/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
uint8_t usart2ReceiveData;
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void Stop_run()
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_9, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_RESET);
}
void Forward()
{
//左正转
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);
//右正传
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_9, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_RESET);
}
void Backward()
{
//左反转
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_SET);
//右反传
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_9, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_SET);
}
void Leftward()
{
//左反转
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_SET);
//右正传
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_9, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_RESET);
}
void Rightward()
{
//左正转
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);
//右反传
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_9, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_SET);
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart){
if(huart->Instance == USART2){
if(usart2ReceiveData == 101) Stop_run();//停止
if(usart2ReceiveData == 102) Forward();//前进
if(usart2ReceiveData == 103) Backward();//后退
if(usart2ReceiveData == 104) Leftward();//左转
if(usart2ReceiveData == 105) Rightward();//右转
if(0 <= usart2ReceiveData && usart2ReceiveData <= 100){
__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_4,usart2ReceiveData);//设置占空比
__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_1,usart2ReceiveData);//设置占空比
}
HAL_UART_Transmit(&huart2,&usart2ReceiveData,1,100);
HAL_UART_Receive_IT(&huart2,&usart2ReceiveData,1);
}
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_4); //开启定时器1的通道4的PWM输出
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1); //开启定时器3的通道1的PWM输出
//串口中断模式接收
HAL_UART_Receive_IT(&huart2,&usart2ReceiveData,1);//HAL_UART_Receive_IT(&huart2, (uint8_t *)rx_buf,1);这是接收1个字节到rx_buf中
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while(1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);//板载绿色LED小灯引脚电平反转
HAL_Delay(100);
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {
0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {
0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
"3. Comience desde cero y comience. La sexta etapa se transforma en un automóvil con control remoto Bluetooth. 3) Escriba el código en Keil. Para escribir código en main.c, consulte el código del archivo main.c
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