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main.c ( 文件浏览 )

  • aaa923124003 发布于2018-04-23
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			#include "stm32f10x.h"         //???  
#include "stm32f10x_gpio.h"  
#include "stm32f10x_rcc.h"  
#include "delay.h"  
#include "motor.h"
#include "remote.h"
#include "usart.h"	
#include "sys.h"	
u16 timer;    
u8 flag;
u32 left_numb;
u32 right_numb;
u32 left_speed;
u32 right_speed;

#define INT0 PAin(13)                  //PA13
#define INT1 PAin(15)                  //PA15
#define INT2 PAin(0)	                 //PA0 
#define EXTI0_IRQChannel             ((u8)0x06)  /* EXTI Line0 Interrupt */
#define EXTI15_10_IRQChannel         ((u8)0x28)  /* External Line[15:10] Interrupts */
#define GPIO_A 0
#define FTIR   1                               //下降沿触发
#define RTIR   2                               //上升沿触发
void EXTIX_Init(void);
void process(void);                             
void Timerx_Init(u16 arr,u16 psc);            //定时器初始化函数  
void MY_NVIC_SetVectorTable(u32 NVIC_VectTab, u32 Offset);//设置偏移地址
void MY_NVIC_PriorityGroupConfig(u8 NVIC_Group);          //设置NVIC分组
void MY_NVIC_Init(u8 NVIC_PreemptionPriority,u8 NVIC_SubPriority,u8 NVIC_Channel,u8 NVIC_Group);//设置中断
void Ex_NVIC_Config(u8 GPIOx,u8 BITx,u8 TRIM);            //外部中断配置函数(只对GPIOA~G)  


int main(void)  
{
  
	u8 key;
 	u8 *str=0;
    Motor_12_Config(); //298???????  
    delay_init();  //???????  

	delay_init();	    	 //延时函数初始化	  
  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置中断优先级分组为组2:2位抢占优先级,2位响应优先级
	uart_init(115200);	 	//串口初始化为115200
  	
	Remote_Init();			//红外接收初始化	
      	 	  		    							  
	while(1)
	{

		key=Remote_Scan();	
		if(key)
		{
	 
			 
			switch(key)
			{

				case 0:str="ERROR";break;			   
				case 162:str="POWER";break;	    
				case 98:                   //前进
					{

				     Motor_go();
				  
};break;	    
				case 2:
				  {

				     Motor_stop();
				  
};break;		 
					  
				case 194:                  //右转
          {

	           Motor_right();
						delay_ms(167);
						Motor_go();
          
};break;	   
				case 34:                   //左转
				  {

				     Motor_left();
						delay_ms(167);
						Motor_go();
				  
};break;		  
					  
				case 168:                  //后退
          {
 
             Motor_back();
          
};break;		   
				case 224: 
				{

					Motor_left();
						delay_ms(1000);
						Motor_go();
				
};break;  
				case 144:
					{

					  Motor_right();
						delay_ms(1000);
						Motor_go();
				
};break;
			
}
			
	
}

}

}
//测速处理程序###
 void process(void)                             //算出左右轮子的速度
{

 left_speed  = (left_numb/20)*20.5;
 right_speed = (right_numb/20)*20.5;

 left_numb  = 0;
 right_numb = 0;
                                                 //计划在此处通过串口把数据进行打印

}
//外部中断0服务程序
void EXTI0_IRQHandler(void)
{

 delay_ms(1);                   //消抖
 if(INT2==1)	              
 {

  right_numb++;
 
