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2个按键控制舵机旋转角度、速度

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This commit is contained in:
james 2024-11-07 16:26:27 +08:00
parent 2830892d58
commit b6a0e98611
66 changed files with 5369 additions and 5224 deletions
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2
Inc/key.h Normal file
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@ -0,0 +1,2 @@
#define KEY_PRESSED GPIO_PIN_RESET
#define KEY_NOT_PRESSED GPIO_PIN_SET

6
Inc/main.h
View File

@ -67,6 +67,12 @@ void Error_Handler(void);
#define LED_B_GPIO_Port GPIOE
#define SERVO_Pin GPIO_PIN_15
#define SERVO_GPIO_Port GPIOB
#define KEY0_Pin GPIO_PIN_8
#define KEY0_GPIO_Port GPIOD
#define KEY1_Pin GPIO_PIN_9
#define KEY1_GPIO_Port GPIOD
#define KEY2_Pin GPIO_PIN_10
#define KEY2_GPIO_Port GPIOD
#define PB8_EXTI_Pin GPIO_PIN_8
#define PB8_EXTI_GPIO_Port GPIOB
#define PB8_EXTI_EXTI_IRQn EXTI9_5_IRQn

2
Inc/servo.h
View File

@ -2,7 +2,7 @@
//Tanslate angle into Capture Compare Register value
#define ANGLETOCCR(angle) 2000 * (angle) / 180 + 500
extern uint8_t Servo_Speed,Servo_goal,Servo_position;
extern int16_t Servo_Speed,Servo_goal,Servo_position;
void Servo_SetAngle(int goal);
int Servo_toward(void);

BIN
MDK-ARM/Project/Project.axf
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Binary file not shown.

10
MDK-ARM/Project/Project.build_log.htm
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@ -27,12 +27,12 @@ Project File Date: 11/07/2024
<h2>Output:</h2>
*** Using Compiler 'V5.06 update 5 (build 528)', folder: 'D:\Keil5\ARM\ARMCC\Bin'
Build target 'Project'
compiling main.c...
../Src/main.c(126): warning: #177-D: variable "ADC_Value" was declared but never referenced
uint32_t ADC_Value;
../Src/main.c: 1 warning, 0 errors
compiling servo.c...
..\Src\servo.c(25): warning: #177-D: variable "tt" was declared but never referenced
static uint8_t times = 0, tt = 0;
..\Src\servo.c: 1 warning, 0 errors
linking...
Program Size: Code=18628 RO-data=59236 RW-data=36 ZI-data=2892
Program Size: Code=18972 RO-data=59236 RW-data=40 ZI-data=2896
FromELF: creating hex file...
"Project\Project.axf" - 0 Error(s), 1 Warning(s).

7540
MDK-ARM/Project/Project.hex
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File diff suppressed because it is too large Load Diff

1065
MDK-ARM/Project/Project.htm
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File diff suppressed because it is too large Load Diff

1
MDK-ARM/Project/Project.lnp
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@ -12,6 +12,7 @@
"project\stm32l4xx_it.o"
"project\stm32l4xx_hal_msp.o"
"project\servo.o"
"project\key.o"
"project\stm32l4xx_hal_adc.o"
"project\stm32l4xx_hal_adc_ex.o"
"project\stm32l4xx_hal.o"

1154
MDK-ARM/Project/Project.map
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File diff suppressed because it is too large Load Diff

41
MDK-ARM/Project/Project_Project.dep
View File

@ -1,5 +1,5 @@
Dependencies for Project 'Project', Target 'Project': (DO NOT MODIFY !)
F (startup_stm32l475xx.s)(0x672C524E)(--cpu Cortex-M4.fp -g --apcs=interwork --pd "__MICROLIB SETA 1" -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include --pd "__UVISION_VERSION SETA 514" --pd "_RTE_ SETA 1" --pd "STM32L475xx SETA 1" --list startup_stm32l475xx.lst --xref -o project\startup_stm32l475xx.o --depend project\startup_stm32l475xx.d)
F (startup_stm32l475xx.s)(0x672C6B22)(--cpu Cortex-M4.fp -g --apcs=interwork --pd "__MICROLIB SETA 1" -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include --pd "__UVISION_VERSION SETA 514" --pd "_RTE_ SETA 1" --pd "STM32L475xx SETA 1" --list startup_stm32l475xx.lst --xref -o project\startup_stm32l475xx.o --depend project\startup_stm32l475xx.d)
F (..\Src\lcd.c)(0x672794C0)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\lcd.o --omf_browse project\lcd.crf --depend project\lcd.d)
I (../Inc/sys.h)(0x67279973)
I (../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l4xx.h)(0x671507AF)
@ -116,8 +116,8 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (../Src/main.c)(0x672C5484)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\main.o --omf_browse project\main.crf --depend project\main.d)
I (../Inc/main.h)(0x672B2071)
F (../Src/main.c)(0x672C77C1)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\main.o --omf_browse project\main.crf --depend project\main.d)
I (../Inc/main.h)(0x672C6B20)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -162,10 +162,11 @@ I (../Inc/lcd.h)(0x5BF21D0E)
I (../Inc/sys.h)(0x67279973)
I (D:\Keil5\ARM\ARMCC\include\stdio.h)(0x588B8344)
I (D:\Keil5\ARM\ARMCC\include\string.h)(0x588B8344)
I (../Inc/servo.h)(0x672C51E6)
F (../Src/gpio.c)(0x672A38B6)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\gpio.o --omf_browse project\gpio.crf --depend project\gpio.d)
I (../Inc/servo.h)(0x672C7728)
I (../Inc/key.h)(0x672C7132)
F (../Src/gpio.c)(0x672C6B1E)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\gpio.o --omf_browse project\gpio.crf --depend project\gpio.d)
I (../Inc/gpio.h)(0x6715E327)
I (../Inc/main.h)(0x672B2071)
I (../Inc/main.h)(0x672C6B20)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -201,9 +202,9 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (../Src/adc.c)(0x672B7423)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\adc.o --omf_browse project\adc.crf --depend project\adc.d)
F (../Src/adc.c)(0x672C6DE4)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\adc.o --omf_browse project\adc.crf --depend project\adc.d)
I (../Inc/adc.h)(0x67284CF2)
I (../Inc/main.h)(0x672B2071)
I (../Inc/main.h)(0x672C6B20)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -241,7 +242,7 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (../Src/spi.c)(0x67279973)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\spi.o --omf_browse project\spi.crf --depend project\spi.d)
I (../Inc/spi.h)(0x67279574)
I (../Inc/main.h)(0x672B2071)
I (../Inc/main.h)(0x672C6B20)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -279,7 +280,7 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (../Src/tim.c)(0x672C524A)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\tim.o --omf_browse project\tim.crf --depend project\tim.d)
I (../Inc/tim.h)(0x672C524A)
I (../Inc/main.h)(0x672B2071)
I (../Inc/main.h)(0x672C6B20)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -317,7 +318,7 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (../Src/usart.c)(0x6728AD52)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\usart.o --omf_browse project\usart.crf --depend project\usart.d)
I (../Inc/usart.h)(0x67276B93)
I (../Inc/main.h)(0x672B2071)
I (../Inc/main.h)(0x672C6B20)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -353,8 +354,8 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (../Src/stm32l4xx_it.c)(0x672C524A)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\stm32l4xx_it.o --omf_browse project\stm32l4xx_it.crf --depend project\stm32l4xx_it.d)
I (../Inc/main.h)(0x672B2071)
F (../Src/stm32l4xx_it.c)(0x672C7765)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\stm32l4xx_it.o --omf_browse project\stm32l4xx_it.crf --depend project\stm32l4xx_it.d)
I (../Inc/main.h)(0x672C6B20)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -392,12 +393,12 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
I (../Inc/stm32l4xx_it.h)(0x672C524A)
I (../Inc/tim.h)(0x672C524A)
I (../Inc/servo.h)(0x672C51E6)
I (../Inc/servo.h)(0x672C7728)
I (../Inc/usart.h)(0x67276B93)
I (D:\Keil5\ARM\ARMCC\include\stdio.h)(0x588B8344)
I (../Inc/gpio.h)(0x6715E327)
F (../Src/stm32l4xx_hal_msp.c)(0x6715E328)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\stm32l4xx_hal_msp.o --omf_browse project\stm32l4xx_hal_msp.crf --depend project\stm32l4xx_hal_msp.d)
I (../Inc/main.h)(0x672B2071)
I (../Inc/main.h)(0x672C6B20)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -433,9 +434,9 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (..\Src\servo.c)(0x672C52EE)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\servo.o --omf_browse project\servo.crf --depend project\servo.d)
I (../Inc/servo.h)(0x672C51E6)
I (../Inc/main.h)(0x672B2071)
F (..\Src\servo.c)(0x672C78EF)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\servo.o --omf_browse project\servo.crf --depend project\servo.d)
I (../Inc/servo.h)(0x672C7728)
I (../Inc/main.h)(0x672C6B20)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -474,7 +475,9 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
I (../Inc/tim.h)(0x672C524A)
I (../Inc/lcd.h)(0x5BF21D0E)
I (../Inc/sys.h)(0x67279973)
F (..\Inc\servo.h)(0x672C51E6)()
F (..\Inc\servo.h)(0x672C7728)()
F (..\Src\key.c)(0x672C6F85)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\key.o --omf_browse project\key.crf --depend project\key.d)
F (..\Inc\key.h)(0x672C7132)()
F (../Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_adc.c)(0x671507AF)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\stm32l4xx_hal_adc.o --omf_browse project\stm32l4xx_hal_adc.crf --depend project\stm32l4xx_hal_adc.d)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)

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@ -0,0 +1 @@
project\key.o: ..\Src\key.c

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@ -46,3 +46,4 @@ project\main.o: ../Inc/sys.h
project\main.o: D:\Keil5\ARM\ARMCC\Bin\..\include\stdio.h
project\main.o: D:\Keil5\ARM\ARMCC\Bin\..\include\string.h
project\main.o: ../Inc/servo.h
project\main.o: ../Inc/key.h

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Project.ioc
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@ -31,23 +31,26 @@ Mcu.Name=STM32L475V(C-E-G)Tx
Mcu.Package=LQFP100
Mcu.Pin0=PH0-OSC_IN (PH0)
Mcu.Pin1=PH1-OSC_OUT (PH1)
Mcu.Pin10=PC10
Mcu.Pin11=PC11
Mcu.Pin12=PC12
Mcu.Pin13=PB8
Mcu.Pin14=PB9
Mcu.Pin15=VP_SYS_VS_Systick
Mcu.Pin16=VP_TIM7_VS_ClockSourceINT
Mcu.Pin17=VP_TIM15_VS_ClockSourceINT
Mcu.Pin10=PD10
Mcu.Pin11=PA9
Mcu.Pin12=PA10
Mcu.Pin13=PC10
Mcu.Pin14=PC11
Mcu.Pin15=PC12
Mcu.Pin16=PB8
Mcu.Pin17=PB9
Mcu.Pin18=VP_SYS_VS_Systick
Mcu.Pin19=VP_TIM7_VS_ClockSourceINT
Mcu.Pin2=PC2
Mcu.Pin20=VP_TIM15_VS_ClockSourceINT
Mcu.Pin3=PB2
Mcu.Pin4=PE7
Mcu.Pin5=PE8
Mcu.Pin6=PE9
Mcu.Pin7=PB15
Mcu.Pin8=PA9
Mcu.Pin9=PA10
Mcu.PinsNb=18
Mcu.Pin8=PD8
Mcu.Pin9=PD9
Mcu.PinsNb=21
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32L475VETx
@ -97,6 +100,18 @@ PC11.Signal=SPI3_MISO
PC12.Mode=Full_Duplex_Master
PC12.Signal=SPI3_MOSI
PC2.Signal=ADCx_IN3
PD10.GPIOParameters=GPIO_Label
PD10.GPIO_Label=KEY2
PD10.Locked=true
PD10.Signal=GPIO_Input
PD8.GPIOParameters=GPIO_Label
PD8.GPIO_Label=KEY0
PD8.Locked=true
PD8.Signal=GPIO_Input
PD9.GPIOParameters=GPIO_Label
PD9.GPIO_Label=KEY1
PD9.Locked=true
PD9.Signal=GPIO_Input
PE7.GPIOParameters=GPIO_PuPd,GPIO_Label
PE7.GPIO_Label=LED_R
PE7.GPIO_PuPd=GPIO_PULLUP
@ -146,7 +161,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_SPI3_Init-SPI3-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM15_Init-TIM15-false-HAL-true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_SPI3_Init-SPI3-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM15_Init-TIM15-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true
RCC.ADCFreq_Value=12000000
RCC.AHBFreq_Value=72000000
RCC.APB1Freq_Value=72000000

