1.STM32--PWM生成
STM32不具备如此多的PWM，因此采用软件定时器的方案实现：
使用hal库实现；
main.c
#include "main.h"
#define close1 500
#define open 1500
#define close 2500
// 定时器中断配置（以TIM2为例）
void TIM2_IRQ_Init(void) {
time_init();
}
// 初始化舵机GPIO
void Servo_GPIO_Init(void) {
GPIO_InitTypeDef gpio_init_struct;
__HAL_RCC_GPIOA_CLK_ENABLE(); /* GPIOA时钟使能 */
// 初始化GPIOA PA0-PA7
gpio_init_struct.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 |
GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7| GPIO_PIN_8| GPIO_PIN_11; /* 引脚 */
gpio_init_struct.Mode = GPIO_MODE_OUTPUT_PP; /* 推挽输出 */
gpio_init_struct.Pull = GPIO_PULLUP; /* 上拉 */
gpio_init_struct.Speed = GPIO_SPEED_FREQ_HIGH; /* 高速 */
HAL_GPIO_Init(GPIOA, &gpio_init_struct); /* 初始化GPIOA引脚 */
// 初始化GPIOA PB0-PB15
__HAL_RCC_GPIOB_CLK_ENABLE();
gpio_init_struct.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 |
GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7|
GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11 |
GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15; /* 引脚 */
gpio_init_struct.Mode = GPIO_MODE_OUTPUT_PP; /* 推挽输出 */
gpio_init_struct.Pull = GPIO_PULLUP; /* 上拉 */
gpio_init_struct.Speed = GPIO_SPEED_FREQ_HIGH; /* 高速 */
HAL_GPIO_Init(GPIOB, &gpio_init_struct); /* 初始化GPIOB引脚 */
// 初始化GPIOA PC13-PA15
__HAL_RCC_GPIOB_CLK_ENABLE();
gpio_init_struct.Pin = GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15; /* 引脚 */
gpio_init_struct.Mode = GPIO_MODE_OUTPUT_PP; /* 推挽输出 */
gpio_init_struct.Pull = GPIO_PULLUP; /* 上拉 */
gpio_init_struct.Speed = GPIO_SPEED_FREQ_HIGH; /* 高速 */
HAL_GPIO_Init(GPIOC, &gpio_init_struct); /* 初始化GPIOC引脚 */
}
// 设置舵机脉宽（通道0-29）
void Set_Servo_Pulse(uint8_t ch, uint16_t pulse_us) {
if(ch >= SERVO_NUM) return;
if(pulse_us < 500) pulse_us = 500; // 限制最小脉宽
if(pulse_us > 2500) pulse_us = 2500; // 限制最大脉宽
servo[ch].pulse_us = pulse_us; // 更新目标脉宽
}
uint8_t TIME_HOUR_24h=0;
// 主函数
int main(void) {
int XB=0;
HAL_Init(); /* 初始化HAL库 */
sys_stm32_clock_init(RCC_PLL_MUL9); /* 设置时钟, 72Mhz */
delay_init(72); /* 延时初始化 */
led_init(); //PC13
usart_init(115200); //PA9/PA10
// 初始化舵机GPIO结构体（示例部分引脚）
servo[0].GPIOx = GPIOB; servo[0].GPIO_Pin = GPIO_PIN_0;
servo[1].GPIOx = GPIOB; servo[1].GPIO_Pin = GPIO_PIN_1;
servo[2].GPIOx = GPIOB; servo[2].GPIO_Pin = GPIO_PIN_5;
servo[3].GPIOx = GPIOB; servo[3].GPIO_Pin = GPIO_PIN_6;
servo[4].GPIOx = GPIOB; servo[4].GPIO_Pin = GPIO_PIN_7;
servo[5].GPIOx = GPIOB; servo[5].GPIO_Pin = GPIO_PIN_8;
servo[6].GPIOx = GPIOB; servo[6].GPIO_Pin = GPIO_PIN_9;
servo[7].GPIOx = GPIOB; servo[7].GPIO_Pin = GPIO_PIN_10;
servo[8].GPIOx = GPIOB; servo[8].GPIO_Pin = GPIO_PIN_11;
servo[9].GPIOx = GPIOB; servo[9].GPIO_Pin = GPIO_PIN_12;
servo[10].GPIOx = GPIOB; servo[10].GPIO_Pin = GPIO_PIN_13;
servo[11].GPIOx = GPIOB; servo[11].GPIO_Pin = GPIO_PIN_14;
servo[12].GPIOx = GPIOB; servo[12].GPIO_Pin = GPIO_PIN_15;
servo[13].GPIOx = GPIOA; servo[13].GPIO_Pin = GPIO_PIN_0;
servo[14].GPIOx = GPIOA; servo[14].GPIO_Pin = GPIO_PIN_1;
servo[15].GPIOx = GPIOA; servo[15].GPIO_Pin = GPIO_PIN_2;
servo[16].GPIOx = GPIOA; servo[16].GPIO_Pin = GPIO_PIN_3;
servo[17].GPIOx = GPIOA; servo[17].GPIO_Pin = GPIO_PIN_4;
servo[18].GPIOx = GPIOA; servo[18].GPIO_Pin = GPIO_PIN_5;
