stm32小车红外避障Keil5全部代码

以下是基于STM32的小车红外避障代码，包括所有的头文件和初始化函数，使用Keil5编写：

头文件：

#ifndef __INFRARED_H
#define __INFRARED_H

#include "stm32f10x.h"

#define LEFT_INFRARED  1
#define RIGHT_INFRARED 2

void Infrared_InitConfig(void);
int Infrared_GetDistance(int infrared);

#endif /* __INFRARED_H */

初始化函数：

#include "infrared.h"

void Infrared_InitConfig(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE); // 使能GPIO时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); // 使能TIM3时钟

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; // PA6、PA7
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; // 上拉输入
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_10 | GPIO_Pin_11; // PB0、PB1、PB10、PB11
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; // 上拉输入
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4; // PC0~PC4
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; // 上拉输入
    GPIO_Init(GPIOC, &GPIO_InitStructure);

    TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
    TIM_TimeBaseStructure.TIM_Period = 60000 - 1; // 计数器周期为60000
    TIM_TimeBaseStructure.TIM_Prescaler = 71; // 分频系数为72
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; // 时钟分频
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; // 向上计数
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

    TIM_OCStructInit(&TIM_OCInitStructure);
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; // PWM模式1
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; // 使能输出
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; // 输出极性为高电平
    TIM_OCInitStructure.TIM_Pulse = 0; // 初始占空比为0
    TIM_OC1Init(TIM3, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); // 输出比较1预装载使能
    TIM_OC2Init(TIM3, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); // 输出比较2预装载使能
    TIM_OC3Init(TIM3, &TIM_OCInitStructure);
    TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable); // 输出比较3预装载使能
    TIM_OC4Init(TIM3, &TIM_OCInitStructure);
    TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable); // 输出比较4预装载使能

    TIM_Cmd(TIM3, ENABLE); // TIM3使能
}

红外测距函数：

#include "infrared.h"

int Infrared_GetDistance(int infrared)
{
    int distance = 0;
    switch(infrared)
    {
        case LEFT_INFRARED:
            if(GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_0) == 0)
            {
                distance = 10;
            }
            else if(GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_1) == 0)
            {
                distance = 20;
            }
            else if(GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_2) == 0)
            {
                distance = 30;
            }
            else if(GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_3) == 0)
            {
                distance = 40;
            }
            else if(GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_4) == 0)
            {
                distance = 50;
            }
            else
            {
                distance = 100;
            }
            break;
        case RIGHT_INFRARED:
            if(GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_6) == 0)
            {
                distance = 10;
            }
            else if(GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_7) == 0)
            {
                distance = 20;
            }
            else if(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_0) == 0)
            {
                distance = 30;
            }
            else if(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_1) == 0)
            {
                distance = 40;
            }
            else if(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_10) == 0)
            {
                distance = 50;
            }
            else if(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_11) == 0)
            {
                distance = 60;
            }
            else
            {
                distance = 100;
            }
            break;
        default:
            break;
    }
    return distance;
}

主函数：

#include "stm32f10x.h"
#include "delay.h"
#include "usart.h"
#include "infrared.h"
#include "motor.h"

int main(void)
{    
    int left_distance, right_distance;
    
    SystemInit();
    delay_init();
    USART_InitConfig();
    Infrared_InitConfig();
    Motor_InitConfig();
    
    while(1)
    {
        left_distance = Infrared_GetDistance(LEFT_INFRARED);
        right_distance = Infrared_GetDistance(RIGHT_INFRARED);
        if(left_distance < 100 && right_distance < 100) // 左右两侧均有障碍物，后退并转向
        {
            Motor_SetSpeed(-800, -800);
            delay_ms(500);
            Motor_SetSpeed(800, -800);
            delay_ms(1000);
        }
        else if(left_distance < 100) // 左侧有障碍物，右转
        {
            Motor_SetSpeed(800, -800);
        }
        else if(right_distance < 100) // 右侧有障碍物，左转
        {
            Motor_SetSpeed(-800, 800);
        }
        else // 左右两侧均无障碍物，向前行驶
        {
            Motor_SetSpeed(800, 800);
        }
        delay_ms(100);
    }
}

需要注意的是，该代码中的头文件、初始化函数和主函数需要在不同的文件中进行编写，且各部分的初始化函数需要根据具体硬件电路进行修改。