stm32f103之实验3 红外遥控1个电机正转反转usart输出编码器测速实验

这里在实验2的基础上添加了红外遥控子程序

#include "remote.h"
#include "delay.h"
#include "usart.h"
//红外遥控初始化
//设置IO以及定时器5的输入捕获
void Remote_Init(void)      
{  
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_ICInitTypeDef  TIM_ICInitStructure;  
   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE); //使能PORTB时钟 
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5,ENABLE); //TIM5 时钟使能 
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; //PA1 输入 
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //上拉输入 
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
  GPIO_SetBits(GPIOA,GPIO_Pin_1); //初始化GPIOA1
 
  TIM_TimeBaseStructure.TIM_Period = 10000; //设定计数器自动重装值 最大10ms溢出  
TIM_TimeBaseStructure.TIM_Prescaler =(72-1); //预分频器,1M的计数频率,1us加1.   
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure); //根据指定的参数初始化TIMx
  TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;  // 选择输入端 IC2映射到TI5上
  TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
  TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
  TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频 
  TIM_ICInitStructure.TIM_ICFilter = 0x03;//IC4F=0011 配置输入滤波器 8个定时器时钟周期滤波
  TIM_ICInit(TIM5, &TIM_ICInitStructure);//初始化定时器输入捕获通道
  TIM_Cmd(TIM5,ENABLE ); //使能定时器5
 
NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;  //TIM5中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;  //先占优先级0级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;  //从优先级3级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure);  //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
 
  TIM_ITConfig( TIM5,TIM_IT_Update|TIM_IT_CC2,ENABLE);//允许更新中断 ,允许CC2IE捕获中断
}
 
//遥控器接收状态NEC协议： RmtSta 的8位分别代表如下：00000000
//[7]:收到了引导码标0B:1000 0000=0X80
//[6]:得到了一个按键的所有信息 0100 0000=0X40 
//[5]:保留
//[4]:标记上升沿是否已经被捕获 0001 0000 =0X10   
//[3:0]:溢出计时器0000 1111=0X0f
u8 RmtSta=0;