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car_stm32f103vet6/f103_car.ioc
wangbeihong 1cc8327f13 特性：实现电机控制与霍尔传感器功能 
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。
2026-04-03 20:24:55 +08:00

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#MicroXplorer Configuration settings - do not modify
ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_0
ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag
ADC1.NbrOfConversionFlag=1
ADC1.Rank-0\#ChannelRegularConversion=1
ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_1CYCLE_5
ADC1.master=1
CAD.formats=
CAD.pinconfig=
CAD.provider=
Dma.Request0=USART1_RX
Dma.Request1=USART1_TX
Dma.Request2=USART2_TX
Dma.RequestsNb=3
Dma.USART1_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART1_RX.0.Instance=DMA1_Channel5
Dma.USART1_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART1_RX.0.MemInc=DMA_MINC_ENABLE
Dma.USART1_RX.0.Mode=DMA_NORMAL
Dma.USART1_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART1_RX.0.PeriphInc=DMA_PINC_DISABLE
Dma.USART1_RX.0.Priority=DMA_PRIORITY_LOW
Dma.USART1_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
Dma.USART1_TX.1.Direction=DMA_MEMORY_TO_PERIPH
Dma.USART1_TX.1.Instance=DMA1_Channel4
Dma.USART1_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART1_TX.1.MemInc=DMA_MINC_ENABLE
Dma.USART1_TX.1.Mode=DMA_NORMAL
Dma.USART1_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART1_TX.1.PeriphInc=DMA_PINC_DISABLE
Dma.USART1_TX.1.Priority=DMA_PRIORITY_LOW
Dma.USART1_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
Dma.USART2_TX.2.Direction=DMA_MEMORY_TO_PERIPH
Dma.USART2_TX.2.Instance=DMA1_Channel7
Dma.USART2_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART2_TX.2.MemInc=DMA_MINC_ENABLE
Dma.USART2_TX.2.Mode=DMA_NORMAL
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=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;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
Mcu.CPN=STM32F103VET6
Mcu.Family=STM32F1
Mcu.IP0=ADC1
Mcu.IP1=DMA
Mcu.IP10=USART1
Mcu.IP11=USART2
Mcu.IP2=FREERTOS
Mcu.IP3=NVIC
Mcu.IP4=RCC
Mcu.IP5=SPI1
Mcu.IP6=SYS
Mcu.IP7=TIM1
Mcu.IP8=TIM2
Mcu.IP9=TIM3
Mcu.IPNb=12
Mcu.Name=STM32F103V(C-D-E)Tx
Mcu.Package=LQFP100
Mcu.Pin0=PC13-TAMPER-RTC
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
MxCube.Version=6.16.1
MxDb.Version=DB.6.0.161
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
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
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
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
PA10.Mode=Asynchronous
PA10.Signal=USART1_RX
PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK
PA15.GPIOParameters=GPIO_Label
PA15.GPIO_Label=M3_W
PA15.Signal=S_TIM2_CH1_ETR
PA2.GPIOParameters=GPIO_Label
PA2.GPIO_Label=M4_W
PA2.Signal=S_TIM2_CH3
PA3.GPIOParameters=GPIO_Label
PA3.GPIO_Label=M4_S
PA3.Signal=S_TIM2_CH4
PA5.Mode=Full_Duplex_Master
PA5.Signal=SPI1_SCK
PA6.Mode=Full_Duplex_Master
PA6.Signal=SPI1_MISO
PA7.Mode=Full_Duplex_Master
PA7.Signal=SPI1_MOSI
PA9.Mode=Asynchronous
PA9.Signal=USART1_TX
PB0.GPIOParameters=GPIO_Label
PB0.GPIO_Label=RST
PB0.Locked=true
PB0.Signal=GPIO_Output
PB14.GPIOParameters=GPIO_Label
PB14.GPIO_Label=M_I_4
PB14.Locked=true
PB14.Signal=GPXTI14
PB15.GPIOParameters=GPIO_Label
PB15.GPIO_Label=M_I_3
PB15.Locked=true
PB15.Signal=GPXTI15
PB3.GPIOParameters=GPIO_Label
PB3.GPIO_Label=M3_S
PB3.Signal=S_TIM2_CH2
PC13-TAMPER-RTC.GPIOParameters=GPIO_Label
PC13-TAMPER-RTC.GPIO_Label=RUN_LED
PC13-TAMPER-RTC.Locked=true
PC13-TAMPER-RTC.Signal=GPIO_Output
PC4.GPIOParameters=GPIO_Label
PC4.GPIO_Label=SDA
PC4.Locked=true
PC4.Signal=GPIO_Output
