STM32F4控制步进电机、键盘、数码管、压力传感器、蜂鸣器

大幻想家 · 发表于 2019-9-18 15:41:38

最近要做一个新项目，外面写代码又太贵，天天逼着自己学着写，本来基本是小白，硬是花了一个月时间把代码和硬件都做出来了，今天全部程序写完在开发板上调试好了，pcb也发出去打板，给大家分享一下，写的很冗杂，也请大佬们多多指点。

功能是stm32f4控制8个按键，分为两组，每组包括档位键、启动键、暂停键。十个档位，按下档位键时数码管上显示出当前的档位，按下启动键时，键盘锁开启，步进电机1启动，按下暂停键时，步进电机停止。当压力传感器1的压力大于设定值时，电机1自动停止，
切换到电机2运行（运行速度为2号档位键设置的速度），当压力传感器2达到限制时，电机2停止，蜂鸣器报警，说的有点乱，直接上代码了

main.c
#include "sys.h"
#include "delay.h"
#include "pwm.h"
#include "KEY.h"
#include "TM1638.h"
#include "TM1638_2.h"
#include "HX711.h"
#include "HX711B.h"
#include "usart.h"
#include "led.h"
#include "PWM2.h"
#include "BEEP.h"

const unsigned int seg[10]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f};    //不带小数点    0-9
const unsigned int seg2[10]={0xbf,0x86,0xdb,0xcf,0xe6,0xed,0xfd,0x87,0xff,0xef};    //带小数点    0.-9.
const unsigned int location[8]={0xc0,0xc2,0xc4,0xc6,0xc8,0xca,0xcc,0xce};       //段码
const unsigned int location2[8]={0xc1,0xc3,0xc5,0xc7,0xc9,0xcb,0xcd,0xcf};
const u8 table_tmp[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};  //显示缓冲区

int main(void)
{
u8 KEY_NUM=0;       //初始化档位1值
u8 KEY2_NUM=0;    //初始化档位2值
u8 KEY_FLAG=0;       //按键标志位
float Weight = 0; //初始化压力值
float Weight2 = 0; //初始化压力值

KEY_Init();       //初始化与按键连接的硬件端口
Driver_Init();    //电机1初始化
Driver_Init2();    //电机2初始化
BEEP_Init();          //初始化蜂鸣器端口
  uart_init(115200);    //串口初始化波特率为115200
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
delay_init(168);    //初始化延时函数
display_Init();    //数码管1显示初始化
display2_Init();    //数码管2显示初始化
Init_Hx711();       //初始化压力读取
Get_Maopi();       //去除压力干扰
Init_Hx711B();       //初始化压力B读取
Get_MaopiB();       //去除压力B干扰
delay_ms(1);

TM1638_Display(location[0],seg[0]);          //初始数码管1显示状态
      TM1638_Display(location[1],seg[0]);
      TM1638_Display(location[2],seg2[0]);
   TM1638_Display(location[3],seg2[0]);
TM1638_Display(location[4],seg2[8]);
      TM1638_Display(location[5],seg2[8]);
      TM1638_Display(location[6],seg2[8]);
   TM1638_Display(location[7],seg2[8]);

TM1638_2_Display(location[0],seg[0]);          //初始数码管2显示状态
      TM1638_2_Display(location[1],seg[0]);
      TM1638_2_Display(location[2],seg2[0]);
   TM1638_2_Display(location[3],seg2[0]);
TM1638_2_Display(location[4],seg2[8]);
      TM1638_2_Display(location[5],seg2[8]);
      TM1638_2_Display(location[6],seg2[8]);
   TM1638_2_Display(location[7],seg2[8]);

while(1)
   {
   Weight = Get_Weight();
   Weight = (float)Weight/1000.0f;
   printf("%0.3f \n",Weight);       //串口显示重量
   delay_ms(1);
   if(Weight>10)
   {
      TIM3_PWM_Init(1-1 ,84-1);
      TIM2_PWM_Init (5000/KEY_NUM ,84-1);
   }
   Weight2 = Get_WeightB();
   Weight2 = (float)Weight2/1000.0f;
   printf("%0.3f \n",Weight2);       //串口显示重量
   delay_ms(1);
   if(Weight2>10)
   {
display_Init(); //数码管显示初始化
     TM1638_Display(location[0],0X80);
      TM1638_Display(location[1],seg[(KEY_NUM*5)/10]);
      TM1638_Display(location[2],seg2[(KEY_NUM*5)%10]);
   TM1638_Display(location[3],seg2[0]);
   TM1638_Display(location[4],0X39);          //压力显示C
   TM1638_Display(location[5],0X0f);          //电池显示 .mh/h
TM1638_Display(location[6],0X64);          //注射完毕
TM1638_Display(location[7],0X0C);          //暂停
      TIM2_PWM_Init(1-1 ,84-1);
      BEEP=1;
   }
   if(S1==0||P1==0||D1==0||D2==1)
      {
      delay_ms(10);//去抖动
      if(D1==0&&KEY_FLAG==0)                //档位按键
      {
      KEY_NUM++;
      if(KEY_NUM >=10)
         {
            KEY_NUM=0;
         }
      display_Init(); //数码管显示初始化
      TM1638_Display(location[0],0X80);          //显示小数点
         TM1638_Display(location[1],seg[(KEY_NUM*5)/10]);
         TM1638_Display(location[2],seg2[(KEY_NUM*5)%10]);
      TM1638_Display(location[3],seg2[0]);
      TM1638_Display(location[4],0X39);          //压力显示C
      TM1638_Display(location[5],0X0f);          //电池显示.mh/h

