GPIO_InitTypeDef GPIO_InitStructure; GPIO_StructInit(&GPIO_InitStructure); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; GPIO_Init(GPIOD, &GPIO_InitStructure); GPIO_ResetBits(GPIOD, GPIO_Pin_12);

时间: 2023-09-03 11:11:19 浏览: 108
这段代码是用于初始化和配置一个GPIO引脚,然后将引脚设置为输出模式,并将引脚的值设置为低电平。我可以帮你解释一下每个函数的作用: 1. `GPIO_InitTypeDef GPIO_InitStructure;` - 定义一个结构体变量,用于存储GPIO初始化参数。 2. `GPIO_StructInit(&GPIO_InitStructure);` - 将GPIO初始化结构体变量的成员全部重置为默认值。 3. `RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);` - 打开GPIO端口D的时钟。 4. `GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;` - 将引脚设置为输出模式。 5. `GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;` - 启用上拉电阻,使引脚在未连接时保持高电平。 6. `GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;` - 设置引脚输出类型为推挽输出。 7. `GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;` - 配置引脚速度为50MHz。 8. `GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;` - 设置要初始化和配置的引脚为GPIOD的第12号引脚。 9. `GPIO_Init(GPIOD, &GPIO_InitStructure);` - 使用上述配置参数初始化GPIOD的第12号引脚。 10. `GPIO_ResetBits(GPIOD, GPIO_Pin_12);` - 将GPIOD的第12号引脚的值设置为低电平。 这些函数的具体功能和参数可以参考相应的STM32芯片文档。如果有更多问题,欢迎提问!

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以下是一个使用USART_SendData函数向外发送八位数字的C语言程序例子: c #include <stm32f4xx.h> void USART1_Send_Byte(uint8_t byte); int main(void) { // 初始化USART1 RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); GPIO_InitTypeDef GPIO_InitStruct; GPIO_StructInit(&GPIO_InitStruct); GPIO_InitStruct.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10; GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStruct.GPIO_OType = GPIO_OType_PP; GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOA, &GPIO_InitStruct); GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_USART1); GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_USART1); USART_InitTypeDef USART_InitStruct; USART_StructInit(&USART_InitStruct); USART_InitStruct.USART_BaudRate = 9600; USART_InitStruct.USART_WordLength = USART_WordLength_8b; USART_InitStruct.USART_StopBits = USART_StopBits_1; USART_InitStruct.USART_Parity = USART_Parity_No; USART_InitStruct.USART_HardwareFlowControl = USART_HardwareFlowControl_None; USART_InitStruct.USART_Mode = USART_Mode_Tx; USART_Init(USART1, &USART_InitStruct); USART_Cmd(USART1, ENABLE); // 发送八位数字 uint8_t data = 0x12; // 代表一个八位数字,例如 18 USART1_Send_Byte(data); while(1) { } } void USART1_Send_Byte(uint8_t byte) { while (USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET); USART_SendData(USART1, byte); } 在这个例子中,使用了STM32F4xx系列的单片机,通过初始化USART1的GPIO和USART的寄存器来配置串口通信。在主函数中,将一个八位数字的值赋给了data变量,并通过调用USART1_Send_Byte函数将其发送出去。函数内部通过USART_SendData函数将数据发送出去,发送的数据为byte变量。需要注意的是,在发送数据之前需要检查USART_FLAG_TXE标志位,以确保数据可以成功发送。
以下是使用USART2作为串口通信时,TX和RX的设置程序: 1. 首先,需要使能USART2模块和GPIOA端口时钟。 RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); 2. 配置USART2的GPIO引脚。USART2的TX引脚对应PA2,RX引脚对应PA3。 GPIO_InitTypeDef GPIO_InitStructure; GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_USART2); GPIO_PinAFConfig(GPIOA, GPIO_PinSource3, GPIO_AF_USART2); 3. 配置USART2的工作参数。波特率、数据位、停止位和校验位等参数需要根据实际情况进行设置。 USART_InitTypeDef USART_InitStructure; USART_StructInit(&USART_InitStructure); 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); 4. 最后,使能USART2模块。 USART_Cmd(USART2, ENABLE); 这样,USART2就可以进行串口通信了。在发送数据时,可以使用USART_SendData()函数;在接收数据时,可以使用USART_ReceiveData()函数。
以下是一个基于STM32的摇杆控制小车运动的示例代码: c #include "stm32f4xx.h" #define ADC_PORT ADC1 #define ADC_CHANNEL_X ADC_Channel_0 #define ADC_CHANNEL_Y ADC_Channel_1 #define ADC_RESOLUTION 4096 #define GPIO_PORT GPIOA #define GPIO_LEFT_PIN GPIO_Pin_2 #define GPIO_RIGHT_PIN GPIO_Pin_3 #define GPIO_FORWARD_PIN GPIO_Pin_4 #define GPIO_BACKWARD_PIN GPIO_Pin_5 void ADC_Configuration(void); void GPIO_Configuration(void); void delay(uint32_t time); int main(void) { ADC_Configuration(); GPIO_Configuration(); while (1) { uint16_t x_value = ADC_GetConversionValue(ADC_PORT, ADC_CHANNEL_X); uint16_t y_value = ADC_GetConversionValue(ADC_PORT, ADC_CHANNEL_Y); if (x_value < ADC_RESOLUTION / 2) { // 左转 // 控制小车左转的代码 } else if (x_value > ADC_RESOLUTION / 2) { // 右转 // 控制小车右转的代码 } else { // 停止转向 // 控制小车停止转向的代码 } if (y_value < ADC_RESOLUTION / 2) { // 后退 // 控制小车后退的代码 } else if (y_value > ADC_RESOLUTION / 2) { // 前进 // 控制小车前进的代码 } else { // 