wangbeihong/car_stm32f103vet6
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特性：实现电机控制与霍尔传感器功能

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新增电机板级支持包：基于 AT8236-MS 驱动芯片，实现了对 4 个直流电机的 PWM 控制。
实现霍尔传感器功能：用于速度测量和脉冲计数。
更新 GPIO 初始化：为霍尔传感器添加了外部中断（EXTI）配置。
修改系统时钟配置：改用高速外部时钟（HSE）并调整了锁相环（PLL）设置。
更改定时器配置：将时基生成从 TIM8 改为 TIM4。
增强 FreeRTOS 任务：实现从霍尔传感器周期性读取并更新速度数据。
更新项目配置：以反映外设使用情况和优先级的变更。
This commit is contained in:
wangbeihong
2026-04-03 20:24:55 +08:00
parent a53aa38ed3
commit 1cc8327f13
17 changed files with 682 additions and 149 deletions
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148
f103_car.ioc
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@@ -39,10 +39,11 @@ Dma.USART2_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART2_TX.2.PeriphInc=DMA_PINC_DISABLE
Dma.USART2_TX.2.Priority=DMA_PRIORITY_LOW
Dma.USART2_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,FootprintOK,Queues01
FREERTOS.FootprintOK=false
FREERTOS.IPParameters=Tasks01,FootprintOK,Queues01,configTOTAL_HEAP_SIZE
FREERTOS.Queues01=CmdQueue,16,16,1,Dynamic,NULL,NULL
FREERTOS.Tasks01=initTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;CarCtrlTask,24,256,CarCtrl_Task,As weak,NULL,Dynamic,NULL,NULL
FREERTOS.Tasks01=initTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;CarCtrlTask,24,256,CarCtrl_Task,As weak,NULL,Dynamic,NULL,NULL;timerTask,16,512,speed_get,As weak,NULL,Dynamic,NULL,NULL
FREERTOS.configTOTAL_HEAP_SIZE=10000
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
@@ -64,40 +65,42 @@ Mcu.IPNb=12
Mcu.Name=STM32F103V(C-D-E)Tx
Mcu.Package=LQFP100
Mcu.Pin0=PC13-TAMPER-RTC
Mcu.Pin1=PA0-WKUP
Mcu.Pin10=PE9
Mcu.Pin11=PE11
Mcu.Pin12=PE13
Mcu.Pin13=PE14
Mcu.Pin14=PB14
Mcu.Pin15=PB15
Mcu.Pin16=PD8
Mcu.Pin17=PD9
Mcu.Pin18=PD11
Mcu.Pin19=PD12
Mcu.Pin2=PA2
Mcu.Pin20=PD13
Mcu.Pin21=PD14
Mcu.Pin22=PD15
Mcu.Pin23=PC6
Mcu.Pin24=PA9
Mcu.Pin25=PA10
Mcu.Pin26=PA13
Mcu.Pin27=PA14
Mcu.Pin28=PA15
Mcu.Pin29=PD5
Mcu.Pin3=PA3
Mcu.Pin30=PD6
Mcu.Pin31=PB3
Mcu.Pin32=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin33=VP_SYS_VS_tim8
Mcu.Pin4=PA5
Mcu.Pin5=PA6
Mcu.Pin6=PA7
Mcu.Pin7=PC4
Mcu.Pin8=PC5
Mcu.Pin9=PB0
Mcu.PinsNb=34
Mcu.Pin1=OSC_IN
Mcu.Pin10=PC5
Mcu.Pin11=PB0
Mcu.Pin12=PE9
Mcu.Pin13=PE11
Mcu.Pin14=PE13
Mcu.Pin15=PE14
Mcu.Pin16=PB14
Mcu.Pin17=PB15
Mcu.Pin18=PD8
Mcu.Pin19=PD9
Mcu.Pin2=OSC_OUT
Mcu.Pin20=PD11
Mcu.Pin21=PD12
Mcu.Pin22=PD13
Mcu.Pin23=PD14
Mcu.Pin24=PD15
Mcu.Pin25=PC6
Mcu.Pin26=PA9
Mcu.Pin27=PA10
Mcu.Pin28=PA13
Mcu.Pin29=PA14
Mcu.Pin3=PA0-WKUP
Mcu.Pin30=PA15
Mcu.Pin31=PD5
Mcu.Pin32=PD6
Mcu.Pin33=PB3
Mcu.Pin34=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin35=VP_SYS_VS_tim4
Mcu.Pin4=PA2
Mcu.Pin5=PA3
Mcu.Pin6=PA5
Mcu.Pin7=PA6
Mcu.Pin8=PA7
Mcu.Pin9=PC4
Mcu.PinsNb=36
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F103VETx
@@ -108,6 +111,8 @@ NVIC.DMA1_Channel4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Channel5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Channel7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.EXTI9_5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -119,12 +124,16 @@ NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM8_UP_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TimeBase=TIM8_UP_IRQn
NVIC.TimeBaseIP=TIM8
NVIC.TIM4_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TimeBase=TIM4_IRQn
NVIC.TimeBaseIP=TIM4
NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.USART2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
OSC_IN.Mode=HSE-External-Oscillator
OSC_IN.Signal=RCC_OSC_IN
OSC_OUT.Mode=HSE-External-Oscillator
OSC_OUT.Signal=RCC_OSC_OUT
