使用STM32CubeMx搭建平衡小車代碼框架

1、使用STM32CubeM快速搭建平衡小車代碼框架硬件平臺(tái)：STM32CubeMxHAL代碼庫(kù):STM32F1xx項(xiàng)目平臺(tái)：MDK5 17A1、項(xiàng)目總體框架如下:傳感器r1控制番:廠執(zhí)行機(jī)拘1*1 I11111PWM1；控制V車IIii龜機(jī)凰其慶i1ii:動(dòng)結(jié)構(gòu)iii姿態(tài)I I IIi | iI IIMPU6050得數(shù)據(jù)讀取采用軟件模擬IIC,可使用MPU得DMP庫(kù)直接生成角度值, 減輕MCU計(jì)算負(fù)擔(dān);（DMP庫(kù)資源詳見,正點(diǎn)原子MPU6050資料）電機(jī)驅(qū)動(dòng)部分采用市面上常見得直流電機(jī)驅(qū)動(dòng) ，引腳分布如下：PWMA,PWMB,A0,A1,B0,B1;其中PWMA、PWMB為電機(jī)驅(qū)動(dòng)信號(hào)；A0、A

2、1、 B0、B1為電機(jī)方向控制信號(hào)，其控制電平如下A0A1電機(jī)高高制動(dòng)高低正轉(zhuǎn)低高反轉(zhuǎn)低低停止其中，制動(dòng)為電機(jī)鎖死,而停止為電機(jī)停轉(zhuǎn)；2、項(xiàng)目搭建：Step1、打開 STM32CubeMX,單擊“ New Project ”，選擇芯片型號(hào)，STM32F103C8Tx。Llp : I VMV 町 mu325 fcc咖HimioZ_DDpo詢nfnStep2、配置Debug,根據(jù)實(shí)際選擇Step3、配置外部時(shí)鐘信號(hào)Step4、配置TIM2（PWM 發(fā)生器）2 TIM25Lave Ude DlsahleVTrigger Source Di sableVClock SoirceDisable2-Cha

3、nnell PiK Generation CH17Channels PtU GenerationvCEanneLJ DisableVChflnn?!4 bi sable7:Ccr.bined CharmeLs Dimabl.史lie ETR as Cltarinfi Source! -QXOR activation| Ctip Pill me MadeStep5、配置模擬IIC弓I腳Step6配置電機(jī)控制引腳-5czR 匸-eft口rl L% sLeft_PWMgLRW卜IStep7、配置TIM3（用作微妙延時(shí)時(shí)鐘）,CubeMx生成得代碼中不包含微妙延時(shí) 此部分用于實(shí)現(xiàn)模擬IIC得微妙延時(shí)

4、日 * T1M3Slae Mode Di.zitLewTrigger Source DisableV0 Internal CicekChannellDisableChannel?DisableDisable7Charm el 4Di7Comtined ChannelsDisableVMOR activation匚 One Pulse Me典Step8配置USART1（用于串口調(diào)試）Step9時(shí)鐘配置注:關(guān)于輸入時(shí)鐘一定要按實(shí)際晶振頻率填寫，否則會(huì)造成時(shí)序混亂Step10 TIM2 參數(shù)配置(10KHz)TIM2 ConfigurationUser Constants N；TC Settinas

5、bDMA SettifiJES bbnarrrmaaaBi-isrn ivBaBeaKiiiairiaarBr !Configure the below paroJieiers :Re store DefaultSearch : &迅h Sp* *百Caimter SettingPrescaler (PSC - It bit已一71Counier ModeUpCounicr Period (AutoRoIo, . *99Internal Clock Division No DivisionTrigger Output (TUGO) ParametersMattr Slave MadeDisab

6、le no syric between tkis UM (Mast.frigger Event i&letti&rtReset CUG bit fron TUlr_EGR)Cd PNM Generation Channel LModePUM mode 1Pulse .19 bics value：QFast ModeDisableCH PcLaritvHigh-卩刑 Gener;iTi&n Channel 2ModePWM inode 1Pulse (16 bits value)0Fast Mod*DisableCH PolarityHighAppl yOkCane e 1Stepll、配置TI

7、M3(微妙延時(shí)定時(shí)器)TIMS ConfigurdtinnParameter Setiinga - User Constants tWIC Settings : p站 SettingsConfi.jre the below g呻lEttz弓：Search : cjrch EW二 Counter SetTin&FPrescaler (PSC - If bits, , rCounter VoceCounter Pevi od (AutoRelr.,Intpz-nal Clork Div： s:on Irifisr Output TKW) Fa:_an)?tersSlave ModeTrigtfr

8、Event Seleetion711DottiLVia Divi sionDisable (no iync between this TIM (Mawt.R藝EEi【UG bit froji TD4x_EGR1Frcsculor (PSC - 16 bits va1 lift) Prescaler rust be between 0 and 6b 535.亡 Defau 11OkCance1定時(shí)器時(shí)鐘頻率得計(jì)算：定時(shí)器時(shí)鐘頻率：72MHz72MHz/(PSC+1)/ARR=72/(71+1)/1=1Mhz=1us;Step12 配置 GPIO 口齊 Fin LanffiguMticnGFHET

