项目六：串口通信控制舵机控制（加强版）

编程语言 2023-05-07 19:14:45 阅读次数: 0

一、需要添加的代码

main.c

#include "motor.h"
#include <stdio.h>
#include "delay.h"
#include "stm32f10x.h"
#include "followline.h"
#include "ultrasonic.h"
#include "steeringengine.h"

u8 UART3_data,UART1_data;
u8 UART3_rcv[20],UART3_rcv_count;
u8 UART1_rcv[50],UART1_rcv_count,Uart1_finish;

int main(void)
{
//      motor_pwm_TIME4_init(71,999);//电机PWM初始化
        delay_init();//延迟初始化
//      motor_GPIO_init();//电机管脚初始化、寻迹管脚初始化。
       uart_init1(9600);
//	    hwbz_gpio_init();
	      steer_gpio_init();
        steering_pwm_TIME1_init(7199,199);
	//int right_2=0,right_1=0 ,left_2=0,left_1=0;
	
	while(1)
	{
			

//       TIM_SetCompare4(TIM1,jd45);
//       delay_ms(800);
//		   TIM_SetCompare4(TIM1,jd90);
//       delay_ms(800);
//       TIM_SetCompare4(TIM1,jd180);
//       delay_ms(800);
		
	}
}

 usart.c

#include "sys.h"
#include "ultrasonic.h"
#include "stdio.h"
#include "sys.h"
#include "usart.h"
#include "steeringengine.h"

extern u8 UART3_data,UART1_data;
extern u8 UART3_rcv[20],UART3_rcv_count;
extern u8 UART1_rcv[50],UART1_rcv_count,Uart1_finish;
//uart1 
//bound:9600

//加入以下代码,支持printf函数,而不需要选择use MicroLIB	  
#if 1
#pragma import(__use_no_semihosting)             
//标准库需要的支持函数                 
struct __FILE 
{ 
	int handle; 

}; 

FILE __stdout;       
//定义_sys_exit()以避免使用半主机模式  
  
void _sys_exit (int  x) 
{ 
	x = x; 
} 
//重定义fputc函数 
int fputc(int ch, FILE *f)
{      
	  while((USART1->SR&0X40)==0)
			;                    //循环发送,直到发送完毕   
    USART1->DR = (u8) ch;      
	  return ch;
}
#endif 

void uart_init1(u32 bound)
	{
    //GPIO define
    GPIO_InitTypeDef GPIO_InitStructure;
	  USART_InitTypeDef USART_InitStructure;
	  NVIC_InitTypeDef NVIC_InitStructure;
	 
	  RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1|RCC_APB2Periph_GPIOA, ENABLE);	//open USART1,GPIOA clk
 	  USART_DeInit(USART1);  //release uart1
	 //USART1_TX   PA.9
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //PA.9
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	//output mode
    GPIO_Init(GPIOA, &GPIO_InitStructure); // Set PA9
   
    //USART1_RX	  PA.10
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
    GPIO_InitStructure.GPIO_Mode =GPIO_Mode_IN_FLOATING;//
    GPIO_Init(GPIOA, &GPIO_InitStructure);  //Set PA10

   //Usart1 NVIC

  NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=4 ;//
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;		//
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//
	NVIC_Init(&NVIC_InitStructure);	//
  
   //USART1

	USART_InitStructure.USART_BaudRate = bound;//9600;
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;//
	USART_InitStructure.USART_StopBits = USART_StopBits_1;//
	USART_InitStructure.USART_Parity = USART_Parity_No;//
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//

    USART_Init(USART1, &USART_InitStructure); //
    USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//
    USART_Cmd(USART1, ENABLE);                    //

}

//uart3 
//bound:9600
void uart_init3(u32 bound){
    //GPIO
    GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	 
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);	//open USART3 clk
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);	//open GPIOB clk
 	USART_DeInit(USART3);  //release uart3
	 //USART3_TX   PB.10
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; //PB.10
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	//output mode
    GPIO_Init(GPIOB, &GPIO_InitStructure); //configure PB10
   
