/* USER CODE BEGIN Header */
/**
******************************************************************************
* [url=home.php?mod=space&uid=288409]@file[/url] : main.c
* [url=home.php?mod=space&uid=247401]@brief[/url] : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "OLED.h"
#include "hw.h"
#include "HCSR04.h"
#include "HW_remote.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
extern float distant1;//超声波1测量距离
extern float distant2;//超声波2测量距离
extern uint8_t measure_Cnt1;//超声波1状态标志位
extern uint32_t measure_Buf1[];//存放定时器计数值的数组
extern uint8_t measure_Cnt2;//超声波2状态标志位
extern uint32_t measure_Buf2[];//存放定时器计数值的数组
extern uint16_t Dval; //下降沿时计数器的值
extern uint8_t RmtSta;
extern uint32_t RmtRec; //红外接收到的数据
extern uint8_t RmtCnt; //按键按下的次数
uint8_t key_num;
//定时器输入捕获中断回调函数
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)//捕获中断发生时执行
{
if(TIM2 == htim->Instance)// 判断触发的中断的定时器为TIM2
{
switch(measure_Cnt1){
case 1:
measure_Buf1[0] = HAL_TIM_ReadCapturedValue(&htim2,TIM_CHANNEL_1);//获取当前的捕获值.
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2,TIM_CHANNEL_1,TIM_ICPOLARITY_FALLING); //设置为下降沿捕获
measure_Cnt1++;
break;
case 2:
measure_Buf1[1] = HAL_TIM_ReadCapturedValue(&htim2,TIM_CHANNEL_1);//获取当前的捕获值.
HAL_TIM_IC_Stop_IT(&htim2,TIM_CHANNEL_1); //停止捕获 或者: __HAL_TIM_DISABLE(&htim5);
measure_Cnt1++;
}
}
if(TIM3 == htim->Instance)// 判断触发的中断的定时器为TIM3
{
switch(measure_Cnt2){
case 1:
measure_Buf2[0] = HAL_TIM_ReadCapturedValue(&htim3,TIM_CHANNEL_1);//获取当前的捕获值.
__HAL_TIM_SET_CAPTUREPOLARITY(&htim3,TIM_CHANNEL_1,TIM_ICPOLARITY_FALLING); //设置为下降沿捕获
measure_Cnt2++;
break;
case 2:
measure_Buf2[1] = HAL_TIM_ReadCapturedValue(&htim3,TIM_CHANNEL_1);//获取当前的捕获值.
HAL_TIM_IC_Stop_IT(&htim3,TIM_CHANNEL_1); //停止捕获 或者: __HAL_TIM_DISABLE(&htim5);
measure_Cnt2++;
}
}
//红外遥控
if(TIM1 == htim->Instance)
{
// printf("ic\r\n");
if(HAL_GPIO_ReadPin(IRpa8_GPIO_Port,IRpa8_Pin))//上升沿捕获
{
TIM_RESET_CAPTUREPOLARITY(&htim1,TIM_CHANNEL_1); //一定要先清除原来的设置！！
TIM_SET_CAPTUREPOLARITY(&htim1,TIM_CHANNEL_1,TIM_ICPOLARITY_FALLING);//CC1P=1 设置为下降沿捕获
__HAL_TIM_SET_COUNTER(&htim1,0); //清空定时器值
RmtSta|=0X10; //标记上升沿已经被捕获
}else //下降沿捕获
{
Dval=HAL_TIM_ReadCapturedValue(&htim1,TIM_CHANNEL_1);//读取CCR1也可以清CC1IF标志位
TIM_RESET_CAPTUREPOLARITY(&htim1,TIM_CHANNEL_1); //一定要先清除原来的设置！！
TIM_SET_CAPTUREPOLARITY(&htim1,TIM_CHANNEL_1,TIM_ICPOLARITY_RISING);//配置TIM5通道1上升沿捕获
if(RmtSta&0X10) //完成一次高电平捕获
{
if(RmtSta&0X80)//接收到了引导码
{
if(Dval>300&&Dval<800) //560为标准值,560us
{
RmtRec<<=1; //左移一位.