停止运动 // 控制小车停止运动的代码 } delay(100); // 延时一段时间,避免频繁读取摇杆数值 } } void ADC_Configuration(void) { ADC_InitTypeDef ADC_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_Init(GPIOA, &GPIO_InitStructure); ADC_StructInit(&ADC_InitStructure); ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b; ADC_InitStructure.ADC_ScanConvMode = DISABLE; ADC_InitStructure.ADC_ContinuousConvMode = DISABLE; ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None; ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right; ADC_InitStructure.ADC_NbrOfConversion = 1; ADC_Init(ADC_PORT, &ADC_InitStructure); ADC_Cmd(ADC_PORT, ENABLE); ADC_RegularChannelConfig(ADC_PORT, ADC_CHANNEL_X, 1, ADC_SampleTime_3Cycles); ADC_RegularChannelConfig(ADC_PORT, ADC_CHANNEL_Y, 1, ADC_SampleTime_3Cycles); ADC_TempSensorVrefintCmd(DISABLE); ADC_Cmd(ADC_PORT, ENABLE); } void GPIO_Configuration(void) { GPIO_InitTypeDef GPIO_InitStructure; RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_LEFT_PIN | GPIO_RIGHT_PIN | GPIO_FORWARD_PIN | GPIO_BACKWARD_PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_Init(GPIO_PORT, &GPIO_InitStructure); } void delay(uint32_t time) { uint32_t i; for (i = 0; i < time; i++); } 这段代码通过ADC来读取摇杆的X和Y轴数值,根据数值的大小来控制小车的运动方向。你需要根据实际的硬件连接情况进行适当的修改,包括引脚定义和相应的控制代码。同时,你还需要根据摇杆的具体特性进行参数的调整,比如判断阈值和采样时间。
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以下是一个基本的STM32串口解包代码示例: c #include "stm32f4xx.h" uint8_t rx_buffer[10]; // 接收缓冲区 uint8_t rx_index = 0; // 接收计数器 void USART1_IRQHandler(void) { if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) { // 如果接收到数据 uint8_t ch = USART_ReceiveData(USART1); // 读取接收到的数据 if (rx_index < sizeof(rx_buffer)) { // 判断接收缓冲区是否已满 rx_buffer[rx_index++] = ch; // 将数据存入缓冲区 } else { // 缓冲区已满,清空计数器 rx_index = 0; } USART_ClearITPendingBit(USART1, USART_IT_RXNE); // 清除中断标志位 } } void parse_packet() { if (rx_index >= 5 && rx_buffer[0] == 0x01 && rx_buffer[1] == 0x02) { // 如果接收到的数据是一个有效的包,则进行处理 uint8_t data1 = rx_buffer[2]; uint8_t data2 = rx_buffer[3]; uint8_t checksum = rx_buffer[4]; // TODO: 进行校验和检查等操作 // 处理完成后清空接收缓冲区和计数器 rx_index = 0; memset(rx_buffer, 0, sizeof(rx_buffer)); } } int main(void) { // 初始化串口1 USART_InitTypeDef USART_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_USART1); GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_USART1); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOA, &GPIO_InitStructure); USART_StructInit(&USART_InitStructure); USART_InitStructure.USART_BaudRate = 115200; USART_Init(USART1, &USART_InitStructure); USART_Cmd(USART1, ENABLE); // 初始化中断 NVIC_InitTypeDef NVIC_InitStructure; NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); while (1) { // 在主循环中解析接收到的数据包 parse_packet(); } } 上面的代码实现了一个基本的串口接收中断处理函数,将接收到的数据存入缓冲区中,并在主循环中解析接收到的数据包。在解析数据包的函数中,可以根据具体的通信协议进行解析,例如根据数据包头和长度进行判断,校验和检查等等。
以下是一个基于STM32F407标准库的灰度传感器控制代码示例: c #include "stm32f4xx.h" #include <stdio.h> #define GPIO_PORT GPIOC #define GPIO_PIN GPIO_Pin_0 #define ADC_CHANNEL ADC_Channel_10 void ADC_Config(void); void GPIO_Config(void); int main(void) { uint16_t adc_value = 0; GPIO_Config(); ADC_Config(); while(1) { ADC_SoftwareStartConv(ADC1); while(!ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC)); adc_value = ADC_GetConversionValue(ADC1); printf("ADC value: %d\n", adc_value); } } void ADC_Config(void) { ADC_InitTypeDef ADC_InitStructure; ADC_CommonInitTypeDef ADC_CommonInitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE); ADC_StructInit(&ADC_InitStructure); ADC_CommonStructInit(&ADC_CommonInitStructure); ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent; ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2; ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled; ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles; ADC_CommonInit(&ADC_CommonInitStructure); ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b; ADC_InitStructure.ADC_ScanConvMode = DISABLE; ADC_InitStructure.ADC_ContinuousConvMode = DISABLE; ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None; ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right; ADC_InitStructure.ADC_NbrOfConversion = 1; ADC_Init(ADC1, &ADC_InitStructure); ADC_RegularChannelConfig(ADC1, ADC_CHANNEL, 1, ADC_SampleTime_3Cycles); ADC_Cmd(ADC1, ENABLE); } void GPIO_Config(void) { GPIO_InitTypeDef GPIO_InitStructure; RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_Init(GPIO_PORT, &GPIO_InitStructure); } 该代码的主要功能是使用ADC(模数转换器)读取来自灰度传感器的输出值。在这个示例中,使用了PC0引脚来连接灰度传感器,并通过ADC1通道10来读取其输出值。在ADC配置函数中,设置了ADC的分辨率、采样时间和输入通道等参数。 在主函数中,使用ADC_SoftwareStartConv()函数开始一次ADC转换,并在等待转换完成后使用ADC_GetConversionValue()函数获取ADC转换后的结果。将结果打印到串口终端上,以便调试和分析。 需要注意的是,在使用ADC时,必须确保电源和地线的稳定性,以避免噪声和干扰对测量结果的影响。
