用STM32mini版做的避障小車源程序

ID:311215 · 發(fā)表于 2018-11-19 15:47

用stm32mini版做的避障小車，這是根據(jù)原子哥的歷程改的，狀態(tài)機(jī)部分只需要稍微修改一下即可使用。PA0接Echo，PA1接tring。論壇新手請(qǐng)多多指教。

單片機(jī)源程序如下:

#include "led.h"
#include "delay.h"
#include "sys.h"
#include "timer.h"
#include "usart.h"
#include "ceju.h"
#include "pwm.h"
//接線說(shuō)明echo-PA0；trig-PA1；vcc接5v
//TM3使超聲波每隔一秒發(fā)送，TM2輸入捕獲。
float Distance;
extern u8 TIM2CH1_CAPTURE_STA; //輸入捕獲狀態(tài)
extern u16 TIM2CH1_CAPTURE_VAL; //輸入捕獲值
int main(void)
{
u32 temp=0;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);// 設(shè)置中斷優(yōu)先級(jí)分組2
TIM3_PWM_Init(799,0);
delay_init(); //延時(shí)函數(shù)初始化
uart_init(9600); //9600
LED_Init(); //初始化與LED連接的硬件接口
TIM3_Int_Init(4999*2,7199); //一秒發(fā)送一次。
TIM2_Cap_Init(0XFFFF,7199); //以10khz的頻率計(jì)數(shù)
ceju_Init();
while(1)
{
if(TIM2CH1_CAPTURE_STA&0X80)//成功捕獲到了一次高電平
{
temp=TIM2CH1_CAPTURE_STA&0X3F;
temp*=65536; //溢出時(shí)間總和
temp+=TIM2CH1_CAPTURE_VAL; //得到總的高電平時(shí)間
Distance=temp*5*34*2/200.0;
printf("distance:%f cm\r\n",Distance);
if(Distance<10)
{
LED0=!LED0;
TIM_SetCompare1(TIM3,0);
TIM_SetCompare2(TIM3,0);
TIM_SetCompare3(TIM3,799);
TIM_SetCompare4(TIM3,0);
}
TIM2CH1_CAPTURE_STA=0; //開啟下一次捕獲
}
}
}

