stm32f407小车听声辨别方位代码

对于STM32F407小车的声音辨位代码，以下是一个简单的示例，你可以根据自己的需求进行修改和扩展：

#include "stm32f4xx.h"
#include "stdio.h"

#define SOUND_SPEED 343 // 声音在空气中传播的速度，单位为m/s

void TIM4_IRQHandler(void)
{
    static uint32_t risingEdgeTime = 0;
    static uint32_t fallingEdgeTime = 0;
    static uint8_t captureState = 0;

    if (TIM_GetITStatus(TIM4, TIM_IT_CC1) != RESET)
    {
        if (captureState == 0)
        {
            // 获取上升沿时间
            risingEdgeTime = TIM_GetCapture1(TIM4);
            captureState = 1;
        }
        else if (captureState == 1)
        {
            // 获取下降沿时间
            fallingEdgeTime = TIM_GetCapture1(TIM4);
            captureState = 0;

            // 计算声音传播时间
            uint32_t soundTravelTime = fallingEdgeTime - risingEdgeTime;

            // 计算方位
            float angle = ((float)soundTravelTime * SOUND_SPEED) / (2 * SystemCoreClock);

            printf("Angle: %.2f degrees\r\n", angle);
        }

        TIM_ClearITPendingBit(TIM4, TIM_IT_CC1);
    }
}

int main(void)
{
    // 初始化GPIO和TIM4
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);

    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
    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(GPIOB, &GPIO_InitStructure);

    GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);

    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_Period = 0xFFFF; // 最大计数值
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);

    TIM_ICInitTypeDef TIM_ICInitStructure;
    TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;
    TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
    TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
    TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
    TIM_ICInitStructure.TIM_ICFilter = 0x0;
    TIM_ICInit(TIM4, &TIM_ICInitStructure);

    NVIC_InitTypeDef NVIC_InitStructure;
    NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    TIM_ITConfig(TIM4, TIM_IT_CC1, ENABLE);
    TIM_Cmd(TIM4, ENABLE);

    printf("Sound direction detection started.\r\n");

    while (1)
    {
        // 主循环中可以进行其他操作
    }
}

这段代码使用了STM32F407的TIM4模块来测量声音的传播时间，并通过计算方位实现声音辨位功能。代码中使用PB6引脚作为输入捕获通道，通过捕获上升沿和下降沿的时间差来计算声音传播时间，进而得到方位角度。

需要注意的是，此代码只是一个简单的示例，实际应用中可能需要考虑更多的因素，例如噪声、多径效应等。你可以根据具体情况进行修改和优化。