文档介绍：#include ""
#include ""
#include ""
#include ""
#include ""
#include ""
#include ""
#include ""
#include ""
#include ""
#include ""
#include ""
#include ""
#include ""
int main(void)
{
SysTick_Init(); //=====初始化systick
SysTick->CTRL|=SysTick_CTRL_ENABLE_Msk;
USART1_Config(); //======串口1初始化,用于调试设备
PWM_Init(); //======初始化PWM,控制电机
USART3_Config(); //======串口3初始化,用于蓝牙的数据传输
EXTI_PA0_Config(); //======编码器的中断初始化
EXTI_PB12_Config();
encoder_GPIO_Config();
i2c_GPIO_Config(); //======I2C初始化
MPU6050_Init(); //======MPU6050初始化
TIM2_Configuration(); //======MPU6050的5ms的定时中断
TIM2_NVIC_Configuration();
while(1)
{
// printf("Z%d:%d:%fL$", speed_left, speed_right, Pitch); //利用蓝牙的串口输出三个参数在手机上进行显示
}
}
/*********************************************END OF FILE**********************/
如图片所示
想要有关平衡车
倒立摆
四轴无人机的全部资料
就加QQ1127738761
#include ""
#include ""
int16_t count_left, count_right;
//外部中断PA0的中断引脚初始化
void EXTI_PA0_Config(void)
{
GPIO_InitTypeDef GPIO_Initstructure;
EXTI_InitTypeDef EXTI_Initstructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO,ENABLE);
NVIC_Configuration();
= GPIO_Pin_0;
= GPIO_Mode_IPU;
GPIO_Init(GPIOA,&GPIO_Initstructure);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource0);
= EXTI_Line0;
= EXTI_Mode_Interrupt;
= EXTI_Trigger_Falling; //上升沿触发中断
= ENABLE;
EXTI_Init(&EXTI_Initstructure);
}
static void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_Initstructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
= EXTI0_IRQn;
NVIC_Initstruct