#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\JlinkLog.txt

?????文件????????375??2015-06-19?19:56??4.小車紅外遙控超聲波測距\JlinkSettings.ini

?????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\objects\core_cm3.crf

?????文件????????121??2015-09-10?15:52??4.小車紅外遙控超聲波測距\objects\core_cm3.d

?????文件??????11144??2015-09-10?15:52??4.小車紅外遙控超聲波測距\objects\core_cm3.o

?????文件?????????19??2015-09-11?15:39??4.小車紅外遙控超聲波測距\objects\ExtDll.iex

?????文件?????558324??2015-09-11?15:49??4.小車紅外遙控超聲波測距\objects\htdemo.axf

?????文件???????1263??2015-09-11?15:49??4.小車紅外遙控超聲波測距\objects\htdemo.build_log.htm

............此處省略168個文件信息