/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#ifdef __cplusplus
extern "C" {
#include "cal.h"
#endif
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
void delay_us(uint32_t ii)
{
uint32_t temp;
SysTick->LOAD=ii;
SysTick->VAL=0x00;
SysTick->CTRL=0x01;//2号位1使用内核时钟
do
{
temp=SysTick->CTRL;
}
while(temp&0x01&&!(temp&(1<<16)));
SysTick->CTRL=0X00;
SysTick->VAL=0X00;
}
void measDist()
{//超声波的发射引脚是：PB5,接收引脚是PB6
uint32_t GPIO_PIN_TX=GPIO_PIN_5;
uint32_t GPIO_PIN_RX=GPIO_PIN_6;
int beginTime=0,endTime=0;
int radari=0;
int distance_cm;
while (1)
{
radari=0;
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_1,1);
delay_us(12); //实际花费了20us
while(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_2)==0);
while(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_2)==1)
{
radari++;
delay_us(50);
}
distance_cm=340.0/1000000*(50*radari)/2;//这个就是测量的距离
radari=0;
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_1,0);
}
/* USER CODE END 3 */
}
void adjustSpeed(TIM_HandleTypeDef htimx,/*引脚叿*/unsigned int TIM_CHANNEL_X,/*速度*/int speed,int rotation)
{
//获取分母倿
int motherPWM=htimx.Init.Period;
float rate=motherPWM/50.0;
GPIO_TypeDef *GPIOX=GPIOA;
int i=0,j=0;
uint16_t GPIO_PIN_1_P=GPIO_PIN_4;
uint16_t GPIO_PIN_1_N=GPIO_PIN_4;
uint16_t GPIO_PIN_2_P=GPIO_PIN_4;
uint16_t GPIO_PIN_2_N=GPIO_PIN_4;
uint16_t GPIO_PIN_3_P=GPIO_PIN_4;
uint16_t GPIO_PIN_3_N=GPIO_PIN_4;
uint16_t GPIO_PIN_4_P=GPIO_PIN_4;
uint16_t GPIO_PIN_4_N=GPIO_PIN_4;
if(rotation<0)
{
HAL_GPIO_TogglePin(GPIOX,GPIO_PIN_1_P);
HAL_GPIO_TogglePin(GPIOX,GPIO_PIN_1_N);
HAL_GPIO_TogglePin(GPIOX,GPIO_PIN_2_P);
HAL_GPIO_TogglePin(GPIOX,GPIO_PIN_2_N);
HAL_GPIO_TogglePin(GPIOX,GPIO_PIN_2_P);
HAL_GPIO_TogglePin(GPIOX,GPIO_PIN_2_N);
HAL_GPIO_TogglePin(GPIOX,GPIO_PIN_2_P);
HAL_GPIO_TogglePin(GPIOX,GPIO_PIN_2_N);
speed=0-speed;
}
__HAL_TIM_SET_COMPARE(&htimx,TIM_CHANNEL_X,(speed*rate-1>0?speed*rate-1:0));
}
void movCar(char c,int speed)
{
uint32_t TIM_CHANNEL_LA=TIM_CHANNEL_1;
uint32_t TIM_CHANNEL_RA=TIM_CHANNEL_2;
uint32_t TIM_CHANNEL_LB=TIM_CHANNEL_3;
uint32_t TIM_CHANNEL_RB=TIM_CHANNEL_4;
switch(c)
{//左转
case 'L':
adjustSpeed(htim2,TIM_CHANNEL_LA,0,0);
adjustSpeed(htim2,TIM_CHANNEL_LB,0,0);
adjustSpeed(htim2,TIM_CHANNEL_RA,30,0);
adjustSpeed(htim2,TIM_CHANNEL_RB,30,0);
break;
//右转
case 'R':
adjustSpeed(htim2,TIM_CHANNEL_LA,30,0);
adjustSpeed(htim2,TIM_CHANNEL_LB,30,0);
adjustSpeed(htim2,TIM_CHANNEL_RA,0,0);
adjustSpeed(htim2,TIM_CHANNEL_RB,0,0);
break;
//直行
case 'A':
adjustSpeed(htim2,TIM_CHANNEL_LA,speed,0);
adjustSpeed(htim2,TIM_CHANNEL_LB,speed,0);
adjustSpeed(htim2,TIM_CHANNEL_RA,speed,0);
adjustSpeed(htim2,TIM_CHANNEL_RB,speed,0);
break;
//倒车
case 'B':
adjustSpeed(htim2,TIM_CHANNEL_LA,30,-1);
adjustSpeed(htim2,TIM_CHANNEL_LB,30,-1);
adjustSpeed(htim2,TIM_CHANNEL_RA,30,-1);
adjustSpeed(htim2,TIM_CHANNEL_RB,30,-1);
break;
}
}
void rotateSG90(int angle,TIM_HandleTypeDef *htim)
{
//输出20ms的PWM信号，然后关闭这个PWM
int times_=50;//1秒钟内重复的次数，例妿20um,就是50欿
uint32_t TIM_CHANNEL_X=TIM_CHANNEL_3;
static int first=1;
int sysClockFreq=HAL_RCC_GetSysClockFreq();;
int Prescaler=0;//预分频数
int pulse=0;//PWM高电平持续时闿
TIM_OC_InitTypeDef sConfigOC = {0};
uint32_t Period=0;
if(first==1)
{
htim->Init.Period=4000-1;//初始化period
}
Prescaler=htim->Init.Prescaler+1;
if(first==1)
{//调整Period倿--》调整PWM周期，但是无敿--》原因是虽然数忼改了，但是没有应用
htim->Init.Period=sysClockFreq/(float)Prescaler/(float)times_-1;
first=0;
}
//设置占空毿
pulse=htim->Init.Period +1;
//使设置生敿
HAL_TIM_PWM_Init(htim);
switch(angle)
{
case 0:
pulse=0.025*pulse;
//这里100是设置占空比＿100/4000就是占空比了100/4000*20ms=0.5ms
break;
case 45:
pulse=0.05*pulse;
break;
case 90:
pulse=0.075*pulse;
break;
case 135:
pulse=0.1*pulse;
break;
case 180:
pulse=0.125*pulse;
break;
}
__HAL_TIM_SET_COMPARE(htim,TIM_CHANNEL_X,pulse);
// HAL_TIM_PWM_Start(htim,TIM_CHANNEL_X);
HAL_Delay(20);
}
//时钟频率霿要设置为8MHZ,另外霿要先随便设置丿个TIM定时器，推荐timer2
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM2_Init();
MX_TIM3_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim2);
HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_4);
HAL_TIM_Base_Start_IT(&htim3);
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
rotateSG90(0,&htim3);
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