RmtRec|=0; //接收到0
}else if(Dval>1400&&Dval<1800) //1680为标准值,1680us
{
RmtRec<<=1; //左移一位.
RmtRec|=1; //接收到1
}else if(Dval>2200&&Dval<2600) //得到按键键值增加的信息 2500为标准值2.5ms
{
RmtCnt++; //按键次数增加1次
RmtSta&=0XF0; //清空计时器
}
}else if(Dval>4200&&Dval<4700) //4500为标准值4.5ms
{
RmtSta|=1<<7; //标记成功接收到了引导码
RmtCnt=0; //清除按键次数计数器
}
}
RmtSta&=~(1<<4);
}
}
}
//PWM控制舵机
// angle:角度值，500-1000-1500-2000-2500
//角度
uint16_t angle;
void Servo_Control(angle)
{
//设置默认的占空比值
// __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, (uint16_t )angle / 180 * 2000 + 500);
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, angle);
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
//超声波设置距离
float jl;
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM2_Init();
MX_USART1_UART_Init();
MX_TIM3_Init();
MX_TIM1_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim1);
HAL_TIM_IC_Start_IT(&htim1,TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_1);
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, 500);
printf("test\r\n");
OLED_Init();
OLED_ShowCHinese(0, 0, 3); //人
OLED_ShowCHinese(0, 16, 4); //数
OLED_ShowCHinese(0, 32, 8); //：
OLED_ShowCHinese(2, 0, 0); //超
OLED_ShowCHinese(2, 16, 1); //声
OLED_ShowCHinese(2, 32, 2); //波
OLED_ShowCHinese(2, 48, 9); //1
OLED_ShowCHinese(2, 64, 8); //：
OLED_ShowCHinese(4, 0, 0); //超
OLED_ShowCHinese(4, 16, 1); //声
OLED_ShowCHinese(4, 32, 2); //波
OLED_ShowCHinese(4, 48, 10); //2
OLED_ShowCHinese(4, 64, 8); //：
OLED_ShowCHinese(6, 0, 15); //键
OLED_ShowCHinese(6, 16, 16); //值
OLED_ShowCHinese(6, 32, 8); //：
OLED_ShowCHinese(6, 90, 13); //关
OLED_ShowCHinese(6, 106, 14); //闭
// Servo_Control(0);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
//显示人数
hw_git();//获取电平
OLED_ShowNum(1,7,number,3);//显示无符号数
//超声波1检测距离
SR04_GetData1();
OLED_ShowNum(2,10,distant1,2);
OLED_ShowChar(2,12,'.');
OLED_ShowNum(2,13,(uint16_t)(distant1*100)%100,2);
if(distant1<=15)
{
angle= 2200;
Servo_Control(angle);
OLED_ShowCHinese(6, 90, 11); //打
OLED_ShowCHinese(6, 106, 12); //开
angle=500;
}
//超声波2检测距离
SR04_GetData2();
OLED_ShowNum(3,10,distant2,2);
OLED_ShowChar(3,12,'.');
OLED_ShowNum(3,13,(uint16_t)(distant2*100)%100,2);
if(distant2<=10)
{
angle= 500;
Servo_Control(angle);
OLED_ShowCHinese(6, 90, 13); //关
OLED_ShowCHinese(6, 106, 14); //闭
}
//提示
key_num=Remote_Scan();
if(key_num)
{
printf("键值：%d\r\n",key_num);
OLED_ShowNum(4,6,key_num,3);
switch (key_num)
{
case 104:
angle= 2200;
OLED_ShowCHinese(6, 90, 11); //打
OLED_ShowCHinese(6, 106, 12); //开
break;
case 176:
angle= 500;
OLED_ShowCHinese(6, 90, 13); //关
OLED_ShowCHinese(6, 106, 14); //闭
break;
default:
break;
}
key_num=0;
Servo_Control(angle);
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
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