_IMR_MR15; // 使能中断线6和15
EXTI->RTSR |= EXTI_RTSR_TR6 | EXTI_RTSR_TR15; // 配置上升沿触发
EXTI->FTSR |= EXTI_FTSR_TR6 | EXTI_FTSR_TR15; // 配置下降沿触发
EXTI->IMR |= EXTI_IMR_MR6 | EXTI_IMR_MR15; // 使能中断线6和15
// 使能EXTI9_5_IRQn中断
NVIC_EnableIRQ(EXTI9_5_IRQn); // PD6 属于 EXTI9_5_IRQn
NVIC_SetPriority(EXTI9_5_IRQn, 0x0B); // 设置中断优先级
//NVIC_EnableIRQ(EXTI9_5_IRQn); // PD6 属于 EXTI9_5_IRQn
//NVIC_SetPriority(EXTI9_5_IRQn, 0x0B); // 设置中断优先级
// 使能EXTI15_10_IRQn中断
NVIC_EnableIRQ(EXTI15_10_IRQn); // EXTI15 属于 EXTI15_10_IRQn
NVIC_SetPriority(EXTI15_10_IRQn, 0x06); // 设置中断优先级
//NVIC_EnableIRQ(EXTI15_10_IRQn); // EXTI15 属于 EXTI15_10_IRQn
//NVIC_SetPriority(EXTI15_10_IRQn, 0x06); // 设置中断优先级
......@@ -203,9 +203,10 @@ EXTI->RTSR &= ~EXTI_RTSR_TR14; // 先清除上升沿触发配置
AFIO->EXTICR[2] |= AFIO_EXTICR3_EXTI9_PB; // 连接PB9到EXTI9
AFIO->EXTICR[0] &= ~(AFIO_EXTICR1_EXTI0); // 清除EXTI0的配置
AFIO->EXTICR[0] |= AFIO_EXTICR1_EXTI0_PE; // 连接PE0到EXTI0
EXTI->IMR |= EXTI_IMR_MR9 | EXTI_IMR_MR0; // 使能中断线9和0
EXTI->RTSR |= EXTI_RTSR_TR9 | EXTI_RTSR_TR0; // 配置上升沿触发
EXTI->FTSR |= EXTI_FTSR_TR9 | EXTI_FTSR_TR0; // 配置下降沿触发
EXTI->IMR |= EXTI_IMR_MR9 | EXTI_IMR_MR0; // 使能中断线9和0
// 使能EXTI9_5_IRQn中断
NVIC_EnableIRQ(EXTI9_5_IRQn); // PB9 属于 EXTI9_5 中断
......@@ -290,8 +291,8 @@ void EXTI0_IRQHandler(void) {
void EXTI15_10_IRQHandler(void) {
// 处理 PD14 中断
if (EXTI->PR & EXTI_PR_PR14) { // 检查是否是EXTI线14触发了中断
EXTI->PR = EXTI_PR_PR14; // 清除中断标志位
StateMachineHandler(STATE_PARKING_SENSOR_ACTIVE);
EXTI->PR = EXTI_PR_PR14; // 清除中断标志位
}
if (EXTI->PR & EXTI_PR_PR15) { // 检查是否是EXTI线15触发了中断
Serial_Print("EXTI15 triggered\n");
......
Module/Src/distance_switch.c
......@@ -12,7 +12,7 @@ void Distance_Switch_Interruption(void) {
Serial_Print("PG15: 远离 (NPN传感器 - 低电平)\n");
}
// 清除中断标志位
EXTI->PR = EXTI_PR_PR15;
//EXTI->PR = EXTI_PR_PR15;
}
// 检查是否是PD6触发的中断
......@@ -23,6 +23,6 @@ void Distance_Switch_Interruption(void) {
Serial_Print("PD6: 远离 (PNP传感器 - 低电平)\n");
}
// 清除中断标志位
EXTI->PR = EXTI_PR_PR6;
//EXTI->PR = EXTI_PR_PR6;
}
}
Module/Src/ds18b20.c
#include "ds18b20.h"
#include "common.h"
/******************************************************************
* 函 数 名 称：bsp_ds18b20_Init
* 函 数 说 明：MLX90614的初始化
* 函 数 形 参：无
* 函 数 返 回：1未检测到器件 0检测到器件
* 作 者：LC
* 备 注：无
******************************************************************/
char DS18B20_Init(void)
void DS18B20_IO_IN(void)
{
int ret = DS18B20_Check();//检测器件是否存在
return ret;
DQ_IN(); // 设置为上拉输入模式
}
void DS18B20_IO_OUT(void)
{
GPIOD->CRH &= ~(0xF << 16); // 清除配置位
GPIOD->CRH |= (0x3 << 16); // 设置为推挽输出模式
}
/******************************************************************
* 函 数 名 称：DS18B20_Read_Byte
* 函 数 说 明：从DS18B20读取一个字节
* 函 数 形 参：无
* 函 数 返 回：读取到的字节数据
* 作 者：LC
* 备 注：无
******************************************************************/
uint8_t DS18B20_Read_Byte(void)
void DS18B20_Rst(void)
{
uint8_t i=0,dat=0;
DS18B20_IO_OUT();
DS18B20_DQ_OUT_LOW; // 拉低DQ
delay_us(750); // 延时750微秒
DS18B20_DQ_OUT_HIGH; // 释放DQ
delay_us(15); // 延时15微秒
}
for (i=0; i<8; i++)
uint8_t DS18B20_Check(void)
{
uint8_t retry = 0;
DS18B20_IO_IN();
while (DS18B20_DQ_IN && retry < 200) // 等待DS18B20拉低电平
{
DQ_OUT();//设置为输入模式
DQ(0); //拉低
Delay(2, 'u');
DQ(1); //释放总线
DQ_IN();//设置为输入模式
Delay(12, 'u');
retry++;
delay_us(1);
}
if (retry >= 200)
return 1;
else
retry = 0;
dat>>=1;
if( DQ_GET() )
{
dat=dat|0x80;
}
Delay(50, 'u');
while (!DS18B20_DQ_IN && retry < 240)
{
retry++;
delay_us(1);
}
return dat;
if (retry >= 240)
return 1;
return 0;
}
/******************************************************************
* 函 数 名 称：DS18B20_Write_Byte
* 函 数 说 明：写一个字节到DS18B20
* 函 数 形 参：dat：要写入的字节
* 函 数 返 回：无
* 作 者：LC
* 备 注：无
******************************************************************/
void DS18B20_Write_Byte(uint8_t dat)
uint8_t DS18B20_Read_Bit(void)
{
uint8_t i;
DQ_OUT();//设置输出模式
for (i=0; i<8; i++)
{
if ( (dat&0x01) ) //写1
{
DQ(0);
Delay(2, 'u');
DQ(1);
Delay(60, 'u');
uint8_t data;
DS18B20_IO_OUT();
DS18B20_DQ_OUT_LOW;
delay_us(2);
}
else //写0
{
DQ(0);//拉低60us
Delay(60, 'u');
DS18B20_DQ_OUT_HIGH;
DS18B20_IO_IN();
delay_us(12);
DQ(1);//释放总线
Delay(2, 'u');
if (DS18B20_DQ_IN)
data = 1;
else
data = 0;
}
dat=dat>>1;//传输下一位
}
delay_us(50);
return data;
}
/******************************************************************
* 函 数 名 称：DS18B20_Check
* 函 数 说 明：检测DS18B20是否存在
* 函 数 形 参：无
* 函 数 返 回：1:未检测到DS18B20的存在 0:存在
* 作 者：LC
* 备 注：无
******************************************************************/
uint8_t DS18B20_Check(void)
uint8_t DS18B20_Read_Byte(void)
{
uint8_t timeout=0;
//复位DS18B20
DQ_OUT(); //设置为输出模式
DQ(0); //拉低DQ
Delay(750, 'u');
uint8_t i, j, data;
