添加舵机模块
This commit is contained in:
EN
parent
3f95b59ed3
commit
01df4763ad
4
CAR.ioc
4
CAR.ioc
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@ -272,8 +272,8 @@ SH.S_TIM4_CH2.0=TIM4_CH2,PWM Generation2 CH2
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SH.S_TIM4_CH2.ConfNb=1
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TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
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TIM1.IPParameters=Prescaler,Period,Channel-PWM Generation4 CH4
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TIM1.Period=20000 - 1
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TIM1.Prescaler=72 - 1
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TIM1.Period=2000 - 1
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TIM1.Prescaler=720 - 1
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TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
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TIM2.IPParameters=Prescaler,Period,AutoReloadPreload
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TIM2.Period=72 - 1
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@ -46,9 +46,9 @@ void MX_TIM1_Init(void)
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/* USER CODE END TIM1_Init 1 */
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htim1.Instance = TIM1;
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htim1.Init.Prescaler = 72 - 1;
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htim1.Init.Prescaler = 720 - 1;
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htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim1.Init.Period = 20000 - 1;
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htim1.Init.Period = 2000 - 1;
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htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim1.Init.RepetitionCounter = 0;
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htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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@ -1,4 +1,4 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
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<ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
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<SchemaVersion>1.0</SchemaVersion>
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@ -45,7 +45,7 @@
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<PageWidth>79</PageWidth>
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<PageLength>66</PageLength>
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<TabStop>8</TabStop>
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<ListingPath />
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<ListingPath></ListingPath>
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</OPTLEX>
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<ListingPage>
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<CreateCListing>1</CreateCListing>
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@ -104,16 +104,16 @@
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<bSchkAxf>0</bSchkAxf>
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<bTchkAxf>0</bTchkAxf>
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<nTsel>3</nTsel>
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<sDll />
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<sDllPa />
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<sDlgDll />
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<sDlgPa />
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<sIfile />
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<tDll />
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<tDllPa />
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<tDlgDll />
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<tDlgPa />
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<tIfile />
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<sDll></sDll>
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<sDllPa></sDllPa>
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<sDlgDll></sDlgDll>
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<sDlgPa></sDlgPa>
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<sIfile></sIfile>
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<tDll></tDll>
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<tDllPa></tDllPa>
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<tDlgDll></tDlgDll>
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<tDlgPa></tDlgPa>
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<tIfile></tIfile>
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<pMon>BIN\CMSIS_AGDI.dll</pMon>
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</DebugOpt>
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<TargetDriverDllRegistry>
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@ -130,7 +130,7 @@
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<SetRegEntry>
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<Number>0</Number>
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<Key>ARMDBGFLAGS</Key>
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<Name />
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<Name></Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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@ -140,7 +140,7 @@
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<SetRegEntry>
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<Number>0</Number>
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<Key>DLGUARM</Key>
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<Name />
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<Name></Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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@ -167,7 +167,7 @@
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>..\Peripheral\Src\bluetooth.c</Filename>
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<ExecCommand />
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<ExecCommand></ExecCommand>
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<Expression>\\CAR\../Peripheral/Src/bluetooth.c\34</Expression>
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</Bp>
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<Bp>
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@ -183,7 +183,7 @@
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>..\Peripheral\Src\control.c</Filename>
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<ExecCommand />
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<ExecCommand></ExecCommand>
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<Expression>\\CAR\../Peripheral/Src/control.c\32</Expression>
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</Bp>
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<Bp>
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@ -199,8 +199,8 @@
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>0</BreakIfRCount>
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<Filename>..\Peripheral\Src\bluetooth.c</Filename>
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<ExecCommand />
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<Expression />
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<ExecCommand></ExecCommand>
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<Expression></Expression>
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</Bp>
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<Bp>
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<Number>3</Number>
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@ -215,8 +215,8 @@
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>0</BreakIfRCount>
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<Filename>../Core/Src/main.c</Filename>
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<ExecCommand />
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<Expression />
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<ExecCommand></ExecCommand>
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<Expression></Expression>
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</Bp>
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<Bp>
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<Number>4</Number>
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@ -231,8 +231,8 @@
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>0</BreakIfRCount>
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<Filename>../Core/Src/main.c</Filename>
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<ExecCommand />
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<Expression />
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<ExecCommand></ExecCommand>
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<Expression></Expression>
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</Bp>
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</Breakpoint>
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<WatchWindow1>
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@ -287,19 +287,19 @@
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<newCpu>0</newCpu>
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<uProt>0</uProt>
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</DebugFlag>
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<LintExecutable />
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<LintConfigFile />
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<LintExecutable></LintExecutable>
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<LintConfigFile></LintConfigFile>
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<bLintAuto>0</bLintAuto>
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<bAutoGenD>0</bAutoGenD>
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<LntExFlags>0</LntExFlags>
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<pMisraName />
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<pszMrule />
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<pSingCmds />
