标题: STM32三路超声波避障程序 [打印本页]
作者: 甘洋洋    时间: 2018-12-24 13:52
标题: STM32三路超声波避障程序


单片机源程序如下:
  1. #include "main.h"
  2. #include "tim1.h"
  3. #include "tim3.h"
  4. #include "uart.h"
  5. #include "share.h"
  6. #include "delayus.h"
  7. #include "direction.h"
  8. #include "us_avoid.h"

  10. __IO uint16_t Uart_Upload_Time;//串口上传数据周期ms
  11. void SystemClock_Config(void);      

  13. int main(void)
  14. {
  15.   HAL_Init();
  16.   SystemClock_Config();
  17.         MX_TIM1_Init();//电机驱动PWM
  18.         MX_TIM3_Init();//TIM3输入捕获配置
  19.         Init_DirectionGPIO();//电机驱动芯片IO口使能
  20.         MX_USART3_Init();//串口3使能
  21.         US_GPIOInit();//超声波GPIO口配置
  22.        
  23. //        while(1)
  24. //        {
  25. //                TIM1->CCR1=L_PWM;
  26. //                TIM1->CCR2=R_PWM;
  27. //                ForWard1();
  28. //        }

  30.         while (1)
  31.   {       
  32.                 US_Obstacle_Avoid();//超声波避障
  33.                
  34.                 if(!Uart_Upload_Time)//串口数据周期发送
  35.                 {
  36.                         Uart_Upload_Time=300;//串口数据发送周期ms
  37.                         printf("L=%dcm F=%dcm R=%dcm\r\n",US1_Distance,US2_Distance,US3_Distance);//串口打印数据
  38.                 }
  39.   }
  40. }

  42. /**
  43.   * @brief System Clock Configuration
  44.   * @retval None
  45.   */
  46. void SystemClock_Config(void)
  47. {
  48.   RCC_OscInitTypeDef RCC_OscInitStruct;
  49.   RCC_ClkInitTypeDef RCC_ClkInitStruct;
  50.   RCC_PeriphCLKInitTypeDef PeriphClkInit;

  52.     /**Initializes the CPU, AHB and APB busses clocks
  53.     */
  54.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  55.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  56.   RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  57.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  58.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  59.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  60.   RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  61.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  62.   {
  63.     _Error_Handler(__FILE__, __LINE__);
  64.   }

  66.     /**Initializes the CPU, AHB and APB busses clocks
  67.     */
  68.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
  69.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  70.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  71.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  72.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  73.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  75.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  76.   {
  77.     _Error_Handler(__FILE__, __LINE__);
  78.   }

  80.   PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
  81.   PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV4;
  82.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  83.   {
  84.     _Error_Handler(__FILE__, __LINE__);
  85.   }

  87.     /**Configure the Systick interrupt time
  88.     */
  89.   HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

  91.     /**Configure the Systick
  92.     */
  93.   HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  95.   /* SysTick_IRQn interrupt configuration */
  96.   HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
  97. }



  101. /**
  102.   * @brief  This function is executed in case of error occurrence.
  103.   * @param  file: The file name as string.
  104.   * @param  line: The line in file as a number.
  105.   * @retval None
  106.   */
  107. // _Error_Handler(__FILE__, __LINE__);
  108. void _Error_Handler(char *file, int line)
  109. {
  110.   /* USER CODE BEGIN Error_Handler_Debug */
  111.   /* User can add his own implementation to report the HAL error return state */
  112.   while(1)
  113.   {
  114.   }
  115.   /* USER CODE END Error_Handler_Debug */
  116. }

  118. #ifdef  USE_FULL_ASSERT
  119. /**
  120.   * @brief  Reports the name of the source file and the source line number
  121.   *         where the assert_param error has occurred.
  122.   * @param  file: pointer to the source file name
  123.   * @param  line: assert_param error line source number
  124.   * @retval None
  125.   */
  126. void assert_failed(uint8_t* file, uint32_t line)
  127. {
  128.   /* USER CODE BEGIN 6 */
  129.   /* User can add his own implementation to report the file name and line number,
  130.     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  131.   /* USER CODE END 6 */
  132. }
  133. #endif /* USE_FULL_ASSERT */


  136. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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作者: muse122334    时间: 2019-12-7 23:03
感谢老哥



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