STM32蓝牙智能小车
这两周的实训课程，制作一个蓝牙控制的STM32智能小车。代码是给的。
硬件：
1.STM32板卡
2.电机驱动板L298N
3.小车套件（轮子，板材，电机等）
4.蓝牙JDY-30
5.18650锂电池
（巡线，超声波选配，代码有）
先测试电机是否能够正常运行（直接用STM32上的供电），组装小车，连接蓝牙，初始化配置蓝牙（AT指令），
最后烧录小车程序，测试小车能否正常运行。
需要学习这方面的知识：
蓝牙、串口、中断、GPIO、定时器、PWM。（过，不会的自己百度，看书，CSDN都一堆）
接线：
驱动电机与L298N：这还要我教？电机接对应的output,不对就反过来。
JDY-30与STM32连接 :
JDY-30 STM32
VCC <----------------> +5V
GND <----------------> GND
TXD <----------------> U1_Rx(PD2)
RXD <----------------> U1_Tx(PC12)
L298N与STM32连接 :
L298N STM32
GND <----------------> GND
+5V <----------------> +5V
IN1 <----------------> PB4
IN2 <----------------> PB3
IN3 <----------------> PB5
IN4 <----------------> PC11
L298N 与18650锂电池连接:
L298N 18650锂电池
GND <----------------> GND （黑色线）
+12V <----------------> VCC （红色线）
注意事项
电源线和地线切勿接反！！（如果反了可能烧掉MCU）。在烧录代码的时候，请不要外部锂电池给板卡供电！！！
主函数main.c
#include "stm32f10x.h"
#include "drv_rgb.h"
#include "drv_uart.h"
#include "SysTick.h"
#include
#include "misc.h"
#include "Front_hc04.h"
#include "drv_time.h"
#include "drv_car.h"
#include "drv_serchLine.h"
float retDate = 0;
int main(void)
{
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
SysTick_init(72);
RGB_Configuration();
Uart1_Configuration();
Uart5_Configuration();
TIM_InitConfig();
Hc_Sr04_Init();
TIM3_Configuration();
TIM_SetSpeed(0, 0);
SERCHLINE_Configuration();
Hc_Sr04_Start();
while(1)
{
if (AutoDriver_IsAutoDriverFlag())
{
// ×Ô¶¯Ñ°¼£
SERCHLINE_AutoRun();
// ×Ô¶¯±ÜÕÏ
if (HCSR04_IsGetDistantFlag())
{
HCSR04_ClearIsGetDistantFlag();
retDate = HC_SR04_Get_Distance();
printf("retDate = %f\n",retDate);
if (retDate < 3)
TIM_SetSpeed(0, 0);
delay_ms(50);
Hc_Sr04_Start();
}
}
}
}
中断函数stm32f10x_it.c：（手机APP自定义命令，16位那个，a的那个填是0A，b的是0B）
/**
******************************************************************************
* @file GPIO/IOToggle/stm32f10x_it.c
* @author MCD Application Team
* @version V3.5.0
* @date 08-April-2011
* @brief Main Interrupt Service Routines.
* This file provides template for all exceptions handler and peripherals
* interrupt service routine.
******************************************************************************
* @attention
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* © COPYRIGHT 2011 STMicroelectronics
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_it.h"
#include "stm32f10x_gpio.h"
#include "drv_uart.h"
#include "Front_hc04.h"
#include "SysTick.h"
#include "math.h"
#include "stm32f10x_exti.h"
#include "stdio.h"
#include "drv_time.h"
#include "drv_rgb.h"
/** @addtogroup STM32F10x_StdPeriph_Examples
* @{
*/
/** @addtogroup GPIO_IOToggle
* @{
*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/******************************************************************************/
/* Cortex-M3 Processor Exceptions Handlers */
/******************************************************************************/
/**
* @brief This function handles NMI exception.
* @param None
* @retval None
*/
void NMI_Handler(void)
{
}
/**
* @brief This function handles Hard Fault exception.