以下是一个简单的STM32 CAN主站编写示例,使用标准的CAN总线协议,发送一个包含“Hello World!”的CAN消息: c #include "stm32f4xx.h" void CAN_Config(void) { GPIO_InitTypeDef GPIO_InitStructure; NVIC_InitTypeDef NVIC_InitStructure; CAN_InitTypeDef CAN_InitStructure; CAN_FilterInitTypeDef CAN_FilterInitStructure; // 使能GPIO和CAN总线时钟 RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); // 配置GPIO引脚 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOB, &GPIO_InitStructure); // 将GPIO引脚与CAN总线功能映射 GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_CAN1); GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_CAN1); // 配置CAN总线 CAN_StructInit(&CAN_InitStructure); CAN_InitStructure.CAN_TTCM = DISABLE; CAN_InitStructure.CAN_ABOM = DISABLE; CAN_InitStructure.CAN_AWUM = DISABLE; CAN_InitStructure.CAN_NART = DISABLE; CAN_InitStructure.CAN_RFLM = DISABLE; CAN_InitStructure.CAN_TXFP = ENABLE; CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; CAN_InitStructure.CAN_BS1 = CAN_BS1_9tq; CAN_InitStructure.CAN_BS2 = CAN_BS2_4tq; CAN_InitStructure.CAN_Prescaler = 2; CAN_Init(CAN1, &CAN_InitStructure); // 配置CAN过滤器 CAN_FilterInitStructure.CAN_FilterNumber = 0; CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; CAN_FilterInit(&CAN_FilterInitStructure); // 配置CAN中断 NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); } void CAN_SendMessage(uint8_t *data, uint8_t len) { CAN_InitTypeDef CAN_InitStructure; CanTxMsg TxMessage; // 配置CAN总线 CAN_StructInit(&CAN_InitStructure); // 填充CAN消息 TxMessage.StdId = 0x123; TxMessage.ExtId = 0x00; TxMessage.RTR = CAN_RTR_DATA; TxMessage.IDE = CAN_ID_STD; TxMessage.DLC = len; for (int i = 0; i < len; i++) { TxMessage.Data[i] = data[i]; } // 发送CAN消息 CAN_Transmit(CAN1, &TxMessage); } int main(void) { uint8_t data[] = "Hello World!"; uint8_t len = sizeof(data) - 1; // 初始化CAN总线 CAN_Config(); // 发送CAN消息 CAN_SendMessage(data, len); while (1) { // 等待CAN消息发送完成 } } 以上示例中,首先调用CAN_Config函数进行CAN总线的初始化和配置。然后,调用CAN_SendMessage函数发送一个包含“Hello World!”的CAN消息。在main函数中,先初始化CAN总线,然后发送CAN消息,并在一个无限循环中等待CAN消息发送完成。
使用DMA进行数据接收可以大大提高数据传输效率,同时使用乒乓缓存可以有效避免数据丢失。下面是使用标准库usart2通过DMA进行数据接收的步骤: 1. 配置GPIO引脚。将USART2的TX引脚(PA2)设置为复用功能,将RX引脚(PA3)设置为输入模式。 GPIO_InitTypeDef GPIO_InitStructure; USART_InitTypeDef USART_InitStructure; /* Enable GPIO clock */ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); /* Enable USART clock */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); /* Configure USART Tx and Rx as alternate function push-pull */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOA, &GPIO_InitStructure); /* Connect USART pins to AF */ GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_USART2); GPIO_PinAFConfig(GPIOA, GPIO_PinSource3, GPIO_AF_USART2); 2. 配置USART2。设置波特率、数据位、停止位等参数。 USART_StructInit(&USART_InitStructure); 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); 3. 配置DMA。设置DMA传输方向、传输数据大小、缓存地址等参数。 DMA_InitTypeDef DMA_InitStructure; /* Enable DMA clock */ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE); /* Configure DMA for USART2 Rx */ DMA_DeInit(DMA1_Stream5); DMA_InitStructure.DMA_Channel = DMA_Channel_4; DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory; DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t) &rx_buffer[0]; DMA_InitStructure.DMA_BufferSize = BUFFER_SIZE; DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t) &USART2->DR; DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; DMA_InitStructure.DMA_Mode = DMA_Mode_Circular; DMA_InitStructure.DMA_Priority = DMA_Priority_High; DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable; DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full; DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single; DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single; DMA_Init(DMA1_Stream5, &DMA_InitStructure); 4. 开始DMA传输。启动USART2的DMA接收,并打开USART2接收中断。 USART_DMACmd(USART2, USART_DMAReq_Rx, ENABLE); USART_ITConfig(USART2, USART_IT_RXNE, ENABLE); 5. 在USART2接收中断中处理数据。注意使用乒乓缓存时需要对缓存进行切换。 void USART2_IRQHandler(void) { if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) { /* Disable USART2 RX interrupt */ USART_ITConfig(USART2, USART_IT_RXNE, DISABLE); /* Switch buffer */ if (current_buffer == 0) { current_buffer = 1; next_buffer = 0; } else { current_buffer = 0; next_buffer = 1; } /* Clear DMA transfer complete flag */ DMA_ClearFlag(DMA1_Stream5, DMA_FLAG_TCIF5); /* Start DMA transfer to next buffer */ DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t) &rx_buffer[next_buffer][0]; DMA_Init(DMA1_Stream5, &DMA_InitStructure); DMA_Cmd(DMA1_Stream5, ENABLE); /* Enable USART2 RX interrupt */ USART_ITConfig(USART2, USART_IT_RXNE, ENABLE); } }
以下是一个基于STM32的智能烘干机的完整例程,实现了温度和湿度的监测以及风扇和加热器的控制: cpp #include "stm32f4xx.h" #include "stdio.h" // 定义温度和湿度传感器引脚 #define TEMPERATURE_PIN GPIO_Pin_0 #define HUMIDITY_PIN GPIO_Pin_1 #define TEMPERATURE_PORT GPIOA #define HUMIDITY_PORT GPIOA // 定义风扇和加热器引脚 #define FAN_PIN GPIO_Pin_2 #define HEATER_PIN GPIO_Pin_3 #define FAN_PORT GPIOB #define HEATER_PORT GPIOB // 定义显示屏和按键引脚 #define DISPLAY_PIN GPIO_Pin_4 #define BUTTON_PIN GPIO_Pin_5 #define DISPLAY_PORT GPIOC #define BUTTON_PORT GPIOC // 定义温度和湿度阈值 #define TARGET_TEMPERATURE 50.0 // 目标温度,单位°C #define TARGET_HUMIDITY 60.0 // 目标湿度,单位% // 全局变量 float temperature = 0.0; float humidity = 0.0; // 初始化函数 void init(void) { // 初始化温度和湿度传感器引脚为输入模式 GPIO_InitTypeDef GPIO_InitStructure; RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); GPIO_InitStructure.GPIO_Pin = TEMPERATURE_PIN | HUMIDITY_PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_Init(TEMPERATURE_PORT, &GPIO_InitStructure); // 初始化风扇和加热器引脚为输出模式 RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); GPIO_InitStructure.GPIO_Pin = FAN_PIN | HEATER_PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; GPIO_Init(FAN_PORT, &GPIO_InitStructure); // 初始化显示屏和按键引脚为输入模式 RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); GPIO_InitStructure.GPIO_Pin = DISPLAY_PIN | BUTTON_PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(DISPLAY_PORT, &GPIO_InitStructure); } // 读取温度函数 float readTemperature(void) { uint16_t adcValue = ADC_GetConversionValue(ADC1); float voltage = (float)adcValue / 4096 * 3.3; // 假设使用12位ADC,参考电压为3.3V float temperature = (voltage - 0.76) / 0.0025 + 25.0; // 假设温度传感器为LM35,温度线性关系为10mV/°C return temperature; } // 读取湿度函数 float readHumidity(void) { uint16_t adcValue = ADC_GetConversionValue(ADC2); float voltage = (float)adcValue / 4096 * 3.3; // 假设使用12位ADC,参考电压为3.3V float humidity = (voltage - 0.8) / 0.031; // 假设湿度传感器为DHT11,湿度线性关系为1V/10%RH return humidity; } // 控制风扇和加热器函数 void controlFanAndHeater(float currentTemperature, float currentHumidity) { if (currentTemperature < TARGET_TEMPERATURE) { // 打开加热器 GPIO_SetBits(HEATER_PORT, HEATER_PIN); } else { // 关闭加热器 GPIO_ResetBits(HEATER_PORT, HEATER_PIN); } if (currentHumidity > TARGET_HUMIDITY) { // 打开风扇 GPIO_SetBits(FAN_PORT, FAN_PIN); } else { // 关闭风扇 GPIO_ResetBits(FAN_PORT, FAN_PIN); } } int main(void) { // 初始化 init(); // 初始化ADC RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE); ADC_InitTypeDef ADC_InitStructure; ADC_StructInit(&ADC_InitStructure); ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b; ADC_InitStructure.ADC_ScanConvMode = DISABLE; ADC_InitStructure.ADC_ContinuousConvMode = DISABLE; ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1; ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right; ADC_InitStructure.ADC_NbrOfConversion = 1; ADC_Init(ADC1, &ADC_InitStructure); ADC_Init(ADC2, &ADC_InitStructure); ADC_Cmd(ADC1, ENABLE); ADC_Cmd(ADC2, ENABLE); ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_3Cycles); ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_3Cycles); ADC_SoftwareStartConv(ADC1); ADC_SoftwareStartConv(ADC2); while (1) { // 读取温度和湿度 temperature = readTemperature(); humidity = readHumidity(); // 控制风扇和加热器 controlFanAndHeater(temperature, humidity); // 延时一段时间 for (int i = 0; i < 1000000; i++) {} // 检测按键,实现自行编写 // 如果按下了停止按钮,则退出烘干机程序 if (buttonPressed()) { break; } } while (1) {} // 程序结束后进入死循环 return 0; } 请注意,以上代码只是一个简单的例程,实际的代码还需要根据具体的硬件平台和传感器进行适配和编写。此外,还需要实现读取温度传感器和湿度传感器的函数、检测按键的函数等。希望这个例程能对你有所帮助!
以下是基于STM32的MCP2551驱动程序示例: c #include "stm32f4xx.h" #include "stm32f4xx_gpio.h" #include "stm32f4xx_can.h" #include "misc.h" #define CANx CAN1 #define CAN_CLK RCC_APB1Periph_CAN1 #define CAN_RX_PIN GPIO_Pin_0 #define CAN_TX_PIN GPIO_Pin_1 #define CAN_GPIO_PORT GPIOB #define CAN_GPIO_CLK RCC_AHB1Periph_GPIOB #define CAN_AF GPIO_AF_CAN1 void CAN_Config(void) { GPIO_InitTypeDef GPIO_InitStructure; CAN_InitTypeDef CAN_InitStructure; CAN_FilterInitTypeDef CAN_FilterInitStructure; RCC_AHB1PeriphClockCmd(CAN_GPIO_CLK, ENABLE); RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE); GPIO_InitStructure.GPIO_Pin = CAN_TX_PIN | CAN_RX_PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_Speed = GPIO_High_Speed; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(CAN_GPIO_PORT, &GPIO_InitStructure); GPIO_PinAFConfig(CAN_GPIO_PORT, GPIO_PinSource0, CAN_AF); GPIO_PinAFConfig(CAN_GPIO_PORT, GPIO_PinSource1, CAN_AF); CAN_DeInit(CANx); CAN_StructInit(&CAN_InitStructure); CAN_InitStructure.CAN_TTCM = DISABLE; CAN_InitStructure.CAN_ABOM = DISABLE; CAN_InitStructure.CAN_AWUM = DISABLE; CAN_InitStructure.CAN_NART = DISABLE; CAN_InitStructure.CAN_RFLM = DISABLE; CAN_InitStructure.CAN_TXFP = DISABLE; CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; CAN_InitStructure.CAN_BS1 = CAN_BS1_9tq; CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq; CAN_InitStructure.CAN_Prescaler = 2; CAN_Init(CANx, &CAN_InitStructure); CAN_FilterInitStructure.CAN_FilterNumber = 0; CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; CAN_FilterInit(&CAN_FilterInitStructure); } void CAN_SendData(uint8_t* data, uint8_t len, uint32_t id) { CanTxMsg TxMessage; uint8_t i; TxMessage.StdId = id; TxMessage.RTR = CAN_RTR_DATA; TxMessage.IDE = CAN_ID_STD; TxMessage.DLC = len; for(i = 0; i < len; i++) { TxMessage.Data[i] = data[i]; } CAN_Transmit(CANx, &TxMessage); } int main(void) { uint8_t data[8] = {1, 2, 3, 4, 5, 6, 7, 8}; CAN_Config(); while(1) { CAN_SendData(data, 8, 0x123); delay_ms(1000); } } 以上示例中,我们使用了STM32F4的CAN1模块来驱动MCP2551。首先进行了GPIO和CAN的初始化配置,然后通过CAN_SendData函数发送数据,其中需要指定数据内容、数据长度和CAN ID。可以根据实际需求修改其中的参数。
以下是一个简单的基于STM32单片机的CAN通信代码示例: #include "stm32f4xx.h" #include "stm32f4xx_can.h" void CAN1_Configuration(void) { GPIO_InitTypeDef GPIO_InitStructure; CAN_InitTypeDef CAN_InitStructure; CAN_FilterInitTypeDef CAN_FilterInitStructure; /* Enable GPIO clock */ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); /* Configure CAN RX and TX pins */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOB, &GPIO_InitStructure); /* Connect CAN RX and TX pins to alternate function */ GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_CAN1); GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_CAN1); /* Enable CAN clock */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); /* CAN configuration */ CAN_InitStructure.CAN_TTCM = DISABLE; CAN_InitStructure.CAN_ABOM = DISABLE; CAN_InitStructure.CAN_AWUM = DISABLE; CAN_InitStructure.CAN_NART = DISABLE; CAN_InitStructure.CAN_RFLM = DISABLE; CAN_InitStructure.CAN_TXFP = ENABLE; CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; CAN_InitStructure.CAN_BS1 = CAN_BS1_8tq; CAN_InitStructure.CAN_BS2 = CAN_BS2_7tq; CAN_InitStructure.CAN_Prescaler = 4; CAN_Init(CAN1, &CAN_InitStructure); /* CAN filter configuration */ CAN_FilterInitStructure.CAN_FilterNumber = 0; CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; CAN_FilterInit(&CAN_FilterInitStructure); } int main(void) { uint8_t TransmitData[8] = {0x00, 0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77}; CAN_InitTypeDef CAN_InitStructure; CAN_StructInit(&CAN_InitStructure); CAN_InitStructure.CAN_TTCM = DISABLE; CAN_InitStructure.CAN_ABOM = DISABLE; CAN_InitStructure.CAN_AWUM = DISABLE; CAN_InitStructure.CAN_NART = DISABLE; CAN_InitStructure.CAN_RFLM = DISABLE; CAN_InitStructure.CAN_TXFP = ENABLE; CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; CAN_InitStructure.CAN_BS1 = CAN_BS1_8tq; CAN_InitStructure.CAN_BS2 = CAN_BS2_7tq; CAN_InitStructure.CAN_Prescaler = 4; CAN_Init(CAN1, &CAN_InitStructure); /* Transmit CAN message */ CanTxMsg TxMessage; TxMessage.StdId = 0x321; TxMessage.RTR = CAN_RTR_DATA; TxMessage.IDE = CAN_ID_STD; TxMessage.DLC = 8; for (int i = 0; i < TxMessage.DLC; i++) { TxMessage.Data[i] = TransmitData[i]; } CAN_Transmit(CAN1, &TxMessage); /* Receive CAN message */ CanRxMsg RxMessage; while (CAN_MessagePending(CAN1, CAN_FIFO0) == 0); CAN_Receive(CAN1, CAN_FIFO0, &RxMessage); while(1){ // Do something } } 在此代码示例中,我们使用了CAN1作为CAN总线,并在PB8和PB9引脚上配置CAN1的RX和TX线路。我们还配置了CAN的基本参数,例如CAN的模式、位时序、过滤器等。在主函数中,我们首先使用CAN_Transmit函数发送一个CAN消息,然后使用CAN_Receive函数接收CAN消息。
