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智能小車紅外遙控超聲波測距原程序,學習智能小車的同學可以下載學習

代碼片段和文件信息
#include?“interface.h“
void?delay_init(void)
{
???SysTick->CTRL&=0xfffffffb;//控制寄存器,選擇外部時鐘即系統時鐘的八分之一(HCLK/8;72M/8=9M)
}
//1us?延時函數
void?Delay_us(u32?Nus)???
{???
SysTick->LOAD=Nus*9;??????????//時間加載????72M主頻?????
SysTick->CTRL|=0x01;?????????????//開始倒數??????
while(!(SysTick->CTRL&(1<<16)));?//等待時間到達???
SysTick->CTRL=0X00000000;????????//關閉計數器???
SysTick->VAL=0X00000000;?????????//清空計數器????????
}?
void?Delayms(u32?Nms)
{
while(Nms--)
{
Delay_us(1000);
}
}
void?ServoInit(void)
{
??GPIO_InitTypeDef??GPIO_InitStructure;
RCC_APB2PeriphClockCmd(Servo_CLK??ENABLE);
GPIO_InitStructure.GPIO_Pin?=?Servo_PIN;
GPIO_InitStructure.GPIO_Mode?=?GPIO_Mode_Out_PP;//
GPIO_InitStructure.GPIO_Speed?=?GPIO_Speed_50MHz;//配置GPIO端口速度
GPIO_Init(Servo_GPIO??&GPIO_InitStructure);
Servo_SET;//默認給高電位modfied?by?LC?2015.09.20?12:00
}
//外部中斷配置?超聲波
void?Sound_Configuration(void)
{
GPIO_InitTypeDef??GPIO_InitStructure;
EXTI_InitTypeDef? EXTI_InitStructure;//定義一個外部中斷相關的結構體
NVIC_InitTypeDef?NVIC_InitStructure;?//定義一個中斷的結構體
RCC_APB2PeriphClockCmd(Echo_CLK??ENABLE);
GPIO_InitStructure.GPIO_Pin?=?Echo_PIN;
GPIO_InitStructure.GPIO_Mode?=?GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed?=?GPIO_Speed_50MHz;//配置GPIO端口速度
GPIO_Init(IRIN_GPIO??&GPIO_InitStructure);
RCC_APB2PeriphClockCmd(Trig_CLK??ENABLE);
GPIO_InitStructure.GPIO_Pin?=?Trig_PIN;
GPIO_InitStructure.GPIO_Mode?=?GPIO_Mode_Out_PP;//
GPIO_InitStructure.GPIO_Speed?=?GPIO_Speed_50MHz;//配置GPIO端口速度
GPIO_Init(Trig_GPIO??&GPIO_InitStructure);
GPIO_EXTILineConfig(Echo_PORTSOURCE??Echo_PINSOURCE);//將GPIO口配置成外部中斷?
EXTI_InitStructure.EXTI_Line?=?Echo_EXITLINE;//將對應的GPIO口連接到中斷線上
EXTI_InitStructure.EXTI_Trigger?=?EXTI_Trigger_Falling;//中斷事件類型,下降沿
EXTI_InitStructure.EXTI_Mode?=?EXTI_Mode_Interrupt;//選擇模式,中斷型
EXTI_InitStructure.EXTI_LineCmd?=?ENABLE;//使能該中斷
EXTI_Init(&EXTI_InitStructure);//將配置好的參數寫入寄存器
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0); ?//階級為0,不可嵌套
NVIC_InitStructure.NVIC_IRQChannel?=? Echo_IRQCH;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority?=?0;//主優先級0,最高
NVIC_InitStructure.NVIC_IRQChannelSubPriority?=?2; //子優先級,最低
NVIC_InitStructure.NVIC_IRQChannelCmd?=?ENABLE; //使能該模塊中斷
NVIC_Init(&NVIC_InitStructure); //中斷初始化,將結構體定義的數據執行
}
/**-------------------------------------------------------
??*?@函數名?NVIC_TIM5Configuration
??*?@功能???配置TIM5中斷向量參數函數
??*?@參數???無
??*?@返回值?無
***------------------------------------------------------*/
static?void?NVIC_TIM2Configuration(void)
{?
