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#include"stm32f10x.h" #include"stdio.h" //重新定义<fputc>函数 如下： int fputc(int ch, FILE *f) { USART_SendData(USART1, (unsigned char) ch);// USART1 可以换成 USART2 等 while (!(USART1->SR & USART_FLAG_TXE)); return (ch); } void GPIO_Config(void); void delay(u32 z); void NVIC_Config(void );//嵌套向量中断控制器的配置 void TIM4_Config(void );//配置定时器4 3s中断一次 void PWM_Config(void ); void PWM(uint16_t left_up,uint16_t left_down,uint16_t right_up,uint16_t right_down);//0...1000 void USART1_Config(void ); void TIM3_Config(void ); void DelayTest(uint16_t z) { uint16_t i = 0; while(z--) { for(i = 0;i<1000;i++); } } void SendChar(uint8_t* table) { uint16_t i = 0; for(i = 0;table != '\0';i++) { USART_SendData(USART1,table); while(USART_GetFlagStatus(USART1,USART_FLAG_TC) == RESET); } } int main() { RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOC|RCC_APB2Periph_GPIOD|RCC_APB2Periph_GPIOE|RCC_APB2Periph_USART1|RCC_APB2Periph_AFIO,ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4 |RCC_APB1Periph_TIM3,ENABLE); TIM4_Config(); PWM_Config(); GPIO_Config(); USART1_Config(); TIM3_Config(); NVIC_Config(); SendChar("ok"); GPIO_Write(GPIOD,0xAA00);//控制小车前进 IN1---IN8 printf("this is a TDC-GP21 module ， designed by Yubin \n\r"); while(1) { switch(GPIO_ReadInputData(GPIOC) & 0xf000)//只读取PC15 --PB12位的数据 { case 0x8000: PWM(0,0,2000,2000);break; //1000 1000 case 0x4000: PWM(0,0,1800,1800);break; //1000 1000 case 0x2000: PWM(1800,1800,0,0);break; //0010 0010 case 0x1000: PWM(2000,2000,0,0);break; //0010 0010 default:PWM(1000,1000,1000,1000);break; } } } Void PWM(uint16_t left_up,uint16_t left_down,uint16_t right_up,uint16_t right_down)//0...1000 { TIM_SetCompare1(TIM4,left_up); TIM_SetCompare2(TIM4,left_down); TIM_SetCompare3(TIM4,right_up); TIM_SetCompare4(TIM4,right_down); } void GPIO_Config(void ) { GPIO_InitTypeDef GPIO_InitStruct; //PD8----PD15作为 IN1 -----IN7 GPIO_InitStruct.GPIO_Pin = GPIO_Pin_15|GPIO_Pin_8 |GPIO_Pin_9|GPIO_Pin_10 |GPIO_Pin_11 |GPIO_Pin_12 |GPIO_Pin_13 |GPIO_Pin_14; GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_Init(GPIOD,&GPIO_InitStruct); //PC12 ----PC15 作为传感器OUT1 --- OUT4 GPIO_InitStruct.GPIO_Pin = GPIO_Pin_12 |GPIO_Pin_13 |GPIO_Pin_14 |GPIO_Pin_15; GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_Init(GPIOC,&GPIO_InitStruct); //PB6----PB9 作为驱动使能的ENA ---ENB GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 |GPIO_Pin_7 |GPIO_Pin_8 |GPIO_Pin_9; GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_Init(GPIOB,&GPIO_InitStruct); //PA9 PA10作为串口输出。 GPIO_InitStruct.GPIO_Pin = GPIO_Pin_9; GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_Init(GPIOA,&GPIO_InitStruct); GPIO_InitStruct.GPIO_Pin = GPIO_Pin_10; GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_Init(GPIOA,&GPIO_InitStruct); //PA6 、PA7作为输入捕获的通道 TIM3对应的通道1、2. GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 ; GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStruct); } void NVIC_Config(void ) { NVIC_InitTypeDef NVIC_InitStruct; NVIC_InitStruct.NVIC_IRQChannel = TIM3_IRQn; //中断源 NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStruct.NVIC_IRQChannelSubPriority = 1; NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStruct); } void TIM4_Config(void ) { TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct; TIM_TimeBaseInitStruct.TIM_Prescaler = (36-1);//2MHz TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInitStruct.TIM_Period = 2000;//计数10000us TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0x00; TIM_TimeBaseInit(TIM4,&TIM_TimeBaseInitStruct);//定时器初始化 TIM_Cmd(TIM4,ENABLE);//打开定时器 } void PWM_Config(void ) { TIM_OCInitTypeDef TIM_OCInitStruct; TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStruct.TIM_Pulse = 50; TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OC1Init(TIM4,&TIM_OCInitStruct); TIM_OC2Init(TIM4,&TIM_OCInitStruct); TIM_OC3Init(TIM4,&TIM_OCInitStruct); TIM_OC4Init(TIM4,&TIM_OCInitStruct); TIM_OC1PreloadConfig(TIM4,TIM_OCPreload_Enable); TIM_OC2PreloadConfig(TIM4,TIM_OCPreload_Enable); TIM_OC3PreloadConfig(TIM4,TIM_OCPreload_Enable); TIM_OC4PreloadConfig(TIM4,TIM_OCPreload_Enable); } void USART1_Config(void ) { USART_InitTypeDef USART_InitStruct; USART_InitStruct.USART_BaudRate = 9600; USART_InitStruct.USART_WordLength = USART_WordLength_8b; USART_InitStruct.USART_StopBits = USART_StopBits_1; USART_InitStruct.USART_Parity = USART_Parity_No; USART_InitStruct.USART_Mode = USART_Mode_Tx |USART_Mode_Rx; USART_InitStruct.USART_HardwareFlowControl = USART_HardwareFlowControl_None; USART_Init(USART1,&USART_InitStruct); USART_Cmd(USART1,ENABLE); USART_ClearFlag(USART1,USART_FLAG_TC); } void TIM3_Config(void ) { TIM_ICInitTypeDef TIM_ICInitStruct; TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct; TIM_TimeBaseInitStruct.TIM_Prescaler = (72-1);//72000 000 /72 = 1MHz TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInitStruct.TIM_Period = 0xffff; TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0x00; TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStruct); TIM_ICInitStruct.TIM_Channel = TIM_Channel_1; TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Rising; TIM_ICInitStruct.TIM_ICSelection = TIM_ICSelection_DirectTI; TIM_ICInitStruct.TIM_ICPrescaler = TIM_ICPSC_DIV1; TIM_ICInitStruct.TIM_ICFilter = 0x0; TIM_ICInit(TIM3,&TIM_ICInitStruct); TIM_Cmd(TIM3,ENABLE); TIM_ITConfig(TIM3, TIM_IT_CC1, ENABLE); } 中断程序 #include "stm32f10x_it.h" extern void DelayTest(uint16_t z); __IO uint16_t IC3ReadValue1 = 0, IC3ReadValue2 = 0; __IO uint16_t CaptureNumber = 0; __IO uint32_t Capture = 0; __IO uint32_t TIM3Freq = 0; void TIM3_IRQHandler(void ) { if(TIM_GetITStatus(TIM3,TIM_IT_CC1) == SET) { if(CaptureNumber == 0) { IC3ReadValue1 = TIM_GetCapture1(TIM3); CaptureNumber = 1; } else if(CaptureNumber == 1) { IC3ReadValue2 = TIM_GetCapture1(TIM3); if (IC3ReadValue2 > IC3ReadValue1) { Capture = (IC3ReadValue2 - IC3ReadValue1); } else { Capture = ((0xFFFF - IC3ReadValue1) + IC3ReadValue2); } CaptureNumber = 0; } TIM3Freq = 1000000/Capture; USART_SendData(USART1,(TIM3Freq/10000%10+0x30)); while(USART_GetFlagStatus(USART1,USART_FLAG_TC) == RESET); USART_SendData(USART1,(TIM3Freq/1000%10+0x30)); while(USART_GetFlagStatus(USART1,USART_FLAG_TC) == RESET); USART_SendData(USART1,(TIM3Freq/100%10+0x30)); while(USART_GetFlagStatus(USART1,USART_FLAG_TC) == RESET); USART_SendData(USART1,(TIM3Freq/10%10+0x30)); while(USART_GetFlagStatus(USART1,USART_FLAG_TC) == RESET); USART_SendData(USART1,(TIM3Freq%10+0x30)); while(USART_GetFlagStatus(USART1,USART_FLAG_TC) == RESET); USART_SendData(USART1,' '); while(USART_GetFlagStatus(USART1,USART_FLAG_TC) == RESET); } TIM_ClearITPendingBit(TIM3,TIM_IT_CC1); }
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