/*****************************************************************************

項目：超聲波避障小車
功能：遇到障礙物避開
實現(xiàn)過程：小車行走過程--遇到障礙物--避開

*****************************************************************************/
#include?“stm32f10x.h“//?Device?header

double?TIMCoutertime;
u8?succeed_flag?=?0;
int?distance;

/****************************************************************************

設置配置GPIOA引腳
PA0~PA3、PA5配置成推挽輸出
PA6配置成上拉輸入
PA7配置成復用功能推挽輸出

輸出速度都為50MHz

****************************************************************************/




/****************************************************************************

舵機模塊
利用PWM來控制舵機方向

****************************************************************************/
void?PWM_Configuration（）
{
	GPIO_InitTypeDef?GPIO_InitStructure;
	TIM_TimebaseInitTypeDef?TIM_TimebaseStructure;
	TIM_OCInitTypeDef?TIM_OCInitStructure;
	
	RCC_APB2PeriphClockCmd（RCC_APB2Periph_GPIOAENABLE）;
	RCC_APB2PeriphClockCmd（RCC_APB2Periph_AFIOENABLE）;
	RCC_APB1PeriphClockCmd（RCC_APB1Periph_TIM3ENABLE）;
	
	GPIO_InitStructure.GPIO_Pin?=?GPIO_Pin_7;
	GPIO_InitStructure.GPIO_Mode?=?GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Speed?=?GPIO_Speed_50MHz;
	GPIO_Init（GPIOA&GPIO_InitStructure）;
	
	TIM_TimebaseStructure.TIM_Period?=?20000-1;
	TIM_TimebaseStructure.TIM_Prescaler?=?72-1;
	TIM_TimebaseStructure.TIM_ClockDivision?=?TIM_CKD_DIV1;;
	TIM_TimebaseStructure.TIM_CounterMode?=?TIM_CounterMode_Up;
	TIM_TimebaseStructure.TIM_RepetitionCounter?=?0;
	TIM_TimebaseInit（TIM3&TIM_TimebaseStructure）;
	
	TIM_ARRPreloadConfig（TIM3DISABLE）;	
	
	TIM_OCInitStructure.TIM_OCMode?=?TIM_OCMode_PWM2;
	TIM_OCInitStructure.TIM_Pulse?=?0;
	TIM_OCInitStructure.TIM_OutputState?=?TIM_OutputState_Enable;
	TIM_OCInitStructure.TIM_OCPolarity?=?TIM_OCPolarity_Low;
	TIM_OC2Init（TIM3&TIM_OCInitStructure）;
	TIM_OC2PreloadConfig（TIM3TIM_OCPreload_Enable）;
	
	TIM_CtrlPWMOutputs（TIM3ENABLE）;	
	TIM_ARRPreloadConfig（TIM3ENABLE）;
	TIM_Cmd（TIM3DISABLE）;
}

/*****************************************************************************

配置電機

*****************************************************************************/

void?EXTI_Configuration（）
{	
	GPIO_InitTypeDef?GPIO_InitStructure;
	
	RCC_APB2PeriphClockCmd（RCC_APB2Periph_GPIOAENABLE）;
	RCC_APB2PeriphClockCmd（RCC_APB2Periph_AFIOENABLE）;
	
	GPIO_InitStructure.GPIO_Pin?=?GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3|GPIO_Pin_5;
	GPIO_InitStructure.GPIO_Mode?=?GPIO_Mode_Out_PP;
	GPIO_InitStructure.GPIO_Speed?=?GPIO_Speed_50MHz;
	GPIO_Init（GPIOA&GPIO_InitStructure）;
	

	
	GPIO_InitStructure.GPIO_Pin?=?GPIO_Pin_6;
	GPIO_InitStructure.GPIO_Mode?=?GPIO_Mode_IPD;
	GPIO_Init（GPIOA&GPIO_InitStructure）;
	
	EXTI_InitTypeDef?EXTI_InitStructure;
	EXTI_ClearITPendingBit（EXTI_Line6）;
	GPIO_EXTILineConfig（GPIO_PortSourceGPIOAGPIO_PinSource6）;
	EXTI_InitStructure.EXTI_Line?=?EXTI_Line6;
	EXTI_InitStructure.EXTI_Mode?=?EXTI_Mode_Interrupt;
	E

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????6956??2015-12-10?17:06??超聲波避障\DebugConfig\Target_1_STM32F103RC_1.0.0.dbgconf

?????文件????????339??2017-10-05?21:45??超聲波避障\EventRecorderStub.scvd

?????文件??????54948??2017-10-05?21:40??超聲波避障\Listings\startup_stm32f10x_hd.lst

?????文件??????87440??2017-10-05?21:40??超聲波避障\Listings\test.map

?????文件?????????19??2017-10-05?21:46??超聲波避障\objects\ExtDll.iex

?????文件?????281699??2017-10-05?21:40??超聲波避障\objects\misc.crf

?????文件???????1437??2017-10-05?21:40??超聲波避障\objects\misc.d

?????文件?????305832??2017-10-05?21:40??超聲波避障\objects\misc.o

?????文件?????????81??2017-10-05?21:40??超聲波避障\objects\startup_stm32f10x_hd.d

?????文件???????6836??2017-10-05?21:40??超聲波避障\objects\startup_stm32f10x_hd.o

?????文件?????282247??2017-10-05?21:40??超聲波避障\objects\stm32f10x_exti.crf

?????文件???????1617??2017-10-05?21:40??超聲波避障\objects\stm32f10x_exti.d

?????文件?????310288??2017-10-05?21:40??超聲波避障\objects\stm32f10x_exti.o

?????文件?????285192??2017-10-05?21:40??超聲波避障\objects\stm32f10x_gpio.crf

?????文件???????1617??2017-10-05?21:40??超聲波避障\objects\stm32f10x_gpio.d

?????文件?????327216??2017-10-05?21:40??超聲波避障\objects\stm32f10x_gpio.o

?????文件?????288768??2017-10-05?21:40??超聲波避障\objects\stm32f10x_rcc.crf

?????文件???????1599??2017-10-05?21:40??超聲波避障\objects\stm32f10x_rcc.d

?????文件?????347972??2017-10-05?21:40??超聲波避障\objects\stm32f10x_rcc.o

?????文件?????303775??2017-10-05?21:40??超聲波避障\objects\stm32f10x_tim.crf

?????文件???????1599??2017-10-05?21:40??超聲波避障\objects\stm32f10x_tim.d

?????文件?????438368??2017-10-05?21:40??超聲波避障\objects\stm32f10x_tim.o

?????文件?????282780??2017-10-05?21:40??超聲波避障\objects\system_stm32f10x.crf

?????文件???????1480??2017-10-05?21:40??超聲波避障\objects\system_stm32f10x.d

?????文件?????304540??2017-10-05?21:40??超聲波避障\objects\system_stm32f10x.o

?????文件?????288624??2017-10-05?21:40??超聲波避障\objects\test.axf

?????文件???????4011??2017-10-05?21:40??超聲波避障\objects\test.build_log.htm

?????文件?????282943??2017-10-05?21:40??超聲波避障\objects\test.crf

?????文件???????1265??2017-10-05?21:40??超聲波避障\objects\test.d

?????文件??????51186??2017-10-05?21:40??超聲波避障\objects\test.htm

............此處省略24個文件信息