* @param None
* @retval None
*/
void HardFault_Handler(void)
{
/* Go to infinite loop when Hard Fault exception occurs */
while (1)
{
}
}
/**
* @brief This function handles Memory Manage exception.
* @param None
* @retval None
*/
void MemManage_Handler(void)
{
/* Go to infinite loop when Memory Manage exception occurs */
while (1)
{
}
}
/**
* @brief This function handles Bus Fault exception.
* @param None
* @retval None
*/
void BusFault_Handler(void)
{
/* Go to infinite loop when Bus Fault exception occurs */
while (1)
{
}
}
/**
* @brief This function handles Usage Fault exception.
* @param None
* @retval None
*/
void UsageFault_Handler(void)
{
/* Go to infinite loop when Usage Fault exception occurs */
while (1)
{
}
}
/**
* @brief This function handles SVCall exception.
* @param None
* @retval None
*/
void SVC_Handler(void)
{
}
/**
* @brief This function handles Debug Monitor exception.
* @param None
* @retval None
*/
void DebugMon_Handler(void)
{
}
/**
* @brief This function handles PendSV_Handler exception.
* @param None
* @retval None
*/
void PendSV_Handler(void)
{
}
/**
* @brief This function handles SysTick Handler.
* @param None
* @retval None
*/
void SysTick_Handler(void)
{
}
/******************************************************************************/
/* STM32F10x Peripherals Interrupt Handlers */
/* Add here the Interrupt Handler for the used peripheral(s) (PPP), for the */
/* available peripheral interrupt handler's name please refer to the startup */
/* file (startup_stm32f10x_xx.s). */
/******************************************************************************/
/**
* @brief This function handles PPP interrupt request.
* @param None
* @retval None
*/
void USART1_IRQHandler(void)
{
if(SET == USART_GetITStatus(USART1, USART_IT_RXNE))
{
USART_SendData(UART5, USART_ReceiveData(USART1));
//USART_SendData(USART1, USART_ReceiveData(USART1));
USART_ClearITPendingBit(USART1, USART_IT_RXNE);
}
}
void UART5_IRQHandler(void)
{
if(SET == USART_GetITStatus(UART5, USART_IT_RXNE))
{
USART_ClearITPendingBit(UART5, USART_IT_RXNE);
RGB_B_OPEN();
USART_SendData(USART1, USART_ReceiveData(UART5));
if (!AutoDriver_IsAutoDriverFlag())
{
switch (USART_ReceiveData(UART5))
{
// 占空比100%(前进)
case 0x01:
TIM_SetSpeed(100, 100);
break;
// 70%占空比(前进)
case 0x02:
TIM_SetSpeed(70, 70);
break;
// 50%占空比(前进)
case 0x03:
TIM_SetSpeed(50, 50);
break;
// 占空比100%(后退)
case 0x04:
TIM_SetSpeed(-100, -100);
break;
// 70%占空比(后退)
case 0x05:
TIM_SetSpeed(-70, -70);
break;
// 50%占空比(后退)
case 0x06:
TIM_SetSpeed(-50, -50);
break;
// 停止
case 0x07:
TIM_SetSpeed(0, 0);
break;
// 左转
case 0x08:
TIM_SetSpeed(-50, 50);
break;
// 右转
case 0x09:
TIM_SetSpeed(50, -50);
break;
// 开启自动驾驶
case 0x0a:
AutoDriver_SetIsAutoDriverFlag();
break;
// 关闭自动驾驶
case 0x0b:
AutoDriver_ClearAutoDriverFlag();
break;
default:
break;
}
}
else
{
switch (USART_ReceiveData(UART5))
{
// 开启自动驾驶
case 0x0a:
AutoDriver_SetIsAutoDriverFlag();
break;
