STM32红外避障实验代码

以下是基于STM32的红外避障实验代码，仅供参考：

#include "stm32f10x.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_adc.h"

#define ADC1_DR_Address ((uint32_t)0x4001244C)

__IO uint16_t ADC_ConvertedValue[2];

void GPIO_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;

  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOC, ENABLE);

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
  GPIO_Init(GPIOC, &GPIO_InitStructure);
}

void ADC_Configuration(void)
{
  ADC_InitTypeDef ADC_InitStructure;

  RCC_ADCCLKConfig(RCC_PCLK2_Div6);
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);

  ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
  ADC_InitStructure.ADC_ScanConvMode = ENABLE;
  ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
  ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
  ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
  ADC_InitStructure.ADC_NbrOfChannel = 2;
  ADC_Init(ADC1, &ADC_InitStructure);

  ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_239Cycles5);
  ADC_RegularChannelConfig(ADC1, ADC_Channel_1, 2, ADC_SampleTime_239Cycles5);

  ADC_DMACmd(ADC1, ENABLE);
  ADC_Cmd(ADC1, ENABLE);

  ADC_ResetCalibration(ADC1);
  while (ADC_GetResetCalibrationStatus(ADC1))
    ;

  ADC_StartCalibration(ADC1);
  while (ADC_GetCalibrationStatus(ADC1))
    ;

  ADC_SoftwareStartConvCmd(ADC1, ENABLE);
}

void DMA_Configuration(void)
{
  DMA_InitTypeDef DMA_InitStructure;

  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);

  DMA_DeInit(DMA1_Channel1);
  DMA_InitStructure.DMA_PeripheralBaseAddr = ADC1_DR_Address;
  DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)ADC_ConvertedValue;
  DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
  DMA_InitStructure.DMA_BufferSize = 2;
  DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
  DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
  DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
  DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
  DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
  DMA_InitStructure.DMA_Priority = DMA_Priority_High;
  DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
  DMA_Init(DMA1_Channel1, &DMA_InitStructure);

  DMA_Cmd(DMA1_Channel1, ENABLE);
}

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

  while (1)
  {
    if (ADC_ConvertedValue[0] > 2000 && ADC_ConvertedValue[1] > 2000)
    {
      // 左右两侧都没有障碍物
    }
    else if (ADC_ConvertedValue[0] < 2000 && ADC_ConvertedValue[1] > 2000)
    {
      // 左侧有障碍物，右侧没有障碍物
    }
    else if (ADC_ConvertedValue[0] > 2000 && ADC_ConvertedValue[1] < 2000)
    {
      // 左侧没有障碍物，右侧有障碍物
    }
    else
    {
      // 左右两侧都有障碍物
    }
  }
}

代码中使用了ADC和DMA来读取红外传感器的数据，判断左右两侧是否有障碍物。可以根据实际情况调整ADC_ConvertedValue[]数组中的数值阈值。