{"id":66655,"date":"2026-01-27T07:17:50","date_gmt":"2026-01-26T23:17:50","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/66655.html"},"modified":"2026-01-27T07:17:50","modified_gmt":"2026-01-26T23:17:50","slug":"%e5%9c%ba%e6%99%af%e5%ae%9e%e6%88%98%ef%bc%9a%e5%9f%ba%e4%ba%8estm32%e7%9a%84%e6%b1%bd%e8%bd%a6%e8%bd%a6%e7%aa%97%e8%87%aa%e5%8a%a8%e9%98%b2%e5%a4%b9%e4%b8%8e%e9%9b%a8%e6%bb%b4%e6%84%9f%e5%ba%94","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/66655.html","title":{"rendered":"\u573a\u666f\u5b9e\u6218\uff1a\u57fa\u4e8eSTM32\u7684\u6c7d\u8f66\u8f66\u7a97\u81ea\u52a8\u9632\u5939\u4e0e\u96e8\u6ef4\u611f\u5e94\u63a7\u5236\u89e3\u51b3\u65b9\u6848\u89e3\u6790"},"content":{"rendered":"<\/p>\n<h4>\u6587\u7ae0\u76ee\u5f55<\/h4>\n<ul>\n<li>\n<ul>\n<li>\u4e00\u3001\u65b9\u6848\u6574\u4f53\u8bbe\u8ba1\u4e0e\u539f\u7406\u8bf4\u660e<\/li>\n<li>\n<ul>\n<li>1.1 \u6838\u5fc3\u539f\u7406<\/li>\n<li>1.2 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.process&gt;*{fill:#27ae60!important;stroke:#ffffff!important;stroke-width:2px!important;color:#ffffff!important;fontSize:14px!important;fontFamily:Arial!important;}#mermaid-svg-WLpkJmpHA5WKywpi .process span{fill:#27ae60!important;stroke:#ffffff!important;stroke-width:2px!important;color:#ffffff!important;fontSize:14px!important;fontFamily:Arial!important;}#mermaid-svg-WLpkJmpHA5WKywpi .process tspan{fill:#ffffff!important;} <\/p>\n<p>         <span class=\"edgeLabel\"><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u662f<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u5426<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u662f<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u5426<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u662f<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u5426<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u662f<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u5426<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u662f<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>\u5426<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>\u7cfb\u7edf\u4e0a\u7535\u521d\u59cb\u5316<\/p>\n<p><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>GPIO\/ADC\/\u5b9a\u65f6\u5668\u914d\u7f6e<\/p>\n<p><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>\u8bfb\u53d6\u96e8\u6ef4\u4f20\u611f\u5668\u4fe1\u53f7<\/p>\n<p><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>\u68c0\u6d4b\u5230\u96e8\u6ef4?<\/p>\n<p><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>\u89e6\u53d1\u81ea\u52a8\u5173\u7a97\u6307\u4ee4<\/p>\n<p><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>\u68c0\u6d4b\u8f66\u7a97\u63a7\u5236\u6307\u4ee4<\/p>\n<p><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>\u5347\u7a97\u6307\u4ee4?<\/p>\n<p><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>\u63a7\u5236\u7535\u673a\u6b63\u8f6c\u5347\u7a97<\/p>\n<p><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>\u964d\u7a97\u6307\u4ee4?