資源簡介
本設計主要有三個模塊,包括信號檢測模塊、主控模塊、電機驅動模塊。信號檢測模塊采用灰度傳感器和超聲波,用以對有無障礙與跟隨黑線進行檢測。主控電路采用STM32單片機為控制芯片。電機驅動模塊采用意法半導體的298N專用電機驅動芯片,單片控制與傳統分立元件電路相比,使整個系統有很好的穩定性。信號檢測模塊將采集到的路況信號傳入STM32單片機,經單片機處理過后對298N發出指令進行相應的調整。通過有無光線接收來控制電動小車的轉向,從而實現自動循跡避障的功能。
代碼片段和文件信息
/**
??******************************************************************************
??*?@file????stm32f1xx_hal.c
??*?@author??MCD?Application?Team
??*?@brief???HAL?module?driver.
??*??????????This?is?the?common?part?of?the?HAL?initialization
??*
??@verbatim
??==============================================================================
?????????????????????#####?How?to?use?this?driver?#####
??==============================================================================
????[..]
????The?common?HAL?driver?contains?a?set?of?generic?and?common?APIs?that?can?be
????used?by?the?PPP?peripheral?drivers?and?the?user?to?start?using?the?HAL.
????[..]
????The?HAL?contains?two?APIs‘?categories:
?????????(+)?Common?HAL?APIs
?????????(+)?Services?HAL?APIs
??@endverbatim
??******************************************************************************
??*?@attention
??*
??*?©?Copyright?(c)?2016?STMicroelectronics.
??*?All?rights?reserved.
??*
??*?This?software?component?is?licensed?by?ST?under?BSD?3-Clause?license
??*?the?“License“;?You?may?not?use?this?file?except?in?compliance?with?the
??*?License.?You?may?obtain?a?copy?of?the?License?at:
??*????????????????????????opensource.org/licenses/BSD-3-Clause
??*
??******************************************************************************
??*/
/*?Includes?------------------------------------------------------------------*/
#include?“stm32f1xx_hal.h“
/**?@addtogroup?STM32F1xx_HAL_Driver
??*?@{
??*/
/**?@defgroup?HAL?HAL
??*?@brief?HAL?module?driver.
??*?@{
??*/
#ifdef?HAL_MODULE_ENABLED
/*?Private?typedef?-----------------------------------------------------------*/
/*?Private?define?------------------------------------------------------------*/
/**?@defgroup?HAL_Private_Constants?HAL?Private?Constants
??*?@{
??*/
/**
?*?@brief?STM32F1xx?HAL?Driver?version?number?V1.1.4
???*/
#define?__STM32F1xx_HAL_VERSION_MAIN???(0x01U)?/*![31:24]?main?version?*/
#define?__STM32F1xx_HAL_VERSION_SUB1???(0x01U)?/*![23:16]?sub1?version?*/
#define?__STM32F1xx_HAL_VERSION_SUB2???(0x04U)?/*![15:8]??sub2?version?*/
#define?__STM32F1xx_HAL_VERSION_RC?????(0x00U)?/*![7:0]??release?candidate?*/
#define?__STM32F1xx_HAL_VERSION?????????((__STM32F1xx_HAL_VERSION_MAIN?<24)\
????????????????????????????????????????|(__STM32F1xx_HAL_VERSION_SUB1?<16)\
????????????????????????????????????????|(__STM32F1xx_HAL_VERSION_SUB2?<8?)\
????????????????????????????????????????|(__STM32F1xx_HAL_VERSION_RC))
#define?IDCODE_DEVID_MASK????0x00000FFFU
/**
??*?@}
??*/
/*?Private?macro?-------------------------------------------------------------*/
/*?Private?variables?---------------------------------------------------------*/
/**?@defgroup?HAL_Private_Variables?HAL?Private?Variables
??*?@{
??*/
__IO?uint32_t?uwTick;
uint32_t?uwTickPrio???=?(1UL?<HAL_TickFreqTypeDef?uwTickFreq?=?HAL_TI
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件???????6759??2019-11-25?20:03??csb2_f1\.mxproject
?????文件???????6756??2019-11-25?20:03??csb2_f1\csb2_f1.ioc
?????文件?????974113??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f103xe.h
?????文件???????7481??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f1xx.h
?????文件???????2029??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Device\ST\STM32F1xx\Include\system_stm32f1xx.h
?????文件??????28208??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\cmsis_armcc.h
?????文件??????56497??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\cmsis_armclang.h
?????文件???????9014??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\cmsis_compiler.h
?????文件??????62344??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\cmsis_gcc.h
?????文件??????28414??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\cmsis_iccarm.h
?????文件???????1716??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\cmsis_version.h
?????文件??????97995??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\core_armv8mbl.h
?????文件?????168914??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\core_armv8mml.h
?????文件??????42208??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\core_cm0.h
?????文件??????50464??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\core_cm0plus.h
?????文件??????43456??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\core_cm1.h
?????文件?????104628??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\core_cm23.h
?????文件?????111854??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\core_cm3.h
?????文件?????175600??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\core_cm33.h
?????文件?????123607??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\core_cm4.h
?????文件?????148588??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\core_cm7.h
?????文件??????47249??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\core_sc000.h
?????文件?????110523??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\core_sc300.h
?????文件??????11711??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\mpu_armv7.h
?????文件??????10958??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\mpu_armv8.h
?????文件???????2757??2019-10-04?18:53??csb2_f1\Drivers\CMSIS\Include\tz_context.h
?????文件?????204810??2019-10-04?18:53??csb2_f1\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h
?????文件??????11594??2019-10-04?18:53??csb2_f1\Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal.h
?????文件??????53734??2019-10-04?18:53??csb2_f1\Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_adc.h
?????文件??????47781??2019-10-04?18:53??csb2_f1\Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_adc_ex.h
............此處省略163個文件信息
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