mini版STM32编一个循迹小车的程序，用TIM4产生4路PWM，GPIOC来读SenSor的状态，编写以后发现一直报错，而且还不知道怎么解决？

路漫漫其修远兮 · 发表于 2018-12-2 20:01:54

用mini版做的循迹小车，其中TIM4产生4路PWM，GPIOC作为读取Sensor状态；程序如下：
Sensor.c
#include "sensor.h"
#include "delay.h"

void SenRead_Init(void)
{
GPIO_InitTypeDef  GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC,ENABLE);

GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOC,&GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin=GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOC,&GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin=GPIO_Pin_2;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOC,&GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin=GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOC,&GPIO_InitStructure);

}

u8 Sen_Scan(u8 mode)
{
static u8 sen_up=1;
if(mode) sen_up=1;
if(sen_up&(Sen1==0||Sen2==0||Sen3==0|Sen4==0))
{
delay_ms(10);
sen_up=0;
if(Sen1==0)             return Sen1_State;
else if(Sen1==0&&Sen2==0) return Sen2_State;
else if(Sen2==0)          return Sen3_State;
else if(Sen2==0&&Sen3==0) return Sen4_State;
else if(Sen3==0)          return Sen5_State;
else if(Sen3==0&&Sen4==0) return Sen6_State;
else if(Sen4==0)          return Sen7_State;
   }
else if(Sen1==1&&Sen2==1&&Sen3==1&&Sen4==1)
sen_up=1;
retrun 0;

}
sensor.h

#ifdef  __SENSOR_H
#define __SENSOR_H

#define Sen1 GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_0)
#define Sen2 GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_1)
#define Sen3 GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_2)
#define Sen4 GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_3)

#define Sen1_State 1
#define Sen2_State 2
#define Sen3_State 3
#define Sen4_State 4
#define Sen5_State 5
#define Sen6_State 6
#define Sen7_State 7

void SenRead_Init(void);
u8 Sen_Scan();
#endif

PWM.c
#include "pwm.h"
#include "sensor.h"

void TIM4_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);

GPIO_InitStructure.GPIO_Pin=GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOB,GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin=GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOB,GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin=GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOB,GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin=GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOB,GPIO_InitStructure);

TIM_TimeBaseStructure.TIM_Period=arr;
TIM_TimeBaseStructure.TIM_Prescaler=psc;
TIM_TimeBaseStructure.TIM_ClockDivision=0;
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4,&TIM_TimeBaseStructure);

TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;
TIM_OC1Init(TIM4,&TIM_OCInitStructure);

TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;
TIM_OC2Init(TIM4,&TIM_OCInitStructure);

TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;
TIM_OC3Init(TIM4,&TIM_OCInitStructure);

TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM2;
TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;
TIM_OC4Init(TIM4,&TIM_OCInitStructure);

TIM_OC1PreloadConfig(TIM4,TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM4,TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM4,TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM4,TIM_OCPreload_Enable);

TIM_Cmd(TIM4,ENABLE);

}

PWM.h
#ifndef __PWM_H
#define __PWM_H

#include "sys.h"

void TIM4_PWM_Init(u16 arr,u16 psc);

#endif

报错代码如下：

compiling pwm.c...
..\HARDWARE\PWM\pwm.c(16): error:  #167: argument of type "GPIO_InitTypeDef" is incompatible with parameter of type "GPIO_InitTypeDef *"
..\HARDWARE\PWM\pwm.c(21): error:  #167: argument of type "GPIO_InitTypeDef" is incompatible with parameter of type "GPIO_InitTypeDef *"
..\HARDWARE\PWM\pwm.c(26): error:  #167: argument of type "GPIO_InitTypeDef" is incompatible with parameter of type "GPIO_InitTypeDef *"
..\HARDWARE\PWM\pwm.c(31): error:  #167: argument of type "GPIO_InitTypeDef" is incompatible with parameter of type "GPIO_InitTypeDef *"
compiling sensor.c...
..\HARDWARE\SENSOR\sensor.c(36): error:  #20: identifier "Sen1" is undefined
..\HARDWARE\SENSOR\sensor.c(36): error:  #20: identifier "Sen2" is undefined
..\HARDWARE\SENSOR\sensor.c(36): error:  #20: identifier "Sen3" is undefined
..\HARDWARE\SENSOR\sensor.c(36): error:  #20: identifier "Sen4" is undefined
..\HARDWARE\SENSOR\sensor.c(40): error:  #20: identifier "Sen1_State" is undefined
..\HARDWARE\SENSOR\sensor.c(41): error:  #20: identifier "Sen2_State" is undefined
..\HARDWARE\SENSOR\sensor.c(42): error:  #20: identifier "Sen3_State" is undefined
..\HARDWARE\SENSOR\sensor.c(43): error:  #20: identifier "Sen4_State" is undefined
..\HARDWARE\SENSOR\sensor.c(44): error:  #20: identifier "Sen5_State" is undefined
..\HARDWARE\SENSOR\sensor.c(45): error:  #20: identifier "Sen6_State" is undefined
..\HARDWARE\SENSOR\sensor.c(46): error:  #20: identifier "Sen7_State" is undefined
..\HARDWARE\SENSOR\sensor.c(50): error:  #20: identifier "retrun" is undefined
..\HARDWARE\SENSOR\sensor.c(50): error:  #65: expected a ";"
..\HARDWARE\SENSOR\sensor.c(52): warning:  #940-D: missing return statement at end of non-void function "Sen_Scan"