17
Src/adc.c
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@ -86,15 +86,14 @@ void MX_ADC1_Init(void)
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
void HAL_ADC_MspInit(ADC_HandleTypeDef *adcHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
if(adcHandle->Instance==ADC1)
if (adcHandle->Instance == ADC1)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
@ -134,10 +133,10 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
}
}
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
void HAL_ADC_MspDeInit(ADC_HandleTypeDef *adcHandle)
{
if(adcHandle->Instance==ADC1)
if (adcHandle->Instance == ADC1)
{
/* USER CODE BEGIN ADC1_MspDeInit 0 */
@ -171,23 +170,21 @@ uint16_t Get_Adc(uint32_t ch)
HAL_ADC_Start(&hadc1); //??ADC
if(HAL_ADC_PollForConversion(&hadc1, 10)==HAL_OK)
if (HAL_ADC_PollForConversion(&hadc1, 10) == HAL_OK)
{
//????
return (uint16_t)HAL_ADC_GetValue(&hadc1);
}
else
{
return 0;
}//??????ADC1????????
}
}
uint16_t Get_Adc_Average(uint32_t ch, uint8_t times)
{
uint32_t temp_val = 0;
uint8_t t;
for(t = 0; t < times; t++)
for (t = 0; t < times; t++)
{
temp_val += Get_Adc(ch);
HAL_Delay(5);

7
Src/gpio.c
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@ -49,6 +49,7 @@ void MX_GPIO_Init(void)
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pin Output Level */
@ -71,6 +72,12 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pins : PDPin PDPin PDPin */
GPIO_InitStruct.Pin = KEY0_Pin|KEY1_Pin|KEY2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/*Configure GPIO pins : PBPin PBPin */
GPIO_InitStruct.Pin = PB8_EXTI_Pin|PB9_EXTI_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;