PA0-WKUP.GPIOParameters=GPIO_Label
PA0-WKUP.GPIO_Label=HC-SR04
PA0-WKUP.Signal=ADCx_IN0
@@ -265,32 +274,33 @@ ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_SPI1_Init-SPI1-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM2_Init-TIM2-false-HAL-true,8-MX_USART1_UART_Init-USART1-false-HAL-true,9-MX_USART2_UART_Init-USART2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true
RCC.ADCFreqValue=10666666.666666666
RCC.ADCFreqValue=12000000
RCC.ADCPresc=RCC_ADCPCLK2_DIV6
RCC.AHBFreq_Value=64000000
RCC.AHBFreq_Value=72000000
RCC.APB1CLKDivider=RCC_HCLK_DIV2
RCC.APB1Freq_Value=32000000
RCC.APB1TimFreq_Value=64000000
RCC.APB2Freq_Value=64000000
RCC.APB2TimFreq_Value=64000000
RCC.FCLKCortexFreq_Value=64000000
RCC.FSMCFreq_Value=64000000
RCC.APB1Freq_Value=36000000
RCC.APB1TimFreq_Value=72000000
RCC.APB2Freq_Value=72000000
RCC.APB2TimFreq_Value=72000000
RCC.FCLKCortexFreq_Value=72000000
RCC.FSMCFreq_Value=72000000
RCC.FamilyName=M
RCC.HCLKFreq_Value=64000000
RCC.I2S2Freq_Value=64000000
RCC.I2S3Freq_Value=64000000
RCC.IPParameters=ADCFreqValue,ADCPresc,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,FCLKCortexFreq_Value,FSMCFreq_Value,FamilyName,HCLKFreq_Value,I2S2Freq_Value,I2S3Freq_Value,MCOFreq_Value,PLLCLKFreq_Value,PLLMCOFreq_Value,PLLMUL,SDIOFreq_Value,SDIOHCLKDiv2FreqValue,SYSCLKFreq_VALUE,SYSCLKSource,TimSysFreq_Value,USBFreq_Value,VCOOutput2Freq_Value
RCC.MCOFreq_Value=64000000
RCC.PLLCLKFreq_Value=64000000
RCC.PLLMCOFreq_Value=32000000
RCC.PLLMUL=RCC_PLL_MUL16
RCC.SDIOFreq_Value=64000000
RCC.SDIOHCLKDiv2FreqValue=32000000
RCC.SYSCLKFreq_VALUE=64000000
RCC.HCLKFreq_Value=72000000
RCC.I2S2Freq_Value=72000000
RCC.I2S3Freq_Value=72000000
RCC.IPParameters=ADCFreqValue,ADCPresc,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,FCLKCortexFreq_Value,FSMCFreq_Value,FamilyName,HCLKFreq_Value,I2S2Freq_Value,I2S3Freq_Value,MCOFreq_Value,PLLCLKFreq_Value,PLLMCOFreq_Value,PLLMUL,PLLSourceVirtual,SDIOFreq_Value,SDIOHCLKDiv2FreqValue,SYSCLKFreq_VALUE,SYSCLKSource,TimSysFreq_Value,USBFreq_Value,VCOOutput2Freq_Value
RCC.MCOFreq_Value=72000000
RCC.PLLCLKFreq_Value=72000000
RCC.PLLMCOFreq_Value=36000000
RCC.PLLMUL=RCC_PLL_MUL9
RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
RCC.SDIOFreq_Value=72000000
RCC.SDIOHCLKDiv2FreqValue=36000000
RCC.SYSCLKFreq_VALUE=72000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.TimSysFreq_Value=64000000
RCC.USBFreq_Value=64000000
RCC.VCOOutput2Freq_Value=4000000
RCC.TimSysFreq_Value=72000000
RCC.USBFreq_Value=72000000
RCC.VCOOutput2Freq_Value=8000000
SH.ADCx_IN0.0=ADC1_IN0,IN0
SH.ADCx_IN0.ConfNb=1
SH.GPXTI14.0=GPIO_EXTI14
@@ -322,21 +332,25 @@ SH.S_TIM2_CH4.ConfNb=1
SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1
SH.S_TIM3_CH1.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4
SPI1.CalculateBaudRate=16.0 MBits/s
SPI1.CalculateBaudRate=18.0 MBits/s
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
SPI1.Mode=SPI_MODE_MASTER
SPI1.VirtualType=VM_MASTER
TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Period,AutoReloadPreload
TIM1.Period=3599
TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Period,AutoReloadPreload
TIM2.Period=3599
TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM3.IPParameters=Channel-PWM Generation1 CH1
USART1.IPParameters=VirtualMode
@@ -345,7 +359,7 @@ USART2.IPParameters=VirtualMode
USART2.VirtualMode=VM_ASYNC
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
VP_SYS_VS_tim8.Mode=TIM8
VP_SYS_VS_tim8.Signal=SYS_VS_tim8
VP_SYS_VS_tim4.Mode=TIM4
VP_SYS_VS_tim4.Signal=SYS_VS_tim4
board=custom
rtos.0.ip=FREERTOS