// 关闭自动驾驶
case 0x0b:
AutoDriver_ClearAutoDriverFlag();
break;
default:
break;
}
}
}
}
void TIM6_IRQHandler(void)
{
if(TIM_GetITStatus(TIM6,TIM_IT_Update)!=RESET)
{
count_HcSr04++;
TIM_ClearITPendingBit(TIM6,TIM_IT_Update);
}
}
void EXTI15_10_IRQHandler(void)
{
if (SET == EXTI_GetITStatus(EXTI_Line12))
{
if (!(TIM6->CR1 & 0x01))
{
//上升沿，清计时时间，开定时器
count_HcSr04 = 0;
TIM6->CNT = 0;
TIM6->CR1 |= 0x01;
Ex_NVIC_Config(GPIO_A,12,FTIR);
}
else
{
// 下降沿，关定时器
TIM6->CR1 &= (~0x01);
HCSR04_SetIsGetDistantFlag();
Ex_NVIC_Config(GPIO_A,12,RTIR);
}
EXTI_ClearITPendingBit(EXTI_Line12);
}
}
/*void PPP_IRQHandler(void)
{
}*/
/**
* @}
*/
/**
* @}
*/
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
drv_rgb.c
#include "stm32f10x.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"
#include "drv_rgb.h"
void RGB_Configuration(void)
{
//开时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
//初始化GPIO口
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
//初始化灭灯
GPIO_SetBits(GPIOC, GPIO_Pin_8);
}
//开灯
void RGB_B_OPEN(void)
{
GPIO_ResetBits(GPIOC, GPIO_Pin_8);
}
//灭灯
void RGB_B_CLOSE(void)
{
GPIO_SetBits(GPIOC, GPIO_Pin_8);
}
drv_uart.c
/*
** À¶ÑÀÄ£¿é½ÓÏß·½Ê½£º
** PD2-------TXD
** PC12------RXD
**
*/
#include "stm32f10x.h"
#include "stm32f10x_usart.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"
#include "misc.h"
#include
#include "drv_uart.h"
void Uart1_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
//开时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_USART1, ENABLE);
//初始化GPIO
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
//初始化串口
USART_InitStructure.USART_BaudRate = 9600;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
USART_Init(USART1, &USART_InitStructure);
//配置接收中断
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
//指定中断优先级
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//使能串口
USART_Cmd(USART1,ENABLE);
}
void Uart5_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART5, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOD, &GPIO_InitStructure);
USART_InitStructure.USART_BaudRate = 9600;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
USART_Init(UART5, &USART_InitStructure);
USART_ITConfig(UART5, USART_IT_RXNE, ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = UART5_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//ʹÄÜ´®¿Ú
USART_Cmd(UART5,ENABLE);
}
void USART1_SendStr(char *str)
{
while(*str != '\0')
{
USART_SendData(USART1, *str++);
while(SET != USART_GetFlagStatus(USART1, USART_FLAG_TXE));
}
}
//重定向printf
int fputc(int ch, FILE *fp)
{
USART_SendData(USART1, ch);
while(SET != USART_GetFlagStatus(USART1, USART_FLAG_TXE));
return ch;
}
超声波测距
Front_hc04.c
/*
**
** PA11-------TRIG
** PA12-------ECHO
**
*/
#include "Front_hc04.h"
#include "SysTick.h"
#include "math.h"
#include "drv_uart.h"
#include "drv_rgb.h"
#include
#define HCSR04_TRIG GPIO_Pin_11
#define HCSR04_ECHO GPIO_Pin_12
#define HCSR04_PORT GPIOA
