STM32F103C8T6平衡小車（HAL庫版）源程序

ID:466381 · 發表于 2021-3-9 01:17

最近在弄平衡小車，然后移植了一下平衡小車的代碼到cubemx上，現在發上來供大家學習。

/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
float Voltage; //電池電壓采樣相關的變量
float pitch,roll,yaw; //歐拉角
short aacx,aacy,aacz; //加速度傳感器原始數據
short gyrox,gyroy,gyroz; //陀螺儀原始數據
float UltrasonicWave_Distance; //超聲波測距
int Encoder_Left,Encoder_Right; //左右編碼器的脈沖計數
int Moto1,Moto2; //計算出來的最終賦給電機的PWM
int Flag_Qian,Flag_Hou,Flag_Left,Flag_Right; //藍牙遙控相關的變量
unsigned char flag_UltrasonicWave;
uint8_t RECEIVE_SJJ;
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_TIM1_Init();
MX_USART1_UART_Init();
MX_ADC1_Init();
MX_TIM3_Init();
/* USER CODE BEGIN 2 */
HAL_UART_Receive_IT(&huart1,&RECEIVE_SJJ,1);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
/*****************************************************************************/
/*uart3_init(115200); //=====初始化串口3
NVIC_Configuration(); //=====中斷優先級分組,其中包含了所有的中斷優先級的配置,方便管理和一次性修改。
Adc_Init(); //=====初始化ADC
Encoder_Init_TIM2(); //=====初始化編碼器2
Encoder_Init_TIM4(); //=====初始化編碼器4
Timer3_Init(5000,7199); //=====超聲波定時器初始化*/
OLED_Init(); //=====OLED初始化
OLED_Clear(); //=====OLED清屏
MPU_Init(); //=====初始化MPU6050
mpu_dmp_init(); //=====初始化MPU6050的DMP模式
//UltrasonicWave_Configuration();//=====初始化超聲波的硬件IO口
//TIM1_PWM_Init(7199,0); //=====初始化PWM 10KHZ,用于驅動電機。
delay_ms(1000); //=====延時1s 解決小車上電輪子亂轉的問題
delay_ms(1000); //=====延時1s 解決小車上電輪子亂轉的問題
Motor_Init(); //=====初始化與電機連接的硬件IO接口
//MPU6050_EXTI_Init(); //=====MPU6050 5ms定時中斷初始化
oled_first_show(); //只需要顯示一次的字符,在此刷新一次即可。
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
oled_show();
//Set_Pwm(7000,7000);
delay_ms(50); //20HZ的顯示頻率，屏幕無需時刻刷新。
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
/** Enables the Clock Security System
*/
HAL_RCC_EnableCSS();
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

復制代碼

ID:332674 · 發表于 2021-3-21 14:22

大佬可以加個好友交流下嗎？我也是用hal庫寫，為什么您的6050程序我移植過去用不了呢？求助

ID:332674 · 發表于 2021-3-21 14:23

大佬能加個好友交流下嗎？我也是用hal庫在寫最近，但是為什么移植你的6050代碼過去用不了呢？求助

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STM32F103C8T6平衡小車（HAL庫版）源程序

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