TCRT5000+STM32红外循迹小车程序

2020-08-11 来源：51hei

用正点原子的精英版作为主控，红外循迹用TCRT5000芯片。

单片机源程序如下:

/* Includes ------------------------------------------------------------------*/

#include 'stm32f10x.h'

#include 'stm32f10x_tim.h'

#include 'stm32f10x_flash.h'

#include 'stm32f10x_exti.h'

#include 'stm32f10x_rcc.h'

#include 'systick.h'

#include 'stdio.h'

#include 'misc.h'

#define infra1 GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_7);

#define infra2 GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_8);

#define tube1 GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_0);

#define tube2 GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_1);

#define tube3 GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_2);

#define tube4 GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_3);

TIM_OCInitTypeDef TIM1_OCInitStructure;

extern FlagStatus Status;

extern u16 TIM1Compare1[3] = {0,0x3FFF,0x1FFF};

extern u16 TIM1Compare2[3] = {0x7FFF,0x3FFF,0x1FFF};

extern u16 TIM1Compare3[3] = {0,0x3FFF,0x1FFF};

extern u16 TIM1Compare4[3] = {0x7FFF,0x3FFF,0x1FFF};

extern u16 tubecnt;

extern u16 flag;

extern int add;

void GPIO_Configuration(void);

void TIM_Configuration(void);

void tim2_Configuration(void);

void exti_Configuration(void);

void nvic_Configuration(void);

void zhi1(void);

void zhi2(void);

void zhi3(void);

void zuoxiao(void);

void zuoda(void);

void youxiao(void);

void youda(void);

void xunji(void);

u16 ceju(void);

int main(void)

{

RCC_Configuration();

GPIO_Configuration();

TIM_Configuration();

delay_init();

while(1)

{

GPIO_ResetBits(GPIOE,GPIO_Pin_15);

GPIO_ResetBits(GPIOB,GPIO_Pin_11);

}

void GPIO_Configuration(void)

{

GPIO_InitTypeDef GPIO_InitStructure;

/*TIM1 PWM 输出：A9：CH1/A10：CH2 */

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10|GPIO_Pin_9;

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOA, &GPIO_InitStructure);

/*LED显示：LED5:PE15 / LED6:PB11 / LED7:PE14 / LED8：PB10 */

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10|GPIO_Pin_11;

GPIO_InitStructure.GPIO_Mode =GPIO_Mode_Out_PP;

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOB, &GPIO_InitStructure);

GPIO_SetBits(GPIOB,GPIO_Pin_10);

GPIO_SetBits(GPIOB,GPIO_Pin_11);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14|GPIO_Pin_15;

GPIO_InitStructure.GPIO_Mode =GPIO_Mode_Out_PP;

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOE, &GPIO_InitStructure);

GPIO_SetBits(GPIOE,GPIO_Pin_14);

GPIO_SetBits(GPIOE,GPIO_Pin_15);

/*红外管：infra1-> PC7, infra2-> PC8 浮空输入 */

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 | GPIO_Pin_8 ;

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOC, &GPIO_InitStructure);

/*光电管：tube1-> PC0, tube2-> PC1, tube3-> PC2, tube4-> PC3 浮空输入*/

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1|GPIO_Pin_2 | GPIO_Pin_3;

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOC, &GPIO_InitStructure);

/*超声波：Trig:PB9 Echo:PB8 */

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOB, &GPIO_InitStructure);

GPIO_ResetBits( GPIOB, GPIO_Pin_9);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //PB1接受采集上升沿 PB6低电平

GPIO_Init(GPIOB, &GPIO_InitStructure);

GPIO_ResetBits(GPIOB,GPIO_Pin_8);

}

void TIM_Configuration(void)

{

TIM_TimeBaseInitTypeDef TIM1_TimeBaseStructure;

TIM_OCInitTypeDef TIM1_OCInitStructure;

TIM_DeInit(TIM1);