}		 
 EXTI->PR=1<<0;                 //清除LINE0上的中断标志位  

}

//
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名称 大小 修改日期
01.97 kB
01.97 kB
core_cm3.c16.87 kB2010-06-07|10:25
core_cm3.h83.71 kB2011-02-09|14:59
startup_stm32f10x_hd.s15.14 kB2011-03-10|10:52
01.97 kB
01.97 kB
misc.h8.77 kB2011-03-10|10:47
stm32f10x_adc.h21.18 kB2011-03-10|10:47
stm32f10x_bkp.h7.38 kB2011-03-10|10:47
stm32f10x_can.h26.91 kB2011-03-10|10:47
stm32f10x_cec.h6.42 kB2011-03-10|10:47
stm32f10x_crc.h2.11 kB2011-03-10|10:47
stm32f10x_dac.h14.88 kB2011-03-10|10:47
stm32f10x_dbgmcu.h3.73 kB2011-03-10|10:47
stm32f10x_dma.h20.27 kB2011-03-10|10:47
stm32f10x_exti.h6.66 kB2011-03-10|10:47
stm32f10x_flash.h24.85 kB2011-03-10|10:47
stm32f10x_fsmc.h26.38 kB2011-03-10|10:47
stm32f10x_gpio.h19.70 kB2017-10-13|22:36
stm32f10x_i2c.h29.33 kB2011-03-10|10:47
stm32f10x_iwdg.h3.74 kB2011-03-10|10:47
stm32f10x_pwr.h4.28 kB2011-03-10|10:47
stm32f10x_rcc.h29.74 kB2011-03-10|10:47
stm32f10x_rtc.h3.77 kB2011-03-10|10:47
stm32f10x_sdio.h21.35 kB2011-03-10|10:47
stm32f10x_spi.h17.31 kB2011-03-10|10:47
stm32f10x_tim.h51.20 kB2011-03-10|10:47
stm32f10x_usart.h16.16 kB2011-03-10|10:47
stm32f10x_wwdg.h2.90 kB2011-03-10|10:47
01.97 kB
misc.c6.88 kB2011-03-10|10:47
stm32f10x_adc.c46.09 kB2011-03-10|10:47
stm32f10x_bkp.c8.26 kB2011-03-10|10:47
stm32f10x_can.c44.05 kB2011-03-10|10:47
stm32f10x_cec.c11.38 kB2011-03-10|10:47
stm32f10x_crc.c3.27 kB2011-03-10|10:47
stm32f10x_dac.c18.64 kB2011-03-10|10:47
stm32f10x_dbgmcu.c5.03 kB2011-03-10|10:47
stm32f10x_dma.c28.91 kB2011-03-10|10:47
stm32f10x_exti.c6.80 kB2011-03-10|10:47
stm32f10x_flash.c61.08 kB2011-03-10|10:47
stm32f10x_fsmc.c34.65 kB2011-03-10|10:47
stm32f10x_gpio.c22.68 kB2011-03-11|17:43
stm32f10x_i2c.c44.71 kB2011-03-10|10:47
stm32f10x_iwdg.c4.80 kB2011-03-10|10:47
stm32f10x_pwr.c8.55 kB2011-03-10|10:47
stm32f10x_rcc.c50.07 kB2011-03-10|10:47
stm32f10x_rtc.c8.40 kB2011-03-10|10:47
stm32f10x_sdio.c28.25 kB2011-03-10|10:47
stm32f10x_spi.c29.52 kB2011-03-10|10:47
stm32f10x_tim.c106.60 kB2011-03-10|10:47
stm32f10x_usart.c37.41 kB2011-03-10|10:47
stm32f10x_wwdg.c5.60 kB2011-03-10|10:47
01.97 kB
morot.c2.52 kB2017-12-17|23:08
motor.h1.57 kB2017-12-17|23:09
01.97 kB
core_cm3.crf3.57 kB2017-12-17|23:19
core_cm3.d104.00 B2017-12-17|23:19
core_cm3.o10.54 kB2017-12-17|23:19
delay.crf341.66 kB2017-12-17|23:19
delay.d1.41 kB2017-12-17|23:19
delay.o373.57 kB2017-12-17|23:19
main.crf348.30 kB2017-12-17|23:19
main.d1.50 kB2017-12-17|23:19