data = 0;
for (i = 1; i <= 8; i++)
{
j = DS18B20_Read_Bit();
data = (j << 7) | (data >> 1);
}
return data;
}
DQ(1); //拉高DQ
Delay(15, 'u');
//设置为输入模式
DQ_IN();
//等待拉低，拉低说明有应答
while ( DQ_GET() &&timeout<200)
void DS18B20_Write_Byte(uint8_t data)
{
uint8_t j;
uint8_t testb;
DS18B20_IO_OUT(); // 输出模式
for (j = 1; j <= 8; j++)
{
timeout++;//超时判断
Delay(1, 'u');
testb = data & 0x01;
data = data >> 1;
if (testb)
{
DS18B20_DQ_OUT_LOW; // 拉低至少1微秒
delay_us(2);
};
//设备未应答
if(timeout>=200)
return 1;
else
timeout=0;
DS18B20_DQ_OUT_HIGH;
delay_us(60);
//等待18B20释放总线
while ( !DQ_GET() &&timeout<240)
{
timeout++;//超时判断
Delay(1, 'u');
}
else
{
DS18B20_DQ_OUT_LOW; // 写0 至少拉低60微秒
delay_us(60);
};
//释放总线失败
if(timeout>=240)
return 1;
DS18B20_DQ_OUT_HIGH; // 释放总线 至少1微秒
delay_us(2);
return 0;
}
}
}
/******************************************************************
* 函 数 名 称：DS18B20_Start
* 函 数 说 明：DS18B20开始温度转换
* 函 数 形 参：无
* 函 数 返 回：无
* 作 者：LC
* 备 注：无
******************************************************************/
void DS18B20_Start(void)
{
DS18B20_Check(); //查询是否有设备应答
DS18B20_Write_Byte(0xcc); //对总线上所有设备进行寻址
DS18B20_Write_Byte(0x44); //启动温度转换
DS18B20_Rst();
DS18B20_Check();
DS18B20_Write_Byte(0xCC);
DS18B20_Write_Byte(0x44);
}
uint8_t DS18B20_Init(void)
{
DS18B20_Rst();
return DS18B20_Check();
}
/******************************************************************
* 函 数 名 称：DS18B20_GetTemperture
* 函 数 说 明：从ds18b20得到温度值
* 函 数 形 参：无
* 函 数 返 回：温度数据
* 作 者：LC
* 备 注：无
******************************************************************/
float DS18B20_GetTemperture(void)
short DS18B20_Get_Temperature(void)
{
uint16_t temp;
uint8_t dataL=0,dataH=0;
float value;
uint8_t TL, TH;
short temperature;
DS18B20_Start();
DS18B20_Rst();
DS18B20_Check();
DS18B20_Write_Byte(0xcc);//对总线上所有设备进行寻址
DS18B20_Write_Byte(0xbe);// 读取数据命令
dataL=DS18B20_Read_Byte(); //LSB
dataH=DS18B20_Read_Byte(); //MSB
temp=(dataH<<8)+dataL;//整合数据
DS18B20_Write_Byte(0xCC);
DS18B20_Write_Byte(0xBE);
TL = DS18B20_Read_Byte();
TH = DS18B20_Read_Byte();
if(dataH&0X80)//高位为1，说明是负温度
if (TH > 7)
{
temp=(~temp)+1;
value=temp*(-0.0625);
TH = ~TH;
TL = ~TL;
temperature = -1;
}
else
{
value=temp*0.0625;
}
return value;
temperature = 1;
temperature = (TH << 8) | TL;
temperature = (float)temperature * 0.625;
return temperature;
}
Module/Src/ds18b20.c.orig
#include "ds18b20.h"
#include "common.h"
/******************************************************************
* 函 数 名 称：bsp_ds18b20_Init
* 函 数 说 明：MLX90614的初始化
* 函 数 形 参：无
* 函 数 返 回：1未检测到器件 0检测到器件
* 作 者：LC
* 备 注：无
******************************************************************/
char DS18B20_Init(void)
void DS18B20_IO_IN(void)
{
int ret = DS18B20_Check();//检测器件是否存在
return ret;
DQ_IN(); // 设置为上拉输入模式
}
/******************************************************************
* 函 数 名 称：DS18B20_Read_Byte
* 函 数 说 明：从DS18B20读取一个字节
* 函 数 形 参：无
* 函 数 返 回：读取到的字节数据
* 作 者：LC
* 备 注：无
******************************************************************/
uint8_t DS18B20_Read_Byte(void)
{
uint8_t i=0,dat=0;
for (i=0;i<8;i++)
{
DQ_OUT();//设置为输入模式
DQ(0); //拉低
Delay(2, 'u');
DQ(1); //释放总线
DQ_IN();//设置为输入模式
Delay(12, 'u');
dat>>=1;
if( DQ_GET() )
{
dat=dat|0x80;
}
Delay(50, 'u');
}
return dat;
void DS18B20_IO_OUT(void)
{
GPIOD->CRH &= ~(0xF << 16); // 清除配置位
GPIOD->CRH |= (0x3 << 16); // 设置为推挽输出模式
}
/******************************************************************
* 函 数 名 称：DS18B20_Write_Byte
* 函 数 说 明：写一个字节到DS18B20
* 函 数 形 参：dat：要写入的字节
* 函 数 返 回：无
* 作 者：LC
* 备 注：无
******************************************************************/
void DS18B20_Write_Byte(uint8_t dat)
{
uint8_t i;
DQ_OUT();//设置输出模式
for (i=0;i<8;i++)
{
if ( (dat&0x01) ) //写1
{
DQ(0);
Delay(2, 'u');
DQ(1);
Delay(60, 'u');
}
else //写0
{
DQ(0);//拉低60us
Delay(60, 'u');
DQ(1);//释放总线
Delay(2, 'u');
}
dat=dat>>1;//传输下一位
}
void DS18B20_Rst(void)
{
DS18B20_IO_OUT();
DS18B20_DQ_OUT_LOW; // 拉低DQ
Delay(750, 'u'); // 延时750微秒
DS18B20_DQ_OUT_HIGH; // 释放DQ
Delay(15, 'u'); // 延时15微秒
}
uint8_t DS18B20_Check(void)
{
uint8_t retry = 0;
DS18B20_IO_IN();
while (DS18B20_DQ_IN && retry < 200) // 等待DS18B20拉低电平
{
retry++;
Delay(1,'u');
}
if (retry >= 200)
return 1;
else
retry = 0;
/******************************************************************
* 函 数 名 称：DS18B20_Check
* 函 数 说 明：检测DS18B20是否存在
* 函 数 形 参：无
* 函 数 返 回：1:未检测到DS18B20的存在 0:存在
* 作 者：LC
* 备 注：无
******************************************************************/
uint8_t DS18B20_Check(void)
{
uint8_t timeout=0;
//复位DS18B20
DQ_OUT(); //设置为输出模式
DQ(0); //拉低DQ
Delay(750, 'u');
DQ(1); //拉高DQ
Delay(15, 'u');
//设置为输入模式