????NVIC_InitTypeDef?NVIC_InitStructure;
????/*?Set?the?Vector?Table?base?address?at?0x08000000?*/
????//NVIC_SetVectorTable(NVIC_VectTab_FLASH?0x0000);
????/*?Enable?the?TIM5?gloabal?Interrupt?*/
????NVIC_InitStructure.NVIC_IRQChannel?=?TIM2_IRQn;
????NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority?=?0;
????NVIC_InitStructure.NVIC_IRQChannelSubPriority?=?1;
????NVIC_InitStructure.NVIC_IRQChannelCmd?=?ENAB
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件??????10488??2015-09-09?19:45??4.小車紅外遙控超聲波測距\charcode.h
?????文件??????17273??2010-04-23?10:40??4.小車紅外遙控超聲波測距\CMSIS\core_cm3.c
?????文件??????85714??2010-04-23?10:40??4.小車紅外遙控超聲波測距\CMSIS\core_cm3.h
?????文件?????621509??2012-03-06?20:12??4.小車紅外遙控超聲波測距\CMSIS\stm32f10x.h
?????文件??????31997??2010-04-23?10:40??4.小車紅外遙控超聲波測距\CMSIS\system_stm32f10x.c
?????文件???????2068??2010-04-23?10:40??4.小車紅外遙控超聲波測距\CMSIS\system_stm32f10x.h
?????文件???????1329??2014-04-10?14:18??4.小車紅外遙控超聲波測距\Dbg_RAM.ini
?????文件???????5344??2010-04-23?10:41??4.小車紅外遙控超聲波測距\Doc\readme.txt
?????文件?????140807??2015-09-11?15:49??4.小車紅外遙控超聲波測距\htdemo.uvgui.lc
?????文件??????23404??2015-09-11?15:49??4.小車紅外遙控超聲波測距\htdemo.uvopt
?????文件??????22490??2015-09-10?20:48??4.小車紅外遙控超聲波測距\htdemo.uvproj
?????文件???????4580??2015-09-20?13:04??4.小車紅外遙控超聲波測距\interface.c
?????文件???????7757??2015-09-20?10:24??4.小車紅外遙控超聲波測距\interface.h
?????文件???????3962??2015-09-10?11:21??4.小車紅外遙控超聲波測距\IRCtrol.c
?????文件????????269??2015-09-09?20:19??4.小車紅外遙控超聲波測距\IRCtrol.h
?????文件??????80862??2015-09-11?15:49??4.小車紅外遙控超聲波測距\Jli
?????文件????????375??2015-06-19?19:56??4.小車紅外遙控超聲波測距\Jli
?????文件???????8365??2015-09-11?17:46??4.小車紅外遙控超聲波測距\LCD1602.c
?????文件????????378??2015-09-10?20:26??4.小車紅外遙控超聲波測距\LCD1602.h
?????文件?????140308??2015-09-11?15:49??4.小車紅外遙控超聲波測距\Listings\htdemo.map
?????文件??????49104??2015-09-06?18:54??4.小車紅外遙控超聲波測距\Listings\startup_stm32f10x_hd.lst
?????文件???????2571??2015-09-25?23:07??4.小車紅外遙控超聲波測距\main.c
?????文件???????3330??2015-09-10?15:52??4.小車紅外遙控超聲波測距\motor.c
?????文件????????409??2015-09-10?12:07??4.小車紅外遙控超聲波測距\motor.h
?????文件???????3953??2015-09-10?15:52??4.小車紅外遙控超聲波測距\ob
?????文件????????121??2015-09-10?15:52??4.小車紅外遙控超聲波測距\ob
?????文件??????11144??2015-09-10?15:52??4.小車紅外遙控超聲波測距\ob
?????文件?????????19??2015-09-11?15:39??4.小車紅外遙控超聲波測距\ob
?????文件?????558324??2015-09-11?15:49??4.小車紅外遙控超聲波測距\ob
?????文件???????1263??2015-09-11?15:49??4.小車紅外遙控超聲波測距\ob
............此處省略168個文件信息
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