9、 STE 13IE LSAHTL r-frr r B F -J rr dj J JJ 比:-KF便r iI1 ? GjS r. -bItw LibvlHpdifiv-d* Srkk ； Puid 1 CiJ-lt LQ ii； .gdt r til Htalilplti 詢】mLMli * AllwVinlAppiFOk,Bf FrLpb49fdi3dStep13生成項(xiàng)目配置 Project SettingsProject Code Generator Advanced SettingsProject SettingsProject NaneLesson BalanceCarProject L

10、ocationD:STM32DemoToolchain Folder LocationD:STM32DemoLesson BalaneeCarToolchain / IDEMDK-ARM Y5v Generate Under RootLinker SettingsMinimum Heap Size 0x200Minimum Stack Size 0x400Mcu and Firmwa工己 PackageMcu ReferenceSTM32F103C8TXFirmware Package Name and VersionSMZCdbe FT Fl V1.4 0叼Use Default Firmw

11、are Location|iministrator/STM32Cube/RepositoTv7STM32Cube FW Fl VI. 4. 0 I BrowseOk CancelProject SettingsProject Code encratox Advanced SettingsSTM32Cube Firmware Lrbrajry Package：lCopy all used libraries into the project folderOCopy cnly the necessary library filesC) Add necessaiv library files as

12、reference in the roolchain pro,.Generated filesGenerate peripheral initialization as a pair of 1, c , h files.,.Backup jieviously generated file when re geiier1)counter=_HAL_TIM_GetCou nter(&htim3); - -HAL_TIM_Base_Stop(&htim3);void Delay_ms(ui nt32_t ms)Delay_us(1000*ms);代碼片段 2 模擬 IIC:#define HIGH

13、1#define LOW 0#define SDA_IN GPIOBCRL&=0x0FFFFFFF;GPIOBCRL|=0x40000000;#define SDA_OUT GPIOBCRL&=0x0FFFFFFF;GPIOBCRL|=0x10000000;#define IIC_SCL(n) (n?HAL_GPIO_WritePin(GPIOB,GPIO_PIN_6,GPIO_PIN_SET):HAL_GPIO_Write Pin(GPIOB,GPIO_PIN_6,GPIO_PIN_RESET) /SCL#define IIC_SDA(n) (n?HAL_GPIO_WritePin(GPIO

14、B,GPIO_PIN_7,GPIO_PIN_SET):HAL_GPIO_Write Pin(GPIOB,GPIO_PIN_7,GPIO_PIN_RESET) /SDA#define READ_SDA HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_7)void IIC_Init(void)IIC_SDA(HIGH);IIC_SCL(HIGH);void IIC_Start(void)SDA_OUT;IIC_SDA(HIGH);IIC_SCL(HIGH);Delay_us(4);IIC_SDA(LOW);Delay_us(4);IIC_SCL(LOW);void IIC_Stop

15、(void)SDA_OUT;IIC_SCL(LOW);IIC_SDA(LOW);Delay_us(4);IIC_SCL(HIGH);IIC_SDA(HIGH);Delay_us(4);uint8_t IIC_Wait_Ack(void)uint8_t ucErrTime=0;SDA_IN;IIC_SDA(HIGH);Delay_us(1);IIC_SCL(HIGH);Delay_us(1);while(READ_SDA)ucErrTime+;if(ucErrTime250)IIC_Stop;return 1;IIC_SCL(LOW);return 0;void IIC_Ack(void)IIC

16、_SCL(LOW);SDA_OUT;IIC_SDA(LOW);Delay_us(2);IIC_SCL(HIGH);Delay_us(2);IIC_SCL(LOW);void IIC_NAck(void)IIC_SCL(LOW);SDA_OUT;IIC_SDA(HIGH);Delay_us(2);IIC_SCL(HIGH);Delay_us(2);IIC_SCL(LOW);void IIC_Send_Byte(uint8_t txd)uint8_t t;SDA_OUT;IIC_SCL(LOW);for(t=0;t7); txd=1;Delay_us(2);IIC_SCL(HIGH);Delay_

17、us(2);IIC_SCL(LOW);Delay_us(2);uint8_t IIC_Read_Byte(uint8_t ack)uint8_t i,receive=0;SDA_IN;for(i=0;i8;i+ )IIC_SCL(LOW);Delay_us(2); IIC_SCL(HIGH); receiveLastError=0; sptrPrevError=0; sptrProportion=P_DATA; sptrIntegral=I_DATA;sptrDerivative=D_DATA;sptrSetPoint=0;int IncPIDCalc(PID* sptr,int nextPo

18、int)int iError,iIncpid;iError=sptrSetPointnextPoint;iIncpid=sptrProportion*iErrorsptrIntegral*sptrLastError+sptrDerivative*sptrPrevError;sptrPrevError=sptrLastError;sptrLastError=iError;return iIncpid;代碼片段 4 PWM 發(fā)生器HAL_GPIO_WritePin(Left_Dir0_GPIO_Port,Left_Dir0_Pin,GPIO_PIN_SET);HAL_GPIO_WritePin(Left_Dir1_GPIO_Port,Left_Dir1_Pin,GPIO_PIN_RESET );HAL_GPIO_WritePin(Right_Dir0_GPIO_Port,Right_Dir0_Pin,GPIO_PIN_SET)HAL_GPIO_WritePin(Right_Dir1_GPIO_Port,Right_Dir1_Pin,GPIO_PIN_RESET);HAL_TIM_Se