DQ_IN();
//等待拉低，拉低说明有应答
while ( DQ_GET() &&timeout<200)
{
timeout++;//超时判断
Delay(1, 'u');
};
//设备未应答
if(timeout>=200)
return 1;
else
timeout=0;
//等待18B20释放总线
while ( !DQ_GET() &&timeout<240)
{
timeout++;//超时判断
Delay(1, 'u');
};
//释放总线失败
if(timeout>=240)
return 1;
return 0;
while (!DS18B20_DQ_IN && retry < 240)
{
retry++;
Delay(1,'u');
}
if (retry >= 240)
return 1;
return 0;
}
/******************************************************************
* 函 数 名 称：DS18B20_Start
* 函 数 说 明：DS18B20开始温度转换
* 函 数 形 参：无
* 函 数 返 回：无
* 作 者：LC
* 备 注：无
******************************************************************/
void DS18B20_Start(void)
{
DS18B20_Check(); //查询是否有设备应答
DS18B20_Write_Byte(0xcc); //对总线上所有设备进行寻址
DS18B20_Write_Byte(0x44); //启动温度转换
}
/******************************************************************
* 函 数 名 称：DS18B20_GetTemperture
* 函 数 说 明：从ds18b20得到温度值
* 函 数 形 参：无
* 函 数 返 回：温度数据
* 作 者：LC
* 备 注：无
******************************************************************/
float DS18B20_GetTemperture(void)
uint8_t DS18B20_Read_Bit(void)
{
uint8_t data;
DS18B20_IO_OUT();
DS18B20_DQ_OUT_LOW;
Delay(2,'u');
DS18B20_DQ_OUT_HIGH;
DS18B20_IO_IN();
Delay(12,'u');
if (DS18B20_DQ_IN)
data = 1;
else
data = 0;
Delay(50,'u');
return data;
}
uint8_t DS18B20_Read_Byte(void)
{
uint8_t i, j, data;
data = 0;
for (i = 1; i <= 8; i++)
{
j = DS18B20_Read_Bit();
data = (j << 7) | (data >> 1);
}
return data;
}
void DS18B20_Write_Byte(uint8_t data)
{
uint16_t temp;
uint8_t dataL=0,dataH=0;
float value;
DS18B20_Start();
DS18B20_Check();
DS18B20_Write_Byte(0xcc);//对总线上所有设备进行寻址
DS18B20_Write_Byte(0xbe);// 读取数据命令
dataL=DS18B20_Read_Byte(); //LSB
dataH=DS18B20_Read_Byte(); //MSB
temp=(dataH<<8)+dataL;//整合数据
if(dataH&0X80)//高位为1，说明是负温度
uint8_t j;
uint8_t testb;
DS18B20_IO_OUT(); // 输出模式
for (j = 1; j <= 8; j++)
{
testb = data & 0x01;
data = data >> 1;
if (testb)
{
temp=(~temp)+1;
value=temp*(-0.0625);
DS18B20_DQ_OUT_LOW; // 拉低至少1微秒
Delay(2,'u');
DS18B20_DQ_OUT_HIGH;
Delay(60,'u');
}
else
{
value=temp*0.0625;
DS18B20_DQ_OUT_LOW; // 写0 至少拉低60微秒
Delay(60,'u');
DS18B20_DQ_OUT_HIGH; // 释放总线 至少1微秒
Delay(2,'u');
}
return value;
}
}
void DS18B20_Start(void)
{
DS18B20_Rst();
DS18B20_Check();
DS18B20_Write_Byte(0xCC);
DS18B20_Write_Byte(0x44);
}
uint8_t DS18B20_Init(void)
{
DS18B20_Rst();
return DS18B20_Check();
}
short DS18B20_Get_Temperature(void)
{
uint8_t TL, TH;
short temperature;
DS18B20_Start();
DS18B20_Rst();
DS18B20_Check();
DS18B20_Write_Byte(0xCC);
DS18B20_Write_Byte(0xBE);
TL = DS18B20_Read_Byte();
TH = DS18B20_Read_Byte();
if (TH > 7)
{
TH = ~TH;
TL = ~TL;
temperature = -1;
}
else
temperature = 1;
temperature = (TH << 8) | TL;
temperature = (float)temperature * 0.625;
return temperature;
}
Module/Src/emergency_stop.c
......@@ -12,7 +12,6 @@ void Emergency_Stop_Interrupt(void) {
} else { // 检测PD14的下降沿
Serial_Print("PE2: 按下 (急停按钮 - 低电平)\n");
}
// 清除中断标志位
EXTI->PR = EXTI_PR_PR2;
}
}
Module/Src/onewire.c deleted 100644 → 0
#include "onewire.h"
#include "common.h"
// 初始化 One-Wire 总线 (PD12)
void Onewire_Init(void) {
// 设置高电平
ONEWIRE_PORT->BSRR = ONEWIRE_PIN;
}
// 设置引脚为输出模式
void Onewire_Pin_Output(void) {
// 设置PD12为推挽输出模式
GPIOD->CRH &= ~(0xF << 16); // 清除PD12的配置
GPIOD->CRH |= (0x3 << 16); // 设置为推挽输出模式
}
// 设置引脚为输入模式
void Onewire_Pin_Input(void) {
// 设置PD12为浮空输入模式
GPIOD->CRH &= ~(0xF << 16); // 清除PD12的配置
GPIOD->CRH |= (0x4 << 16); // 设置为浮空输入模式
}
// 复位 One-Wire 总线并检测传感器是否存在
uint8_t Onewire_Reset(void) {
uint8_t response = 0;
// 拉低总线 480 微秒
Onewire_Pin_Output();
ONEWIRE_PORT->BRR = ONEWIRE_PIN; // 拉低
Delay(480, 'u');
// 释放总线，并等待响应
Onewire_Pin_Input();
Delay(60, 'u');
// 检测传感器响应
response = (ONEWIRE_PORT->IDR & ONEWIRE_PIN) ? 1 : 0;
// 等待 420 微秒
Delay(420, 'u');
return !response; // 返回响应信号，0 表示设备存在
}
// 向 One-Wire 设备发送一位数据
void Onewire_SendBit(unsigned char Bit) {
Onewire_Pin_Output(); // 设置为输出模式
if (Bit) {
ONEWIRE_PORT->BRR = ONEWIRE_PIN; // 拉低 1 微秒
Delay(1, 'u');
Onewire_Pin_Input(); // 释放总线
Delay(60, 'u'); // 保持高电平 60 微秒
} else {
ONEWIRE_PORT->BRR = ONEWIRE_PIN; // 拉低 60 微秒
Delay(60, 'u');
Onewire_Pin_Input(); // 释放总线
}
}
// 从 One-Wire 设备接收一位数据
unsigned char Onewire_ReceiveBit(void) {
unsigned char Bit = 0;
Onewire_Pin_Output(); // 设置为输出模式
ONEWIRE_PORT->BRR = ONEWIRE_PIN; // 拉低 1 微秒
Delay(1, 'u');
Onewire_Pin_Input(); // 释放总线
Delay(14, 'u');
// 读取数据
if (ONEWIRE_PORT->IDR & ONEWIRE_PIN) {
Bit = 1;
}
Delay(45, 'u'); // 等待剩余时间
return Bit;
}
// 向 One-Wire 设备发送一个字节数据
void Onewire_SendByte(unsigned char Byte) {
for (unsigned char i = 0; i < 8; i++) {
Onewire_SendBit(Byte & 0x01); // 发送每一位
Byte >>= 1;
}
}
