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feat: 集成循迹与超声波驱动并优化控制任务节拍

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- 新增 HC-SR04 驱动与测距接口（bsp_sr04）

- 增加循迹状态读取与输出，完善任务内日志

- 调整 CarCtrl 闭环更新周期，匹配霍尔测速周期，降低抖动

- 同步更新 CubeMX/CMake 生成配置与相关引脚定义
This commit is contained in:
wangbeihong
2026-04-14 21:59:49 +08:00
parent 91151c250a
commit 65478d9f02
15 changed files with 267 additions and 279 deletions
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4
Core/Bsp/bsp_hall.c
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@@ -1,4 +1,5 @@
#include "bsp_hall.h"
#include "bsp_sr04.h"
/* 霍尔传感器数据结构体定义描述 */
@@ -134,7 +135,10 @@ float hall_update_speed(motor_id_t motor_id, uint32_t interval_ms)
void speed_get(void *argument) {
/* USER CODE BEGIN speed_get */
/* Infinite loop */
for (;;) {
/* 在每 100ms 执行一次的任务中 */
for (int i = 0; i < MOTOR_COUNT; i++) {
hall_update_speed(i, 100);

90
Core/Bsp/bsp_sr04.c Normal file
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@@ -0,0 +1,90 @@
#include "bsp_sr04.h"
#include "cmsis_os.h"
/*
* 声音在 20℃ 时的速度约为 340m/s
* 距离 (cm) = (微秒时间 * 0.0343) / 2
*/
#define SOUND_SPEED_CM_US 0.0343f
static sr04_data_t sr04_dev = {0};
/**
* @brief 使用 DWT (Cortex-M 内部计数器) 实现精准微秒延迟
* @note 72MHz 下计数 72 次即为 1us，这是最高精度的延时/计时方式，不占用通用定时器
*/
static void delay_us(uint32_t us)
{
uint32_t start_tick = DWT->CYCCNT;
uint32_t delay_ticks = us * (SystemCoreClock / 1000000);
while ((DWT->CYCCNT - start_tick) < delay_ticks);
}
void sr04_init(void)
{
/* 1. 初始化 DWT 计数器 (Cortex-M3 内核自带) */
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
DWT->CYCCNT = 0;
DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
/* 2. 引脚初始状态 */
HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_RESET);
HAL_Delay(50); // 等待模块内部稳定
sr04_dev.distance = 0.0f;
}
float sr04_measure(void)
{
uint32_t start_time = 0;
uint32_t end_time = 0;
uint32_t timeout_cnt = 0;
/* 0. 确保 Trig 电平已经提前拉低，防止状态异常 */
HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_RESET);
delay_us(5);
/* 1. 发送触发信号：给 20us 宽脉冲（新版 HC-SR04 常需更稳的触发） */
HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_SET);
delay_us(25);
HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_RESET);
/* 2. 等待 Echo 引脚变高 (开始计时) */
// 超时判断改为 10ms (Echo 通常在 Trig 后很快变高)
timeout_cnt = HAL_GetTick();
while (HAL_GPIO_ReadPin(ECHO_GPIO_Port, ECHO_Pin) == GPIO_PIN_RESET) {
if ((HAL_GetTick() - timeout_cnt) > 10) {
// 如果死活等不到高电平，说明模块没被触发或 ECHO 引脚接线/电平不对
sr04_dev.distance = 0.0f;
return 0.0f;
}
}
start_time = DWT->CYCCNT;
/* 3. 等待 Echo 引脚变低 (结束计时) */
while (HAL_GPIO_ReadPin(ECHO_GPIO_Port, ECHO_Pin) == GPIO_PIN_SET) {
// 简单保护以防挂死，超过 30ms (5米) 强退
if ((DWT->CYCCNT - start_time) > (SystemCoreClock / 33)) break;
}
end_time = DWT->CYCCNT;
/* 4. 精准计算距离 */
// 振荡次数 / (频率 / 1000000) = 微秒数
float duration_us = (float)(end_time - start_time) / (SystemCoreClock / 1000000);
// 距离 (cm) = (时间 * 声速) / 2
// 在这里我们加一个微小的补偿，如果 duration_us 过小也视为 0
if (duration_us < 5.0f) {
sr04_dev.distance = 0.0f;
} else {
sr04_dev.distance = (duration_us * SOUND_SPEED_CM_US) / 2.0f;
}
sr04_dev.last_tick = HAL_GetTick();
return sr04_dev.distance;
}
float sr04_get_distance(void)
{
return sr04_dev.distance;
}