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<pMultCmds />
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<pMisraNamep />
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<pszMrulep />
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<pSingCmdsp />
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<pMultCmdsp />
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<pMisraName></pMisraName>
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<pszMrule></pszMrule>
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<pSingCmds></pSingCmds>
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<pMultCmds></pMultCmds>
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<pMisraNamep></pMisraNamep>
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<pszMrulep></pszMrulep>
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<pSingCmdsp></pSingCmdsp>
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<pMultCmdsp></pMultCmdsp>
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<DebugDescription>
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<Enable>1</Enable>
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<EnableFlashSeq>1</EnableFlashSeq>
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@ -363,6 +363,18 @@
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>..\Core\Src\syscalls.c</PathWithFileName>
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<FilenameWithoutPath>syscalls.c</FilenameWithoutPath>
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<RteFlg>0</RteFlg>
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<bShared>0</bShared>
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<GroupNumber>3</GroupNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>../Core/Src/main.c</PathWithFileName>
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<FilenameWithoutPath>main.c</FilenameWithoutPath>
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<RteFlg>0</RteFlg>
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@ -370,7 +382,7 @@
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@ -382,7 +394,7 @@
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -394,7 +406,7 @@
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -406,7 +418,7 @@
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -418,7 +430,7 @@
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -428,18 +440,6 @@
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<RteFlg>0</RteFlg>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>..\Core\Src\syscalls.c</PathWithFileName>
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<FilenameWithoutPath>syscalls.c</FilenameWithoutPath>
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<RteFlg>0</RteFlg>
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@ -515,6 +515,18 @@
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>..\Peripheral\Src\infrared.c</PathWithFileName>
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<FilenameWithoutPath>infrared.c</FilenameWithoutPath>
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<RteFlg>0</RteFlg>
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<bShared>0</bShared>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>..\Peripheral\Src\led.c</PathWithFileName>
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<FilenameWithoutPath>led.c</FilenameWithoutPath>
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<RteFlg>0</RteFlg>
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@ -522,7 +534,7 @@
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -534,7 +546,7 @@
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@ -544,6 +556,18 @@
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>..\Peripheral\Src\servo.c</PathWithFileName>
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<FilenameWithoutPath>servo.c</FilenameWithoutPath>
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<RteFlg>0</RteFlg>
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<bShared>0</bShared>
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</Group>
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<Group>
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@ -554,7 +578,7 @@
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<RteFlg>0</RteFlg>
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@ -566,7 +590,7 @@
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@ -578,7 +602,7 @@
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@ -590,7 +614,7 @@
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@ -602,7 +626,7 @@
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@ -614,7 +638,7 @@
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@ -626,7 +650,7 @@
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@ -638,7 +662,7 @@
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@ -674,7 +698,7 @@
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@ -710,7 +734,7 @@
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<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -742,7 +766,7 @@
|
