代码收藏家 使用STM32-HAL库通过串口控制舵机角度
1、新建工程
新建工程教程https://blog.csdn.net/qq_39150957/article/details/136637881?spm=1001.2014.3001.5502
2、配置舵机舵机配置教程https://blog.csdn.net/qq_39150957/article/details/138779507?spm=1001.2014.3001.5502
3、main.c文件添加头文件
/* USER CODE BEGIN Includes */
#include <stdlib.h>
#include <string.h>
/* USER CODE END Includes */4、舵机控制函数
void duo(double a,int b){
if(a>=0||b<=4||b>=0||a<=180){
if(b==1)__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,(100*a/9+500)-1);
if(b==2)__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_2,(100*a/9+500)-1);
if(b==3)__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_3,(100*a/9+500)-1);
if(b==4)__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_4,(100*a/9+500)-1);
}
}
5、串口中断解析函数
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(huart->Instance==USART1)
{
int length = 0;
if (rx_buffer[rx_index] == '\n') //
{
HAL_UART_Transmit_IT(&huart1,&rx_buffer[rx_index], sizeof(rx_buffer));
rx_buffer[rx_index] = '\0'; //
if (strncmp((char *)rx_buffer, "shake",5)==0) //
{
length = atoi((char *)&rx_buffer[6]);
char text[30]="";
duo(length,1);
}
else if (strncmp((char *)rx_buffer, "node",4)==0) //
{
length = atoi((char *)&rx_buffer[5]);
char text[30]="";
duo(length,2);
}
rx_index = 0;
}
else
{
rx_index++; //
}
HAL_UART_Receive_IT(&huart1, &rx_buffer[rx_index], 1);
}
}
6、main函数中初始化
/* USER CODE BEGIN 2 */
HAL_UART_Receive_IT(&huart1, &rx_buffer[rx_index], 1);
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
duo(90,1);
duo(0,2);
/* USER CODE END 2 */main.c最终代码：
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 <stdlib.h>
#include <string.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 */
#include "stdio.h"
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart1, (uint8_t*)&ch,1,HAL_MAX_DELAY);
return ch;
}
uint8_t rx_buffer[10]; //
uint8_t rx_index = 0;
void duo(double a,int b){
if(a>=0||b<=4||b>=0||a<=180){
if(b==1)__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,(100*a/9+500)-1);
if(b==2)__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_2,(100*a/9+500)-1);
if(b==3)__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_3,(100*a/9+500)-1);
if(b==4)__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_4,(100*a/9+500)-1);
}
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(huart->Instance==USART1)
{
int length = 0;
if (rx_buffer[rx_index] == '\n') //
{
HAL_UART_Transmit_IT(&huart1,&rx_buffer[rx_index], sizeof(rx_buffer));
rx_buffer[rx_index] = '\0'; //
if (strncmp((char *)rx_buffer, "shake",5)==0) //
{
length = atoi((char *)&rx_buffer[6]);
char text[30]="";
duo(length,1);
}
else if (strncmp((char *)rx_buffer, "node",4)==0) //
{
length = atoi((char *)&rx_buffer[5]);
char text[30]="";
duo(length,2);
}
rx_index = 0;
}
else
{
rx_index++; //
}
HAL_UART_Receive_IT(&huart1, &rx_buffer[rx_index], 1);
}
}
/* 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 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* 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_TIM1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_UART_Receive_IT(&huart1, &rx_buffer[rx_index], 1);
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
duo(90,1);
duo(0,2);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,GPIO_PIN_RESET);
HAL_Delay(200);
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,GPIO_PIN_SET);
HAL_Delay(200);
}
/* 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 */
作者：暮雪倾风