    //USART3_RX	  PB.11
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//input mode
    GPIO_Init(GPIOB, &GPIO_InitStructure);  //configure PB11

   //Usart3 NVIC 

    NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=5 ;//
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;		//
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//
	NVIC_Init(&NVIC_InitStructure);	//
  
   //USART

	USART_InitStructure.USART_BaudRate = bound;//9600;
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;//data bit
	USART_InitStructure.USART_StopBits = USART_StopBits_1;//stop bit
	USART_InitStructure.USART_Parity = USART_Parity_No;//
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//

    USART_Init(USART3, &USART_InitStructure); //
    USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);//
    USART_Cmd(USART3, ENABLE);                    // 

} 

void USART1_SendByByter(u8 Data)
{
	//
	USART_GetFlagStatus(USART1, USART_FLAG_TC);	
	USART_SendData(USART1, Data);
	while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET);	
}

void USART3_SendByByter(u8 Data)
{
	//
	USART_GetFlagStatus(USART3, USART_FLAG_TC);	
	USART_SendData(USART3, Data);
	while (USART_GetFlagStatus(USART3, USART_FLAG_TC) == RESET);	
}

void USART1_IRQHandler(void)                	//uart1 ISR
	{
		u8 Res;
		if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)  //
		{   
		  Res =USART_ReceiveData(USART1);//(USART1->DR);	//
		  UART1_data=Res;	
			TIM_SetCompare4(TIM1,UART1_data);
		if(Res==0x7E && UART1_rcv_count==0)
		{
       UART1_rcv[UART1_rcv_count++]=Res;

    }
    else if(Res!=0x7E && UART1_rcv_count>0)
    {
      UART1_rcv[UART1_rcv_count++]=Res;
			
    }
    else if(Res==0x7E && UART1_rcv_count>0)
    {
       UART1_rcv[UART1_rcv_count++]=Res;
			 Uart1_finish=2;
		 }
    else
      ;	
	 }
 }		


void USART3_IRQHandler(void)                	//uart3 ISR
	{
		if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET)  //RX set
		{
		UART3_data=USART_ReceiveData(USART3);//(USART1->DR);	//
		UART3_rcv[UART3_rcv_count]=UART3_data;
		if(UART3_rcv_count<6) UART3_rcv_count++;
		
    } 
	}

usart.h

#ifndef __USART_H
#define __USART_H
#include "stdio.h"	
#include "sys.h" 
//	 
//本程序只供学习使用，未经作者许可，不得用于其它任何用途
//ALIENTEK STM32开发板
//串口1初始化		   
//正点原子@ALIENTEK
//技术论坛:www.openedv.com
//修改日期:2012/8/18
//版本：V1.5
//版权所有，盗版必究。
//Copyright(C) 广州市星翼电子科技有限公司 2009-2019
//All rights reserved
//********************************************************************************
//V1.3修改说明 
//支持适应不同频率下的串口波特率设置.
//加入了对printf的支持
//增加了串口接收命令功能.
//修正了printf第一个字符丢失的bug
//V1.4修改说明
//1,修改串口初始化IO的bug
//2,修改了USART_RX_STA,使得串口最大接收字节数为2的14次方
//3,增加了USART_REC_LEN,用于定义串口最大允许接收的字节数(不大于2的14次方)
//4,修改了EN_USART1_RX的使能方式
//V1.5修改说明
//1,增加了对UCOSII的支持
#define USART_REC_LEN  			200  	//定义最大接收字节数 200
#define EN_USART1_RX 			1		//使能（1）/禁止（0）串口1接收
	  	
extern u8  USART_RX_BUF[USART_REC_LEN]; //接收缓冲,最大USART_REC_LEN个字节.末字节为换行符 
extern u16 USART_RX_STA;         		//接收状态标记	
//如果想串口中断接收，请不要注释以下宏定义
void uart_init1(u32 bound);
void uart_init3(u32 bound);
void USART1_SendByByter(u8 Data);
void USART3_SendByByter(u8 Data);
#endif

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