Update binary files in 3D directory: modified SLDASM and SLDPRT files

Core/Bsp/bsp_track_ir.c

@@ -0,0 +1,94 @@
+#include "bsp_track_ir.h"
+
+void track_ir_init(void)
+{
+    /*
+     * 引脚模式和上下拉由 CubeMX 配置。
+     * 这里先保留初始化接口，后续若需要滤波/标定可直接扩展。
+     */
+}
+
+// 读取原始电平状态（bit=1 表示 GPIO 为高电平）
+uint8_t track_ir_get_raw_mask(void)
+{
+    uint8_t mask = 0;
+
+    if (HAL_GPIO_ReadPin(H1_GPIO_Port, H1_Pin) == GPIO_PIN_SET) {
+        mask |= TRACK_IR_H1_BIT;
+    }
+    if (HAL_GPIO_ReadPin(H2_GPIO_Port, H2_Pin) == GPIO_PIN_SET) {
+        mask |= TRACK_IR_H2_BIT;
+    }
+    if (HAL_GPIO_ReadPin(H3_GPIO_Port, H3_Pin) == GPIO_PIN_SET) {
+        mask |= TRACK_IR_H3_BIT;
+    }
+    if (HAL_GPIO_ReadPin(H4_GPIO_Port, H4_Pin) == GPIO_PIN_SET) {
+        mask |= TRACK_IR_H4_BIT;
+    }
+
+    return mask;
+}
+
+// 读取线状态掩码（bit=1 表示对应通道检测到黑线）
+uint8_t track_ir_get_line_mask(void)
+{
+    uint8_t mask = 0;
+
+    if (HAL_GPIO_ReadPin(H1_GPIO_Port, H1_Pin) == TRACK_IR_ACTIVE_LEVEL) {
+        mask |= TRACK_IR_H1_BIT;
+    }
+    if (HAL_GPIO_ReadPin(H2_GPIO_Port, H2_Pin) == TRACK_IR_ACTIVE_LEVEL) {
+        mask |= TRACK_IR_H2_BIT;
+    }
+    if (HAL_GPIO_ReadPin(H3_GPIO_Port, H3_Pin) == TRACK_IR_ACTIVE_LEVEL) {
+        mask |= TRACK_IR_H3_BIT;
+    }
+    if (HAL_GPIO_ReadPin(H4_GPIO_Port, H4_Pin) == TRACK_IR_ACTIVE_LEVEL) {
+        mask |= TRACK_IR_H4_BIT;
+    }
+
+    return mask;
+}
+
+track_ir_state_t track_ir_basic_judge(void)
+{
+    uint8_t line_mask = track_ir_get_line_mask();
+    uint8_t left_mask = line_mask & (TRACK_IR_H4_BIT | TRACK_IR_H3_BIT);
+    uint8_t right_mask = line_mask & (TRACK_IR_H2_BIT | TRACK_IR_H1_BIT);
+
+    if (line_mask == 0U) {
+        return TRACK_IR_STATE_LOST;
+    }
+
+    if (line_mask == (TRACK_IR_H1_BIT | TRACK_IR_H2_BIT | TRACK_IR_H3_BIT | TRACK_IR_H4_BIT)) {
+        return TRACK_IR_STATE_CROSS;
+    }
+
+    if ((left_mask != 0U) && (right_mask == 0U)) {
+        return TRACK_IR_STATE_LEFT;
+    }
+
+    if ((right_mask != 0U) && (left_mask == 0U)) {
+        return TRACK_IR_STATE_RIGHT;
+    }
+
+    return TRACK_IR_STATE_CENTER;
+}
+
+const char *track_ir_state_to_string(track_ir_state_t state)
+{
+    switch (state) {
+    case TRACK_IR_STATE_LOST:
+        return "LOST";
+    case TRACK_IR_STATE_LEFT:
+        return "LEFT";
+    case TRACK_IR_STATE_CENTER:
+        return "CENTER";
+    case TRACK_IR_STATE_RIGHT:
+        return "RIGHT";
+    case TRACK_IR_STATE_CROSS:
+        return "CROSS";
+    default:
+        return "UNKNOWN";
+    }
+}