#define HCSR04_APBPERIPH_CLK_FUNC RCC_APB2PeriphClockCmd
#define HCSR04_APBPERIPH_PORT (RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO)
static volatile uint8_t isGetDistant = 0;
volatile uint32_t count_HcSr04 = 0;
static volatile uint8_t isAutoDriver = 0;
void Hc_Sr04_Init(void)
{
EXTI_InitTypeDef EXTI_InitStruct;
NVIC_InitTypeDef NVIC_InitStruct;
GPIO_InitTypeDef GPIO_InitStruct;
HCSR04_APBPERIPH_CLK_FUNC(HCSR04_APBPERIPH_PORT, ENABLE);
// trig
GPIO_InitStruct.GPIO_Pin = HCSR04_TRIG;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(HCSR04_PORT, &GPIO_InitStruct);
//Echo
GPIO_InitStruct.GPIO_Pin = HCSR04_ECHO;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(HCSR04_PORT, &GPIO_InitStruct);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource12);
Ex_NVIC_Config(GPIO_A,12,RTIR);
EXTI_InitStruct.EXTI_Line = EXTI_Line12;
EXTI_InitStruct.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStruct.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStruct.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStruct);
NVIC_InitStruct.NVIC_IRQChannel = EXTI15_10_IRQn;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStruct);
}
void Hc_Sr04_Start(void)
{
HC_SR04_OUT(1);
delay_us(20);
HC_SR04_OUT(0);
}
float HC_SR04_Get_Distance(void)
{
uint32_t temp = 0;
float Distance = 0;
temp = (count_HcSr04*1000+TIM6->CNT)/2;
//转换公式
Distance = (temp* 346.675)/10000;
return Distance;
}
void HCSR04_SetIsGetDistantFlag(void)
{
isGetDistant = 1;
}
void HCSR04_ClearIsGetDistantFlag(void)
{
isGetDistant = 0;
}
uint8_t HCSR04_IsGetDistantFlag(void)
{
return isGetDistant;
}
void AutoDriver_SetIsAutoDriverFlag(void)
{
isAutoDriver =1;
}
void AutoDriver_ClearAutoDriverFlag(void)
{
isAutoDriver = 0;
}
uint8_t AutoDriver_IsAutoDriverFlag(void)
{
return isAutoDriver;
}
//外部中断配置函数
// GPIO_x : GPIO_A GPIO_B... 参考相应的.h文件中的参数定义
// BITx : 具体所在的位 eg:BIT11 11
// TRIM : TRIMÎ为FTIR表示下降沿触发 为RTIR表示上升沿触发
void Ex_NVIC_Config(u8 GPIOx,u8 BITx,u8 TRIM)
{
u8 EXTOFFSET=(BITx%4)*4;
RCC->APB2ENR|=1<<0; /使能AFIO时钟
switch (BITx/4)
{
case 0:
AFIO->EXTICR[BITx/4]&=~(0x000F<EXTICR[BITx/4]|=GPIOx<EXTICR[BITx/4] &=~(0x000F<EXTICR[BITx/4] |=GPIOx<EXTICR[BITx/4] &=~(0x000F<EXTICR[BITx/4] |=GPIOx<EXTICR[BITx/4] &=~(0x000F<EXTICR[BITx/4] |=GPIOx<IMR|=1<FTSR|=1<RTSR|=1< SysTick.c
#include "SysTick.h"
static u8 fac_us=0;//us延时倍乘数
static u16 fac_ms=0;//ms延时倍乘数
//初始化延时函数
//SYSTICK的时钟固定为HCLK时钟的1/8
//SYSCLK:系统时钟
void SysTick_init(u8 SYSCLK)
{
SysTick->CTRL&=0xfffffffa;//bit2清空，选择外部时钟 HCLK/8
fac_us=SYSCLK/8;
fac_ms=(u16)fac_us*1000;
}
//延时nms
//注意nms的范围
//SysTick->LOAD为24位寄存器，最大延时为:
//nms<=0xffffff*8*1000/SYSCLK
//SYSCLK单位为Hz,nms单位为ms
//对72M条件下,nms<=1864
void delay_ms(u16 nms)
{
u32 temp;
SysTick->LOAD=(u32)nms*fac_ms;//时间加载(SysTick->LOAD为24bit)
SysTick->VAL =0x00; //清空计数器
SysTick->CTRL=0x01 ; //开始倒数
do
{
temp=SysTick->CTRL;
}
while(temp&0x01&&!(temp&(1<<16)));//等待时间到达
SysTick->CTRL=0x00; //关闭计数器
SysTick->VAL =0X00; //清空计数器
}
//延时为nus
//nus为要延时的us数.
