STM32感应垃圾桶

STM32感应垃圾桶

学习最重要的是学会学以致用，基于学习的一些简单串口、定时器、中断…
来做一个简单的感应垃圾桶，在制作过程中也提高了自己调试能力，虽然说是简单的串口打印测试还是花了很久时间，感谢自己的坚持和学长的帮助。最终还是成功完成了该小项目（冲冲冲）

所需硬件

miniSTM32
HCSR04超声波
SG90舵机
若干杜邦线
USB转TTL

直接上代码

//1.HCSR04  配置部分
#include "stm32f10x.h"
//宏定义相应的引脚
#define HCSR04_PORT     GPIOB
#define HCSR04_CLK      RCC_APB2Periph_GPIOB
#define HCSR04_TRIG     GPIO_Pin_11
#define HCSR04_ECHO     GPIO_Pin_10

 

//定义一个变量来记录定时器的值
u16 msHcCount = 0;

//中断配置
void hcsr04_NVIC()
{
	NVIC_InitTypeDef NVIC_InitStructure;
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
			
	NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;             
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;         
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;       
	NVIC_Init(&NVIC_InitStructure);
}

//超声波配置¯
void Hcsr04Init()
{  
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;    //定时器结构体
    GPIO_InitTypeDef GPIO_InitStructure;              //GPIO结构体
    RCC_APB2PeriphClockCmd(HCSR04_CLK, ENABLE);       //时钟使能
    // trig pb11
    GPIO_InitStructure.GPIO_Pin =HCSR04_TRIG;      
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_Init(HCSR04_PORT, &GPIO_InitStructure);
    GPIO_ResetBits(HCSR04_PORT,HCSR04_TRIG);
     
     //echo pb10
    GPIO_InitStructure.GPIO_Pin =   HCSR04_ECHO;     
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_Init(HCSR04_PORT, &GPIO_InitStructure);  
    GPIO_ResetBits(HCSR04_PORT,HCSR04_ECHO);    
     
          
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);   //定时器时钟
     
    TIM_DeInit(TIM2);
    TIM_TimeBaseStructure.TIM_Period = (1000-1); 
    TIM_TimeBaseStructure.TIM_Prescaler =(72-1); 
    TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  
		
    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);          
    TIM_ClearFlag(TIM4, TIM_FLAG_Update);  
    TIM_ITConfig(TIM4,TIM_IT_Update,ENABLE);      //定时器中断配置这个千万不要忘记配置了
    hcsr04_NVIC();
    TIM_Cmd(TIM4,DISABLE);     
}


//打开定时器  
static void OpenTimerForHc()  
{
   TIM_SetCounter(TIM4,0);  //初始化开始计数
   msHcCount = 0;
   TIM_Cmd(TIM4, ENABLE); 
}

//关闭定时器
static void CloseTimerForHc()    
{
   TIM_Cmd(TIM4, DISABLE); 
}

//定时器4中断函数
void TIM4_IRQHandler(void)  
{
   if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)  
   {
       TIM_ClearITPendingBit(TIM4, TIM_IT_Update  ); 
       msHcCount++;
   }
}
 

//获取时间
 u32 GetEchoTimer(void)
{
   u32 t = 0;
   t = msHcCount*1000;
   t += TIM_GetCounter(TIM4);
   TIM4->CNT = 0;  
   delay_ms(50);
   return t;
}
 
//计算测量距离
float Hcsr04GetLength(void )
{
   u32 t = 0;
   int i = 0;
   float lengthTemp = 0;
   float sum = 0;
   while(i!=5)
   {
      TRIG_Send = 1;      
      delay_us(20);
      TRIG_Send = 0;
      while(ECHO_Reci == 0);      
      OpenTimerForHc();        
      i = i + 1;
      while(ECHO_Reci == 1);
      CloseTimerForHc();        
      t = GetEchoTimer();        
      lengthTemp = ((float)t/58.0);//cm
      sum = lengthTemp + sum ;
        
    }
    lengthTemp = sum/5.0;
    return lengthTemp;
}
 	

SG90配置

//motor.h
#include "stm32f10x.h"
void Motor_Init(void);

//SG90.c

#include "motor.h"
#include "stm32f10x.h"


void Motor_Init(void)
	
{
	
	//GPIO结构体配置
	GPIO_InitTypeDef   GPIO_Config;
	
	//定时器结构体
	TIM_TimeBaseInitTypeDef  TIME_Config;
	
	//复用配置
	TIM_OCInitTypeDef    TIMEPWM_Config ;
	
	//时钟使能
    RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOB, ENABLE);
    RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM3 , ENABLE);
	RCC_APB2PeriphClockCmd( RCC_APB2Periph_AFIO , ENABLE);
	  
     GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3 ,ENABLE); //部分映射

	
	GPIO_Config.GPIO_Mode  =   GPIO_Mode_AF_PP ;//¸´ÓÿªÂ¥
	GPIO_Config.GPIO_Pin   =   GPIO_Pin_5 ;
	GPIO_Config.GPIO_Speed =   GPIO_Speed_50MHz;
    GPIO_Init( GPIOB,  &GPIO_Config);
	
	
	TIME_Config.TIM_ClockDivision   =   TIM_CKD_DIV1  ;  
	TIME_Config.TIM_CounterMode     =   TIM_CounterMode_Up  ; 
	TIME_Config.TIM_Period          =   200 - 1;  
	TIME_Config.TIM_Prescaler       =   7200 - 1;  
    TIM_TimeBaseInit( TIM3, &TIME_Config);



