循迹红外，pwm控制直流电机 STM32源程序

ID:709100 · 发表于 2020-3-18 18:40

#include "stm32f10x.h"
#include "delay.h"
#include "usart.h"
#include "motor.h"

int main(void)
{
float length;
delay_init();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
uart_init(9600);
Hcsr04Init();
printf("ceshi\r\n");

Hcsr04Init();
printf("ss\n");

while(1)
{
length = Hcsr04GetLength();
printf("length:%.3fcm\n",length);
delay_ms(1000);
}
}
#include "timer.h"
#include "led.h"
#include "delay.h"
#include "sys.h"
#include "usart.h"

u16 msHcCount = 0;

void hcsr04_NVIC()
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);

NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}

void Hcsr04Init()
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin =GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_ResetBits(GPIOB,GPIO_Pin_11);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_ResetBits(GPIOB,GPIO_Pin_10);

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_DeInit(TIM2);
TIM_TimeBaseStructure.TIM_Period = (1000-1);
TIM_TimeBaseStructure.TIM_Prescaler =(72-1);
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_ClearFlag(TIM4, TIM_FLAG_Update);
TIM_ITConfig(TIM4,TIM_IT_Update,ENABLE);
hcsr04_NVIC();
TIM_Cmd(TIM4,DISABLE);
}

static void OpenTimerForHc()
{
TIM_SetCounter(TIM4,0);
msHcCount = 0;
TIM_Cmd(TIM4, ENABLE);
}

//?????4
static void CloseTimerForHc()
{
TIM_Cmd(TIM4, DISABLE);
}

//???4???
void TIM4_IRQHandler(void)
{
if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)
{
TIM_ClearITPendingBit(TIM4, TIM_IT_Update );
msHcCount++;
}
}

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