下面是一个基于STM32的简单智能宠物喂食器的代码案例。
首先,我们需要定义一些常量和变量:
#include "stm32f10x.h"
// 定义舵机的最小角度和最大角度
#define SERVO_MIN_ANGLE 0
#define SERVO_MAX_ANGLE 180
// 定义食物的最小和最大分量
#define FOOD_MIN_AMOUNT 0
#define FOOD_MAX_AMOUNT 100
// 定义LED灯的GPIO引脚
#define LED_PIN GPIO_Pin_13
#define LED_PORT GPIOC
// 定义舵机的GPIO引脚
#define SERVO_PIN GPIO_Pin_0
#define SERVO_PORT GPIOA
// 定义按钮的GPIO引脚
#define BUTTON_PIN GPIO_Pin_1
#define BUTTON_PORT GPIOA
// 定义ADC通道
#define ADC_CHANNEL ADC_Channel_1
// 定义ADC采样周期
#define ADC_SAMPLE_CYCLE ADC_SampleTime_55Cycles5
// 定义ADC转换结果存储变量
__IO uint16_t ADC_ConvertedValue = 0;
// 定义舵机角度变量
uint8_t servo_angle = 0;
// 定义食物分量变量
uint8_t food_amount = 0;
// 定义舵机运动延时
uint32_t servo_delay = 0;
// 定义按下按钮标志位
uint8_t button_flag = 0;
接下来,我们需要编写初始化函数,用于初始化GPIO、ADC和定时器:
// 初始化GPIO
void GPIO_Init()
{
GPIO_InitTypeDef GPIO_InitStructure;
// LED
GPIO_InitStructure.GPIO_Pin = LED_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(LED_PORT, &GPIO_InitStructure);
// 按钮
GPIO_InitStructure.GPIO_Pin = BUTTON_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(BUTTON_PORT, &GPIO_InitStructure);
// 舵机
GPIO_InitStructure.GPIO_Pin = SERVO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(SERVO_PORT, &GPIO_InitStructure);
}
// 初始化ADC
void ADC_Init()
{
ADC_InitTypeDef ADC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_InitStructure.ADC_ScanConvMode = DISABLE;
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfChannel = 1;
ADC_Init(ADC1, &ADC_InitStructure);
ADC_RegularChannelConfig(ADC1, ADC_CHANNEL, 1, ADC_SAMPLE_CYCLE);
ADC_Cmd(ADC1, ENABLE);
}
// 初始化定时器
void TIM_Init()
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 20000 - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_Cmd(TIM3, ENABLE);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
}
然后,我们需要编写一些辅助函数,以供后续使用:
// 延时函数(微秒级)
void Delay_us(uint32_t us)
{
us--;
while (us--)
{
__NOP();
}
}
// 延时函数(毫秒级)
void Delay_ms(uint16_t ms)
{
while (ms--)
{
Delay_us(1000);
}
}
// 控制舵机角度
void Set_Servo_Angle(uint8_t angle)
{
if (angle < SERVO_MIN_ANGLE)
{
angle = SERVO_MIN_ANGLE;
}
else if (angle > SERVO_MAX_ANGLE)
{
angle = SERVO_MAX_ANGLE;
}
servo_delay = (angle * 20 + 600) / 100;
TIM_SetCompare2(TIM3, servo_delay);
}
// 读取ADC转换结果
uint16_t Read_ADC()
{
ADC_SoftwareStartConvCmd(ADC1, ENABLE);
while (ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC) == RESET);
return ADC_GetConversionValue(ADC1);
}
接下来,我们需要编写主函数来实现智能宠物喂食器的逻辑:
int main()
{
// 初始化
GPIO_Init();
ADC_Init();
TIM_Init();
while (1)
{
// 按下按钮时触发喂食
if (GPIO_ReadInputDataBit(BUTTON_PORT, BUTTON_PIN) == SET)
{
if (button_flag == 0)
{
// 读取光敏电阻值,将其映射到[FOOD_MIN_AMOUNT, FOOD_MAX_AMOUNT]
food_amount = (Read_ADC() * (FOOD_MAX_AMOUNT - FOOD_MIN_AMOUNT)) / 4095 + FOOD_MIN_AMOUNT;
// 控制舵机转动,将食物投放到宠物碗中
Set_Servo_Angle(SERVO_MAX_ANGLE);
Delay_ms(1000);
Set_Servo_Angle(SERVO_MIN_ANGLE);
button_flag = 1;
}
}
else
{
button_flag = 0;
}
}
}
最后,我们需要编写定时器中断函数来实现舵机角度调整的功能:
void TIM3_IRQHandler(void)
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
{
TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
if (servo_delay > 0)
{
GPIO_SetBits(SERVO_PORT, SERVO_PIN);
Delay_us(servo_delay);
GPIO_ResetBits(SERVO_PORT, SERVO_PIN);
Delay_us(20000 - servo_delay);
}
}
}
以上就是一个基于STM32的简单智能宠物喂食器的代码案例。在这个案例中,我们使用了STM32的GPIO、ADC和定时器模块,通过读取光敏电阻的电压值来确定食物的分量,并通过控制舵机的角度来投放食物。当按下按钮时,会触发喂食动作。整个逻辑通过不断的循环来实现。