33
Core/Bsp/bsp_sr04.h Normal file
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@@ -0,0 +1,33 @@
#ifndef __BSP_SR04_H
#define __BSP_SR04_H
#include "main.h"
/**
* @brief 超声波模块数据结构
*/
typedef struct {
float distance; // 测量距离 (单位: cm)
uint32_t last_tick; // 上次测量时间戳
} sr04_data_t;
/**
* @brief 超声波模块初始化
* @note 由于没有空闲硬件定时器捕获通道，本驱动采用 GPIO + 软件计数/HAL_GetTick 的方式
* 建议在 main.c 中确保 TRIG 引脚初始电平为低。
*/
void sr04_init(void);
/**
* @brief 触发一次测距
* @return float 返回当前测量距离 (cm)。若超时或错误返回 -1.0
*/
float sr04_measure(void);
/**
* @brief 获取最近一次测量的距离接口
* @return float 距离 (cm)
*/
float sr04_get_distance(void);
#endif /* __BSP_SR04_H */

7
Core/Bsp/protocol.c
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@@ -348,8 +348,11 @@ void CarCtrl_Task(void *argument) {
/* 2. 执行 PID 闭环控制更新 */
CarCtrl_UpdateClosedLoop();
/* 闭环频率建议：20ms 次 (50Hz) */
osDelay(20);
/*
* 与 hall_update_speed() 的 100ms 采样周期对齐，避免 PID 使用过期速度反复修正。
* 如果后续把测速周期改成 20ms，这里也要同步改回 20ms。
*/
osDelay(100);
}
/* USER CODE END CarCtrl_Task */
}

52
Core/Inc/adc.h
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@@ -1,52 +0,0 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file adc.h
* @brief This file contains all the function prototypes for
* the adc.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __ADC_H__
#define __ADC_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern ADC_HandleTypeDef hadc1;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_ADC1_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __ADC_H__ */

6
Core/Inc/main.h
View File

@@ -59,8 +59,6 @@ void Error_Handler(void);
/* Private defines -----------------------------------------------------------*/
#define RUN_LED_Pin GPIO_PIN_13
#define RUN_LED_GPIO_Port GPIOC
#define HC_SR04_Pin GPIO_PIN_0
#define HC_SR04_GPIO_Port GPIOA
#define M4_W_Pin GPIO_PIN_2
#define M4_W_GPIO_Port GPIOA
#define M4_S_Pin GPIO_PIN_3
@@ -102,6 +100,10 @@ void Error_Handler(void);
#define H1_GPIO_Port GPIOD
#define LED_Pin GPIO_PIN_15
#define LED_GPIO_Port GPIOD
#define ECHO_Pin GPIO_PIN_8
#define ECHO_GPIO_Port GPIOC
#define TRIG_Pin GPIO_PIN_9
#define TRIG_GPIO_Port GPIOC
#define M3_W_Pin GPIO_PIN_15
#define M3_W_GPIO_Port GPIOA
#define M3_S_Pin GPIO_PIN_3

2
Core/Inc/stm32f1xx_hal_conf.h
View File

@@ -34,7 +34,7 @@
*/
#define HAL_MODULE_ENABLED
#define HAL_ADC_MODULE_ENABLED
/*#define HAL_ADC_MODULE_ENABLED */
/*#define HAL_CRYP_MODULE_ENABLED */
/*#define HAL_CAN_MODULE_ENABLED */
/*#define HAL_CAN_LEGACY_MODULE_ENABLED */

122
Core/Src/adc.c
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@@ -1,122 +0,0 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file adc.c
* @brief This file provides code for the configuration
* of the ADC instances.
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "adc.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
ADC_HandleTypeDef hadc1;
/* ADC1 init function */
void MX_ADC1_Init(void)
{
/* USER CODE BEGIN ADC1_Init 0 */
/* USER CODE END ADC1_Init 0 */
ADC_ChannelConfTypeDef sConfig = {0};
/* USER CODE BEGIN ADC1_Init 1 */
/* USER CODE END ADC1_Init 1 */
/** Common config
*/
hadc1.Instance = ADC1;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_0;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
/* USER CODE END ADC1_MspInit 0 */
/* ADC1 clock enable */
__HAL_RCC_ADC1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**ADC1 GPIO Configuration
PA0-WKUP ------> ADC1_IN0
*/
GPIO_InitStruct.Pin = HC_SR04_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(HC_SR04_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
}
}
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
{
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspDeInit 0 */
/* USER CODE END ADC1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC1_CLK_DISABLE();
/**ADC1 GPIO Configuration
PA0-WKUP ------> ADC1_IN0
*/
HAL_GPIO_DeInit(HC_SR04_GPIO_Port, HC_SR04_Pin);
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