以下是一个使用DMA和ADC的C语言代码示例,用于从ADC读取数据并使用DMA传输到内存: c #include "stm32f4xx.h" #define ADC_BUFFER_LENGTH 100 uint16_t adc_data[ADC_BUFFER_LENGTH]; void ADC_DMA_Configuration(void) { DMA_InitTypeDef DMA_InitStructure; ADC_InitTypeDef ADC_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; // 使能DMA2和ADC1的时钟 RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE); // 配置ADC引脚 GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; GPIO_Init(GPIOA, &GPIO_InitStructure); // 配置DMA DMA_StructInit(&DMA_InitStructure); DMA_InitStructure.DMA_Channel = DMA_Channel_0; DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR; DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&adc_data[0]; DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory; DMA_InitStructure.DMA_BufferSize = ADC_BUFFER_LENGTH; 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_FIFOMode = DMA_FIFOMode_Disable; DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull; DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single; DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single; DMA_Init(DMA2_Stream0, &DMA_InitStructure); // 配置ADC ADC_StructInit(&ADC_InitStructure); ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b; ADC_InitStructure.ADC_ScanConvMode = DISABLE; ADC_InitStructure.ADC_ContinuousConvMode = ENABLE; ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None; ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1; ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right; ADC_InitStructure.ADC_NbrOfConversion = 1; ADC_Init(ADC1, &ADC_InitStructure); // 配置ADC通道 ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_3Cycles); // 使能DMA请求 ADC_DMARequestAfterLastTransferCmd(ADC1, ENABLE); // 使能DMA传输和ADC DMA_Cmd(DMA2_Stream0, ENABLE); ADC_Cmd(ADC1, ENABLE); // 启动ADC转换 ADC_SoftwareStartConv(ADC1); } int main(void) { ADC_DMA_Configuration(); while(1) { // 处理ADC数据 for(int i = 0; i < ADC_BUFFER_LENGTH; i++) { printf("ADC Data: %d\n", adc_data[i]); } // 延时 for(int i = 0; i < 1000000; i++); } } 这段代码使用了STM32F4系列的微控制器,配置了ADC和DMA来实现从ADC读取数据并使用DMA传输到内存。在ADC_DMA_Configuration函数中,首先使能了DMA2和ADC1的时钟,并配置了相应的引脚。然后,配置了DMA和ADC的相关参数,包括DMA传输方向、缓冲区地址、ADC分辨率等。最后,使能了DMA请求、启动了DMA传输和ADC转换。 在main函数中,通过循环处理ADC数据,然后进行延时。可以根据自己的需求修改代码来处理ADC数据或进行其他操作。
很高兴为您提供基于STM32的循迹平衡车代码。以下是一个简单的示例代码,用于控制一个基于STM32的循迹平衡车。 c #include "stm32f4xx.h" // 定义电机引脚 #define MOTOR1_PIN1 GPIO_Pin_0 #define MOTOR1_PIN2 GPIO_Pin_1 #define MOTOR2_PIN1 GPIO_Pin_2 #define MOTOR2_PIN2 GPIO_Pin_3 // 定义循迹传感器引脚 #define SENSOR_LEFT_PIN GPIO_Pin_4 #define SENSOR_MIDDLE_PIN GPIO_Pin_5 #define SENSOR_RIGHT_PIN GPIO_Pin_6 // 定义电机控制速度函数 void setMotorSpeed(int motor, int speed) { if (speed > 0) { if (motor == 1) { GPIO_SetBits(GPIOA, MOTOR1_PIN1); GPIO_ResetBits(GPIOA, MOTOR1_PIN2); } else if (motor == 2) { GPIO_SetBits(GPIOA, MOTOR2_PIN1); GPIO_ResetBits(GPIOA, MOTOR2_PIN2); } } else if (speed < 0) { if (motor == 1) { GPIO_ResetBits(GPIOA, MOTOR1_PIN1); GPIO_SetBits(GPIOA, MOTOR1_PIN2); } else if (motor == 2) { GPIO_ResetBits(GPIOA, MOTOR2_PIN1); GPIO_SetBits(GPIOA, MOTOR2_PIN2); } } else { if (motor == 1) { GPIO_ResetBits(GPIOA, MOTOR1_PIN1); GPIO_ResetBits(GPIOA, MOTOR1_PIN2); } else if (motor == 2) { GPIO_ResetBits(GPIOA, MOTOR2_PIN1); GPIO_ResetBits(GPIOA, MOTOR2_PIN2); } } } int main(void) { // 初始化GPIO RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); GPIO_InitTypeDef GPIO_InitStructure; GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = MOTOR1_PIN1 | MOTOR1_PIN2 | MOTOR2_PIN1 | MOTOR2_PIN2; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); // 初始化循迹传感器GPIO RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = SENSOR_LEFT_PIN | SENSOR_MIDDLE_PIN | SENSOR_RIGHT_PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_Init(GPIOB, &GPIO_InitStructure); // 主循环 while (1) { // 读取传感器数据 int leftSensor = GPIO_ReadInputDataBit(GPIOB, SENSOR_LEFT_PIN); int middleSensor = GPIO_ReadInputDataBit(GPIOB, SENSOR_MIDDLE_PIN); int rightSensor = GPIO_ReadInputDataBit(GPIOB, SENSOR_RIGHT_PIN); // 根据传感器数据控制电机转动 if (leftSensor && !middleSensor && !rightSensor) { // 左传感器检测到线 setMotorSpeed(1, 50); // 设置电机1向前转动 setMotorSpeed(2, 0); // 设置电机2停止 } else if (!leftSensor && middleSensor && !rightSensor) { // 中间传感器检测到线 setMotorSpeed(1, 50); // 设置电机1向前转动 setMotorSpeed(2, 50); // 设置电机2向前转动 } else if (!leftSensor && !middleSensor && rightSensor) { // 右传感器检测到线 setMotorSpeed(1, 0); // 设置电机1停止 setMotorSpeed(2, 50); // 设置电机2向前转动 } else { // 没有检测到线 setMotorSpeed(1, 0); // 设置电机1停止 setMotorSpeed(2, 0); // 设置电机2停止 } } } 请注意,这只是一个简单的示例代码,您需要根据您的具体硬件和要求进行适当的修改。循迹平衡车的控制逻辑通常涉及传感器数据的读取和算法的实现,以实现平衡和循迹功能。您可能还需要初始化其他外设,如电机驱动和通信接口等。 希望这个示例代码对您有所帮助!如果您有其他问题,请随时提问。
