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標(biāo)題: 電腦鼠走迷宮的STM32源程序 [打印本頁]
作者: Strongest丶星空    時間: 2019-7-10 21:02
標(biāo)題: 電腦鼠走迷宮的STM32源程序
其中紅外參數(shù)讓我在程序里鎖死了，只能用藍牙寫入

單片機源程序如下:
  1. /* USER CODE END Header */

  3. /* Includes ------------------------------------------------------------------*/
  4. #include "main.h"
  5. #include "adc.h"
  6. #include "dma.h"
  7. #include "i2c.h"
  8. #include "tim.h"
  9. #include "usart.h"
  10. #include "gpio.h"

  12. /* Private includes ----------------------------------------------------------*/
  13. /* USER CODE BEGIN Includes */
  14. #include "sensor.h"
  15. #include "maze.h"

  17. #include <string.h>
  18. /* USER CODE END Includes */

  20. /* Private typedef -----------------------------------------------------------*/
  21. /* USER CODE BEGIN PTD */

  23. /* USER CODE END PTD */

  25. /* Private define ------------------------------------------------------------*/
  26. /* USER CODE BEGIN PD */

  28. /* USER CODE END PD */

  30. /* Private macro -------------------------------------------------------------*/
  31. /* USER CODE BEGIN PM */

  33. /* USER CODE END PM */

  35. /* Private variables ---------------------------------------------------------*/

  37. /* USER CODE BEGIN PV */

  39. /* USER CODE END PV */

  41. /* Private function prototypes -----------------------------------------------*/
  42. void SystemClock_Config(void);
  43. /* USER CODE BEGIN PFP */

  45. /* USER CODE END PFP */

  47. /* Private user code ---------------------------------------------------------*/
  48. /* USER CODE BEGIN 0 */

  50. /* USER CODE END 0 */

  52. /**
  53.   * @brief  The application entry point.
  54.   * @retval int
  55.   */
  56. int main(void)
  57. {
  58.     /* USER CODE BEGIN 1 */
  59.     //uint8_t ucLedRun = 0;
  60.     //uint8_t ucLedCount = 0;
  61.                
  62.     /* USER CODE END 1 */

  64.     /* MCU Configuration--------------------------------------------------------*/

  66.     /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  67.     HAL_Init();

  69.     /* USER CODE BEGIN Init */

  71.     /* USER CODE END Init */

  73.     /* Configure the system clock */
  74.     SystemClock_Config();

  76.     /* USER CODE BEGIN SysInit */

  78.     /* USER CODE END SysInit */

  80.     /* Initialize all configured peripherals */
  81.     MX_GPIO_Init();
  82.     MX_DMA_Init();
  83.     MX_TIM1_Init();
  84.     MX_TIM2_Init();
  85.     MX_TIM3_Init();
  86.     MX_ADC1_Init();
  87.     MX_I2C1_Init();
  88.     MX_USART3_UART_Init();
  89.     /* USER CODE BEGIN 2 */
  90.                
  91.     PIDInit();
  92.    
  93.     HAL_Delay(200);
  94.     getStaticAngle();
  95.                 HAL_Delay(200);
  96.                 mouseInit();
  97.     /* USER CODE END 2 */

  99.     /* Infinite loop */
  100.     /* USER CODE BEGIN WHILE */
  101.     while (1)
  102.     {
  103.         /* USER CODE END WHILE */

  105.         /* USER CODE BEGIN 3 */
  106.                                 mainTask();
  107.     }
  108.     /* USER CODE END 3 */
  109. }

  111. /**
  112.   * @brief System Clock Configuration
  113.   * @retval None
  114.   */
  115. void SystemClock_Config(void)
  116. {
  117.     RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  118.     RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  119.     RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  121.     /**Initializes the CPU, AHB and APB busses clocks
  122.     */
  123.     RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  124.     RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  125.     RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  126.     RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  127.     RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  128.     RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  129.     RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  130.     if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  131.     {
  132.         Error_Handler();
  133.     }
  134.     /**Initializes the CPU, AHB and APB busses clocks
  135.     */
  136.     RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
  137.                                   |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  138.     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  139.     RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  140.     RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  141.     RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  143.     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  144.     {
  145.         Error_Handler();
  146.     }
  147.     PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
  148.     PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
  149.     if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  150.     {
  151.         Error_Handler();
  152.     }
  153. }

  155. /* USER CODE BEGIN 4 */

  157. /* USER CODE END 4 */

  159. /**
  160.   * @brief  This function is executed in case of error occurrence.
  161.   * @retval None
  162.   */
  163. void Error_Handler(void)
  164. {
  165.     /* USER CODE BEGIN Error_Handler_Debug */
  166.     /* User can add his own implementation to report the HAL error return state */

  168.     /* USER CODE END Error_Handler_Debug */
  169. }

  171. #ifdef  USE_FULL_ASSERT
  172. /**
  173.   * @brief  Reports the name of the source file and the source line number
  174.   *         where the assert_param error has occurred.
  175.   * @param  file: pointer to the source file name
  176.   * @param  line: assert_param error line source number
  177.   * @retval None
  178.   */
  179. void assert_failed(uint8_t *file, uint32_t line)
  180. {
  181.     /* USER CODE BEGIN 6 */
  182.     /* User can add his own implementation to report the file name and line number,
  183.        tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  184.     /* USER CODE END 6 */
  185. }
  186. #endif /* USE_FULL_ASSERT */

  188. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
復(fù)制代碼

所有資料51hei提供下載:
MouseOrgV0.9.7z (2.91 MB, 下載次數(shù): 33)


作者: Strongest丶星空    時間: 2019-7-10 21:03
因為頭文件太多了，所以不方便張貼出來，所以想看的只能破費了



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