void delay_us(u32 nus)
{
u32 temp;
SysTick->LOAD=nus*fac_us; //时间加载
SysTick->VAL=0x00; //清空计数器
SysTick->CTRL=0x01 ; //开始倒数
do
{
temp=SysTick->CTRL;
}
while(temp&0x01&&!(temp&(1<<16)));//等待时间到达
SysTick->CTRL=0x00; //关闭计数器
SysTick->VAL =0X00; //清空计数器
}
drv_time.c
#include "stm32f10x.h"
#include "stm32f10x_tim.h"
#include "drv_time.h"
#define MOTOR_LEFT_PWM_PIN_IN1 GPIO_Pin_4
#define MOTOR_LEFT_DIR_PIN_IN2 GPIO_Pin_3
#define MOTOR_RIGHT_PWM_PIN_IN3 GPIO_Pin_5
#define MOTOR_RIGHT_DIR_PIN_IN4 GPIO_Pin_11
#define MOTOR_PWM_PORT GPIOB
#define MOTOR_DIR_LEFT GPIOB
#define MOTOR_DIR_RIGHT GPIOC
void TIM3_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
GPIO_InitTypeDef GPIO_InitStruct;
TIM_OCInitTypeDef TIM_OCInitStruct;
//开启定时器的外设时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
// 开启复用时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap_SWJ_Disable, ENABLE);
GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
// GPIO配置(PWM通道引脚)
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStruct.GPIO_Pin = MOTOR_LEFT_PWM_PIN_IN1 | MOTOR_RIGHT_PWM_PIN_IN3;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(MOTOR_PWM_PORT, &GPIO_InitStruct);
// 方向控制引脚
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStruct.GPIO_Pin = MOTOR_RIGHT_DIR_PIN_IN4;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(MOTOR_DIR_RIGHT, &GPIO_InitStruct);
GPIO_InitStruct.GPIO_Pin = MOTOR_LEFT_DIR_PIN_IN2;
GPIO_Init(MOTOR_DIR_LEFT, &GPIO_InitStruct);
// 配置定时器的参数（预分频值，分频系数等）
TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStruct.TIM_Period = 1000;
TIM_TimeBaseInitStruct.TIM_Prescaler = 719;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStruct);
// 配置PWM输出
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_Pulse = 0;
TIM_OC1Init(TIM3, &TIM_OCInitStruct);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OCInitStruct.TIM_Pulse = 0;
TIM_OC2Init(TIM3, &TIM_OCInitStruct);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM3, ENABLE);
TIM_Cmd(TIM3, ENABLE);
}
void TIM6_Configuration(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6 , ENABLE);
TIM_TimeBaseStructure.TIM_Period = 1000;
TIM_TimeBaseStructure.TIM_Prescaler = 71;
TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
TIM_ClearFlag(TIM6, TIM_FLAG_Update);
TIM_ITConfig(TIM6,TIM_IT_Update,ENABLE);
TIM_Cmd(TIM6, DISABLE);
}
void TIM6_NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void TIM_InitConfig(void)