servo[19].GPIOx = GPIOA; servo[19].GPIO_Pin = GPIO_PIN_6;
servo[20].GPIOx = GPIOA; servo[20].GPIO_Pin = GPIO_PIN_7;
servo[21].GPIOx = GPIOA; servo[21].GPIO_Pin = GPIO_PIN_8;
servo[22].GPIOx = GPIOA; servo[22].GPIO_Pin = GPIO_PIN_11;
// ... 继续初始化剩余28个舵机的GPIO信息
Servo_GPIO_Init(); // 初始化GPIO
TIM2_IRQ_Init(); // 配置定时器中断
while(1) {
// 在此添加舵机控制逻辑（示例：通道0摆动）
switch (g_usart1_rx_flag)
{
case 0:
// printf("AT+CWJAP_DEF=\"iPhone\",\"mm123456789\"\r\n");
printf("AT+CWJAP=\"Mm\",\"mjmhyw15891443374!\"\r\n");
delay_ms(6000);
break;
case 20:
printf("AT+CIPSNTPCFG=1,8,\"ntp1.aliyun.com\"\r\n");
delay_ms(1000);
break;
case 10:
printf("AT+CIPSNTPTIME?\r\n");
delay_ms(100);
break;
case 1:
printf("AT+CIPSNTPTIME?\r\n");
delay_ms(50);
if(g_usart1_rx_flag==1)
{
if((TIME_HOUR_24h<7)||(TIME_HOUR_24h>22));
else{
XB=0;
switch (time_min[1])
{
case 0:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, open);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, close);
break;
case 1:
Set_Servo_Pulse(XB+0, close);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, close);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, close);
break;
case 2:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, close);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, open);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, open);
break;
case 3:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, open);
break;
case 4:
Set_Servo_Pulse(XB+0, close);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, close);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
case 5:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, close);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
case 6:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, close);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, open);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
case 7:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, close);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, close);
break;
case 8:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, open);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
case 9:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
default:
Set_Servo_Pulse(XB+0, close);Set_Servo_Pulse(XB+1, close);Set_Servo_Pulse(XB+2, close);Set_Servo_Pulse(XB+3, close);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, close);
break;
}
XB=1*7;
switch (time_min[0])
{
case 0:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, open);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, close);
break;
case 1:
Set_Servo_Pulse(XB+0, close);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, close);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, close);
break;
case 2:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, close);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, open);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, open);
break;
case 3:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, open);
break;
case 4:
Set_Servo_Pulse(XB+0, close);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, close);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
