STM32基于hal库的智能小车—超声波避障_stm32超声波避障小车

材料：

（1）stm32f407zgt6最小系统开发板

（2）l298n电机驱动模块1个

（3）四个电机

（4）超声波模块

一、组装

(1)L298N电机驱动模块与stm32开发板接线如下图：

(2)超声波模块接线：

说明: VCC接stm32开发板的3.3v~5v，GND接stm32开发板的GND，Trlg接单片机PB6 、Echo接单片机PA0.

 

二、主要程序

1、STM32CUBEMX配置如下：

（1）引脚配置:

 

 说明：

1）定义2个电机的引脚，都是GPIOB

2）motor11和motor12分别为电机（1）的两个引脚

3）motor21和motor22分别为电机（2）的两个引脚

（2）配置RCC时钟：

 （3） 时钟的配置：

（4）UART配置： 

1)选择所需UART
2)选择Mode为异步通讯方式（常用）
3)设置基础参数：波特率为115200 Bits/s；传输数据长度为8 Bit；奇偶检验无；停止位1；接收和发送都使能 。
注意 CubeMX默认打开的引脚确实为最常用的引脚，但有时与电路板并不相符。

 （4）预分频、分频和占空比配置：

TIM4配置 ：

 TIM5配置：

 

 三、程序

main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
 
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include <string.h>
#include "motor.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 */
uint8_t isCapUp=1;
uint16_t valueUp=0;
uint16_t valueDown=0;
uint16_t width=0;
uint8_t updateCount=0;
uint8_t echoFlag=0;
/* 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 */
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
{
	if(isCapUp )
	{
		valueUp =HAL_TIM_ReadCapturedValue (htim,TIM_CHANNEL_1 );
		__HAL_TIM_SET_CAPTUREPOLARITY (htim,TIM_CHANNEL_1 ,TIM_ICPOLARITY_FALLING );
		isCapUp =0;
	}
	else
	{
	 valueDown = HAL_TIM_ReadCapturedValue (htim,TIM_CHANNEL_1 );
		__HAL_TIM_SET_CAPTUREPOLARITY (htim,TIM_CHANNEL_1 ,TIM_ICPOLARITY_RISING  );
		isCapUp =1;
   width =valueDown + updateCount*65535 - valueUp ;	
		echoFlag=1;
	}
 
}
 
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
 updateCount++;
}
 
uint32_t vidth2dist(uint16_t width)
{
	return width*75/1000;//测距离公式
}
/* USER CODE END 0 */
 
/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
	uint32_t dist=0;
	uint32_t tick=0;
	char printString[64]={0};
  /* 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_TIM4_Init();
  MX_TIM5_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
 
  /* USER CODE END 2 */
 
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
	HAL_UART_Transmit(&huart1,"hello\r\n",7,HAL_MAX_DELAY );
	HAL_TIM_PWM_Start(&htim4 ,TIM_CHANNEL_1 );
	HAL_TIM_IC_Start_IT(&htim5,TIM_CHANNEL_1 );
  while (1)
  {
		if(echoFlag )
		{
		  dist =vidth2dist(width);
			sprintf (printString,"%u\r\n",dist);
			HAL_UART_Transmit(&huart1 ,printString ,strlen (printString ),HAL_MAX_DELAY );
			echoFlag =0;
		}
/小于25厘米
		if(dist<250)
		{
			car_go_ahead();//停止
			HAL_Delay (300);
			car_go_after();//后退
			HAL_Delay (250);
			car_go_left();//左转
			HAL_Delay (250);
		}
		else 
		{
			car_go_straight();//直走
		}
    /* 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};
 
  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** 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.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  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_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
 
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != 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 */
 
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

电机程序：

motor.c 

#include "motor.h"
 
//前进
void car_go_straight(void)
{
   HAL_GPIO_WritePin(motor11_GPIO_Port,motor11_Pin,GPIO_PIN_SET);
   HAL_GPIO_WritePin(motor12_GPIO_Port,motor12_Pin,GPIO_PIN_RESET);
	
   HAL_GPIO_WritePin(motor21_GPIO_Port,motor21_Pin,GPIO_PIN_SET);
   HAL_GPIO_WritePin(motor22_GPIO_Port,motor22_Pin,GPIO_PIN_RESET);
}
 
//右转
void car_go_right(void)
{
   HAL_GPIO_WritePin(motor11_GPIO_Port,motor11_Pin,GPIO_PIN_SET);
   HAL_GPIO_WritePin(motor12_GPIO_Port,motor12_Pin,GPIO_PIN_RESET);
 
   HAL_GPIO_WritePin(motor21_GPIO_Port,motor21_Pin,GPIO_PIN_RESET);
   HAL_GPIO_WritePin(motor22_GPIO_Port,motor22_Pin,GPIO_PIN_SET);
 
	
}
 
//左转
void car_go_left(void)
{
   HAL_GPIO_WritePin(motor11_GPIO_Port,motor11_Pin,GPIO_PIN_RESET);
   HAL_GPIO_WritePin(motor12_GPIO_Port,motor12_Pin,GPIO_PIN_SET);
 
   HAL_GPIO_WritePin(motor21_GPIO_Port,motor21_Pin,GPIO_PIN_SET);
   HAL_GPIO_WritePin(motor22_GPIO_Port,motor22_Pin,GPIO_PIN_RESET); 
 
}
 
 
//停止
void car_go_ahead(void)
{
   HAL_GPIO_WritePin(motor11_GPIO_Port,motor11_Pin,GPIO_PIN_RESET);
   HAL_GPIO_WritePin(motor12_GPIO_Port,motor12_Pin,GPIO_PIN_RESET);
 
   HAL_GPIO_WritePin(motor21_GPIO_Port,motor21_Pin,GPIO_PIN_RESET);
   HAL_GPIO_WritePin(motor22_GPIO_Port,motor22_Pin,GPIO_PIN_RESET);
 
}
 
 
//后退
void car_go_after(void)
{
   HAL_GPIO_WritePin(motor11_GPIO_Port,motor11_Pin,GPIO_PIN_RESET);
   HAL_GPIO_WritePin(motor12_GPIO_Port,motor12_Pin,GPIO_PIN_SET);
 
   HAL_GPIO_WritePin(motor21_GPIO_Port,motor21_Pin,GPIO_PIN_RESET);
   HAL_GPIO_WritePin(motor22_GPIO_Port,motor22_Pin,GPIO_PIN_SET);
 
}

 motor.h

#ifndef __MOTOR_H_
#define __MOTOR_H_
 
#include "main.h"
 
void car_go_straight(void);
void car_go_right(void);
void car_go_left(void);
void car_go_ahead(void);
void car_go_after(void);
 
#endif
 

 

 

————————————————
版权声明：本文为CSDN博主「点灯代师」的原创文章，遵循CC 4.0 BY-SA版权协议，转载请附上原文出处链接及本声明。
原文链接：https://blog.csdn.net/weixin_65866701/article/details/122180377