         }
      else if(S1 ==0&&KEY_FLAG==0) //启动键
         {
      display_Init(); //数码管显示初始化
      TM1638_Display(location[0],0X80);
         TM1638_Display(location[1],seg[(KEY_NUM*5)/10]);
         TM1638_Display(location[2],seg2[(KEY_NUM*5)%10]);
      TM1638_Display(location[3],seg2[0]);
      TM1638_Display(location[4],0X39);          //压力显示C
      TM1638_Display(location[5],0X0f);          //电池显示.mh/h
      TM1638_Display(location[7],0X70);          //运行箭头
      TIM3_PWM_Init(40/KEY_NUM ,84-1);
KEY_FLAG=1;
         }
      else if(P1==0)  //暂停键
         {
      display_Init(); //数码管显示初始化
           TM1638_Display(location[0],0X80);
         TM1638_Display(location[1],seg[(KEY_NUM*5)/10]);
         TM1638_Display(location[2],seg2[(KEY_NUM*5)%10]);
      TM1638_Display(location[3],seg2[0]);
      TM1638_Display(location[4],0X39);          //压力显示C
      TM1638_Display(location[5],0X0f);          //电池显示 .mh/h
      TM1638_Display(location[7],0X0C);          //暂停
      TIM3_PWM_Init(1-1 ,84-1);
         TIM2_PWM_Init(1-1 ,84-1);
         BEEP=0;
         KEY_FLAG =0;
         }
   else if(D2==1) //档位2
   {
      KEY2_NUM++;
      if(KEY2_NUM >=10)
         {
            KEY2_NUM=0;
         }
      display2_Init(); //数码管显示初始化
      TM1638_2_Display(location[0],0X80);          //显示小数点
         TM1638_2_Display(location[1],seg[(KEY2_NUM*5)/10]);
         TM1638_2_Display(location[2],seg2[(KEY2_NUM*5)%10]);
      TM1638_2_Display(location[3],seg2[0]);
      TM1638_2_Display(location[4],0X39);          //压力显示C
      TM1638_2_Display(location[5],0X0f);          //电池显示.mh/h
   }
         }
   }
}

步进电机

#include "pwm.h"
#include "usart.h"

void Driver_Init(void)
{
GPIO_InitTypeDef  GPIO_InitStructure;

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);//使能GPIOC时钟

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5|GPIO_Pin_4; //ENA使能 DIR方向对应引脚
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;//普通输出模式
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100M
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化GPIOA5.4

GPIO_SetBits(GPIOC,GPIO_Pin_4);//PC2输出高顺时针方向  DIR
GPIO_ResetBits(GPIOC,GPIO_Pin_5);//PC1输出低使能输出  ENA
}

//TIM3_CH1 PWM部分初始化
//PWM输出初始化
//arr：自动重装值
//psc：时钟预分频数
void TIM3_PWM_Init(u32 arr,u32 psc)
{

GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_OCInitTypeDef  TIM_OCInitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);    //TIM3时钟使能
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); //使能PORTA时钟

GPIO_PinAFConfig(GPIOA,GPIO_PinSource6,GPIO_AF_TIM3); //GPIOA6复用为定时器3

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;          //GPIOA6
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;       //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度100MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;    //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;       //上拉
GPIO_Init(GPIOA,&GPIO_InitStructure);             //初始化PA6

TIM_TimeBaseStructure.TIM_Prescaler=psc;  //定时器分频
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseStructure.TIM_Period=arr; //自动重装载值
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;

TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);//初始化定时器3

//初始化TIM3  Channel1 PWM模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性低
TIM_OC1Init(TIM3, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC1

TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIM14在CCR1上的预装载寄存器

  TIM_ARRPreloadConfig(TIM3,ENABLE);//ARPE使能
TIM_SetCompare1 (TIM3,2);          //占空比

