首先是超声波测距的代码,原理就是定时器产生PWM波控制舵机旋转到指定角度。
void HC_SR04Gpio1Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0; //ECHO
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPD;
GPIO_Init(GPIOB,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; //接TRIG 触发控制信号输入
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
void Timer3_Init(uint16 psc,uint16 arr)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
TIM_DeInit(TIM3);
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_TimeBaseInitStructure.TIM_Prescaler=psc;
TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInitStructure.TIM_Period=arr;
TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStructure);
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_ICInitStructure.TIM_Channel=TIM_Channel_3;
TIM_ICInitStructure.TIM_ICPolarity=TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_ICSelection=TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler=TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter=0;
TIM_ICInit(TIM3,&TIM_ICInitStructure);
TIM_ClearITPendingBit(TIM3,TIM_IT_Update|TIM_IT_CC3);
TIM_ITConfig(TIM3,TIM_IT_Update|TIM_IT_CC3,ENABLE);
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel=TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority=2;
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_Cmd(TIM3,ENABLE);
}
InputCapture icCapture={RESET,0,0,0,0};
uint32 Distance=0;
void TIM3_IRQHandler(void)
{
if(icCapture.icFinishFlag==0)
{
if(TIM_GetITStatus(TIM3,TIM_IT_CC3)!= RESET)
{
if(icCapture.Edge==RESET)
{
icCapture.Edge=SET;
TIM_SetCounter(TIM3,0);
TIM_OC3PolarityConfig(TIM3,TIM_OCPolarity_Low);
}
else
{
icCapture.icFinishFlag=1;
icCapture.icCaptureVal=TIM_GetCapture3(TIM3);
Distance=(icCapture.icUpdateCnt*65535+icCapture.icCaptureVal)*340/20000;
icCapture.icUpdateCnt=0;
icCapture.Edge=RESET;
TIM_OC3PolarityConfig(TIM3,TIM_OCPolarity_High);
icCapture.icFinishFlag=0;
}
}
if(TIM_GetITStatus(TIM3,TIM_IT_Update)!= RESET)
{
if(icCapture.Edge==SET)
{
icCapture.icUpdateCnt++;
printf("The icUpdateCnt is:%d\r\n",icCapture.icUpdateCnt);
}
}
}
TIM_ClearITPendingBit(TIM3,TIM_IT_Update|TIM_IT_CC3);
}
再来就是舵机。
void Duoji_Tim4_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //使能定时器4时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //使能GPIO外设和AFIO复用功能模块时钟 326389
//设置该引脚为复用输出功能,输出TIM4 CH2的PWM脉冲波形 GPIOB.6
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 ; //TIM_CH1-4
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化GPIO
//**************初始化TIM4*****************//
TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
//*******初始化TIM4 Channel2 PWM模式********//
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OC1Init(TIM4, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM4 OC1
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable); //使能TIM4在CCR2上的预装载寄存器
TIM_Cmd(TIM4, ENABLE); //使能TIM4
}
最后附上可以使用的工程代码
链接:https://pan.baidu.com/s/1ADlwZHGD430xtg6XPdg8VQ
提取码:9438