{
TIM6_Configuration();
TIM6_NVIC_Configuration();
}
void TIM_SetSpeed(int left, int right)
{
// left&rightµÄÖµÔÚ+100µ½-100·¶Î§ÄÚ
if ((left > 100) || (left < -100))
return ;
if ((right > 100) || (right < -100))
return ;
if (left >= 0)
{
GPIO_SetBits(MOTOR_DIR_LEFT, MOTOR_LEFT_DIR_PIN_IN2);
}
else
{
GPIO_ResetBits(MOTOR_DIR_LEFT, MOTOR_LEFT_DIR_PIN_IN2);
left = 100+left;
}
if (right >= 0)
{
GPIO_SetBits(MOTOR_DIR_RIGHT, MOTOR_RIGHT_DIR_PIN_IN4);
}
else
{
GPIO_ResetBits(MOTOR_DIR_RIGHT, MOTOR_RIGHT_DIR_PIN_IN4);
right = 100+right;
}
TIM_SetCompare1(TIM3, left*10);
TIM_SetCompare2(TIM3, right*10);
}
drv_serchLine.c
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"
#include "drv_time.h"
#define SERCHLINE_PERIPH_CLK_FUNC RCC_APB2PeriphClockCmd
#define SERCHLINE_PERIPH_PORT (RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOB)
#define SERCHLINE_PORT_CENTER GPIOC
#define SERCHLINE_PORT GPIOB
#define SERCHLINE_CENTER_PIN GPIO_Pin_2
#define SERCHLINE_LEFT_PIN GPIO_Pin_8
#define SERCHLINE_RIGHT_PIN GPIO_Pin_12
// ³¯Ç°½ø·½Ïò¿´£¬D1ÔÚ×ó±ß D2ÔÚÖмä D3ÔÚÓÒ±ß
#define D1 GPIO_ReadInputDataBit(SERCHLINE_PORT, SERCHLINE_LEFT_PIN)
#define D2 GPIO_ReadInputDataBit(SERCHLINE_PORT_CENTER, SERCHLINE_CENTER_PIN)
#define D3 GPIO_ReadInputDataBit(SERCHLINE_PORT, SERCHLINE_RIGHT_PIN)
void SERCHLINE_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
SERCHLINE_PERIPH_CLK_FUNC(SERCHLINE_PERIPH_PORT, ENABLE);
GPIO_InitStruct.GPIO_Pin = SERCHLINE_CENTER_PIN;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(SERCHLINE_PORT_CENTER, &GPIO_InitStruct);
GPIO_InitStruct.GPIO_Pin = SERCHLINE_LEFT_PIN | SERCHLINE_RIGHT_PIN;
GPIO_Init(SERCHLINE_PORT, &GPIO_InitStruct);
}
void SERCHLINE_AutoRun(void)
{
// ¸Ã²¿·ÖµÄ´úÂëÖ»ÊÇÌṩһ¸öʾÀýµÄ˼·£¬¾ßÌåµÄÐèÒª¸ù¾ÝÓ²¼þÉϹâµç´«¸ÐÆ÷µÄ²¼¾Ö
// ÖØÐÂÓÅ»¯£¬´«¸ÐÆ÷µÄ²¼¾Ö·½Ê½²»Í¬£¬¶ÔÓ¦µÄ´úÂëµÄʵÏÖÉÏÐèÒª×öÏàÓ¦µÄ×îÓŵ÷Õû
// С³µÔÚÑ°¼£ÏßÉÏ£¬Á½±ß²»Ö´ÐвîËÙ
if ((1 == D1) && (0 == D2) && (1 == D3))
{
TIM_SetSpeed(70, 70);
}
// С³µÆ«Ïò×ó±ß£¬ÐèÒªÍùÓұߵ÷Õû
else if ((1 == D1) && (1 == D2) && (0 == D3))
{
TIM_SetSpeed(100, 70);
}
// С³µÆ«ÏòÓұߣ¬ÐèÒªÍù×ó±ßµ÷Õû
else if ((0 == D1) && (1 == D2) && (1 == D3))
{
TIM_SetSpeed(70, 100);
}
// Èç¹ûС³µÒѾÍêÈ«ÍÑÀëÔ¤¶¨µÄ¹ì¼£Ïß»òÏÖÓеij¡µØÎÞ·¨Õý³£±æʶ³ö¹ì¼£Ïߣ¬Ôò×öÖƶ¯´¦Àí
else if (((0 == D1) && (0 == D2) && (0 == D3)) || ((1 == D1) && (1 == D2) && (1 == D3)))
{
TIM_SetSpeed(0, 0);
}
}
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提取码：fl7n