46
Core/Src/freertos.c
View File

@@ -33,6 +33,7 @@
#include "usart.h"
#include "bsp_hall.h" // 添加对 bsp_hall.h 的包含
#include "bsp_track_ir.h" // 添加对 bsp_track_ir.h 的包含
#include "bsp_sr04.h" // 添加超声波头文件
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -75,6 +76,13 @@ const osThreadAttr_t timerTask_attributes = {
.stack_size = 512 * 4,
.priority = (osPriority_t) osPriorityBelowNormal,
};
/* Definitions for sr04Task */
osThreadId_t sr04TaskHandle;
const osThreadAttr_t sr04Task_attributes = {
.name = "sr04Task",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityLow,
};
/* Definitions for CmdQueue */
osMessageQueueId_t CmdQueueHandle;
const osMessageQueueAttr_t CmdQueue_attributes = {
@@ -98,6 +106,7 @@ PUTCHAR_PROTOTYPE {
void StartDefaultTask(void *argument);
void CarCtrl_Task(void *argument);
void speed_get(void *argument);
void sr04_task(void *argument);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
@@ -116,6 +125,7 @@ void MX_FREERTOS_Init(void) {
motor_init(); // 初始化电机相关外设
hall_init(); // 初始化霍尔传感器
track_ir_init(); // 初始化轨迹红外传感器
sr04_init(); // 初始化超声波
/* USER CODE END Init */
@@ -149,6 +159,9 @@ void MX_FREERTOS_Init(void) {
/* creation of timerTask */
timerTaskHandle = osThreadNew(speed_get, NULL, &timerTask_attributes);
/* creation of sr04Task */
sr04TaskHandle = osThreadNew(sr04_task, NULL, &sr04Task_attributes);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
@@ -170,11 +183,18 @@ void StartDefaultTask(void *argument)
{
/* USER CODE BEGIN StartDefaultTask */
/* Infinite loop */
uint32_t last_log_tick = 0;
for (;;) {
track_ir_state_t state = track_ir_basic_judge();
uint32_t now_tick = HAL_GetTick();
track_ir_state_t state = track_ir_basic_judge();
printf("循迹状态: %s\r\n", track_ir_state_to_string(state));
HAL_Delay(100);
/* 降低串口打印频率，避免阻塞式输出影响电机节拍 */
if ((now_tick - last_log_tick) >= 500U) {
printf("循迹状态: %s\r\n", track_ir_state_to_string(state));
printf("当前距离: %.2f cm\r\n", sr04_get_distance());
last_log_tick = now_tick;
}
osDelay(100);
}
/* USER CODE END StartDefaultTask */
}
@@ -216,6 +236,26 @@ __weak void speed_get(void *argument)
/* USER CODE END speed_get */
}
/* USER CODE BEGIN Header_sr04_task */
/**
* @brief Function implementing the sr04Task thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_sr04_task */
void sr04_task(void *argument)
{
/* USER CODE BEGIN sr04_task */
/* Infinite loop */
for(;;)
{
/* 超声波单独运行，避免阻塞控制任务 */
sr04_measure();
osDelay(100);
}
/* USER CODE END sr04_task */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

12
Core/Src/gpio.c
View File

@@ -52,7 +52,7 @@ void MX_GPIO_Init(void)
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, RUN_LED_Pin|SDA_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOC, RUN_LED_Pin|SDA_Pin|TRIG_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(RST_GPIO_Port, RST_Pin, GPIO_PIN_RESET);
@@ -60,8 +60,8 @@ void MX_GPIO_Init(void)
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : RUN_LED_Pin SDA_Pin */
GPIO_InitStruct.Pin = RUN_LED_Pin|SDA_Pin;
/*Configure GPIO pins : RUN_LED_Pin SDA_Pin TRIG_Pin */
GPIO_InitStruct.Pin = RUN_LED_Pin|SDA_Pin|TRIG_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -105,6 +105,12 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : ECHO_Pin */
GPIO_InitStruct.Pin = ECHO_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(ECHO_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);

9
Core/Src/main.c
View File

@@ -19,7 +19,6 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "adc.h"
#include "dma.h"
#include "spi.h"
#include "tim.h"
@@ -94,7 +93,6 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_SPI1_Init();
MX_TIM1_Init();
MX_TIM2_Init();
@@ -135,7 +133,6 @@ void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
@@ -165,12 +162,6 @@ void SystemClock_Config(void)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */