角度测量的stm32源程序

ID:388354 · 发表于 2018-8-21 00:02

一个测量空间角度的加速度器的例程
文件说明：
project.eww ：Workspace Data 工作空间
project.ewd ：Debugger Data. 调试器数据
project.ewp : IAR Project 项目文件
      上面3个文件IAR系统的工程配置文件

stm32f10x_flash.icf :    这个文件是IAR连接器配置文件。配置程序段（只读）在CPU内部Flash
                     数据段（可读写的，堆和栈）在CPU内部RAM。你可以根据自己需要进行修改。

stm32f10x_ram.icf : 这个文件是IAR连接器配置文件。配置程序段（只读）和数据段（可读写的，堆和栈）
            都在CPU内部RAM。你可以根据自己需要进行修改。

cpu_ram.mac : 在CPU内部RAM调试时的宏文件, 包含修改中断向量表的代码
ext_sram : 在CPU内部RAM调试时的宏文件, 包含配置FSMC总线和修改中断向量表的代码

使用方法：
(1) 双击 Project.eww，启动IAR开发环境
(2) 重新编译连接所有文件： Project->Rebuild all
(3) 装载镜像 : Project->Debug
(4) 运行程序：Debug->Go(F5)

单片机源程序如下:

#include "stm32f10x.h"
#include <stdio.h>
#include "usart_printf.h"
#define RCC_APB2Periph_GPIO_CAN RCC_APB2Periph_GPIOB
#define GPIO_Remap_CAN GPIO_Remap1_CAN1
#define GPIO_CAN GPIOB
#define GPIO_Pin_CAN_RX GPIO_Pin_8
#define GPIO_Pin_CAN_TX GPIO_Pin_9
typedef enum {FAILED = 0, PASSED = !FAILED} TestStatus;
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
__IO uint32_t ret = 0; /* for return of the interrupt handling */
volatile TestStatus TestRx;
/* Private function prototypes -----------------------------------------------*/
void NVIC_Configuration(void);
TestStatus CAN_Polling(void);
TestStatus CAN_Interrupt(void);
void RCC_Configuration(void);
void GPIO_Configuration(void);
int main(void)
{
/* Setup STM32 system (clock, PLL and Flash configuration) */
SystemInit();
/* CAN1 Periph clock enable */
RCC_Configuration();
USART_Configuration();/* 配置串口 */
GPIO_Configuration();
/* NVIC Configuration */
NVIC_Configuration();
/* CAN transmit at 100Kb/s and receive by polling in loopback mode */
TestRx = CAN_Polling();
while (1) ;
{
}
}
void RCC_Configuration(void)
{
/* GPIO clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO |RCC_APB2Periph_GPIO_CAN, ENABLE);
/* CAN1 Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
}
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure CAN pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN_RX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIO_CAN, &GPIO_InitStructure);
/* Configure CAN pin: TX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN_TX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIO_CAN, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_Remap_CAN , ENABLE);
}
TestStatus CAN_Polling(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CanTxMsg TxMessage;
CanRxMsg RxMessage;
uint32_t i = 0;
uint8_t TransmitMailbox = 0;
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM=DISABLE;
CAN_InitStructure.CAN_ABOM=DISABLE;
CAN_InitStructure.CAN_AWUM=DISABLE;
CAN_InitStructure.CAN_NART=DISABLE;
CAN_InitStructure.CAN_RFLM=DISABLE;
CAN_InitStructure.CAN_TXFP=DISABLE;
CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack;
//CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=5;
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=0;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/* transmit */
TxMessage.StdId=0x11;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.IDE=CAN_ID_STD;
TxMessage.DLC=2;
TxMessage.Data[0]=0xCA;
TxMessage.Data[1]=0xFE;
TransmitMailbox=CAN_Transmit(CAN1, &TxMessage);
i = 0;
while((CAN_TransmitStatus(CAN1, TransmitMailbox) != CANTXOK) && (i != 0xFF))
{
i++;
}
i = 0;
while((CAN_MessagePending(CAN1, CAN_FIFO0) < 1) && (i != 0xFF))
{
i++;
}
/* receive */
RxMessage.StdId=0x00;
RxMessage.IDE=CAN_ID_STD;
RxMessage.DLC=0;
RxMessage.Data[0]=0x00;
RxMessage.Data[1]=0x00;
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
if (RxMessage.StdId!=0x11)
{
return FAILED;
}
if (RxMessage.IDE!=CAN_ID_STD)
{
return FAILED;
}
if (RxMessage.DLC!=2)
{
return FAILED;
}
if ((RxMessage.Data[0]<<8|RxMessage.Data[1])!=0xCAFE)
{
return FAILED;
}
return PASSED; /* Test Passed */
}
TestStatus CAN_Interrupt(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CanTxMsg TxMessage;
uint32_t i = 0;
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM=DISABLE;
CAN_InitStructure.CAN_ABOM=DISABLE;
CAN_InitStructure.CAN_AWUM=DISABLE;
CAN_InitStructure.CAN_NART=DISABLE;
CAN_InitStructure.CAN_RFLM=DISABLE;
CAN_InitStructure.CAN_TXFP=DISABLE;
CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack;
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=1;
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=1;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/* CAN FIFO0 message pending interrupt enable */
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
/* transmit 1 message */
TxMessage.StdId=0x00;
TxMessage.ExtId=0x1234;
TxMessage.IDE=CAN_ID_EXT;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.DLC=2;
TxMessage.Data[0]=0xDE;
TxMessage.Data[1]=0xCA;
CAN_Transmit(CAN1, &TxMessage);
/* initialize the value that will be returned */
ret = 0xFF;
/* receive message with interrupt handling */
i=0;
while((ret == 0xFF) && (i < 0xFFF))
{
i++;
}
if (i == 0xFFF)
……………………
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ID:1 · 发表于 2018-8-21 01:58

需要补全原理图与传感器类型后即可获得100黑币

ID:388392 · 发表于 2018-8-21 13:43

谢谢分享谢谢分享

ID:64583 · 发表于 2018-8-21 14:23

能说说原理吗？

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