case 5:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, close);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
case 6:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, close);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, open);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
case 7:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, close);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, close);
break;
case 8:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, open);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
case 9:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
default:
Set_Servo_Pulse(XB+0, close);Set_Servo_Pulse(XB+1, close);Set_Servo_Pulse(XB+2, close);Set_Servo_Pulse(XB+3, close);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, close);
break;
}
XB=2*7;
switch (time_hour[1])
{
case 0:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, open);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, close);
break;
case 1:
Set_Servo_Pulse(XB+0, close);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, close);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, close);
break;
case 2:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, close);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, open);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, open);
break;
case 3:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, open);
break;
case 4:
Set_Servo_Pulse(XB+0, close);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, close);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
case 5:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, close);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
case 6:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, close);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, open);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
case 7:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, close);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, close);
break;
case 8:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, open);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
case 9:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, open);
break;
default:
Set_Servo_Pulse(XB+0, close);Set_Servo_Pulse(XB+1, close);Set_Servo_Pulse(XB+2, close);Set_Servo_Pulse(XB+3, close);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, close);
break;
}
XB=3*7;
switch (time_hour[0])
{
case 0:
Set_Servo_Pulse(XB+0, close);Set_Servo_Pulse(XB+1, close);//Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, open);Set_Servo_Pulse(XB+4, open);Set_Servo_Pulse(XB+5, open);Set_Servo_Pulse(XB+6, close);
break;
case 1:
Set_Servo_Pulse(XB+0, open);Set_Servo_Pulse(XB+1, open);//Set_Servo_Pulse(XB+2, open);Set_Servo_Pulse(XB+3, close);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, close);
break;
default:
Set_Servo_Pulse(XB+0, close);Set_Servo_Pulse(XB+1, close);//Set_Servo_Pulse(XB+2, close);Set_Servo_Pulse(XB+3, close);Set_Servo_Pulse(XB+4, close1);Set_Servo_Pulse(XB+5, close1);Set_Servo_Pulse(XB+6, close);
break;
}
}
}
break;
default:
break;
}
}
}
main.h
#ifndef __main_H
#define __main_H
#include "stm32f1xx.h"
