编写一个stm32与openmv控制的二维云台代码

好的，下面是一个简单的示例代码，用于控制一个二维云台，该云台由STM32与OpenMV相结合实现。请注意，这只是一个简单的示例，您需要根据您自己的硬件和需求进行自定义和修改。同时，建议您参考STM32和OpenMV的官方文档，以了解更多详细信息。

#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_tim.h"

int main(void)
{
  // 初始化GPIO与定时器
  GPIO_InitTypeDef GPIO_InitStructure;
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
  TIM_OCInitTypeDef TIM_OCInitStructure;

  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  GPIO_PinAFConfig(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
  GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);

  TIM_TimeBaseStructure.TIM_Period = 19999;
  TIM_TimeBaseStructure.TIM_Prescaler = 84;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = 1500;
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

  TIM_OC1Init(TIM2, &TIM_OCInitStructure);
  TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);

  TIM_OC2Init(TIM2, &TIM_OCInitStructure);
  TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);

  TIM_Cmd(TIM2, ENABLE);

  // 初始化OpenMV串口通信
  USART_InitTypeDef USART_InitStructure;
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
  USART_InitStructure.USART_BaudRate = 115200;
  USART_InitStructure.USART_WordLength = USART_WordLength_8b;
  USART_InitStructure.USART_StopBits = USART_StopBits_1;
  USART_InitStructure.USART_Parity = USART_Parity_No;
  USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
  USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
  USART_Init(USART2, &USART_InitStructure);
  USART_Cmd(USART2, ENABLE);

  // 控制云台旋转
  while (1)
  {
    if (USART_GetFlagStatus(USART2, USART_FLAG_RXNE) == SET)
    {
      // 读取OpenMV发送的数据
      uint8_t data = USART_ReceiveData(USART2);

      // 解析数据并控制云台旋转
      if (data == 'u')
      {
        TIM_SetCompare1(TIM2, 1600);
      }
      else if (data == 'd')
      {
        TIM_SetCompare1(TIM2, 1400);
      }
      else if (data == 'l')
      {
        TIM_SetCompare2(TIM2, 1600);
      }
      else if (data == 'r')
      {
        TIM_SetCompare2(TIM2, 1400);
      }
      else if (data == 's')
      {
        TIM_SetCompare1(TIM2, 1500);
        TIM_SetCompare2(TIM2, 1500);
      }
    }
  }
}

这段代码实现了一个基本的二维云台控制功能，使用了STM32的TIM2定时器和GPIO控制舵机的PWM输出，以及OpenMV的串口通信功能。您可以根据实际需要进行修改和扩展。