// 从 One-Wire 设备接收一个字节数据
unsigned char Onewire_ReceiveByte(void) {
unsigned char Byte = 0;
for (unsigned char i = 0; i < 8; i++) {
Byte >>= 1;
if (Onewire_ReceiveBit()) {
Byte |= 0x80; // 设置最高位
}
}
return Byte;
}
Module/Src/parking_sensor.c
#include "parking_sensor.h"
#include "common.h"
#include "uart_log.h"
// 全局变量
volatile uint32_t pulse_time = 0; // 脉宽时间
volatile double distance_cm = 0.0; // 距离
volatile float distance_cm = 0.0; // 距离
volatile uint8_t capture_state = 0; // 捕获状态标志
volatile uint8_t last_pd14_state = 0; // 上一次 PD14 的状态
// 动态配置 PE0 - PE15 引脚
void Configure_PE_Pin(uint8_t pin, uint8_t mode) {
// 根据引脚号选择配置寄存器
......@@ -20,13 +23,16 @@ void Configure_PE_Pin(uint8_t pin, uint8_t mode) {
GPIOE->CRH &= ~(0xF << ((pin - 8) * 4)); // 清除该引脚的配置
GPIOE->CRH |= (mode << ((pin - 8) * 4)); // 设置该引脚的模式
}
GPIOE->BRR = 0xFC00;
}
// 发送触发信号
void SendTriggerSignal(void) {
GPIOE->BSRR = (1 << 14); // 设置 PE14 为高电平
Delay(25, 'u'); // 延时 10 微秒
GPIOE->BRR = (1 << 14); // 设置 PE14 为低电平
void SendTriggerSignal(uint8_t pin) {
Delay(4, 'u');
GPIOE->BSRR = (1 << pin); // 设置 PE14 为高电平
Delay(15, 'u'); // 延时 10 微秒
GPIOE->BRR = (1 << pin); // 设置 PE14 为低电平
}
// 初始化 TIM2 捕获模式
......@@ -39,49 +45,29 @@ void TIM2_Capture_Init(void)
TIM2->PSC = 72 - 1; // 72MHz / 72 = 1MHz
// 设置自动重装载寄存器
TIM2->ARR = 0xFFFF;
TIM2->ARR =29999;// 0xFFFF;
// 选择计数模式
TIM2->CR1 &= ~TIM_CR1_DIR;
// 使能TIM2
//TIM2->CR1 |= TIM_CR1_CEN;
}
// 计算距离，不考虑温度校正
double CalculateDistance()
{
const double soundSpeed = 340.0; // 固定声速 = 340 m/s
const double timeToDistanceFactor = soundSpeed / 2 / 10000000.0; // 转换因子（米/us）
return pulse_time * timeToDistanceFactor * 100; // 返回距离（cm）
}
// TIM2 中断服务程序，捕获脉宽
void Parking_Sensor_Interruption(void) {
uint32_t end_time;
uint8_t pd14_level = (GPIOD->IDR & GPIO_IDR_IDR14) ? 1 : 0;
Serial_Printf("pd14_level: %u\n", pd14_level);
if (pd14_level != last_pd14_state) { // 检测到电平变化
if (pd14_level == 1 && capture_state == 0) { // 上升沿
TIM2->CNT = 0; // 清零计数器
TIM2->CR1 |= TIM_CR1_CEN; // 启动计数器
capture_state = 1; // 标记上升沿已捕获，等待下降沿
} else if (pd14_level == 0 && capture_state == 1) { // 下降沿且上升沿已捕获
end_time = TIM2->CNT; // 读取当前计数器值作为脉宽时间
pulse_time = end_time; // 记录脉宽时间
pulse_time = TIM2->CNT; // 读取当前计数器值作为脉宽时间
TIM2->CR1 &= ~TIM_CR1_CEN; // 关闭计数器
TIM2->CNT = 0; // 清零计数器
capture_state = 0; // 重置捕获状态
// 计算距离
distance_cm = CalculateDistance();
// 打印距离信息
Serial_Printf("EXTI14_IRQHandler Pulse Time: %u us, Distance: %.5f cm\n", pulse_time, distance_cm);
distance_cm = CALCULATE_DISTANCE(pulse_time);
}
EXTI->PR |= EXTI_PR_PR14; // 清除中断标志位
last_pd14_state = pd14_level;
}
}
Module/Src/parking_sensor.c.orig
......@@ -8,11 +8,8 @@ volatile uint8_t capture_state = 0; // 捕获状态标志
volatile uint8_t last_pd14_state = 0; // 上一次 PD14 的状态
int HH = 1000000;
// 动态配置 PE0 - PE15 引脚
void Configure_PE_Pin(uint8_t pin, uint8_t mode) {
// 使能 GPIOE 时钟
RCC->APB2ENR |= RCC_APB2ENR_IOPEEN;
// 根据引脚号选择配置寄存器
if (pin < 8) {
// 配置低 8 位（PE0 - PE7）
......@@ -28,7 +25,7 @@ void Configure_PE_Pin(uint8_t pin, uint8_t mode) {
// 发送触发信号
void SendTriggerSignal(void) {
GPIOE->BSRR = (1 << 14); // 设置 PE14 为高电平
Delay(15, 'u'); // 延时 10 微秒
Delay(25, 'u'); // 延时 10 微秒
GPIOE->BRR = (1 << 14); // 设置 PE14 为低电平
}
......@@ -45,54 +42,41 @@ void TIM2_Capture_Init(void)
TIM2->ARR = 0xFFFF;
// 选择计数模式
TIM2->CR1 &= ~TIM_CR1_DIR; // 向上计数
TIM2->CR1 &= ~TIM_CR1_DIR;
// 使能TIM2
TIM2->CR1 |= TIM_CR1_CEN;
//TIM2->CR1 |= TIM_CR1_CEN;
}
// 计算距离，不考虑温度校正
double CalculateDistance()
{
const double soundSpeed = 340.0; // 固定声速 = 340 m/s
const double timeToDistanceFactor = soundSpeed / 2 / 10000000.0; // 转换因子（米/us）
return pulse_time * timeToDistanceFactor * 100; // 返回距离（cm）
}
// TIM2 中断服务程序，捕获脉宽
void Parking_Sensor_Interruption(void)
{
static uint32_t start_time = 0;
void Parking_Sensor_Interruption(void) {
uint32_t end_time;
volatile uint32_t idr_value = GPIOD->IDR;
uint8_t pd14_state = ((idr_value & (1 << 14)) != 0) ? 1 : 0;
Serial_Printf("PD14: %u\n", pd14_state);
if (pd14_state != last_pd14_state) // 检测到电平变化
{
if (pd14_state && capture_state == 0 ) // 上升沿
{
start_time = TIM2->CNT; // 记录上升沿时间
capture_state = 1; // 标记上升沿已捕获
}
else {
end_time = TIM2->CNT; // 记录下降沿时间
pulse_time = (end_time >= start_time) ? (end_time - start_time) : (0xFFFF - start_time + end_time + 1);
Serial_Printf("下降沿: %u \n", pulse_time);
capture_state = 2; // 标记捕获完成
uint8_t pd14_level = (GPIOD->IDR & GPIO_IDR_IDR14) ? 1 : 0;
Serial_Printf("pd14_level: %u\n", pd14_level);
if (pd14_level != last_pd14_state) { // 检测到电平变化
if (pd14_level == 1 && capture_state == 0) { // 上升沿
TIM2->CNT = 0; // 清零计数器
TIM2->CR1 |= TIM_CR1_CEN; // 启动计数器