#include "stm32f1xx_hal.h"
#include "stm32f1xx_it.h"
#include "stdio.h"
//#include "stdarg.h"
#include "string.h"
#include "delay.h"
#include "sys.h"
#include "led.h"
//#include "key.h"
//#include "exti.h"
#include "time.h"
//#include "pwm.h"
//#include "ppm.h"
#include "usart.h"
//#include "adc.h"
//#include "24cxx.h"
//#include "spi.h"
//#include "nrf24l01.h"
#endifusart.c
#include "main.h"
#include "usart.h"
uint8_t g_usart_rx_buf[USART_REC_LEN];
uint16_t g_usart_rx_sta = 0;
uint16_t g_usart1_rx_flag = 0;
uint8_t g_rx_buffer[RXBUFFERSIZE]; /* HAL库使用的串口接收缓冲 */
UART_HandleTypeDef g_uart1_handle; /* UART句柄 */
/*串口X初始化函数*/
void usart_init(uint32_t BaudRate)
{
/*UART 初始化设置*/
g_uart1_handle.Instance = USART1; /* USART_UX */
g_uart1_handle.Init.BaudRate = BaudRate; /* 波特率 */
g_uart1_handle.Init.WordLength = UART_WORDLENGTH_8B; /* 字长为8位数据格式 */
g_uart1_handle.Init.StopBits = UART_STOPBITS_1; /* 一个停止位 */
g_uart1_handle.Init.Parity = UART_PARITY_NONE; /* 无奇偶校验位 */
g_uart1_handle.Init.HwFlowCtl = UART_HWCONTROL_NONE; /* 无硬件流控 */
g_uart1_handle.Init.Mode = UART_MODE_TX_RX; /* 收发模式 */
HAL_UART_Init(&g_uart1_handle); /* HAL_UART_Init()会使能UART1 */
/* 该函数会开启接收中断：标志位UART_IT_RXNE，并且设置接收缓冲以及接收缓冲接收最大数据量 */
HAL_UART_Receive_IT(&g_uart1_handle, (uint8_t *)g_rx_buffer, 1);
}
/*usart初始化函数*/
void HAL_UART_MspInit(UART_HandleTypeDef *huart)
{
GPIO_InitTypeDef gpio_init_struct;
if (huart->Instance == USART1) /* 如果是串口1，进行串口1 MSP初始化 */
{
__HAL_RCC_GPIOA_CLK_ENABLE(); /* 使能串口TX\RX脚时钟 */
__HAL_RCC_USART1_CLK_ENABLE(); /* 使能串口时钟 */
gpio_init_struct.Pin = GPIO_PIN_9; /* 串口发送引脚号 */
gpio_init_struct.Mode = GPIO_MODE_AF_PP; /* 复用推挽输出 */
gpio_init_struct.Pull = GPIO_PULLUP; /* 上拉 */
gpio_init_struct.Speed = GPIO_SPEED_FREQ_HIGH; /* IO速度设置为高速 */
HAL_GPIO_Init(GPIOA, &gpio_init_struct);
gpio_init_struct.Pin = GPIO_PIN_10; /* 串口RX脚 模式设置 */
gpio_init_struct.Mode = GPIO_MODE_AF_INPUT;
HAL_GPIO_Init(GPIOA, &gpio_init_struct); /* 串口RX脚 必须设置成输入模式 */
#if USART_EN_RX
HAL_NVIC_EnableIRQ(USART1_IRQn); /* 使能USART1中断通道 */
HAL_NVIC_SetPriority(USART1_IRQn, 3, 3); /* 组2，最低优先级:抢占优先级3，子优先级3 */
#endif
}
}
uint8_t time_hour[2],time_min[2],time_second[2];
char * recive_s;
char * recive_s1;
//char string_recive1[] = "WIFI CONNECTED\r\nWIFI GOT IP";
char string_recive1[] = "WIFI CONNECTED";
//char string_recive2[39] = "AT+CIPSNTPCFG=1,8,\"ntp1.aliyun.com\"\r\nOK";
char string_recive2[] = "AT+CIPSNTPCFG=1,8,";
//char string_recive22[41] = "AT+CIPSNTPCFG=1,8,\"ntp1.aliyun.com\"\r\n\r\nOK";
char string_recive3[] = "AT+CIPSNTPTIME";
/*串口数据接收回调函数*/
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if (huart->Instance == USART1) /* 如果是串口1 */
{
recive_s = strstr((char*)g_rx_buffer,string_recive1);
if (recive_s!=NULL)
{
g_usart1_rx_flag = 20;
}
recive_s = strstr((char*)g_rx_buffer,string_recive2);
if ((recive_s!=NULL)&&((*(recive_s+39)==0X4F)&&(*(recive_s+40)==0X4B)))
{
g_usart1_rx_flag = 10;
}
recive_s = strstr((char*)g_rx_buffer,string_recive3);
if (/*61字符*/ ((recive_s!=NULL)&&((*(recive_s+57)==0X4F)&&(*(recive_s+58)==0X4B)))||/*60字符*/ ((recive_s!=NULL)&&((*(recive_s+56)==0X4F)&&(*(recive_s+57)==0X4B))))
{
if(
((*(recive_s+50))==0x31)&& ((*(recive_s+51))==0x39)&& ((*(recive_s+52))==0x37)&& ((*(recive_s+53))==0x30) //1970年---获取时间失败