0
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Src/main.c
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@ -31,6 +31,7 @@
#include <stdio.h>
#include <string.h>
#include "servo.h"
#include "key.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@ -52,8 +53,8 @@
/* USER CODE BEGIN PV */
char rxdata[52];
uint16_t rxlen=52;
uint8_t LED_B_ON=0,LED1_ON=0,LED2_ON=0,LED3_ON=0;
uint16_t rxlen = 52;
uint8_t LED_B_ON = 0, LED1_ON = 0, LED2_ON = 0, LED3_ON = 0;
int cnt = 0;
/* USER CODE END PV */
@ -61,53 +62,12 @@ int cnt = 0;
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
int fputc(int ch, FILE *f)
{
HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
return ch;
}
int fgetc(FILE *f)
{
int ch;
// while (__HAL_UART_GET_FLAG(&huart1, UART_FLAG_RXNE) == RESET);
HAL_UART_Receive(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
return (ch);
}
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
printf("rx\r\n");
if (huart == &huart1)
{
rxdata[Size] = '\0';
if (strcmp(rxdata, "LED1") == 0)
{
LED1_ON=!LED1_ON;
HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin);
}
else if (strcmp(rxdata, "LED2") == 0)
{
LED2_ON=!LED2_ON;
HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
}
else if (strcmp(rxdata, "LED3") == 0)
{
LED_B_ON=!LED_B_ON;
LED3_ON=!LED3_ON;
}
else
{
cnt=0;
for(int i=0;i<Size;i++)
{
cnt*=10;
cnt+=rxdata[i]-'0';
}
Servo_goal=cnt;
}
HAL_UARTEx_ReceiveToIdle_IT(&huart1, (uint8_t *)rxdata, sizeof(rxdata));
}
}
void Servo_test(void);
int fputc(int ch, FILE *f);
int fgetc(FILE *f);
void Breathing_light(void);
void ADC_BEEP(void);
void Key_get(void);
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
@ -156,8 +116,8 @@ int main(void)
HAL_UARTEx_ReceiveToIdle_IT(&huart1, (uint8_t *)rxdata, sizeof(rxdata));
HAL_ADC_Start(&hadc1);
POINT_COLOR = BLUE; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ɫ
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim15,TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim15, TIM_CHANNEL_2);
/* USER CODE END 2 */
/* Infinite loop */
@ -169,65 +129,17 @@ int main(void)
//__HAL_TIM_SET_COMPARE(&htim15,TIM_CHANNEL_2,5);
HAL_TIM_Base_Start_IT(&htim7);
while (1)
{ //??ADC??
// HAL_ADC_PollForConversion(&hadc1, 50); //??????,50???????,???ms
// if (HAL_IS_BIT_SET(HAL_ADC_GetState(&hadc1), HAL_ADC_STATE_REG_EOC))
// {
#ifdef ONE_ADC_BEEP
ADC_Value = Get_Adc_Average(ADC_CHANNEL_3, 5); //??AD?
LCD_ShowxNum(50, 100, ADC_Value, 4, 16, 0);
if (ADC_Value * 3.3 / 4095 > 1.7)
{
cnt++;
}
else
{
cnt = 0;
}
if (cnt == 50)
{
HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
HAL_Delay(100);
HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
HAL_Delay(100);
HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
HAL_Delay(100);
HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
HAL_Delay(100);
HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
HAL_Delay(100);
HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
}
LCD_ShowxNum(50, 200, cnt, 4, 16, 0);
HAL_GPIO_TogglePin(LED_B_GPIO_Port,LED_B_Pin);
// }
HAL_Delay(100);
#endif
ADC_BEEP();
LCD_ShowxNum(50, 50, Servo_Speed, 4, 16, 0);
LCD_ShowxNum(50, 200, Servo_goal, 4, 16, 0);
LCD_ShowxNum(50, 150, Servo_position, 4, 16, 0);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
//cnt=(cnt+30)%(180+30);
LCD_ShowxNum(50, 200, cnt, 4, 16, 0);
LCD_ShowxNum(50, 150, ANGLETOCCR(cnt), 4, 16, 0);
// Servo_SetAngle(cnt);
HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin);
HAL_Delay(1000);
if(!LED_B_ON)
{
continue;
}
for(int i=0;i<=100;i++)
{
__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,100-i);
HAL_Delay(10);
}
for(int i=0;i<=100;i++)
{
__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,i);
HAL_Delay(10);
}
//HAL_Delay(500);
Key_get();
// Servo_test();
Breathing_light();
}
/* USER CODE END 3 */
}
@ -267,8 +179,7 @@ void SystemClock_Config(void)
/** 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.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_DIV1;
@ -281,7 +192,134 @@ void SystemClock_Config(void)
}
/* USER CODE BEGIN 4 */
void Servo_test(void)
{
// cnt=(cnt+30)%(180+30);
LCD_ShowxNum(50, 200, cnt, 4, 16, 0);
LCD_ShowxNum(50, 150, ANGLETOCCR(cnt), 4, 16, 0);
Servo_SetAngle(cnt);
HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin);
}
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
printf("rx\r\n");
if (huart == &huart1)
{
rxdata[Size] = '\0';
if (strcmp(rxdata, "LED1") == 0)
{
LED1_ON = !LED1_ON;
HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin);
}
else if (strcmp(rxdata, "LED2") == 0)
{
LED2_ON = !LED2_ON;
HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
}
else if (strcmp(rxdata, "LED3") == 0)
{
LED_B_ON = !LED_B_ON;
LED3_ON = !LED3_ON;
}
else
{
cnt = 0;
for (int i = 0; i < Size; i++)
{
cnt *= 10;
cnt += rxdata[i] - '0';
}
Servo_goal = cnt;
}
HAL_UARTEx_ReceiveToIdle_IT(&huart1, (uint8_t *)rxdata, sizeof(rxdata));
}
}
int fgetc(FILE *f)
{
int ch;
// while (__HAL_UART_GET_FLAG(&huart1, UART_FLAG_RXNE) == RESET);
HAL_UART_Receive(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
return (ch);
}
int fputc(int ch, FILE *f)
{
HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
return ch;
}
// LED_B的呼吸灯
void Breathing_light(void)
{
if (!LED_B_ON)
{
return;
}
for (int i = 0; i <= 100; i++)
{
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 100 - i);
HAL_Delay(10);
}
for (int i = 0; i <= 100; i++)
{
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, i);
HAL_Delay(10);
}
}
void ADC_BEEP(void)
{
#ifdef ONE_ADC_BEEP
ADC_Value = Get_Adc_Average(ADC_CHANNEL_3, 5); //??AD?
LCD_ShowxNum(50, 100, ADC_Value, 4, 16, 0);
if (ADC_Value * 3.3 / 4095 > 1.7)
{
cnt++;
}
else
{
cnt = 0;
}
if (cnt == 50)
{
HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
HAL_Delay(100);
HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
HAL_Delay(100);
HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
HAL_Delay(100);
HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
HAL_Delay(100);
HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
HAL_Delay(100);
HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
}
LCD_ShowxNum(50, 200, cnt, 4, 16, 0);
HAL_GPIO_TogglePin(LED_B_GPIO_Port, LED_B_Pin);
// }
HAL_Delay(100);
#endif
}
void Key_get(void)
{
if (HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == KEY_PRESSED)
{
HAL_Delay(15);
LCD_ShowxNum(50, 150, Servo_position, 4, 16, 0);
while (HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == KEY_PRESSED)
;
Servo_goal = (Servo_goal + 90) % (180 + 90);
LCD_ShowxNum(50, 200, Servo_goal, 4, 16, 0);
HAL_Delay(15);
}
if (HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == KEY_PRESSED)
{
HAL_Delay(15);
while (HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == KEY_PRESSED)
;
Servo_Speed = Servo_Speed % 3 + 1;
LCD_ShowxNum(50, 50, Servo_Speed, 4, 16, 0);
HAL_Delay(15);
}
}
/* USER CODE END 4 */
/**