capture_state = 1; // 标记上升沿已捕获，等待下降沿
} else if (pd14_level == 0 && capture_state == 1) { // 下降沿且上升沿已捕获
end_time = TIM2->CNT; // 读取当前计数器值作为脉宽时间
pulse_time = end_time; // 记录脉宽时间
TIM2->CR1 &= ~TIM_CR1_CEN; // 关闭计数器
TIM2->CNT = 0; // 清零计数器
capture_state = 0; // 重置捕获状态
// 计算距离
distance_cm = CalculateDistance();
float distance_cm = CALCULATE_DISTANCE(pulse_time);
// 打印距离信息
Serial_Printf("EXTI14_IRQHandler Pulse Time: %u, Distance: %.5f cm\n", pulse_time, distance_cm);
Serial_Printf("EXTI14_IRQHandler Pulse Time: %u us,distance_cm: \n", pulse_time);
Serial_PrintFloat(distance_cm);
Serial_Print("\n");
}
last_pd14_state = pd14_state ;
last_pd14_state = pd14_level;
}
}
\ No newline at end of file
}
Module/Src/photoelectric_switch.c
......@@ -9,8 +9,6 @@ void Photoelectric_Switch_Interrupt(void) {
} else { // 检测PB9的下降沿
Serial_Printf("PB9: 物体移开 (NPN 传感器 - 低电平)\n");
}
// 清除中断标志位
EXTI->PR = EXTI_PR_PR9;
}
if (EXTI->PR & EXTI_PR_PR0) { // 检查是否是中断线0触发的中断（PE0）
......@@ -20,7 +18,6 @@ void Photoelectric_Switch_Interrupt(void) {
} else { // 检测PE0的下降沿
Serial_Printf("PE0: 物体移开 (NPN 传感器 - 低电平)\n");
}
// 清除中断标志位
EXTI->PR = EXTI_PR_PR0;
}
}
Module/Src/temperature_sensor.c deleted 100644 → 0
#include "temperature_sensor.h"
#include "onewire.h"
#include "uart_log.h"
#include <stddef.h> // 引入 size_t 类型定义
#define CRC8_POLYNOMIAL 0x31
uint8_t crc8(const uint8_t *buf, size_t len) {
uint8_t crc = 0;
for (size_t pos = 0; pos < len; ++pos) {
crc ^= buf[pos];
for (uint8_t bit = 8; bit; --bit) {
if (crc & 0x80) {
crc = (crc << 1) ^ CRC8_POLYNOMIAL;
} else {
crc = (crc << 1);
}
}
}
return crc;
}
void TemperatureSensor_ConvertT(void) {
Onewire_Init(); // 初始化 One-Wire 总线
if (!Onewire_Reset()) { // 复位总线并检查是否有设备响应
Serial_Printf("No device detected.\n");
return;
}
// 跳过 ROM
Onewire_SendByte(0xCC);
// 启动温度转换
Onewire_SendByte(0x44); // 启动温度转换命令
}
float TemperatureSensor_ReadT(void) {
// uint8_t rom_address[8]; // 存储ROM地址 如果不需要，可以移除这一行
uint8_t scratchpad[9]; // 存储Scratchpad数据
uint8_t crc_result;
int16_t Temp;
float temperature;
Onewire_Init(); // 初始化 One-Wire 总线
if (!Onewire_Reset()) { // 复位总线并检查是否有设备响应
Serial_Printf("No device detected.\n");
return -1.0;
}
// 跳过 ROM
Onewire_SendByte(0xCC);
// 读取 Scratchpad
Onewire_SendByte(0xBE);
// 读取 Scratchpad 数据
for (int i = 0; i < 9; i++) {
scratchpad[i] = Onewire_ReceiveByte();
}
// 计算 CRC 并验证
crc_result = crc8(scratchpad, 8);
if (crc_result != scratchpad[8]) {
Serial_Printf("CRC error.\n");
return -1.0;
}
// 提取温度数据
uint8_t TLSB = scratchpad[0]; // 低字节
uint8_t TMSB = scratchpad[1]; // 高字节
Temp = (TMSB << 8) | TLSB; // 合并两个字节
temperature = Temp / 16.0; // 计算实际温度
Serial_Printf("TLSB: %02X, TMSB: %02X, Temp: %d, Temperature: %.2f C\n",
TLSB, TMSB, Temp, temperature);
return temperature;
}
Module/Src/uart_log.c
//#include "uart_log.h"
//#include <stdarg.h>
//#include <string.h>
//#include <stdio.h> // 包含<stdio.h>头文件
//// 缓冲区大小
//#define SERIAL_BUFFER_SIZE 128
//// USART1 GPIO初始化
//void USART1_GPIO_Init(void) {
// // 使能GPIOA和USART1时钟
// RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_USART1EN;
// GPIOA->CRH &= ~(0xF << 4); // 清除PA9配置
// GPIOA->CRH |= (0xB << 4); // 配置PA9为复用功能推挽输出
// GPIOA->CRH &= ~(0xF << 8); // 清除PA10配置
// GPIOA->CRH |= (0x4 << 8); // 配置PA10为浮空输入（接收器）
//}
//// USART1初始化
//void USART1_Init(void) {
// // 设置波特率
// USART1->BRR =0x1D4C;
// // 配置USART1
// USART1->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE; // 使能USART1、发送器和接收器
// USART1->CR2 = 0; // 不使用流控制
// USART1->CR3 = 0; // 不使用额外功能
//}
//// 发送一个字符
//void USART1_SendChar(char ch) {
// while (!(USART1->SR & USART_SR_TXE)); // 等待发送缓冲区为空
// USART1->DR = (ch & 0xFF); // 发送字符
//}
//// 发送字符串
//void USART1_SendString(const char *str) {
// while (*str) {
// USART1_SendChar(*str++);
// }
//}
//// 格式化字符串并发送
//void USART1_SendFormatted(const char *format, ...) {
// char buffer[SERIAL_BUFFER_SIZE];
// va_list args;
// va_start(args, format);
// vsnprintf(buffer, sizeof(buffer), format, args);
// va_end(args);
// USART1_SendString(buffer);
//}
//// 初始化串口日志
//void Serial_Init(void) {
// USART1_GPIO_Init();
// USART1_Init();
//}
//// 打印字符串
//void Serial_Print(const char *str) {
// USART1_SendString(str);
//}
//// 打印字符
//void Serial_Write(char ch) {
// USART1_SendChar(ch);
//}
//// 打印格式化字符串
//void Serial_Printf(const char *format, ...) {
// va_list args;
// va_start(args, format);
// USART1_SendFormatted(format, args);
// va_end(args);
//}
#include "uart_log.h"
#include <stdarg.h>
#include <string.h>
#include <stdio.h> // 包含<stdio.h>头文件
#define SERIAL_BUFFER_SIZE 128
#define SERIAL_BUFFER_SIZE 256