PC5.GPIOParameters=GPIO_Label
PC5.GPIO_Label=IOR
PC5.Locked=true
PC5.Signal=GPXTI5
PC6.Locked=true
PC6.Signal=S_TIM3_CH1
PCC.Checker=false
PCC.Line=STM32F103
PCC.MCU=STM32F103V(C-D-E)Tx
PCC.PartNumber=STM32F103VETx
PCC.Series=STM32F1
PCC.Temperature=25
PCC.Vdd=3.3
PD11.GPIOParameters=GPIO_Label
PD11.GPIO_Label=H4
PD11.Locked=true
PD11.Signal=GPIO_Input
PD12.GPIOParameters=GPIO_Label
PD12.GPIO_Label=H3
PD12.Locked=true
PD12.Signal=GPIO_Input
PD13.GPIOParameters=GPIO_Label
PD13.GPIO_Label=H2
PD13.Locked=true
PD13.Signal=GPIO_Input
PD14.GPIOParameters=GPIO_Label
PD14.GPIO_Label=H1
PD14.Locked=true
PD14.Signal=GPIO_Input
PD15.GPIOParameters=GPIO_Label
PD15.GPIO_Label=LED
PD15.Locked=true
PD15.Signal=GPIO_Output
PD5.Mode=Asynchronous
PD5.Signal=USART2_TX
PD6.Mode=Asynchronous
PD6.Signal=USART2_RX
PD8.GPIOParameters=GPIO_Label
PD8.GPIO_Label=M_I_2
PD8.Locked=true
PD8.Signal=GPXTI8
PD9.GPIOParameters=GPIO_Label
PD9.GPIO_Label=M_I_1
PD9.Locked=true
PD9.Signal=GPXTI9
PE11.GPIOParameters=GPIO_Label
PE11.GPIO_Label=M1_S
PE11.Signal=S_TIM1_CH2
PE13.GPIOParameters=GPIO_Label
PE13.GPIO_Label=M2_W
PE13.Signal=S_TIM1_CH3
PE14.GPIOParameters=GPIO_Label
PE14.GPIO_Label=M2_S
PE14.Signal=S_TIM1_CH4
PE9.GPIOParameters=GPIO_Label
PE9.GPIO_Label=M1_W
PE9.Signal=S_TIM1_CH1
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
ProjectManager.CompilerLinker=GCC
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=true
ProjectManager.CustomerFirmwarePackage=
ProjectManager.DefaultFWLocation=true
ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32F103VETx
ProjectManager.FirmwarePackage=STM32Cube FW_F1 V1.8.7
ProjectManager.FreePins=false
ProjectManager.FreePinsContext=
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=0
ProjectManager.MainLocation=Core/Src
ProjectManager.NoMain=false
ProjectManager.PreviousToolchain=
ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=f103_car.ioc
ProjectManager.ProjectName=f103_car
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=CMake
ProjectManager.ToolChainLocation=
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=12000000
RCC.ADCPresc=RCC_ADCPCLK2_DIV6
RCC.AHBFreq_Value=72000000
RCC.APB1CLKDivider=RCC_HCLK_DIV2
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=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=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
SH.GPXTI14.ConfNb=1
SH.GPXTI15.0=GPIO_EXTI15
SH.GPXTI15.ConfNb=1
SH.GPXTI5.0=GPIO_EXTI5
SH.GPXTI5.ConfNb=1
SH.GPXTI8.0=GPIO_EXTI8
SH.GPXTI8.ConfNb=1
SH.GPXTI9.0=GPIO_EXTI9
SH.GPXTI9.ConfNb=1
SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
SH.S_TIM1_CH2.ConfNb=1
SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
SH.S_TIM1_CH3.ConfNb=1
SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
SH.S_TIM1_CH4.ConfNb=1
SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1
SH.S_TIM2_CH1_ETR.ConfNb=1
SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2
SH.S_TIM2_CH2.ConfNb=1
SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
SH.S_TIM2_CH3.ConfNb=1
SH.S_TIM2_CH4.0=TIM2_CH4,PWM Generation4 CH4
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=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,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,Period,AutoReloadPreload
TIM2.Period=3599
TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM3.IPParameters=Channel-PWM Generation1 CH1
USART1.IPParameters=VirtualMode
USART1.VirtualMode=VM_ASYNC
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_tim4.Mode=TIM4
VP_SYS_VS_tim4.Signal=SYS_VS_tim4
board=custom
rtos.0.ip=FREERTOS
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