給大家分享個兩輪平衡小車設計，不多說了，直接上圖
附件資料
- /**---------------------------------------------------------------
- 項目：兩輪自平衡小車(Two-Wheels Auto-Balancing Vechile)
- 版本：v1.0.0
- 文件：AHRS_Rcv.c
- 功能：AHRS姿態數據接收
- 作者：[email]flotox@yeah.net[/email]
- 日期：2014.9.7
- 更新：2014.9.7
- ----------------------------------------------------------------*/
- #include "stm32f10x.h"
- #include "AHRS_Rcv.h"
- /**
- * @brief AHRS姿態數據接收外設初始化
- * @param none
- * @retval none
- */
- void AHRS_Rcv_Init(void){
-
- GPIO_InitTypeDef GPIO_InitStructure;
- USART_InitTypeDef USART_InitStructure;
- NVIC_InitTypeDef NVIC_InitStructure;
-
- /*開啟GPIOC外設時鐘*/
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
-
- /*開啟USART2外設時鐘*/
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
-
- /*USART2的GPIO配置*/
- /*配置USART2 Tx(PA.02)為AF_PP模式*/
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_Init(GPIOA, &GPIO_InitStructure);
-
- /*配置USART2 Rx(PA.03)為IN_FLOATING*/
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
- GPIO_Init(GPIOA, &GPIO_InitStructure);
-
- /*USART2 NVIC配置*/
- NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //2 bits for pre-emption priority 2 bits for subpriority
-
- NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //指定搶占式優先級別,可取0~3
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //指定響應式優先級別,可取0~3
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
- NVIC_Init(&NVIC_InitStructure);
-
- /*USART2模式配置*/
- USART_InitStructure.USART_BaudRate = 115200;
- USART_InitStructure.USART_WordLength = USART_WordLength_8b;
- USART_InitStructure.USART_StopBits = USART_StopBits_1;
- USART_InitStructure.USART_Parity = USART_Parity_No;
- USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
- USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
- USART_Init(USART2, &USART_InitStructure);
-
- USART_Cmd(USART2, ENABLE);
-
- /*接收中斷使能*/
- USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);
- }
二輪自平衡小車.rar
(15.64 MB, 下載次數: 77)
2016-6-17 14:24 上傳
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