/* Time Base configuration */

TIM1_TimeBaseStructure.TIM_Prescaler = 0x0; //设置了用来作为TIMx时钟频率除数的预分频值

TIM1_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //选择了计数器模式

TIM1_TimeBaseStructure.TIM_Period = 0xFFFF; //设置了在下一个更新事件装入活动的自动重装载寄存器周期 ARR

TIM1_TimeBaseStructure.TIM_ClockDivision = 0x0; //设置了时钟分割

TIM1_TimeBaseStructure.TIM_RepetitionCounter = 0x0; //设置了周期计数器值

TIM_TimeBaseInit(TIM1,&TIM1_TimeBaseStructure);//根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位（5个参数）

//TIM1基本计数器设置（设置PWM频率） //频率=TIM1_CLK/(ARR+1)

/* Channel 1, 2,3 and 4 Configuration in PWM mode */

TIM1_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;

TIM1_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;

TIM1_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;

TIM1_OCInitStructure.TIM_Pulse = 0x0;

TIM1_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;

TIM1_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;

TIM1_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;

TIM1_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;

TIM_OC1Init(TIM1,&TIM1_OCInitStructure); //同TimeBaseStructure （8个参数） //TIM1_OC1模块设置（设置1通道占空比）

TIM1_OCInitStructure.TIM_Pulse = 0x7fff;

TIM_OC2Init(TIM1,&TIM1_OCInitStructure); //同TimeBaseStructure

TIM1_OCInitStructure.TIM_Pulse = 0x0;

TIM_OC3Init(TIM1,&TIM1_OCInitStructure); //同TimeBaseStructure

TIM1_OCInitStructure.TIM_Pulse = 0x7fff;

TIM_OC4Init(TIM1,&TIM1_OCInitStructure); //同TimeBaseStructure

TIM_Cmd(TIM1,ENABLE); //先设置好了TimeBase、OC、BDTR 使能或者失能TIM1外设

/* Main Output Enable */

TIM_CtrlPWMOutputs(TIM1,DISABLE); //TIM1_CtrlPWMOutputs(ENABLE); 使能或者失能TIM1的主输出

}

void zhi1(void) //直走速度1

{

TIM_SetCompare1(TIM1,TIM1Compare1[0]);

TIM_SetCompare2(TIM1,TIM1Compare2[0]);

TIM_SetCompare3(TIM1,TIM1Compare3[0]);

TIM_SetCompare4(TIM1,TIM1Compare4[0]);

TIM_CtrlPWMOutputs(TIM1,ENABLE);

}

void zhi2(void) //直走速度2(慢)

{

TIM_SetCompare1(TIM1,TIM1Compare1[0]);

TIM_SetCompare2(TIM1,TIM1Compare2[1]);

TIM_SetCompare3(TIM1,TIM1Compare3[0]);

TIM_SetCompare4(TIM1,TIM1Compare4[1]);

TIM_CtrlPWMOutputs(TIM1,ENABLE);

}

void zhi(void) //直走速度3(很慢)

{

TIM_SetCompare1(TIM1,TIM1Compare1[0]);

TIM_SetCompare2(TIM1,TIM1Compare2[2]);

TIM_SetCompare3(TIM1,TIM1Compare3[0]);

TIM_SetCompare4(TIM1,TIM1Compare4[2]);

TIM_CtrlPWMOutputs(TIM1,ENABLE);

}

void zuoxiao(void) //左小转

{

TIM_SetCompare1(TIM1,TIM1Compare1[0]);

TIM_SetCompare2(TIM1,TIM1Compare2[1]);

TIM_SetCompare3(TIM1,TIM1Compare3[0]);

TIM_SetCompare4(TIM1,TIM1Compare4[0]);

TIM_CtrlPWMOutputs(TIM1,ENABLE);

}

void zuoda(void) //左大转

{

TIM_SetCompare1(TIM1,TIM1Compare1[0]);

TIM_SetCompare2(TIM1,0);

TIM_SetCompare3(TIM1,TIM1Compare3[0]);