	TIMEPWM_Config .TIM_OCMode       =   TIM_OCMode_PWM1 ;  
	TIMEPWM_Config .TIM_OutputState  =   TIM_OutputState_Enable ;    
	TIMEPWM_Config .TIM_OCPolarity   =   TIM_OCPolarity_Low ; 
	
    TIM_OC2Init( TIM3, &TIMEPWM_Config);
    TIM_OC2PreloadConfig( TIM3, TIM_OCPreload_Enable);
	TIM_Cmd( TIM3, ENABLE);

}

Usart串口代码

//Usart.h

#include"stm32f10x.h"
void Usart_Init(void);

#include "usart.h"
#include "stm32f10x.h"


void Usart_Init(void)
{
	
	GPIO_InitTypeDef   Gpio_Init;   
	USART_InitTypeDef  Usart_Init ;
	
	NVIC_InitTypeDef nvic_init;  
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA ,ENABLE);   
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO ,ENABLE);  
	RCC_APB2PeriphClockCmd( RCC_APB2Periph_USART1 ,ENABLE);
	
	
	//tx A9
	
	Gpio_Init.GPIO_Mode   =   GPIO_Mode_Out_PP;
	Gpio_Init.GPIO_Pin    =   GPIO_Pin_9   ;
	Gpio_Init.GPIO_Speed  =   GPIO_Speed_50MHz;
	GPIO_Init(GPIOA ,&Gpio_Init);   //³õʼ»¯GPIO
	
	
	//rx A10
	Gpio_Init.GPIO_Mode   =    GPIO_Mode_IN_FLOATING;
	Gpio_Init.GPIO_Pin    =    GPIO_Pin_10 ;
	GPIO_Init(GPIOA ,&Gpio_Init);
	
	Usart_Init.USART_BaudRate     =  115200;  
	Usart_Init.USART_HardwareFlowControl  = USART_HardwareFlowControl_None  ;
	Usart_Init.USART_Mode        =   USART_Mode_Rx  | USART_Mode_Tx  ;  /
	Usart_Init.USART_Parity      =   USART_Parity_No ;  
	Usart_Init.USART_StopBits    =   USART_StopBits_1; 
	Usart_Init.USART_WordLength  =   USART_WordLength_8b ;  
	
	USART_Init (USART1 , &Usart_Init);  
	USART_ITConfig( USART1,  USART_IT_RXNE  , ENABLE);
	USART_Cmd (USART1 ,ENABLE );   
	
	
	
	 nvic_init.NVIC_IRQChannel    =   EXTI1_IRQn;
	 nvic_init.NVIC_IRQChannelCmd  = ENABLE ;
	 nvic_init.NVIC_IRQChannelPreemptionPriority =1;
	 nvic_init.NVIC_IRQChannelSubPriority   = 1;
 
 	 NVIC_Init(&nvic_init);
		
	
}


//打印当个字符
void  USARTSendChar(USART_TypeDef* USARTx, uint16_t Data)
{
	
	USART_SendData(USARTx, Data);
	while(USART_GetFlagStatus(USARTx  ,USART_FLAG_TXE ) == RESET);
	
}



//字符串
void  UsartSendStr(USART_TypeDef* USARTx, char *str)
{
	uint16_t i=0;
	do
	{
		 USARTSendChar(USARTx ,*(str+i));
		 i++;
	}while(*(str+i)!='\0');
	
	while(USART_GetITStatus( USARTx,USART_FLAG_TC) == RESET) ;  //判断是否接受完成

}

//重定义Printf 
int fputc(int ch, FILE *f)
{
	
	USART_SendData(USART1 ,(uint8_t )ch);
	while(USART_GetFlagStatus(USART1  ,USART_FLAG_TXE ) == RESET);
	return (ch);
}


int fgetc(FILE *f)
{
	while(USART_GetFlagStatus(USART1  ,USART_FLAG_RXNE  ) == RESET);
	
	return (int)(USART_ReceiveData(USART1));
}

main.c主函数

#include "stm32f10x.h"
#include "usart.h"	 
#include "motor.h"
#include "hcsr04.h"

 	
//主函数
int main(void)
 {	 
	 float length;
	 int pwmval = 195 ; 
	 delay_init();	    	 //延时函数初始化  
	 NVIC_Configuration(); 	 //设置NVIC中断分组
	 Hcsr04Init();
	 Motor_Init();  
	 printf("xaio yin serial test\r\n");  
    
     Hcsr04Init();    
     printf("超声波初始化成功!\n");

   while(1) 
	 {		
		 pwmval = 155 ;  //设定最初舵机值
         length = Hcsr04GetLength();
         printf("%.3fcm\n\n",length);  //打印距离
		 printf("\n");
		 delay_ms(1000);  
		 if(length < 5)
		 {
				for (pwmval = 195 ; pwmval >= 155 ; pwmval -=15)
			 {
				 
				   TIM_SetCompare2(TIM3 , pwmval);
				   delay_ms(1000);
			 }
		 }
				else if( pwmval >5)
				{
					TIM_SetCompare2(TIM3 , pwmval -20);
					 delay_ms(1000);
				}
			
	   }			
  }

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