wangbeihong
65478d9f02
- 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
126 lines
3.9 KiB
C
126 lines
3.9 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file gpio.c
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* @brief This file provides code for the configuration
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* of all used GPIO pins.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "gpio.h"
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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/*----------------------------------------------------------------------------*/
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/* Configure GPIO */
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/*----------------------------------------------------------------------------*/
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/** Configure pins as
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* Analog
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* Input
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* Output
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* EVENT_OUT
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* EXTI
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*/
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void MX_GPIO_Init(void)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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/* GPIO Ports Clock Enable */
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__HAL_RCC_GPIOC_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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__HAL_RCC_GPIOE_CLK_ENABLE();
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__HAL_RCC_GPIOD_CLK_ENABLE();
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(GPIOC, RUN_LED_Pin|SDA_Pin|TRIG_Pin, GPIO_PIN_RESET);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(RST_GPIO_Port, RST_Pin, GPIO_PIN_RESET);
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/*Configure GPIO pin Output Level */
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HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);
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/*Configure GPIO pins : RUN_LED_Pin SDA_Pin TRIG_Pin */
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GPIO_InitStruct.Pin = RUN_LED_Pin|SDA_Pin|TRIG_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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/*Configure GPIO pin : IOR_Pin */
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GPIO_InitStruct.Pin = IOR_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(IOR_GPIO_Port, &GPIO_InitStruct);
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/*Configure GPIO pin : RST_Pin */
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GPIO_InitStruct.Pin = RST_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(RST_GPIO_Port, &GPIO_InitStruct);
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/*Configure GPIO pins : M_I_4_Pin M_I_3_Pin */
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GPIO_InitStruct.Pin = M_I_4_Pin|M_I_3_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/*Configure GPIO pins : M_I_2_Pin M_I_1_Pin */
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GPIO_InitStruct.Pin = M_I_2_Pin|M_I_1_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
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/*Configure GPIO pins : H4_Pin H3_Pin H2_Pin H1_Pin */
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GPIO_InitStruct.Pin = H4_Pin|H3_Pin|H2_Pin|H1_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
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/*Configure GPIO pin : LED_Pin */
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GPIO_InitStruct.Pin = LED_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
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/*Configure GPIO pin : ECHO_Pin */
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GPIO_InitStruct.Pin = ECHO_Pin;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(ECHO_GPIO_Port, &GPIO_InitStruct);
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/* EXTI interrupt init*/
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HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
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HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
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}
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/* USER CODE BEGIN 2 */
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/* USER CODE END 2 */
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