TIM_SetCompare4(TIM1,TIM1Compare4[0]);

TIM_CtrlPWMOutputs(TIM1,ENABLE);

}

void youxiao(void) //右小转

{

TIM_SetCompare1(TIM1,TIM1Compare1[0]);

TIM_SetCompare2(TIM1,TIM1Compare2[1]);

TIM_SetCompare3(TIM1,TIM1Compare3[0]);

TIM_SetCompare4(TIM1,TIM1Compare4[0]);

TIM_CtrlPWMOutputs(TIM1,ENABLE);

}

void youda(void) //右大转

{

TIM_SetCompare1(TIM1,TIM1Compare1[0]);

TIM_SetCompare2(TIM1,0);

TIM_SetCompare3(TIM1,TIM1Compare3[0]);

TIM_SetCompare4(TIM1,TIM1Compare4[0]);

TIM_CtrlPWMOutputs(TIM1,ENABLE);

}

void xunji(void) //循迹

{

zhi1();

if(GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_7)) youxiao();

if(GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_8)) zuoxiao();

if(1)

{

tubecnt++;

zhi1();

delay_ms(100);

zuoda();

delay_ms(100);

}

u16 ceju(void)

{

u16 juli;

flag=0;

GPIO_SetBits( GPIOB, GPIO_Pin_9);

TIM_Cmd(TIM2,ENABLE);

while(juli==0);

juli=add*3.4;;

flag=0;

return juli;

}

void tim2_Configuration(void)

{

TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2|RCC_APB1Periph_TIM3, ENABLE);

TIM_DeInit(TIM2);

TIM_TimeBaseStructure.TIM_Period=72-1;

TIM_TimeBaseStructure.TIM_Prescaler=15-1;

TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;

TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

TIM_TimeBaseInit(TIM2, & TIM_TimeBaseStructure);

TIM_ClearFlag(TIM2,TIM_FLAG_Update);

TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE);

TIM_Cmd(TIM2,DISABLE);

TIM_DeInit(TIM3);

TIM_TimeBaseStructure.TIM_Prescaler =72-1; //设置了用来作为TIMx时钟频率除数的预分频值

TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //选择了计数器模式

TIM_TimeBaseStructure.TIM_Period = 20-1; //设置了15us在下一个更新事件装入活动的自动重装载寄存器周期 ARR

TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1 ; //设置了时钟分割

TIM_TimeBaseInit(TIM3, & TIM_TimeBaseStructure);

TIM_ClearFlag(TIM3,TIM_FLAG_Update);

TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);

TIM_Cmd(TIM3,DISABLE);

}

void exti_Configuration(void)

{

EXTI_InitTypeDef EXTI_InitStructure;

EXTI_DeInit();

GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource8);

EXTI_InitStructure.EXTI_Line = EXTI_Line8;

EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;

EXTI_InitStructure.EXTI_Trigger =EXTI_Trigger_Rising_Falling;

EXTI_InitStructure.EXTI_LineCmd = ENABLE;

EXTI_Init(&EXTI_InitStructure);

}

void nvic_Configuration(void)

{

NVIC_InitTypeDef NVIC_InitStructure;

#ifdef VECT_TAB_RAM

/* Set the Vector Table base location at 0x20000000 */

NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);

#else /* VECT_TAB_FLASH */

/* Set the Vector Table base location at 0x08000000 */

NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);

NVIC_InitStructure.NVIC_IRQChannel =TIM2_IRQChannel;

NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;

NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;

NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

NVIC_Init(&NVIC_InitStructure);

NVIC_InitStructure.NVIC_IRQChannel =TIM3_IRQChannel;

NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;

NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;

NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

NVIC_Init(&NVIC_InitStructure);

NVIC_InitStructure.NVIC_IRQChannel =EXTI9_5_IRQChannel ;

NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority =1;

NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;

NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

NVIC_Init(&NVIC_InitStructure);

#endif

……………………

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