STm328路灰度传感器循迹代码

你好！以下是一个基于STM32F328微控制器的灰度传感器循迹代码的示例：

#include "stm32f4xx.h"

#define NUM_SENSORS 5
#define THRESHOLD 1000

GPIO_InitTypeDef GPIO_InitStruct;
ADC_InitTypeDef ADC_InitStruct;
DMA_InitTypeDef DMA_InitStruct;

uint16_t sensorValues[NUM_SENSORS];
uint8_t linePosition;

void GPIO_Configuration(void)
{
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

    GPIO_InitStruct.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AN;
    GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOA, &GPIO_InitStruct);
}

void ADC_Configuration(void)
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);

    ADC_DeInit();
    ADC_InitStruct.ADC_Resolution = ADC_Resolution_12b;
    ADC_InitStruct.ADC_ScanConvMode = ENABLE;
    ADC_InitStruct.ADC_ContinuousConvMode = ENABLE;
    ADC_InitStruct.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1;
    ADC_InitStruct.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
    ADC_InitStruct.ADC_DataAlign = ADC_DataAlign_Right;
    ADC_InitStruct.ADC_NbrOfConversion = NUM_SENSORS;
    ADC_Init(ADC1, &ADC_InitStruct);

    ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_15Cycles);
    ADC_RegularChannelConfig(ADC1, ADC_Channel_1, 2, ADC_SampleTime_15Cycles);
    ADC_RegularChannelConfig(ADC1, ADC_Channel_2, 3, ADC_SampleTime_15Cycles);
    ADC_RegularChannelConfig(ADC1, ADC_Channel_3, 4, ADC_SampleTime_15Cycles);
    ADC_RegularChannelConfig(ADC1, ADC_Channel_4, 5, ADC_SampleTime_15Cycles);

    ADC_DMARequestAfterLastTransferCmd(ADC1, ENABLE);
    ADC_DMACmd(ADC1, ENABLE);

    ADC_Cmd(ADC1, ENABLE);
    ADC_SoftwareStartConv(ADC1);
}

void DMA_Configuration(void)
{
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE);

    DMA_DeInit(DMA2_Stream0);
    DMA_InitStruct.DMA_Channel = DMA_Channel_0;
    DMA_InitStruct.DMA_PeripheralBaseAddr = (uint32_t)&(ADC1->DR);
    DMA_InitStruct.DMA_Memory0BaseAddr = (uint32_t)&sensorValues;
    DMA_InitStruct.DMA_DIR = DMA_DIR_PeripheralToMemory;
    DMA_InitStruct.DMA_BufferSize = NUM_SENSORS;
    DMA_InitStruct.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
    DMA_InitStruct.DMA_MemoryInc = DMA_MemoryInc_Enable;
    DMA_InitStruct.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
    DMA_InitStruct.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
    DMA_InitStruct.DMA_Mode = DMA_Mode_Circular;
    DMA_InitStruct.DMA_Priority = DMA_Priority_High;
    DMA_InitStruct.DMA_FIFOMode = DMA_FIFOMode_Disable;
    DMA_InitStruct.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
    DMA_InitStruct.DMA_MemoryBurst = DMA_MemoryBurst_Single;
    DMA_InitStruct.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
    DMA_Init(DMA2_Stream0, &DMA_InitStruct);

    DMA_Cmd(DMA2_Stream0, ENABLE);
}

uint8_t readLinePosition(void)
{
    uint8_t i;
    uint32_t sum = 0;

    for (i = 0; i < NUM_SENSORS; i++)
    {
        if (sensorValues[i] > THRESHOLD)
        {
            sum += sensorValues[i] * i;
        }
        else
        {
            sum += sensorValues[i] * (NUM_SENSORS - 1);
        }
    }

    return sum / (NUM_SENSORS * THRESHOLD);
}

int main(void)
{
    GPIO_Configuration();
    ADC_Configuration();
    DMA_Configuration();

    while (1)
    {
        linePosition = readLinePosition();

        // 在这里添加循迹代码

        // 可以使用 linePosition 变量来控制小车的运动方向
    }
}

这个示例代码使用了STM32F4系列的ADC和DMA来读取灰度传感器的值，并计算出线的位置。你可以在`readLinePosition`函数中添加你的循迹代码，根据`linePosition`变量来控制小车的运动方向。

请注意，这只是一个简单的示例代码，实际应用中可能需要根据你的硬件连接和具体要求进行适当的修改。同时，还需要根据你使用的开发环境和工具链进行相应的配置。

希望对你有所帮助！如有任何问题，请随时提问。