復(fù)制代碼

#include "pwm.h"
#include "sys.h"
void TIM3_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStruct;//GPIOC初始化結(jié)構(gòu)體
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;//定時(shí)器3初始化結(jié)構(gòu)體
TIM_OCInitTypeDef TIM_OCInitStruct;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);//使能定時(shí)器3時(shí)鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC,ENABLE);//使能GPIOC時(shí)鐘
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);//使能重映射AFIO時(shí)鐘
GPIO_PinRemapConfig(GPIO_FullRemap_TIM3,ENABLE);//開啟重映射
GPIO_InitStruct.GPIO_Mode=GPIO_Mode_AF_PP;
GPIO_InitStruct.GPIO_Pin=GPIO_Pin_6;
GPIO_InitStruct.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOC,&GPIO_InitStruct);//GPIOC6初始化，設(shè)置為復(fù)用功能輸出
GPIO_InitStruct.GPIO_Mode=GPIO_Mode_AF_PP;
GPIO_InitStruct.GPIO_Pin=GPIO_Pin_7;
GPIO_InitStruct.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOC,&GPIO_InitStruct);//GPIOC7初始化，設(shè)置為復(fù)用功能輸出
GPIO_InitStruct.GPIO_Mode=GPIO_Mode_AF_PP;
GPIO_InitStruct.GPIO_Pin=GPIO_Pin_8;
GPIO_InitStruct.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOC,&GPIO_InitStruct);//GPIOC8初始化，設(shè)置為復(fù)用功能輸出
GPIO_InitStruct.GPIO_Mode=GPIO_Mode_AF_PP;
GPIO_InitStruct.GPIO_Pin=GPIO_Pin_9;
GPIO_InitStruct.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOC,&GPIO_InitStruct);//GPIOC9初始化，設(shè)置為復(fù)用功能輸出
TIM_TimeBaseInitStruct.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInitStruct.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInitStruct.TIM_Period=arr;//自動(dòng)重裝載值
TIM_TimeBaseInitStruct.TIM_Prescaler=psc;//預(yù)分頻系數(shù)
//TIM_TimeBaseInitStruct.TIM_RepetitionCounter=
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStruct);//定時(shí)器初始化函數(shù)
//TIM_OCInitStruct.TIM_OCIdleState
TIM_OCInitStruct.TIM_OCMode=TIM_OCMode_PWM2;//PWM設(shè)為模式2，比較值比arr大的時(shí)候是有效電平，即下面設(shè)置的高電平
//TIM_OCInitStruct.TIM_OCNIdleState
//TIM_OCInitStruct.TIM_OCNPolarity
TIM_OCInitStruct.TIM_OCPolarity=TIM_OCPolarity_High;//有效極性輸出為高
//TIM_OCInitStruct.TIM_OutputNState
TIM_OCInitStruct.TIM_OutputState=TIM_OutputState_Enable;//enable
//TIM_OCInitStruct.TIM_Pulse
TIM_OC3Init(TIM3,&TIM_OCInitStruct);//
//TIM_OCInitStruct.TIM_OCIdleState
TIM_OCInitStruct.TIM_OCMode=TIM_OCMode_PWM2;//PWM設(shè)為模式2，比較值比arr大的時(shí)候是有效電平，即下面設(shè)置的高電平
//TIM_OCInitStruct.TIM_OCNIdleState
//TIM_OCInitStruct.TIM_OCNPolarity
TIM_OCInitStruct.TIM_OCPolarity=TIM_OCPolarity_High;//有效極性輸出為高
//TIM_OCInitStruct.TIM_OutputNState
TIM_OCInitStruct.TIM_OutputState=TIM_OutputState_Enable;//enable
//TIM_OCInitStruct.TIM_Pulse
TIM_OC1Init(TIM3,&TIM_OCInitStruct);//
//TIM_OCInitStruct.TIM_OCIdleState
TIM_OCInitStruct.TIM_OCMode=TIM_OCMode_PWM2;//PWM設(shè)為模式2，比較值比arr大的時(shí)候是有效電平，即下面設(shè)置的高電平
//TIM_OCInitStruct.TIM_OCNIdleState
//TIM_OCInitStruct.TIM_OCNPolarity
TIM_OCInitStruct.TIM_OCPolarity=TIM_OCPolarity_High;//有效極性輸出為高
//TIM_OCInitStruct.TIM_OutputNState
TIM_OCInitStruct.TIM_OutputState=TIM_OutputState_Enable;//enable
//TIM_OCInitStruct.TIM_Pulse
TIM_OC2Init(TIM3,&TIM_OCInitStruct);//
//TIM_OCInitStruct.TIM_OCIdleState
TIM_OCInitStruct.TIM_OCMode=TIM_OCMode_PWM2;//PWM設(shè)為模式2，比較值比arr大的時(shí)候是有效電平，即下面設(shè)置的高電平
//TIM_OCInitStruct.TIM_OCNIdleState
//TIM_OCInitStruct.TIM_OCNPolarity
TIM_OCInitStruct.TIM_OCPolarity=TIM_OCPolarity_High;//有效極性輸出為高
//TIM_OCInitStruct.TIM_OutputNState
TIM_OCInitStruct.TIM_OutputState=TIM_OutputState_Enable;//enable
//TIM_OCInitStruct.TIM_Pulse
TIM_OC4Init(TIM3,&TIM_OCInitStruct);//
TIM_OC1PreloadConfig(TIM3,TIM_OCPreload_Enable);//1
TIM_OC2PreloadConfig(TIM3,TIM_OCPreload_Enable);//2
TIM_OC3PreloadConfig(TIM3,TIM_OCPreload_Enable);//定時(shí)器3使能預(yù)裝載值
TIM_OC4PreloadConfig(TIM3,TIM_OCPreload_Enable);//4
TIM_Cmd(TIM3,ENABLE);//使能定時(shí)器
}