29
Src/servo.c
View File

@ -2,7 +2,7 @@
#include "tim.h"
#include "lcd.h"
uint8_t Servo_Speed = 1, Servo_goal = 0, Servo_position = 0;
int16_t Servo_Speed = 1, Servo_goal = 0, Servo_position = 0;
void Servo_SetAngle(int goal)
{
@ -13,23 +13,22 @@ void Servo_SetAngle(int goal)
// 往哪个方向转
int Servo_toward(void)
{
return Servo_goal > Servo_position;
if (Servo_goal > Servo_position)
{
return 1;
}
return -1;
}
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
static uint8_t times = 0,tt=0;
static uint8_t times = 0, tt = 0;
if (htim == &htim7)
{
// if (++times == 250)
// {
// LCD_ShowxNum(50, 50, ++tt, 4, 16, 0);
// times = 0;
// }
// else
// {
// return;
// }
if (++times == 1000)
{
times = 0;
}
if (Servo_position == Servo_goal)
{
return;
@ -38,11 +37,11 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
Servo_position = Servo_goal;
}
if (Servo_Speed == 2)
if (Servo_Speed == 2 && times % 5 == 0)
{
Servo_position += Servo_toward() * 9;
Servo_position += Servo_toward();
}
if (Servo_Speed == 3)
if (Servo_Speed == 3 && times % 50 == 0)
{
Servo_position += Servo_toward();
}

2
Src/stm32l4xx_it.c
View File

@ -63,7 +63,7 @@
extern TIM_HandleTypeDef htim7;
extern UART_HandleTypeDef huart1;
/* USER CODE BEGIN EV */
extern uint8_t Servo_Speed;
extern uint8_t LED_B_ON,LED1_ON,LED2_ON,LED3_ON;
/* USER CODE END EV */