<\/p>\n<p><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>\u63a7\u5236\u7535\u673a\u53cd\u8f6c\u964d\u7a97<\/p>\n<p><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>\u970d\u5c14\u4f20\u611f\u5668\u91c7\u96c6\u8109\u51b2<\/p>\n<p><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>\u8109\u51b2\u9891\u7387\u4f4e\u4e8e\u9608\u503c?<\/p>\n<p><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>\u7acb\u5373\u505c\u6b62\u7535\u673a&#043;\u53cd\u8f6c0.5\u79d2<\/p>\n<p><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>\u8f66\u7a97\u5230\u4f4d?<\/p>\n<p><\/span> <\/p>\n<p>         <span style=\"color:#ffffff !important\" class=\"nodeLabel\"><\/p>\n<p>\u505c\u6b62\u7535\u673a<\/p>\n<p><\/span> <\/p>\n<h3>\u4e8c\u3001\u786c\u4ef6\u9009\u578b\u4e0e\u63a5\u7ebf<\/h3>\n<h4>2.1 \u6838\u5fc3\u786c\u4ef6\u6e05\u5355<\/h4>\n<table>\n<tr>\u786c\u4ef6\u540d\u79f0\u578b\u53f7\/\u89c4\u683c\u6570\u91cf\u4f5c\u7528<\/tr>\n<tbody>\n<tr>\n<td>STM32\u63a7\u5236\u5668<\/td>\n<td>STM32F103C8T6\u6700\u5c0f\u7cfb\u7edf\u677f<\/td>\n<td>1<\/td>\n<td>\u6838\u5fc3\u63a7\u5236\u5355\u5143<\/td>\n<\/tr>\n<tr>\n<td>\u76f4\u6d41\u7535\u673a\u9a71\u52a8\u6a21\u5757<\/td>\n<td>L298N<\/td>\n<td>1<\/td>\n<td>\u9a71\u52a8\u8f66\u7a97\u5347\u964d\u7535\u673a<\/td>\n<\/tr>\n<tr>\n<td>\u8f66\u7a97\u76f4\u6d41\u7535\u673a<\/td>\n<td>12V \u6c7d\u8f66\u8f66\u7a97\u4e13\u7528\u7535\u673a<\/td>\n<td>1<\/td>\n<td>\u6267\u884c\u8f66\u7a97\u5347\u964d<\/td>\n<\/tr>\n<tr>\n<td>\u970d\u5c14\u4f20\u611f\u5668\u6a21\u5757<\/td>\n<td>3144\u970d\u5c14\u5f00\u5173<\/td>\n<td>1<\/td>\n<td>\u68c0\u6d4b\u7535\u673a\u8f6c\u901f<\/td>\n<\/tr>\n<tr>\n<td>\u96e8\u6ef4\u4f20\u611f\u5668\u6a21\u5757<\/td>\n<td>\u6a21\u62df\u91cf\u8f93\u51fa\u578b<\/td>\n<td>1<\/td>\n<td>\u68c0\u6d4b\u96e8\u91cf<\/td>\n<\/tr>\n<tr>\n<td>\u7535\u6e90\u6a21\u5757<\/td>\n<td>12V\u8f6c5V\/3.3V<\/td>\n<td>1<\/td>\n<td>\u7ed9\u63a7\u5236\u5668\u548c\u4f20\u611f\u5668\u4f9b\u7535<\/td>\n<\/tr>\n<tr>\n<td>\u675c\u90a6\u7ebf\/\u9762\u5305\u677f<\/td>\n<td>\u516c\u5bf9\u516c\/\u516c\u5bf9\u6bcd<\/td>\n<td>\u82e5\u5e72<\/td>\n<td>\u786c\u4ef6\u63a5\u7ebf<\/td>\n<\/tr>\n<tr>\n<td>12V\u7535\u6e90\u9002\u914d\u5668<\/td>\n<td>12V 2A<\/td>\n<td>1<\/td>\n<td>\u7ed9\u7535\u673a\u548c\u9a71\u52a8\u6a21\u5757\u4f9b\u7535<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>2.2 \u8be6\u7ec6\u63a5\u7ebf\u8bf4\u660e<\/h4>\n<h5>&#xff08;1&#xff09;STM32\u4e0eL298N\u9a71\u52a8\u6a21\u5757\u63a5\u7ebf<\/h5>\n<table>\n<tr>STM32\u5f15\u811aL298N\u5f15\u811a\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>PB0<\/td>\n<td>IN1<\/td>\n<td>\u63a7\u5236\u7535\u673a\u6b63\u53cd\u8f6c&#xff08;\u5347\u7a97&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>PB1<\/td>\n<td>IN2<\/td>\n<td>\u63a7\u5236\u7535\u673a\u6b63\u53cd\u8f6c&#xff08;\u