void USART1_GPIO_Init(void) {
RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_USART1EN;
GPIOA->CRH &= ~(0xF << 4);
......@@ -90,7 +13,7 @@ void USART1_GPIO_Init(void) {
}
void USART1_Init(void) {
USART1->BRR = 0x1D4C;
USART1->BRR = 0x271; // 设置波特率为 115200
USART1->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE;
USART1->CR2 = 0;
USART1->CR3 = 0;
......@@ -125,10 +48,45 @@ void Serial_Printf(const char *format, ...) {
va_list args;
va_start(args, format);
vsnprintf(buffer, sizeof(buffer), format, args);
int result = vsnprintf(buffer, SERIAL_BUFFER_SIZE, format, args);
if (result >= 0) {
// 如果成功格式化字符串，则发送
USART1_SendString(buffer);
} else {
// 如果失败，则发送错误消息
USART1_SendString("Format error");
}
va_end(args);
USART1_SendString(buffer);
}
void Serial_PrintFloat(float num) {
// 确定符号并取绝对值以处理负数
int isNegative = num < 0;
if (isNegative) {
num = -num;
}
// 分离整数部分
int integerPart = (int)num;
// 计算小数部分，但转换为整数来避免精度问题
int fractionalPart = (int)((num - integerPart) * 10000); // 保留四位小数
// 调整负数输出
char buffer[64];
if (isNegative) {
snprintf(buffer, sizeof(buffer), "-%d.%04d", integerPart, fractionalPart);
} else {
snprintf(buffer, sizeof(buffer), "%d.%04d", integerPart, fractionalPart);
}
// 去除末尾的零
char* endPtr = buffer + strlen(buffer) - 1;
while (*endPtr == '0' && *(endPtr - 1) != '.') {
*endPtr = '\0';
endPtr--;
}
Serial_Print(buffer);
}
MotorControl.uvguix.14347
......@@ -11,17 +11,17 @@
<View>
<WinId>38003</WinId>
<ViewName>Registers</ViewName>
<TableColWidths>115 275</TableColWidths>
<TableColWidths>115 197</TableColWidths>
</View>
<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
<TableColWidths>370 496</TableColWidths>
<TableColWidths>370 160</TableColWidths>
</View>
<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
<TableColWidths>578 79 79 130</TableColWidths>
<TableColWidths>530</TableColWidths>
</View>
</SECTreeCtrl>
......@@ -75,25 +75,25 @@
<flags>2</flags>
<showCmd>3</showCmd>
<MinPosition>
<xPos>-32000</xPos>
<yPos>-32000</yPos>
<xPos>-1</xPos>
<yPos>-1</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
<yPos>-1</yPos>
</MaxPosition>
<NormalPosition>
<Top>16</Top>
<Left>126</Left>
<Right>1086</Right>
<Bottom>537</Bottom>
<Top>55</Top>
<Left>374</Left>
<Right>1334</Right>
<Bottom>576</Bottom>
</NormalPosition>
</WindowPosition>
<MDIClientArea>
<RegID>0</RegID>
<MDITabState>
<Len>2558</Len>
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......@@ -235,14 +235,14 @@
<BreakIfRCount>1</BreakIfRCount>
<Filename>D:\宓屽叆寮?mcu\Motor_Control\Module\Src\parking_sensor.c</Filename>
<ExecCommand></ExecCommand>
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......@@ -251,7 +251,23 @@
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<ExecCommand></ExecCommand>
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......@@ -532,58 +548,6 @@
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<tvExpOptDlg>0</tvExpOptDlg>
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......
MotorControl.uvprojx
......@@ -494,26 +494,6 @@
<FilePath>.\Module\Src\photoelectric_switch.c</FilePath>
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......
Objects/MotorControl.axf
No preview for this file type
Objects/MotorControl.build_log.htm
......@@ -27,22 +27,17 @@ Project File Date: 10/28/2024
<h2>Output:</h2>
Build target 'PWM'
compiling main.c...
.\Module\Inc\parking_sensor.h(25): warning: #1295-D: Deprecated declaration CalculateDistance - give arg types
double CalculateDistance();
main.c(103): warning: #128-D: loop is not reachable
while (1) {
main.c: 1 warning, 0 errors
compiling uart_log.c...
compiling rotate_motor.c...
compiling pneumatic_solenoid.c...
compiling parking_sensor.c...
.\Module\Inc\parking_sensor.h(25): warning: #1295-D: Deprecated declaration CalculateDistance - give arg types
double CalculateDistance();
Module\Src\parking_sensor.c: 1 warning, 0 errors
compiling common.c...
.\Module\Inc\parking_sensor.h(25): warning: #1295-D: Deprecated declaration CalculateDistance - give arg types
double CalculateDistance();
Module\Src\common.c(109): warning: #61-D: integer operation result is out of range
Module\Src\common.c(110): warning: #61-D: integer operation result is out of range
GPIOE->CRL &= ~(0xF << (4*7)); // 清空 PE7 配置 (?0-23)
Module\Src\common.c: 2 warnings, 0 errors
Module\Src\common.c: 1 warning, 0 errors
compiling distance_switch.c...
compiling photoelectric_switch.c...
compiling onewire.c...
......@@ -54,9 +49,9 @@ compiling ds18b20.c...
assembling startup_stm32f10x_hd.s...
compiling system_stm32f10x.c...
linking...
