stm32学习记录——舵机与超声波测距的感应垃圾桶（附工程码）

 

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