main.o381.77 kB2017-12-17|23:19
misc.crf340.19 kB2017-12-17|23:19
misc.d1.33 kB2017-12-17|23:19
misc.o370.69 kB2017-12-17|23:19
morot.crf347.94 kB2017-12-17|23:19
morot.d1.43 kB2017-12-17|23:19
morot.o378.45 kB2017-12-17|23:19
remote.crf346.86 kB2017-12-17|23:19
remote.d1.57 kB2017-12-17|23:19
remote.o379.29 kB2017-12-17|23:19
startup_stm32f10x_hd.d63.00 B2017-12-17|23:19
startup_stm32f10x_hd.o6.65 kB2017-12-17|23:19
stm32f10x_adc.crf347.19 kB2017-12-17|23:19
stm32f10x_adc.d1.62 kB2017-12-17|23:19
stm32f10x_adc.o384.34 kB2017-12-17|23:19
stm32f10x_bkp.crf341.11 kB2017-12-17|23:19
stm32f10x_bkp.d1.62 kB2017-12-17|23:19
stm32f10x_bkp.o373.05 kB2017-12-17|23:19
stm32f10x_can.crf348.76 kB2017-12-17|23:19
stm32f10x_can.d1.62 kB2017-12-17|23:19
stm32f10x_can.o381.59 kB2017-12-17|23:19
stm32f10x_cec.crf341.65 kB2017-12-17|23:19
stm32f10x_cec.d1.62 kB2017-12-17|23:19
stm32f10x_cec.o373.47 kB2017-12-17|23:19
stm32f10x_crc.crf339.75 kB2017-12-17|23:19
stm32f10x_crc.d1.62 kB2017-12-17|23:19
stm32f10x_crc.o370.60 kB2017-12-17|23:19
stm32f10x_dac.crf341.78 kB2017-12-17|23:19
stm32f10x_dac.d1.62 kB2017-12-17|23:19
stm32f10x_dac.o373.62 kB2017-12-17|23:19
stm32f10x_dbgmcu.crf339.55 kB2017-12-17|23:19
stm32f10x_dbgmcu.d1.72 kB2017-12-17|23:19
stm32f10x_dbgmcu.o369.86 kB2017-12-17|23:19
stm32f10x_dma.crf343.22 kB2017-12-17|23:19
stm32f10x_dma.d1.62 kB2017-12-17|23:19
stm32f10x_dma.o374.23 kB2017-12-17|23:19
stm32f10x_exti.crf340.73 kB2017-12-17|23:19
stm32f10x_exti.d1.65 kB2017-12-17|23:19
stm32f10x_exti.o371.53 kB2017-12-17|23:19
stm32f10x_flash.crf347.03 kB2017-12-17|23:19
stm32f10x_flash.d1.69 kB2017-12-17|23:19
stm32f10x_flash.o380.89 kB2017-12-17|23:19
stm32f10x_fsmc.crf345.57 kB2017-12-17|23:19
stm32f10x_fsmc.d1.65 kB2017-12-17|23:19
stm32f10x_fsmc.o377.03 kB2017-12-17|23:19
stm32f10x_gpio.crf343.60 kB2017-12-17|23:19
stm32f10x_gpio.d1.65 kB2017-12-17|23:19
stm32f10x_gpio.o376.90 kB2017-12-17|23:19
stm32f10x_i2c.crf345.98 kB2017-12-17|23:19
stm32f10x_i2c.d1.62 kB2017-12-17|23:19
stm32f10x_i2c.o382.00 kB2017-12-17|23:19
stm32f10x_it.crf339.63 kB2017-12-17|23:19
stm32f10x_it.d1.54 kB2017-12-17|23:19
stm32f10x_it.o371.13 kB2017-12-17|23:19
stm32f10x_iwdg.crf339.85 kB2017-12-17|23:19
stm32f10x_iwdg.d1.65 kB2017-12-17|23:19
stm32f10x_iwdg.o370.51 kB2017-12-17|23:19
stm32f10x_pwr.crf341.02 kB2017-12-17|23:19
stm32f10x_pwr.d1.62 kB2017-12-17|23:19
stm32f10x_pwr.o372.05 kB2017-12-17|23:19
stm32f10x_rcc.crf347.10 kB2017-12-17|23:19