Program Size: Code=12812 RO-data=916 RW-data=20 ZI-data=1636
Program Size: Code=14236 RO-data=920 RW-data=12 ZI-data=1636
FromELF: creating hex file...
".\Objects\MotorControl.axf" - 0 Error(s), 4 Warning(s).
".\Objects\MotorControl.axf" - 0 Error(s), 2 Warning(s).
<h2>Software Packages used:</h2>
......
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Objects/MotorControl.htm
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Objects/MotorControl_PWM.dep
Dependencies for Project 'MotorControl', Target 'PWM': (DO NOT MODIFY !)
F (.\main.c)(0x6720B343)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d)
F (.\main.c)(0x67233B8D)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
......@@ -11,17 +11,17 @@ I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.
I (.\Module\Inc\rotate_motor.h)(0x6718AEFF)
I (.\Module\Inc\motor_common.h)(0x6718AC7D)
I (C:\Keil_v5\ARM\ARMCC\include\stdbool.h)(0x5475F300)
I (.\Module\Inc\walking_motor.h)(0x6719AF6C)
I (.\Module\Inc\uart_log.h)(0x66F3E910)
I (.\Module\Inc\walking_motor.h)(0x6720BF4F)
I (.\Module\Inc\uart_log.h)(0x6721D22B)
I (.\Module\Inc\common.h)(0x671F8315)
I (.\Module\Inc\buzzer.h)(0x671A184C)
I (.\Module\Inc\pneumatic_solenoid.h)(0x6718D44F)
I (.\Module\Inc\temperature_sensor.h)(0x671226BD)
I (.\Module\Inc\ds18b20.h)(0x6720A65E)
I (.\Module\Inc\parking_sensor.h)(0x67209827)
F (.\Module\Inc\uart_log.h)(0x66F3E910)()
F (.\Module\Src\uart_log.c)(0x67204CB8)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\uart_log.o --omf_browse .\objects\uart_log.crf --depend .\objects\uart_log.d)
I (.\Module\Inc\uart_log.h)(0x66F3E910)
I (.\Module\Inc\ds18b20.h)(0x67233A7C)
I (.\Module\Inc\parking_sensor.h)(0x6722D8C5)
F (.\Module\Inc\uart_log.h)(0x6721D22B)()
F (.\Module\Src\uart_log.c)(0x6721F425)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\uart_log.o --omf_browse .\objects\uart_log.crf --depend .\objects\uart_log.d)
I (.\Module\Inc\uart_log.h)(0x6721D22B)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
......@@ -33,7 +33,7 @@ I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.
I (C:\Keil_v5\ARM\ARMCC\include\stdarg.h)(0x5475F2FA)
I (C:\Keil_v5\ARM\ARMCC\include\string.h)(0x5475F300)
I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5475F300)
F (.\Module\Inc\walking_motor.h)(0x6719AF6C)()
F (.\Module\Inc\walking_motor.h)(0x6720BF4F)()
F (.\Module\Inc\rotate_motor.h)(0x6718AEFF)()
F (.\Module\Src\rotate_motor.c)(0x671B437F)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\rotate_motor.o --omf_browse .\objects\rotate_motor.crf --depend .\objects\rotate_motor.d)
I (.\Module\Inc\rotate_motor.h)(0x6718AEFF)
......@@ -59,9 +59,9 @@ I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
I (.\Module\Inc\uart_log.h)(0x66F3E910)
F (.\Module\Src\parking_sensor.c)(0x6720B33E)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\parking_sensor.o --omf_browse .\objects\parking_sensor.crf --depend .\objects\parking_sensor.d)
I (.\Module\Inc\parking_sensor.h)(0x67209827)
I (.\Module\Inc\uart_log.h)(0x6721D22B)
F (.\Module\Src\parking_sensor.c)(0x6722ED0C)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\parking_sensor.o --omf_browse .\objects\parking_sensor.crf --depend .\objects\parking_sensor.d)
I (.\Module\Inc\parking_sensor.h)(0x6722D8C5)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
......@@ -71,10 +71,10 @@ I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
I (.\Module\Inc\common.h)(0x671F8315)
I (.\Module\Inc\uart_log.h)(0x66F3E910)
I (.\Module\Inc\uart_log.h)(0x6721D22B)
F (.\Module\Inc\common.h)(0x671F8315)()
F (.\Module\Inc\parking_sensor.h)(0x67209827)()
F (.\Module\Src\common.c)(0x6720BD8F)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\common.o --omf_browse .\objects\common.crf --depend .\objects\common.d)
F (.\Module\Inc\parking_sensor.h)(0x6722D8C5)()
F (.\Module\Src\common.c)(0x6722E417)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\common.o --omf_browse .\objects\common.crf --depend .\objects\common.d)
I (.\Module\Inc\common.h)(0x671F8315)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
......@@ -84,13 +84,13 @@ I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
I (.\Module\Inc\parking_sensor.h)(0x67209827)
I (.\Module\Inc\parking_sensor.h)(0x6722D8C5)
I (.\Module\Inc\distance_switch.h)(0x6718D48C)
I (.\Module\Inc\photoelectric_switch.h)(0x6719AC13)
I (.\Module\Inc\emergency_stop.h)(0x6718D4AA)
I (.\Module\Inc\uart_log.h)(0x66F3E910)
I (.\Module\Inc\uart_log.h)(0x6721D22B)
F (.\Module\Inc\distance_switch.h)(0x6718D48C)()
F (.\Module\Src\distance_switch.c)(0x6719FB3A)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\distance_switch.o --omf_browse .\objects\distance_switch.crf --depend .\objects\distance_switch.d)
F (.\Module\Src\distance_switch.c)(0x6721A623)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\distance_switch.o --omf_browse .\objects\distance_switch.crf --depend .\objects\distance_switch.d)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
......@@ -99,10 +99,10 @@ I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
I (.\Module\Inc\uart_log.h)(0x66F3E910)
I (.\Module\Inc\uart_log.h)(0x6721D22B)
I (.\Module\Inc\distance_switch.h)(0x6718D48C)
F (.\Module\Inc\photoelectric_switch.h)(0x6719AC13)()
F (.\Module\Src\photoelectric_switch.c)(0x6719E7CC)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\photoelectric_switch.o --omf_browse .\objects\photoelectric_switch.crf --depend .\objects\photoelectric_switch.d)
F (.\Module\Src\photoelectric_switch.c)(0x6721A623)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\photoelectric_switch.o --omf_browse .\objects\photoelectric_switch.crf --depend .\objects\photoelectric_switch.d)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
......@@ -112,7 +112,7 @@ I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
I (.\Module\Inc\photoelectric_switch.h)(0x6719AC13)
I (.\Module\Inc\uart_log.h)(0x66F3E910)
I (.\Module\Inc\uart_log.h)(0x6721D22B)
F (.\Module\Inc\temperature_sensor.h)(0x671226BD)()
F (.\Module\Inc\onewire.h)(0x671B0B89)()
F (.\Module\Src\onewire.c)(0x671B1061)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\onewire.o --omf_browse .\objects\onewire.crf --depend .\objects\onewire.d)
......@@ -137,10 +137,10 @@ I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
I (.\Module\Inc\uart_log.h)(0x66F3E910)
I (.\Module\Inc\uart_log.h)(0x6721D22B)
I (C:\Keil_v5\ARM\ARMCC\include\stddef.h)(0x5475F300)
F (.\Module\Inc\emergency_stop.h)(0x6718D4AA)()
F (.\Module\Src\emergency_stop.c)(0x671A01AA)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\emergency_stop.o --omf_browse .\objects\emergency_stop.crf --depend .\objects\emergency_stop.d)
F (.\Module\Src\emergency_stop.c)(0x6721A623)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\emergency_stop.o --omf_browse .\objects\emergency_stop.crf --depend .\objects\emergency_stop.d)
I (.\Module\Inc\emergency_stop.h)(0x6718D4AA)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
......@@ -150,7 +150,7 @@ I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
I (.\Module\Inc\uart_log.h)(0x66F3E910)
I (.\Module\Inc\uart_log.h)(0x6721D22B)
F (.\Module\Inc\buzzer.h)(0x671A184C)()
F (.\Module\Src\buzzer.c)(0x671A183C)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\buzzer.o --omf_browse .\objects\buzzer.crf --depend .\objects\buzzer.d)
I (.\Module\Inc\buzzer.h)(0x671A184C)
......@@ -165,7 +165,7 @@ I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.