)
{
g_usart1_rx_flag = 0;
}else{
if( //必须是有效数字
((*(recive_s+50))>=0x30) && ((*(recive_s+50))<=0x39)
&& ((*(recive_s+51))>=0x30) && ((*(recive_s+51))<=0x39)
&& ((*(recive_s+52))>=0x30) && ((*(recive_s+52))<=0x39)
&& ((*(recive_s+53))>=0x30) && ((*(recive_s+53))<=0x39)
)
g_usart1_rx_flag = 1;
// if(((*(recive_s+41))-0x30)*10+((*(recive_s+42))-0x30)>=12)
// {
// time_hour[0]=((((*(recive_s+41))-0x30)*10+((*(recive_s+42))-0x30))-12)/10;
// time_hour[1]=((((*(recive_s+41))-0x30)*10+((*(recive_s+42))-0x30))-12)%10;
// }else{
// time_hour[0]=(*(recive_s+41))-0x30;
// time_hour[1]=(*(recive_s+42))-0x30;
// }
if(((*(recive_s+41))-0x30)*10+((*(recive_s+42))-0x30)>=20)//因为小时的首位只有一个1，因此大于20点默认回归到12小时制
{
time_hour[0]=((((*(recive_s+41))-0x30)*10+((*(recive_s+42))-0x30))-12)/10;
time_hour[1]=((((*(recive_s+41))-0x30)*10+((*(recive_s+42))-0x30))-12)%10;
}else{
time_hour[0]=((((*(recive_s+41))-0x30)*10+((*(recive_s+42))-0x30)))/10;
time_hour[1]=((((*(recive_s+41))-0x30)*10+((*(recive_s+42))-0x30)))%10;
}
TIME_HOUR_24h = ((*(recive_s+41))-0x30)*10+((*(recive_s+42))-0x30);
time_min[0]=(*(recive_s+44))-0x30;
time_min[1]=(*(recive_s+45))-0x30;
time_second[0]=(*(recive_s+47))-0x30;
time_second[1]=(*(recive_s+48))-0x30;
// time_hour[0]=(*(recive_s+44))-0x30;
// time_hour[1]=(*(recive_s+45))-0x30;
// time_min[0]=(*(recive_s+47))-0x30;
// time_min[1]=(*(recive_s+48))-0x30;
}
}
// //60个字符
// if ((recive_s!=NULL)&&((*(recive_s+56)==0X4F)&&(*(recive_s+57)==0X4B)))
// {
//
// if(
// ((*(recive_s+50))==0x31)&& ((*(recive_s+51))==0x39)&& ((*(recive_s+52))==0x37)&& ((*(recive_s+53))==0x30) //1970年---获取时间失败
// )
// {
// g_usart1_rx_flag = 0;
// }else{
// if( //必须是有效数字
// ((*(recive_s+50))>=0x30) && ((*(recive_s+50))<=0x39)
// && ((*(recive_s+51))>=0x30) && ((*(recive_s+51))<=0x39)
// && ((*(recive_s+52))>=0x30) && ((*(recive_s+52))<=0x39)
// && ((*(recive_s+53))>=0x30) && ((*(recive_s+53))<=0x39)
// )
// g_usart1_rx_flag = 1;
//
// if(((*(recive_s+41))-0x30)*10+((*(recive_s+42))-0x30)>=12)
// {
// time_hour[0]=0;
// time_hour[1]=(((*(recive_s+41))-0x30)*10+((*(recive_s+42))-0x30))-12;
// }else{
// time_hour[0]=(*(recive_s+41))-0x30;
// time_hour[1]=(*(recive_s+42))-0x30;
// }
// time_min[0]=(*(recive_s+44))-0x30;
// time_min[1]=(*(recive_s+45))-0x30;
// time_second[0]=(*(recive_s+47))-0x30;
// time_second[1]=(*(recive_s+48))-0x30;
//
// }
// }
}
}
void USART1_IRQHandler(void)
{
HAL_UART_IRQHandler(&g_uart1_handle); /* 调用HAL库中断处理公用函数 */
HAL_UART_Receive_IT(&g_uart1_handle, (uint8_t *)g_rx_buffer, RXBUFFERSIZE);
}
/* 加入以下代码, 支持printf函数, 而不需要选择use MicroLIB */
#if 1
#if (__ARMCC_VERSION >= 6010050) /* 使用AC6编译器时 */
__asm(".global __use_no_semihosting\n\t"); /* 声明不使用半主机模式 */
__asm(".global __ARM_use_no_argv \n\t"); /* AC6下需要声明main函数为无参数格式，否则部分例程可能出现半主机模式 */
#else
/* 使用AC5编译器时, 要在这里定义__FILE 和 不使用半主机模式 */
#pragma import(__use_no_semihosting)
struct __FILE
{
int handle;
/* Whatever you require here. If the only file you are using is */
/* standard output using printf() for debugging, no file handling */
/* is required. */
};
#endif
/* 不使用半主机模式，至少需要重定义_ttywrch\_sys_exit\_sys_command_string函数,以同时兼容AC6和AC5模式 */
int _ttywrch(int ch)