TIM_Cmd(TIM3, ENABLE);  //使能TIM3


}

数码管

#include"TM1638.h"
#include "stm32f4xx.h"

extern unsigned int seg[10];
extern unsigned int seg2[10];
extern unsigned int location[8];
extern unsigned int location2[8];
extern  u8 table_tmp[8];

void Delay(vu32 nCount)
{
  for(; nCount != 0; nCount--);
}

/*****************************
发送函数（不分命令、数据）
*****************************/
void SendDATA1638(unsigned int edata)
{
  unsigned int i=0;
GPIO_ResetBits(GC,STB);    //STB=0;
for(i=0;i<8;i++)
{
   Delay(100);    //100ns
   GPIO_ResetBits(GC,CLK);    //CLK=0;
   if(edata&0x01)
   {
      GPIO_SetBits(GC,DIO);    //DIO=1;
   Delay(200);    //200ns
   }
   else
   {
      GPIO_ResetBits(GC,DIO); //DIO=0
   Delay(200);    //200ns
   }
   Delay(100);    //100ns
   GPIO_SetBits(GC,CLK);    //CLK=1;
   edata>>=1;
}
}

/***********************************
  数据显示函数（只适用固定地址模式）
************************************/
void TM1638_Display(unsigned int address,unsigned int number)
{
   GPIO_SetBits(GC,STB);
SendDATA1638(address);
   Delay(100);    //1μs
   SendDATA1638(number);
   Delay(100);    //1μs
   GPIO_SetBits(GC,STB);
   Delay(100);    //1μs
}

void  display_Init()
{
  int i;

GPIO_InitTypeDef GPIO_InitStructure;

RCC_AHB1PeriphClockCmd(  RCC_AHB1Periph_GPIOC , ENABLE);
GPIO_InitStructure.GPIO_Pin = CLK;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType =GPIO_OType_PP;
GPIO_Init(GC, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = DIO;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GC, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = STB;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType =GPIO_OType_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GC, &GPIO_InitStructure);

   GPIO_SetBits(GC,STB);
SendDATA1638(openLKM);
   GPIO_SetBits(GC,STB);
   Delay(100);
SendDATA1638(writefix);
   GPIO_SetBits(GC,STB);

   for (i=0;i<8;i++)
   {
   TM1638_Display(location[7-i],table_tmp[i]);
   }
}

压力传感器

#include "HX711.h"
#include "delay.h"

long HX711_Buffer = 0;
long Weight_Maopi = 0,Weight_Shiwu = 0;

#define GapValue 430
#define HIGH 1
#define LOW  0
#define HX711_GROUP GPIOB

void digitalWrite(GPIO_TypeDef * GPIO,int pin,int value)
{
if(value==HIGH)//set 1
{
GPIO_SetBits(GPIO,pin);
}
if(value==LOW)//reset 0
{
GPIO_ResetBits(GPIO,pin);
}
}

int digitalRead(GPIO_TypeDef * GPIO,int pin)
{
return GPIO_ReadInputDataBit(GPIO,pin);
}

//****************************************************
//初始化HX711
//****************************************************
void Init_Hx711()
{
GPIO_InitTypeDef  GPIO_InitStructure;

  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

  //SCK
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 ;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
  GPIO_Init(GPIOB, &GPIO_InitStructure);

GPIO_InitTypeDef  GPIO_InitStructure1;

  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

  //DOUT
  GPIO_InitStructure1.GPIO_Pin = GPIO_Pin_1 ;
  GPIO_InitStructure1.GPIO_Mode = GPIO_Mode_IN;
  //GPIO_InitStructure1.GPIO_OType = GPIO_OType_OD;
  GPIO_InitStructure1.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure1.GPIO_PuPd = GPIO_PuPd_NOPULL;
  GPIO_Init(GPIOB, &GPIO_InitStructure1);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

}

//****************************************************
//获取毛皮重量
//****************************************************
void Get_Maopi()
{
Weight_Maopi = HX711_Read();
}

//****************************************************
//称重
//****************************************************
long Get_Weight()
{
HX711_Buffer = HX711_Read();
Weight_Shiwu = HX711_Buffer;
Weight_Shiwu = Weight_Shiwu - Weight_Maopi; //获取实物的AD采样数值。
Weight_Shiwu = (long)((float)Weight_Shiwu/GapValue);
return Weight_Shiwu;
}

//****************************************************
//读取HX711
//****************************************************
unsigned long HX711_Read(void) //增益128
{
unsigned long val = 0;
unsigned char i = 0;

//判断模块是否准备好
while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1));
delay_us(1);
//sck 拉低
GPIO_ResetBits(GPIOB,GPIO_Pin_0);
//再次判断是否准备好
while(!GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1));

for(i=0;i<24;i++)
{
delay_us(100);
GPIO_SetBits(GPIOB,GPIO_Pin_0);
val=val<<1;
delay_us(1);
GPIO_ResetBits(GPIOB,GPIO_Pin_0);
if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_1))
val++;
delay_us(1);
}
GPIO_SetBits(GPIOB,GPIO_Pin_0);
val = val^0x800000;
delay_us(1);
GPIO_ResetBits(GPIOB,GPIO_Pin_0);
delay_us(1);
return val;
}