Serial port controls steering gear rotation

Mission requirements

1. Use serial port communication , Computer serial assistant sends hexadecimal data to MCU , Corresponding steering angle 0~ Maximum Angle
2. Send data range 0~180

 

Ideas

Use query mode ： It uses disable Serial interrupt
'0’ Refers to ASCII character 0, It's not hexadecimal

1/9 1/3000
0 1500
45 3000
a Degrees x wave
a = (x-0.5)90
x=a/90.0+0.5
t = x3000
1/3000
1/9

0 1500 0.5
18 2100 0.7
27 2400 0.8
30.06 2502 0.834 1002
36 2700 0.9
45 3000 1 4.5=(1-0.5)*9
63 3600 1.2 6.3=(1.2-0.5)*9 Count backwards
72 3900 1.3
81 4200 1.4
90 4500 1.5 9.0=(1.5-0.5)*9
108 5100 1.7
126 5700 1.9
135 6000 2
162 6900 2.3
180 7500 2.5

Use the data to calculate the formula , You can input any angle , The steering gear can turn out the corresponding angle

need usart.h and usart.c Serial port communication
 

Completion code ：

main.c

int main (void){
    // The main program 
	vu16 t;
	
	delay_ms(500); // Wait for other devices to be ready when powered on 
	RCC_Configuration(); // System clock initialization  
	RELAY_Init();// Relay initialization 
    USART1_Init(115200);
	I2C_Configuration();//I2C initialization 



	TIM3_PWM_Init(59999,23); // Set the frequency to 50Hz, Formula for ： Overflow time Tout（ Unit second ）=(arr+1)(psc+1)/Tclk 20MS = (59999+1)*(23+1)/72000000
                          //Tclk Clock for general timer , If APB1 There is no frequency division , Then it is the system clock ,72MHZ
                          //PWM clock frequency =72000000/(59999+1)*(23+1) = 50HZ (20ms), Set the auto load value 60000, The prescaled coefficients 24



	while(1){
    

		// Receive by query 
		if(USART_GetFlagStatus(USART1,USART_FLAG_RXNE) != RESET){
      // Query the serial port pending flag bit 
			a =USART_ReceiveData(USART1);// Read received data 
			// Convert the angle to the duty cycle 

			  t=(a/90.0+0.5)*3000.0;

			  TIM_SetCompare3(TIM3,t);			

				printf("%d ",a); 





		}
	}
}

---

 

Additional tasks

while（1） You can't write in it

Ideas

Use timer interrupt

need tim.c and tim.h Use timer interrupt while（1） There is no need to write a program
 

Completion code

main.c

int main (void){
    // The main program 
	vu16 a;
	vu16 t;

	delay_ms(500); // Wait for other devices to be ready when powered on 
	RCC_Configuration(); // System clock initialization  
	RELAY_Init();// Relay initialization 
    USART1_Init(115200);
	I2C_Configuration();//I2C initialization 
	OLED0561_Init(); //OLED initialization 
	OLED_DISPLAY_8x16_BUFFER(0," YoungTalk "); // display string 
	OLED_DISPLAY_8x16_BUFFER(3," SG90 TEST2 "); // display string 

	TOUCH_KEY_Init();// Key initialization 
	TIM3_PWM_Init(59999,23); // Set the frequency to 50Hz, Formula for ： Overflow time Tout（ Unit second ）=(arr+1)(psc+1)/Tclk 20MS = (59999+1)*(23+1)/72000000
                          //Tclk Clock for general timer , If APB1 There is no frequency division , Then it is the system clock ,72MHZ
                          //PWM clock frequency =72000000/(59999+1)*(23+1) = 50HZ (20ms), Set the auto load value 60000, The prescaled coefficients 24
	TIM3_Init(59999,23);// Timer initialization , timing 1 second （9999,7199）
	while(1){
    
     }
     }

 

tim.c

void TIM3_IRQHandler(void)TIM3 Interrupt handling function
Write the program of serial port to control the steering gear in this function body

#include "tim.h"

// Timer time calculation formula Tout = (( Reload value +1)*( The prescaled coefficients +1))/ clock frequency ;
// for example ：1 Second timing , Reload value =9999, The prescaled coefficients =7199

void TIM3_Init(u16 arr,u16 psc){
      //TIM3  initialization  arr Reload value  psc The prescaled coefficients 
    TIM_TimeBaseInitTypeDef     TIM_TimeBaseInitStrue;
    
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);// Can make TIM3
    TIM3_NVIC_Init (); // Turn on TIM3 Interrupt vector 
	      
    TIM_TimeBaseInitStrue.TIM_Period=arr; // Set auto reload load value 
    TIM_TimeBaseInitStrue.TIM_Prescaler=psc; // The prescaled coefficients 
    TIM_TimeBaseInitStrue.TIM_CounterMode=TIM_CounterMode_Up; // The counter overflows up 
    TIM_TimeBaseInitStrue.TIM_ClockDivision=TIM_CKD_DIV1; // The division factor of the clock , It plays a little delay role , General set to TIM_CKD_DIV1
    TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStrue); //TIM3 Initialize settings 
    TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);// Can make TIM3 interrupt  
    TIM_Cmd(TIM3,ENABLE); // Can make TIM3
}

void TIM3_NVIC_Init (void){
     // Turn on TIM3 Interrupt vector 
	NVIC_InitTypeDef NVIC_InitStructure;
	NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;	
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x3;	// Set preemption and sub priority 
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x3;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);
}

void TIM3_IRQHandler(void){
     //TIM3 Interrupt handling function 
 u16 a;
 u16 t;  
    if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET){
    	// Judge whether it is TIM3 interrupt 
        TIM_ClearITPendingBit(TIM3, TIM_IT_Update);

        // Write your own handler here 
// GPIO_WriteBit(LEDPORT,LED1,(BitAction)(1-GPIO_ReadOutputDataBit(LEDPORT,LED1))); // Take the opposite LED1
	// Receive by query 
		if(USART_GetFlagStatus(USART1,USART_FLAG_RXNE) != RESET){
      // Query the serial port pending flag bit 
			a =USART_ReceiveData(USART1);// Read received data 
			// Convert the angle to the duty cycle 
// i=a/90.0;
// x= a/90.0+0.5;
			  t=(a/90.0+0.5)*3000.0;

			  TIM_SetCompare3(TIM3,t);			

				printf("%d ",a); 
    }
}
	}