很高兴为您提供基于STM32的平衡车代码。以下是一个简单的示例代码,用于控制一个基于STM32的平衡车。 c #include "stm32f4xx.h" // 定义电机引脚 #define MOTOR1_PIN1 GPIO_Pin_0 #define MOTOR1_PIN2 GPIO_Pin_1 #define MOTOR2_PIN1 GPIO_Pin_2 #define MOTOR2_PIN2 GPIO_Pin_3 // 定义电机控制速度函数 void setMotorSpeed(int motor, int speed) { if (speed > 0) { if (motor == 1) { GPIO_SetBits(GPIOA, MOTOR1_PIN1); GPIO_ResetBits(GPIOA, MOTOR1_PIN2); } else if (motor == 2) { GPIO_SetBits(GPIOA, MOTOR2_PIN1); GPIO_ResetBits(GPIOA, MOTOR2_PIN2); } } else if (speed < 0) { if (motor == 1) { GPIO_ResetBits(GPIOA, MOTOR1_PIN1); GPIO_SetBits(GPIOA, MOTOR1_PIN2); } else if (motor == 2) { GPIO_ResetBits(GPIOA, MOTOR2_PIN1); GPIO_SetBits(GPIOA, MOTOR2_PIN2); } } else { if (motor == 1) { GPIO_ResetBits(GPIOA, MOTOR1_PIN1); GPIO_ResetBits(GPIOA, MOTOR1_PIN2); } else if (motor == 2) { GPIO_ResetBits(GPIOA, MOTOR2_PIN1); GPIO_ResetBits(GPIOA, MOTOR2_PIN2); } } } int main(void) { // 初始化GPIO RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); GPIO_InitTypeDef GPIO_InitStructure; GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = MOTOR1_PIN1 | MOTOR1_PIN2 | MOTOR2_PIN1 | MOTOR2_PIN2; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); // 主循环 while (1) { // 在这里编写平衡车的控制逻辑 // 根据传感器数据计算电机速度 // 并使用 setMotorSpeed 函数控制电机转动 } } 请注意,这只是一个简单的示例代码,您需要根据您的具体硬件和要求进行适当的修改。平衡车的控制逻辑通常涉及传感器数据的读取和算法的实现,以实现平衡和移动控制。您可能还需要初始化其他外设,如传感器和通信接口等。 希望这个示例代码对您有所帮助!如果您有其他问题,请随时提问。
以下是一个使用STM32F4标准库版本写的硬件IIC从机DMA代码,可以作为参考: #include "stm32f4xx.h" #define I2C_SLAVE_ADDRESS 0x50 #define BUFFER_SIZE 16 volatile uint8_t rxBuffer[BUFFER_SIZE]; volatile uint8_t txBuffer[BUFFER_SIZE]; volatile uint16_t txCount = 0; volatile uint16_t rxCount = 0; volatile uint8_t dmaInProgress = 0; void I2C1_EV_IRQHandler(void) { if(I2C_GetITStatus(I2C1, I2C_IT_EVT) == SET) { // Check for slave address match if(I2C_GetLastEvent(I2C1) == I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED) { // Clear the ADDR flag I2C_ClearFlag(I2C1, I2C_FLAG_ADDR); // Enable DMA reception DMA_Cmd(DMA1_Stream0, ENABLE); // Enable DMA1 Stream0 transfer complete interrupt DMA_ITConfig(DMA1_Stream0, DMA_IT_TC, ENABLE); } else if(I2C_GetLastEvent(I2C1) == I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED) { // Clear the ADDR flag I2C_ClearFlag(I2C1, I2C_FLAG_ADDR); // Enable DMA transmission DMA_Cmd(DMA1_Stream6, ENABLE); // Enable DMA1 Stream6 transfer complete interrupt DMA_ITConfig(DMA1_Stream6, DMA_IT_TC, ENABLE); } } I2C_ClearITPendingBit(I2C1, I2C_IT_EVT); } void DMA1_Stream0_IRQHandler(void) { if(DMA_GetITStatus(DMA1_Stream0, DMA_IT_TCIF0) == SET) { // Disable DMA1 Stream0 transfer complete interrupt DMA_ITConfig(DMA1_Stream0, DMA_IT_TC, DISABLE); // Disable DMA reception DMA_Cmd(DMA1_Stream0, DISABLE); // Set the DMA in progress flag dmaInProgress = 1; // Enable I2C ACK I2C_AcknowledgeConfig(I2C1, ENABLE); } DMA_ClearITPendingBit(DMA1_Stream0, DMA_IT_TCIF0); } void DMA1_Stream6_IRQHandler(void) { if(DMA_GetITStatus(DMA1_Stream6, DMA_IT_TCIF6) == SET) { // Disable DMA1 Stream6 transfer complete interrupt DMA_ITConfig(DMA1_Stream6, DMA_IT_TC, DISABLE); // Disable DMA transmission DMA_Cmd(DMA1_Stream6, DISABLE); // Set the DMA in progress flag dmaInProgress = 1; // Enable I2C ACK I2C_AcknowledgeConfig(I2C1, ENABLE); } DMA_ClearITPendingBit(DMA1_Stream6, DMA_IT_TCIF6); } int main(void) { // Initialize I2C1 I2C_InitTypeDef I2C_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; // Enable I2C1 and DMA1 clocks RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE); // Configure GPIO pins for I2C1 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_Init(GPIOB, &GPIO_InitStructure); // Set GPIO pins to alternate function GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_I2C1); GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_I2C1); // Initialize I2C1 I2C_InitStructure.I2C_Mode = I2C_Mode_I2C; I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2; I2C_InitStructure.I2C_OwnAddress1 = I2C_SLAVE_ADDRESS << 1; I2C_InitStructure.I2C_Ack = I2C_Ack_Enable; I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; I2C_InitStructure.I2C_ClockSpeed = 100000; I2C_Init(I2C1, &I2C_InitStructure); // Enable I2C1 I2C_Cmd(I2C1, ENABLE); // Initialize DMA1 Stream0 for reception DMA_InitTypeDef DMA_InitStructure; DMA_StructInit(&DMA_InitStructure); DMA_InitStructure.DMA_Channel = DMA_Channel_1; DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&I2C1->DR; DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)rxBuffer; DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory; DMA_InitStructure.DMA_BufferSize = BUFFER_SIZE; DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; DMA_InitStructure.DMA_Priority = DMA_Priority_Medium; DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable; DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full; DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single; DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single; DMA_Init(DMA1_Stream0, &DMA_InitStructure); // Initialize DMA1 Stream6 for transmission DMA_StructInit(&DMA_InitStructure); DMA_InitStructure.DMA_Channel = DMA_Channel_1; DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&I2C1->DR; DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)txBuffer; DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral; DMA_InitStructure.DMA_BufferSize = BUFFER_SIZE; DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; DMA_InitStructure.DMA_Priority = DMA_Priority_Medium; DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable; DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full; DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single; DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single; DMA_Init(DMA1_Stream6, &DMA_InitStructure); // Enable DMA1 Stream0 and Stream6 interrupts NVIC_InitTypeDef NVIC_InitStructure; NVIC_InitStructure.NVIC_IRQChannel = DMA1_Stream0_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); NVIC_InitStructure.NVIC_IRQChannel = DMA1_Stream6_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); // Enable I2C1 event interrupt NVIC_InitStructure.NVIC_IRQChannel = I2C1_EV_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); // Enable I2C1 address match interrupt I2C_ITConfig(I2C1, I2C_IT_ADDRI, ENABLE); while(1) { if(dmaInProgress) { // Data transfer complete, reset flags dmaInProgress = 0; txCount = 0; rxCount = 0; // Process received data // ... } } } 这个代码使用了STM32F4标准库,并且使用了DMA来进行I2C从机通信。在中断处理程序中,使用了DMA传输完成中断来检测数据传输是否完成,然后处理接收到的数据。注意,在使用DMA传输数据时,需要先启用DMA传输,然后再启用I2C ACK(应答),否则I2C从机将无法正确接收数据。
好的,下面是实现DMX512数据收发程序的基本步骤: 1. 配置串口 首先,需要在STM32F4芯片上选择一个串口作为DMX512数据的收发口,并配置串口的波特率、数据位、停止位和奇偶校验位等参数。同时,还需要开启串口的中断功能,以便能够及时处理收到的数据。 2. 初始化DMX512数据帧 DMX512数据通信协议是基于RS485总线的,每个DMX512设备都需要初始化一个512字节的数据帧。可以使用数组来存储这个数据帧,并在程序一开始进行初始化。 3. 发送DMX512数据 在发送DMX512数据时,需要先发送起始码,并将起始码后的512字节数据帧通过串口发送出去。如果发送的是广播数据,则需要将接收器的地址设置为0。 4. 接收DMX512数据 接收DMX512数据时,需要等待串口中断发生,并在中断处理函数中读取串口接收寄存器中的数据。根据DMX512协议,数据帧的第一个字节为起始码,如果接收到的是起始码,则将接收到的数据存储到数据帧中相应的位置中。 5. 处理DMX512数据 当接收到完整的数据帧后,需要对数据进行处理。可以根据不同的应用需求,对数据进行解析、转换或控制等操作。 下面是使用keil库函数进行编写的代码示例: c #include <stdio.h> #include "stm32f4xx.h" #include "stm32f4xx_usart.h" #define DMX_CHANNEL_NUM 512 #define DMX_START_CODE 0x00 #define DMX_BAUD_RATE 250000 uint8_t dmxData[DMX_CHANNEL_NUM]; USART_InitTypeDef USART_InitStructure; void USART2_IRQHandler(void) { if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) { static uint16_t dmxIndex = 0; uint8_t dmxByte = (uint8_t)USART_ReceiveData(USART2); if (dmxIndex == 0 && dmxByte == DMX_START_CODE) { dmxData[0] = dmxByte; dmxIndex++; } else if (dmxIndex > 0 && dmxIndex < DMX_CHANNEL_NUM) { dmxData[dmxIndex] = dmxByte; dmxIndex++; } } } void setupUSART2(void) { GPIO_InitTypeDef GPIO_InitStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); // Configure USART2 Tx (PA.2) and Rx (PA.3) pins GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOA, &GPIO_InitStructure); // Connect USART2 pins to AF7 GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_USART2); GPIO_PinAFConfig(GPIOA, GPIO_PinSource3, GPIO_AF_USART2); // Configure USART2 USART_StructInit(&USART_InitStructure); USART_InitStructure.USART_BaudRate = DMX_BAUD_RATE; USART_Init(USART2, &USART_InitStructure); // Enable USART2 interrupt NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); USART_Cmd(USART2, ENABLE); USART_ITConfig(USART2, USART_IT_RXNE, ENABLE); } int main(void) { setupUSART2(); while (1) { // Send DMX512 data uint16_t i = 0; USART_SendData(USART2, DMX_START_CODE); for (i = 1; i <= DMX_CHANNEL_NUM; i++) { USART_SendData(USART2, dmxData[i-1]); } // Handle DMX512 data // ... } } 在以上代码中,程序首先调用了setupUSART2()函数来配置USART2串口和中断,并初始化了dmxData数组。在USART2中断处理函数中,程序会读取串口接收寄存器中的数据,并将数据存储到dmxData数组中。在main()函数中,程序会循环发送DMX512数据,并在需要时对数据进行处理。

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