stm32f10x_rcc.d1.62 kB2017-12-17|23:19
stm32f10x_rcc.o381.23 kB2017-12-17|23:19
stm32f10x_rtc.crf341.02 kB2017-12-17|23:19
stm32f10x_rtc.d1.62 kB2017-12-17|23:19
stm32f10x_rtc.o372.94 kB2017-12-17|23:19
stm32f10x_sdio.crf344.20 kB2017-12-17|23:19
stm32f10x_sdio.d1.65 kB2017-12-17|23:19
stm32f10x_sdio.o378.45 kB2017-12-17|23:19
stm32f10x_spi.crf344.07 kB2017-12-17|23:19
stm32f10x_spi.d1.62 kB2017-12-17|23:19
stm32f10x_spi.o378.19 kB2017-12-17|23:19
stm32f10x_tim.crf361.76 kB2017-12-17|23:19
stm32f10x_tim.d1.62 kB2017-12-17|23:19
stm32f10x_tim.o404.37 kB2017-12-17|23:19
stm32f10x_usart.crf345.67 kB2017-12-17|23:19
stm32f10x_usart.d1.69 kB2017-12-17|23:19
stm32f10x_usart.o380.94 kB2017-12-17|23:19
stm32f10x_wwdg.crf340.29 kB2017-12-17|23:19
stm32f10x_wwdg.d1.65 kB2017-12-17|23:19
stm32f10x_wwdg.o371.44 kB2017-12-17|23:19
sys.crf342.48 kB2017-12-17|23:19
sys.d1.30 kB2017-12-17|23:19
sys.o375.83 kB2017-12-17|23:19
system_stm32f10x.crf341.32 kB2017-12-17|23:19
system_stm32f10x.d1.62 kB2017-12-17|23:19
system_stm32f10x.o371.02 kB2017-12-17|23:19
template.axf555.93 kB2017-12-17|23:19
template.build_log.htm204.00 B2017-12-18|10:43
template.hex31.47 kB2017-12-17|23:19
template.htm81.13 kB2017-12-17|23:19
template.lnp1.09 kB2017-12-17|23:19
template.sct479.00 B2017-11-26|10:06
usart.crf346.12 kB2017-12-17|23:19
usart.d1.46 kB2017-12-17|23:19
usart.o376.92 kB2017-12-17|23:19
01.97 kB
remote.c5.26 kB2017-12-07|12:43
remote.h877.00 B2017-12-07|12:51
01.97 kB
01.97 kB
delay.c7.74 kB2017-12-06|20:53
delay.h1.94 kB2017-12-06|20:53
01.97 kB
sys.c5.10 kB2017-12-17|23:19
sys.h2.98 kB2017-12-17|23:19
01.97 kB
usart.c4.97 kB2015-03-23|12:28
usart.h1.25 kB2012-09-13|14:17
01.97 kB
main.c4.46 kB2017-12-17|23:19
Release_Notes.html29.41 kB2011-04-06|18:15
startup_stm32f10x_hd.lst49.81 kB2017-12-17|23:19
stm32f10x.h619.08 kB2011-03-10|10:51
stm32f10x_conf.h3.18 kB2017-10-14|09:49
stm32f10x_it.c4.30 kB2011-04-04|19:03
stm32f10x_it.h2.04 kB2011-04-04|19:03
system_stm32f10x.c35.70 kB2011-04-04|19:03
system_stm32f10x.h2.04 kB2011-03-10|10:51
template.build_log.htm7.28 kB2017-10-14|09:38
template.map89.78 kB2017-12-17|23:19
template.uvgui.ZHENG70.76 kB2017-12-18|10:43
template.uvgui_ZHENG.bak70.58 kB2017-12-14|10:32
template.uvopt19.72 kB2017-12-07|15:36
template.uvproj21.42 kB2017-12-07|15:36
template_Target55.85 kB2017-12-17|23:19
template_uvopt.bak18.77 kB2017-11-26|10:06
template_uvproj.bak20.94 kB2017-11-26|10:06
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