I (.\Module\Inc\common.h)(0x671F8315)
F (.\Module\Inc\motor_common.h)(0x6718AC7D)()
F (.\Module\Src\walking_motor.c)(0x6719A2FF)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\walking_motor.o --omf_browse .\objects\walking_motor.crf --depend .\objects\walking_motor.d)
I (.\Module\Inc\walking_motor.h)(0x6719AF6C)
I (.\Module\Inc\walking_motor.h)(0x6720BF4F)
I (.\Module\Inc\motor_common.h)(0x6718AC7D)
I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5475F300)
I (C:\Keil_v5\ARM\ARMCC\include\stdbool.h)(0x5475F300)
......@@ -177,9 +177,9 @@ I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
F (.\Module\Inc\ds18b20.h)(0x6720A65E)()
F (.\Module\Src\ds18b20.c)(0x6720A544)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\ds18b20.o --omf_browse .\objects\ds18b20.crf --depend .\objects\ds18b20.d)
I (.\Module\Inc\ds18b20.h)(0x6720A65E)
F (.\Module\Inc\ds18b20.h)(0x67233A7C)()
F (.\Module\Src\ds18b20.c)(0x67233B46)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99 -I D:\Ƕʽ\mcu\Motor_Control\RTE -I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1 -I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include -I C:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD -o .\objects\ds18b20.o --omf_browse .\objects\ds18b20.crf --depend .\objects\ds18b20.d)
I (.\Module\Inc\ds18b20.h)(0x67233A7C)
I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
......
Objects/buzzer.o
No preview for this file type
Objects/common.crf
No preview for this file type
Objects/common.o
No preview for this file type
Objects/ds18b20.crf
No preview for this file type
Objects/ds18b20.o
No preview for this file type
Objects/emergency_stop.o
No preview for this file type
Objects/main.crf
No preview for this file type
Objects/main.o
No preview for this file type
Objects/onewire.o
No preview for this file type
Objects/parking_sensor.o
No preview for this file type
Objects/rotate_motor.o
No preview for this file type
Objects/uart_log.crf
No preview for this file type
Objects/uart_log.o
No preview for this file type
Objects/walking_motor.o
No preview for this file type
main.c
......@@ -4,9 +4,7 @@
#include "walking_motor.h"
#include "uart_log.h"
#include "common.h"
#include "buzzer.h"
#include "pneumatic_solenoid.h"
#include "temperature_sensor.h"
#include "ds18b20.h"
#include "parking_sensor.h"
......@@ -20,6 +18,8 @@ int main(void) {
Serial_Init();
TIM7_Init();
// 定义步进电机结构体
......@@ -64,31 +64,32 @@ int main(void) {
Buzzer_On();
// 配置 PE14 为推挽输出
// 配置 PE14 为推挽输出
Configure_PE_Pin(14, 0x3);
// 初始化 TIM2 捕获模式
// 初始化 TIM2 捕获模式
TIM2_Capture_Init();
SendTriggerSignal();
//
// DS18B20_Init(); // 初始化 DS18B20
// uint32_t data=0;
// while (data<=0) {
// Serial_Printf("temperature = %02d\r\n\n",DS18B20_GetTemperture());
// data = DS18B20_GetTemperture() * 100;
SendTriggerSignal(14);
float temperature;;
while(DS18B20_Init())
{
Serial_Print("DS18B20 checked failed!!!\r\n");
}
float temperature=DS18B20_Get_Temperature();
if(temperature < 0)
Serial_Printf("temperature = -%.2f degree\r\n",temperature/10);
else
Serial_Printf("temperature = %.2f degree\r\n",temperature/10);
// Serial_Printf("temperature = %d.%02d\r\n\n", data/100, data % 100);
//
// Delay(1000, 'm'); // 延时 1 秒
// }
;
......
main.c.orig
......@@ -4,9 +4,7 @@
#include "walking_motor.h"
#include "uart_log.h"
#include "common.h"
#include "buzzer.h"
#include "pneumatic_solenoid.h"
#include "temperature_sensor.h"
#include "ds18b20.h"
#include "parking_sensor.h"
......@@ -20,6 +18,8 @@ int main(void) {
Serial_Init();
TIM7_Init();
// 定义步进电机结构体
......@@ -63,38 +63,33 @@ int main(void) {
Buzzer_On();
Serial_Print("main: Before TIM2_Init\n");
TIM2_Init();
Serial_Print("main: Before Delay\n");
Delay(1000, 'm');
Serial_Print("main: Before Start_Measurement\n");
Start_Measurement(1 << 14);
Serial_Print("main: After Start_Measurement\n");
Serial_Print("main: DS18B20_Init\n");
// 配置 PE14 为推挽输出
Configure_PE_Pin(14, 0x3);
// 初始化 TIM2 捕获模式
TIM2_Capture_Init();
// 初始化DS18B20
if (DS18B20_Init() == 0)
{
// 检测到DS18B20的情况可以进行一些处理，例如点亮一个LED
// 或者在开发板上的屏幕显示“DS18B20 Detected!”之类的信息
}
else
{
// 没有检测到DS18B20，可能需要给出错误处理
Serial_Printf("没有检测到DS18B20，可能需要给出错误处理");
}
SendTriggerSignal(14);
uint32_t data = DS18B20_GetTemperture() * 100;
float temperature;;
Serial_Printf("temperature = %d.%02d\r\n\n", data/100, data % 100);
while(DS18B20_Init())
{
Serial_Print("DS18B20 checked failed!!!\r\n");
}
float temperature=DS18B20_Get_Temperature();
if(temperature < 0)
Serial_Printf("temperature = -%.2f degree\r\n",temperature/10);
else
Serial_Printf("temperature = %.2f degree\r\n",temperature/10);
......
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