思岚激光雷达小车程序stm32程序

思岚的激光雷达底盘小车stm32程序，拥有超声波，激光雷达，红外，自动回充，碰撞检测的代码(注此代码需要用IAR编译器，不用KEIL)

/*
* This file is automatically generated by Slamware Config Tool
* The encoded config is
{
    “base“: {
        “manufacture_id“: 255
        “manufacture_name“: “Slamtec“
        “model_id“: 4096
        “model_name“: “Slamware SDP“
        “hardware_version“: 1
        “robot_size“: 0.36
        “low_battery_percentage_for_charging“: 0.3
        “high_battery_percentage_for_charging“: 0.7
        “low_battery_auto_homing“: true
        “sensors“: [
            {
                “id“: 0
                “type“: “bumper“
                “installation_pose“: {
                    “x“: 0.12
                    “y“: 0.12
                    “z“: 0.05
                    “yaw“: 0.785398
                }
            }
            {
                “id“: 1
                “type“: “bumper“
                “installation_pose“: {
                    “x“: 0.12
                    “y“: -0.12
                    “z“: 0.05
                    “yaw“: 5.497787
                }
            }
            {
                “id“: 2
                “type“: “cliff“
                “installation_pose“: {
                    “x“: 0.044
                    “y“: 0.1642
                    “z“: -0.02
                    “yaw“: 4.974188
                }
            }
            {
                “id“: 3
                “type“: “cliff“
                “installation_pose“: {
                    “x“: 0.147
                    “y“: 0.085
                    “z“: -0.02
                    “yaw“: 5.759587
                }
            }
            {
                “id“: 4
                “type“: “cliff“
                “installation_pose“: {
                    “x“: 0.147
                    “y“: -0.085
                    “z“: -0.02
                    “yaw“: 0.523599
                }
            }
            {
                “id“: 5
                “type“: “cliff“
                “installation_pose“: {
                    “x“: 0.044
                    “y“: -0.1642
                    “z“: -0.02
                    “yaw“: 1.308997
                }
            }
        ]
    }
    “lidar“: {
        “installation_pose“: {
            “x“: -0.0304
            “yaw“: 3.141592653589793
        }
    }
    “feature“: {
        “has_ir_docking_tower“: true
    }
    “motion_plan“: {
        “side_margin“: 0.01
        “bump_handle_strategy“: “default“
    }
}

* Please DO NOT modify this by hand
*/

#include 
#include 

const unsigned char slamware_config[] = {
0x500x040x000x500x0a0x010x100xff0x020x300x070x530x6c0x610x6d0x74
0x650x630x030x110x000x100x040x300x0c0x530x6c0x610x6d0x770x610x72
0x650x200x530x440x500x050x100x010x060x200xec0x510xb80x3e0x070x20
0x9a0x990x990x3e0x080x200x330x330x330x3f0x090x600x0a0x400x060x50
0x030x190x100x000x0

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2017-02-28 12:10  slamwarekit_reference_code.20170228\
     目录           0  2017-02-28 12:11  slamwarekit_reference_code.20170228\base_ref\
     文件          56  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\.gitignore
     文件       66501  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\base_ref.ewp
     文件         162  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\base_ref.eww
     目录           0  2017-02-28 12:10  slamwarekit_reference_code.20170228\base_ref\iar_ldscript\
     文件        1355  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\iar_ldscript\stm32f10x_flash.icf
     文件        1340  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\iar_ldscript\stm32f10x_flash_dfu.icf
     文件        1422  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\iar_ldscript\stm32f10x_flash_extsram.icf
     文件        1355  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\iar_ldscript\stm32f10x_nor.icf
     文件        1355  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\iar_ldscript\stm32f10x_ram.icf
     目录           0  2017-02-28 12:10  slamwarekit_reference_code.20170228\base_ref\src\
     文件        4274  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\src\binary_config.c
     文件        6954  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\src\boarddef.h
     目录           0  2017-02-28 12:10  slamwarekit_reference_code.20170228\base_ref\src\boardfunc\
     文件        3275  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\src\boardfunc\stm32f10x_it.c
     文件        2403  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\src\boardfunc\stm32f10x_it.h
     文件        2482  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\src\boardfunc\util.c
     文件        3616  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\src\bump_monitor.c
     文件        1748  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\src\bump_monitor.h
     目录           0  2017-02-28 12:10  slamwarekit_reference_code.20170228\base_ref\src\common\
     文件        2261  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\src\common\common.h
     目录           0  2017-02-28 12:10  slamwarekit_reference_code.20170228\base_ref\src\drv\
     文件        8831  2017-02-28 12:10  slamwarekit_reference_code.20170228\base_ref\src\drv\battery.c
     文件        2210  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\src\drv\battery.h
     文件        4965  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\src\drv\beep.c
     文件        2237  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\src\drv\beep.h
     文件        2454  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\src\drv\bump.c
     文件        1742  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\src\drv\bump.h
     文件        6443  2017-02-22 15:22  slamwarekit_reference_code.20170228\base_ref\src\drv\ctrl_bus_cmd.h
     文件       11453  2016-11-10 14:27  slamwarekit_reference_code.20170228\base_ref\src\drv\distir.c
............此处省略155个文件信息