|||
<RteFlg>0</RteFlg>
|
||||
<File>
|
||||
<GroupNumber>6</GroupNumber>
|
||||
<FileNumber>33</FileNumber>
|
||||
<FileNumber>35</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
|
|||
|
|
@ -1,7 +1,10 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" noNamespaceSchemaLocation="project_projx.xsd">
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
|
||||
<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
|
||||
|
||||
<SchemaVersion>2.1</SchemaVersion>
|
||||
|
||||
<Header>### uVision Project, (C) Keil Software</Header>
|
||||
|
||||
<Targets>
|
||||
<Target>
|
||||
<TargetName>CAR</TargetName>
|
||||
|
|
@ -16,28 +19,28 @@
|
|||
<PackID>Keil.STM32F1xx_DFP.2.4.1</PackID>
|
||||
<PackURL>https://www.keil.com/pack/</PackURL>
|
||||
<Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3") TZ</Cpu>
|
||||
<FlashUtilSpec />
|
||||
<StartupFile />
|
||||
<FlashDriverDll />
|
||||
<FlashUtilSpec></FlashUtilSpec>
|
||||
<StartupFile></StartupFile>
|
||||
<FlashDriverDll></FlashDriverDll>
|
||||
<DeviceId>0</DeviceId>
|
||||
<RegisterFile />
|
||||
<MemoryEnv />
|
||||
<Cmp />
|
||||
<Asm />
|
||||
<Linker />
|
||||
<OHString />
|
||||
<InfinionOptionDll />
|
||||
<SLE66CMisc />
|
||||
<SLE66AMisc />
|
||||
<SLE66LinkerMisc />
|
||||
<RegisterFile></RegisterFile>
|
||||
<MemoryEnv></MemoryEnv>
|
||||
<Cmp></Cmp>
|
||||
<Asm></Asm>
|
||||
<Linker></Linker>
|
||||
<OHString></OHString>
|
||||
<InfinionOptionDll></InfinionOptionDll>
|
||||
<SLE66CMisc></SLE66CMisc>
|
||||
<SLE66AMisc></SLE66AMisc>
|
||||
<SLE66LinkerMisc></SLE66LinkerMisc>
|
||||
<SFDFile>$$Device:STM32F103C8$SVD\STM32F103xx.svd</SFDFile>
|
||||
<bCustSvd>0</bCustSvd>
|
||||
<UseEnv>0</UseEnv>
|
||||
<BinPath />
|
||||
<IncludePath />
|
||||
<LibPath />
|
||||
<RegisterFilePath />
|
||||
<DBRegisterFilePath />
|
||||
<BinPath></BinPath>
|
||||
<IncludePath></IncludePath>
|
||||
<LibPath></LibPath>
|
||||
<RegisterFilePath></RegisterFilePath>
|
||||
<DBRegisterFilePath></DBRegisterFilePath>
|
||||
<TargetStatus>
|
||||
<Error>0</Error>
|
||||
<ExitCodeStop>0</ExitCodeStop>
|
||||
|
|
@ -52,15 +55,15 @@
|
|||
<CreateHexFile>1</CreateHexFile>
|
||||
<DebugInformation>1</DebugInformation>
|
||||
<BrowseInformation>1</BrowseInformation>
|
||||
<ListingPath />
|
||||
<ListingPath></ListingPath>
|
||||
<HexFormatSelection>1</HexFormatSelection>
|
||||
<Merge32K>0</Merge32K>
|
||||
<CreateBatchFile>0</CreateBatchFile>
|
||||
<BeforeCompile>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg2>0</RunUserProg2>
|
||||
<UserProg1Name />
|
||||
<UserProg2Name />
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopU1X>0</nStopU1X>
|
||||
|
|
@ -69,8 +72,8 @@
|
|||
<BeforeMake>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg2>0</RunUserProg2>
|
||||
<UserProg1Name />
|
||||
<UserProg2Name />
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopB1X>0</nStopB1X>
|
||||
|
|
@ -79,15 +82,15 @@
|
|||
<AfterMake>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg2>1</RunUserProg2>
|
||||
<UserProg1Name />
|
||||
<UserProg2Name />
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopA1X>0</nStopA1X>
|
||||
<nStopA2X>0</nStopA2X>
|
||||
</AfterMake>
|
||||
<SelectedForBatchBuild>1</SelectedForBatchBuild>
|
||||
<SVCSIdString />
|
||||
<SVCSIdString></SVCSIdString>
|
||||
</TargetCommonOption>
|
||||
<CommonProperty>
|
||||
<UseCPPCompiler>0</UseCPPCompiler>
|
||||
|
|
@ -101,8 +104,8 @@
|
|||
<AssembleAssemblyFile>0</AssembleAssemblyFile>
|
||||
<PublicsOnly>0</PublicsOnly>
|
||||
<StopOnExitCode>3</StopOnExitCode>
|
||||
<CustomArgument />
|
||||
<IncludeLibraryModules />
|
||||
<CustomArgument></CustomArgument>
|
||||
<IncludeLibraryModules></IncludeLibraryModules>
|
||||
<ComprImg>0</ComprImg>
|
||||
</CommonProperty>
|
||||
<DllOption>
|
||||
|
|
@ -111,7 +114,7 @@
|
|||
<SimDlgDll>DCM.DLL</SimDlgDll>
|
||||
<SimDlgDllArguments>-pCM3</SimDlgDllArguments>
|
||||
<TargetDllName>SARMCM3.DLL</TargetDllName>
|
||||
<TargetDllArguments />
|
||||
<TargetDllArguments></TargetDllArguments>
|
||||
<TargetDlgDll>TCM.DLL</TargetDlgDll>
|
||||
<TargetDlgDllArguments>-pCM3</TargetDlgDllArguments>
|
||||
</DllOption>
|
||||
|
|
@ -136,10 +139,10 @@
|
|||
<bUseTDR>1</bUseTDR>
|
||||
<Flash2>BIN\UL2V8M.DLL</Flash2>
|
||||
<Flash3>"" ()</Flash3>
|
||||
<Flash4 />
|
||||
<pFcarmOut />
|
||||
<pFcarmGrp />
|
||||
<pFcArmRoot />
|
||||
<Flash4></Flash4>
|
||||
<pFcarmOut></pFcarmOut>
|
||||
<pFcarmGrp></pFcarmGrp>
|
||||
<pFcArmRoot></pFcArmRoot>
|
||||
<FcArmLst>0</FcArmLst>
|
||||
</Utilities>
|
||||
<TargetArmAds>
|
||||
|
|
@ -172,7 +175,7 @@
|
|||
<RvctClst>0</RvctClst>
|
||||
<GenPPlst>0</GenPPlst>
|
||||
<AdsCpuType>"Cortex-M3"</AdsCpuType>
|
||||
<RvctDeviceName />
|
||||
<RvctDeviceName></RvctDeviceName>
|
||||
<mOS>0</mOS>
|
||||
<uocRom>0</uocRom>
|
||||
<uocRam>0</uocRam>
|
||||
|
|
@ -306,7 +309,7 @@
|
|||
<Size>0x0</Size>
|
||||
</OCR_RVCT10>
|
||||
</OnChipMemories>
|
||||
<RvctStartVector />
|
||||
<RvctStartVector></RvctStartVector>
|
||||
</ArmAdsMisc>
|
||||
<Cads>
|
||||
