电脑鼠走迷宫的STM32源程序

其中红外参数让我在程序里锁死了，只能用蓝牙写入

单片机源程序如下:

1. /* USER CODE END Header */
   
2. 
   
3. /* Includes ------------------------------------------------------------------*/
   
4. #include "main.h"
   
5. #include "adc.h"
   
6. #include "dma.h"
   
7. #include "i2c.h"
   
8. #include "tim.h"
   
9. #include "usart.h"
   
10. #include "gpio.h"
    
11. 
    
12. /* Private includes ----------------------------------------------------------*/
    
13. /* USER CODE BEGIN Includes */
    
14. #include "sensor.h"
    
15. #include "maze.h"
    
16. 
    
17. #include <string.h>
    
18. /* USER CODE END Includes */
    
19. 
    
20. /* Private typedef -----------------------------------------------------------*/
    
21. /* USER CODE BEGIN PTD */
    
22. 
    
23. /* USER CODE END PTD */
    
24. 
    
25. /* Private define ------------------------------------------------------------*/
    
26. /* USER CODE BEGIN PD */
    
27. 
    
28. /* USER CODE END PD */
    
29. 
    
30. /* Private macro -------------------------------------------------------------*/
    
31. /* USER CODE BEGIN PM */
    
32. 
    
33. /* USER CODE END PM */
    
34. 
    
35. /* Private variables ---------------------------------------------------------*/
    
36. 
    
37. /* USER CODE BEGIN PV */
    
38. 
    
39. /* USER CODE END PV */
    
40. 
    
41. /* Private function prototypes -----------------------------------------------*/
    
42. void SystemClock_Config(void);
    
43. /* USER CODE BEGIN PFP */
    
44. 
    
45. /* USER CODE END PFP */
    
46. 
    
47. /* Private user code ---------------------------------------------------------*/
    
48. /* USER CODE BEGIN 0 */
    
49. 
    
50. /* USER CODE END 0 */
    
51. 
    
52. /**
    
53.   * @brief  The application entry point.
    
54.   * @retval int
    
55.   */
    
56. int main(void)
    
57. {
    
58.     /* USER CODE BEGIN 1 */
    
59.     //uint8_t ucLedRun = 0;
    
60.     //uint8_t ucLedCount = 0;
    
61.                
    
62.     /* USER CODE END 1 */
    
63. 
    
64.     /* MCU Configuration--------------------------------------------------------*/
    
65. 
    
66.     /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    
67.     HAL_Init();
    
68. 
    
69.     /* USER CODE BEGIN Init */
    
70. 
    
71.     /* USER CODE END Init */
    
72. 
    
73.     /* Configure the system clock */
    
74.     SystemClock_Config();
    
75. 
    
76.     /* USER CODE BEGIN SysInit */
    
77. 
    
78.     /* USER CODE END SysInit */
    
79. 
    
80.     /* Initialize all configured peripherals */
    
81.     MX_GPIO_Init();
    
82.     MX_DMA_Init();
    
83.     MX_TIM1_Init();
    
84.     MX_TIM2_Init();
    
85.     MX_TIM3_Init();
    
86.     MX_ADC1_Init();
    
87.     MX_I2C1_Init();
    
88.     MX_USART3_UART_Init();
    
89.     /* USER CODE BEGIN 2 */
    
90.                
    
91.     PIDInit();
    
92.    
    
93.     HAL_Delay(200);
    
94.     getStaticAngle();
    
95.                 HAL_Delay(200);
    
96.                 mouseInit();
    
97.     /* USER CODE END 2 */
    
98. 
    
99.     /* Infinite loop */
    
100.     /* USER CODE BEGIN WHILE */
     
101.     while (1)
     
102.     {
     
103.         /* USER CODE END WHILE */
     
104. 
     
105.         /* USER CODE BEGIN 3 */
     
106.                                 mainTask();
     
107.     }
     
108.     /* USER CODE END 3 */
     
109. }
     
110. 
     
111. /**
     
112.   * @brief System Clock Configuration
     
113.   * @retval None
     
114.   */
     
115. void SystemClock_Config(void)
     
116. {
     
117.     RCC_OscInitTypeDef RCC_OscInitStruct = {0};
     
118.     RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
     
119.     RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
     
120. 
     
121.     /**Initializes the CPU, AHB and APB busses clocks
     
122.     */
     
123.     RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
     
124.     RCC_OscInitStruct.HSEState = RCC_HSE_ON;
     
125.     RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
     
126.     RCC_OscInitStruct.HSIState = RCC_HSI_ON;
     
127.     RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
     
128.     RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
     
129.     RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
     
130.     if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
     
131.     {
     
132.         Error_Handler();
     
133.     }
     
134.     /**Initializes the CPU, AHB and APB busses clocks
     
135.     */
     
136.     RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
     
137.                                   |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
     
138.     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
     
139.     RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
     
140.     RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
     
141.     RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
     
142. 
     
143.     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
     
144.     {
     
145.         Error_Handler();
     
146.     }
     
147.     PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
     
148.     PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
     
149.     if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
     
150.     {
     
151.         Error_Handler();
     
152.     }
     
153. }
     
154. 
     
155. /* USER CODE BEGIN 4 */
     
156. 
     
157. /* USER CODE END 4 */
     
158. 
     
159. /**
     
160.   * @brief  This function is executed in case of error occurrence.
     
161.   * @retval None
     
162.   */
     
163. void Error_Handler(void)
     
164. {
     
165.     /* USER CODE BEGIN Error_Handler_Debug */
     
166.     /* User can add his own implementation to report the HAL error return state */
     
167. 
     
168.     /* USER CODE END Error_Handler_Debug */
     
169. }
     
170. 
     
171. #ifdef  USE_FULL_ASSERT
     
172. /**
     
173.   * @brief  Reports the name of the source file and the source line number
     
174.   *         where the assert_param error has occurred.
     
175.   * @param  file: pointer to the source file name
     
176.   * @param  line: assert_param error line source number
     
177.   * @retval None
     
178.   */
     
179. void assert_failed(uint8_t *file, uint32_t line)
     
180. {
     
181.     /* USER CODE BEGIN 6 */
     
182.     /* User can add his own implementation to report the file name and line number,
     
183.        tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     
184.     /* USER CODE END 6 */
     
185. }
     
186. #endif /* USE_FULL_ASSERT */
     
187. 
     
188. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
     

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所有资料51hei提供下载:
MouseOrgV0.9.7z (2.91 MB, 下载次数: 33)

2019-7-12 17:07 上传

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因为头文件太多了，所以不方便张贴出来，所以想看的只能破费了