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最近在弄平衡小车,然后移植了一下平衡小车的代码到cubemx上,现在发上来供大家学习。
- /* USER CODE END Header */
- /* Includes ------------------------------------------------------------------*/
- #include "main.h"
- #include "adc.h"
- #include "tim.h"
- #include "usart.h"
- #include "gpio.h"
- /* Private includes ----------------------------------------------------------*/
- /* USER CODE BEGIN Includes */
- float Voltage; //电池电压采样相关的变量
- float pitch,roll,yaw; //欧拉角
- short aacx,aacy,aacz; //加速度传感器原始数据
- short gyrox,gyroy,gyroz; //陀螺仪原始数据
- float UltrasonicWave_Distance; //超声波测距
- int Encoder_Left,Encoder_Right; //左右编码器的脉冲计数
- int Moto1,Moto2; //计算出来的最终赋给电机的PWM
- int Flag_Qian,Flag_Hou,Flag_Left,Flag_Right; //蓝牙遥控相关的变量
- unsigned char flag_UltrasonicWave;
- uint8_t RECEIVE_SJJ;
- /* USER CODE END Includes */
- /* Private typedef -----------------------------------------------------------*/
- /* USER CODE BEGIN PTD */
- /* USER CODE END PTD */
- /* Private define ------------------------------------------------------------*/
- /* USER CODE BEGIN PD */
- /* 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 */
- /* 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_TIM2_Init();
- MX_TIM4_Init();
- MX_TIM1_Init();
- MX_USART1_UART_Init();
- MX_ADC1_Init();
- MX_TIM3_Init();
- /* USER CODE BEGIN 2 */
- HAL_UART_Receive_IT(&huart1,&RECEIVE_SJJ,1);
- /* USER CODE END 2 */
- /* Infinite loop */
- /* USER CODE BEGIN WHILE */
-
- /*****************************************************************************/
- /*uart3_init(115200); //=====初始化串口3
- NVIC_Configuration(); //=====中断优先级分组,其中包含了所有的中断优先级的配置,方便管理和一次性修改。
- Adc_Init(); //=====初始化ADC
- Encoder_Init_TIM2(); //=====初始化编码器2
- Encoder_Init_TIM4(); //=====初始化编码器4
- Timer3_Init(5000,7199); //=====超声波定时器初始化*/
- OLED_Init(); //=====OLED初始化
- OLED_Clear(); //=====OLED清屏
- MPU_Init(); //=====初始化MPU6050
- mpu_dmp_init(); //=====初始化MPU6050的DMP模式
- //UltrasonicWave_Configuration();//=====初始化超声波的硬件IO口
- //TIM1_PWM_Init(7199,0); //=====初始化PWM 10KHZ,用于驱动电机。
- delay_ms(1000); //=====延时1s 解决小车上电轮子乱转的问题
- delay_ms(1000); //=====延时1s 解决小车上电轮子乱转的问题
- Motor_Init(); //=====初始化与电机连接的硬件IO接口
- //MPU6050_EXTI_Init(); //=====MPU6050 5ms定时中断初始化
- oled_first_show(); //只需要显示一次的字符,在此刷新一次即可。
- while (1)
- {
- /* USER CODE END WHILE */
- /* USER CODE BEGIN 3 */
- oled_show();
- //Set_Pwm(7000,7000);
- delay_ms(50); //20HZ的显示频率,屏幕无需时刻刷新。
- }
- /* USER CODE END 3 */
- }
- /**
- * @brief System Clock Configuration
- * @retval None
- */
- void SystemClock_Config(void)
- {
- RCC_OscInitTypeDef RCC_OscInitStruct = {0};
- RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
- RCC_PeriphCLKInitTypeDef PeriphClkInit = {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();
- }
- PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
- PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
- if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
- {
- Error_Handler();
- }
- /** Enables the Clock Security System
- */
- HAL_RCC_EnableCSS();
- }
- /* 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 */
- /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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