<interw>1</interw>
|
||||
|
|
@ -333,9 +336,9 @@
|
|||
<v6WtE>0</v6WtE>
|
||||
<v6Rtti>0</v6Rtti>
|
||||
<VariousControls>
|
||||
<MiscControls />
|
||||
<MiscControls></MiscControls>
|
||||
<Define>USE_HAL_DRIVER,STM32F103xB</Define>
|
||||
<Undefine />
|
||||
<Undefine></Undefine>
|
||||
<IncludePath>../App/Inc;../Core/Inc;../Peripheral/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include</IncludePath>
|
||||
</VariousControls>
|
||||
</Cads>
|
||||
|
|
@ -351,10 +354,10 @@
|
|||
<useXO>0</useXO>
|
||||
<ClangAsOpt>1</ClangAsOpt>
|
||||
<VariousControls>
|
||||
<MiscControls />
|
||||
<Define />
|
||||
<Undefine />
|
||||
<IncludePath />
|
||||
<MiscControls></MiscControls>
|
||||
<Define></Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath></IncludePath>
|
||||
</VariousControls>
|
||||
</Aads>
|
||||
<LDads>
|
||||
|
|
@ -364,15 +367,15 @@
|
|||
<noStLib>0</noStLib>
|
||||
<RepFail>1</RepFail>
|
||||
<useFile>0</useFile>
|
||||
<TextAddressRange />
|
||||
<DataAddressRange />
|
||||
<pXoBase />
|
||||
<ScatterFile />
|
||||
<IncludeLibs />
|
||||
<IncludeLibsPath />
|
||||
<Misc />
|
||||
<LinkerInputFile />
|
||||
<DisabledWarnings />
|
||||
<TextAddressRange></TextAddressRange>
|
||||
<DataAddressRange></DataAddressRange>
|
||||
<pXoBase></pXoBase>
|
||||
<ScatterFile></ScatterFile>
|
||||
<IncludeLibs></IncludeLibs>
|
||||
<IncludeLibsPath></IncludeLibsPath>
|
||||
<Misc></Misc>
|
||||
<LinkerInputFile></LinkerInputFile>
|
||||
<DisabledWarnings></DisabledWarnings>
|
||||
</LDads>
|
||||
</TargetArmAds>
|
||||
</TargetOption>
|
||||
|
|
@ -465,6 +468,11 @@
|
|||
<FileType>1</FileType>
|
||||
<FilePath>..\Peripheral\Src\hcsr04.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>infrared.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Peripheral\Src\infrared.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>led.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
|
|
@ -480,6 +488,11 @@
|
|||
<FileType>1</FileType>
|
||||
<FilePath>..\Peripheral\Src\motor.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>servo.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Peripheral\Src\servo.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
|
|
@ -578,6 +591,7 @@
|
|||
</Groups>
|
||||
</Target>
|
||||
</Targets>
|
||||
|
||||
<RTE>
|
||||
<apis/>
|
||||
<components>
|
||||
|
|
@ -590,6 +604,7 @@
|
|||
</components>
|
||||
<files/>
|
||||
</RTE>
|
||||
|
||||
<LayerInfo>
|
||||
<Layers>
|
||||
<Layer>
|
||||
|
|
@ -598,5 +613,5 @@
|
|||
</Layer>
|
||||
</Layers>
|
||||
</LayerInfo>
|
||||
</Project>
|
||||
|
||||
</Project>
|
||||
|
|
|
|||
9
MDK-ARM/EventRecorderStub.scvd
Normal file
9
MDK-ARM/EventRecorderStub.scvd
Normal file
|
|
@ -0,0 +1,9 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
|
||||
<component_viewer schemaVersion="0.1" xmlns:xs="http://www.w3.org/2001/XMLSchema-instance" xs:noNamespaceSchemaLocation="Component_Viewer.xsd">
|
||||
|
||||
<component name="EventRecorderStub" version="1.0.0"/> <!--name and version of the component-->
|
||||
<events>
|
||||
</events>
|
||||
|
||||
</component_viewer>
|
||||
12
Peripheral/Inc/servo.h
Normal file
12
Peripheral/Inc/servo.h
Normal file
|
|
@ -0,0 +1,12 @@
|
|||
#ifndef __SERVO_H
|
||||
#define __SERVO_H
|
||||
|
||||
#include "main.h"
|
||||
|
||||
void SERVO_Init();
|
||||
|
||||
/// @brief 控制舵机转动
|
||||
/// @param degree 0-180
|
||||
void SERVO_Rotate(uint8_t degree);
|
||||
|
||||
#endif
|
||||
|
|
@ -24,9 +24,9 @@ void HC_SR04_Init(void)
|
|||
uint32_t sonar_mm(void)
|
||||
{
|
||||
sonor_state = 1;
|
||||
HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_SET); // 输出高电平
|
||||
HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_SET); // 输出高电平
|
||||
delay_us(15); // 延时15微秒
|
||||
HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_RESET); // 输出低电平
|
||||
HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_RESET); // 输出低电平
|
||||
if (time_end / 100 < 38)
|
||||
{ // 判断是否小于38毫秒，大于38毫秒的就是超时，直接调到下面返回0
|
||||
sonor_distance = (time_end * 346) / 2; // 计算距离，25°C空气中的音速为346m/s
|
||||
|
|
@ -46,9 +46,9 @@ void HCSR04_HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
|||
|
||||
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
|
||||
{
|
||||
if (GPIO_Pin == Echo_Pin)
|
||||
if (GPIO_Pin == ECHO_Pin)
|
||||
{
|
||||
if (HAL_GPIO_ReadPin(Echo_GPIO_Port, Echo_Pin))
|
||||
if (HAL_GPIO_ReadPin(ECHO_GPIO_Port, ECHO_Pin))
|
||||
{
|
||||
time_start = 0;
|
||||
HAL_TIM_Base_Start_IT(&htim2);
|
||||
|
|
|
|||
15
Peripheral/Src/servo.c
Normal file
15
Peripheral/Src/servo.c
Normal file
|
|
@ -0,0 +1,15 @@
|
|||
#include "servo.h"
|
||||
#include "tim.h"
|
||||
|
||||
void SERVO_Init()
|
||||
{
|
||||
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
|
||||
}
|
||||
|
||||
void SERVO_Rotate(uint8_t degree)
|
||||
{
|
||||
if (degree > 180)
|
||||
degree = 180;
|
||||
uint16_t compare = 200.0 / 180 * degree + 50;
|
||||
__HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_4, compare);
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user