{
ch = ch;
return ch;
}
/* 定义_sys_exit()以避免使用半主机模式 */
void _sys_exit(int x)
{
x = x;
}
char *_sys_command_string(char *cmd, int len)
{
return NULL;
}
/* FILE 在 stdio.h里面定义. */
FILE __stdout;
/* MDK下需要重定义fputc函数, printf函数最终会通过调用fputc输出字符串到串口 */
int fputc(int ch, FILE *f)
{
while ((USART1->SR & 0X40) == 0); /* 等待上一个字符发送完成 */
USART1->DR = (uint8_t)ch; /* 将要发送的字符 ch 写入到DR寄存器 */
return ch;
}
#endif
usart.h
#ifndef __USART_H
#define __USART_H
#define USART_REC_LEN 200 /* 定义最大接收字节数 200 */
#define USART_EN_RX 1 /* 使能（1）/禁止（0）串口1接收 */
#define RXBUFFERSIZE 100 /* 缓存大小 */
extern UART_HandleTypeDef g_uart1_handle; /* HAL UART句柄 */
extern uint8_t g_usart_rx_buf[USART_REC_LEN]; /* 接收缓冲,最大USART_REC_LEN个字节.末字节为换行符 */
extern uint16_t g_usart_rx_sta; /* 接收状态标记 */
extern uint8_t g_rx_buffer[RXBUFFERSIZE]; /* HAL库USART接收Buffer */
extern uint16_t g_usart1_rx_flag ; /*数据接收标志*/
extern uint8_t time_hour[2],time_min[2],time_second[2];
void usart_init(uint32_t BaudRate); /* 串口初始化函数 */
extern uint16_t g_usart1_rx_flag;
extern uint8_t TIME_HOUR_24h;
#endiftime.c
#include "main.h"
TIM_HandleTypeDef g_timx_handle; /* 定时器句柄 */
void time_init(void)
{
g_timx_handle.Instance = TIM2; /* 通用定时器4 */
g_timx_handle.Init.Prescaler = 72-1; /* 设置预分频系数 */
g_timx_handle.Init.CounterMode = TIM_COUNTERMODE_UP; /* 递增计数模式 */
g_timx_handle.Init.Period = TIMER_TICK; /* 自动装载值 */
HAL_TIM_Base_Init(&g_timx_handle);
HAL_TIM_Base_Start_IT(&g_timx_handle); /* 使能定时器x及其更新中断 */
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *htim)
{
if (htim->Instance == TIM2)
{
__HAL_RCC_TIM2_CLK_ENABLE(); /* 使能TIM时钟 */
HAL_NVIC_SetPriority(TIM2_IRQn, 1, 3); /* 抢占1，子优先级3，组2 */
HAL_NVIC_EnableIRQ(TIM2_IRQn); /* 开启ITM3中断 */
}
}
uint16_t tim_cnt;
void TIM2_IRQHandler(void)
{
HAL_TIM_IRQHandler(&g_timx_handle); /* 定时器中断公共处理函数 */
}
Servo_Ctrl servo[SERVO_NUM]; // 舵机控制数组
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) /*定时器更新中断回调函数*/
{
static uint16_t global_counter = 0;
if (htim->Instance == TIM2)
{
// ADC_PPM();
if(tim_cnt>=g_usart1_rx_flag*500)
{
tim_cnt = 0;
LED0_TOGGLE();
}else{
tim_cnt++;
}
//pwm生成
for(uint8_t i=0; i<SERVO_NUM; i++) {
if(global_counter == 0) { // 新周期开始时拉高所有引脚
// GPIO_SetBits(servo[i].GPIOx, servo[i].GPIO_Pin);
HAL_GPIO_WritePin(servo[i].GPIOx,servo[i].GPIO_Pin , GPIO_PIN_SET);
servo[i].counter = 0;
} else {
servo[i].counter += TIMER_TICK;
if(servo[i].counter >= servo[i].pulse_us) { // 达到脉宽时间后拉低
// GPIO_ResetBits(servo[i].GPIOx, servo[i].GPIO_Pin);
HAL_GPIO_WritePin(servo[i].GPIOx,servo[i].GPIO_Pin , GPIO_PIN_RESET);
}
}
}
global_counter += TIMER_TICK;
if(global_counter >= PWM_PERIOD) {
global_counter = 0; // 周期复位
}
}
}time.h
#ifndef __TIME_H
#define __TIME_H
#include "main.h"
#define SERVO_NUM 23 // 舵机数量
#define PWM_PERIOD 20000 // 20ms周期（单位：us）
#define TIMER_TICK 100 // 定时器中断间隔（单位：us）
// 舵机控制结构体
typedef struct {
GPIO_TypeDef* GPIOx; // GPIO端口
uint16_t GPIO_Pin; // GPIO引脚
uint16_t pulse_us; // 当前脉宽（单位：us）
uint16_t counter; // 内部计时器
} Servo_Ctrl;
extern Servo_Ctrl servo[SERVO_NUM]; // 舵机控制数组
void time_init(void);
#endif2.esp8266链接网络时间采用NTP时间为基准；
链接wifi:
AT+CWJAP="xxxxxx","*************"
链接NTP:
AT+CIPSNTPCFG=1,8,"ntp1.aliyun.com"
发送时间请求：
AT+CIPSNTPTIME?
3.舵轮时钟图纸：