964d\u7a97&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>PB2<\/td>\n<td>ENA<\/td>\n<td>\u7535\u673a\u4f7f\u80fd&#xff08;\u63a5PWM&#xff0c;\u63a7\u5236\u8f6c\u901f&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>5V<\/td>\n<td>12V\u4f9b\u7535\u7aef<\/td>\n<td>\u4ec5\u7ed9L298N\u903b\u8f91\u7535\u8def\u4f9b\u7535<\/td>\n<\/tr>\n<tr>\n<td>GND<\/td>\n<td>GND<\/td>\n<td>\u5171\u5730<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h5>&#xff08;2&#xff09;L298N\u4e0e\u8f66\u7a97\u7535\u673a\u63a5\u7ebf<\/h5>\n<table>\n<tr>L298N\u5f15\u811a\u8f66\u7a97\u7535\u673a\u5f15\u811a\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>OUT1<\/td>\n<td>\u7535\u673a\u5f15\u811a1<\/td>\n<td>\u7535\u673a\u6b63\u8f6c\/\u53cd\u8f6c<\/td>\n<\/tr>\n<tr>\n<td>OUT2<\/td>\n<td>\u7535\u673a\u5f15\u811a2<\/td>\n<td>\u7535\u673a\u6b63\u8f6c\/\u53cd\u8f6c<\/td>\n<\/tr>\n<tr>\n<td>12V<\/td>\n<td>12V\u7535\u6e90\u6b63\u6781<\/td>\n<td>\u7535\u673a\u4f9b\u7535<\/td>\n<\/tr>\n<tr>\n<td>GND<\/td>\n<td>12V\u7535\u6e90\u8d1f\u6781<\/td>\n<td>\u5171\u5730<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h5>&#xff08;3&#xff09;\u970d\u5c14\u4f20\u611f\u5668\u4e0eSTM32\u63a5\u7ebf<\/h5>\n<table>\n<tr>\u970d\u5c14\u4f20\u611f\u5668\u5f15\u811aSTM32\u5f15\u811a\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>VCC<\/td>\n<td>3.3V<\/td>\n<td>\u4f20\u611f\u5668\u4f9b\u7535<\/td>\n<\/tr>\n<tr>\n<td>GND<\/td>\n<td>GND<\/td>\n<td>\u5171\u5730<\/td>\n<\/tr>\n<tr>\n<td>OUT<\/td>\n<td>PA0<\/td>\n<td>\u8109\u51b2\u4fe1\u53f7\u8f93\u51fa&#xff08;\u63a5\u5b9a\u65f6\u5668\u901a\u9053&#xff09;<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h5>&#xff08;4&#xff09;\u96e8\u6ef4\u4f20\u611f\u5668\u4e0eSTM32\u63a5\u7ebf<\/h5>\n<table>\n<tr>\u96e8\u6ef4\u4f20\u611f\u5668\u5f15\u811aSTM32\u5f15\u811a\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>VCC<\/td>\n<td>5V<\/td>\n<td>\u4f20\u611f\u5668\u4f9b\u7535<\/td>\n<\/tr>\n<tr>\n<td>GND<\/td>\n<td>GND<\/td>\n<td>\u5171\u5730<\/td>\n<\/tr>\n<tr>\n<td>AO<\/td>\n<td>PA1<\/td>\n<td>\u6a21\u62df\u4fe1\u53f7\u8f93\u51fa&#xff08;\u63a5ADC\u901a\u9053&#xff09;<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>\u4e09\u3001\u8f6f\u4ef6\u5f00\u53d1\u73af\u5883\u642d\u5efa<\/h3>\n<h4>3.1 \u73af\u5883\u51c6\u5907<\/h4>\n<li>\u4e0b\u8f7d\u5e76\u5b89\u88c5STM32CubeMX&#xff08;\u7248\u672c6.0\u4ee5\u4e0a&#xff09;&#xff1a;\u7528\u4e8e\u56fe\u5f62\u5316\u914d\u7f6eSTM32\u5916\u8bbe&#xff0c;\u751f\u6210\u521d\u59cb\u5316\u4ee3\u7801\u3002<\/li>\n<li>\u4e0b\u8f7d\u5e76\u5b89\u88c5Keil MDK-ARM&#xff08;\u7248\u672c5.36\u4ee5\u4e0a&#xff09;&#xff1a;\u7528\u4e8e\u7f16\u5199\u3001\u7f16\u8bd1\u548c\u4e0b\u8f7d\u4ee3\u7801\u5230STM32\u3002<\/li>\n<li>\u5b89\u88c5STM32F103C8T6\u7684\u5668\u4ef6\u5e93&#xff1a;\u5728Keil\u4e2d\u6dfb\u52a0\u5bf9\u5e94\u7684Device Pack\u3002<\/li>\n<li>\u51c6\u5907ST-Link\u4e0b\u8f7d\u5668&#xff1a;\u7528\u4e8e\u5c06\u7f16\u8bd1\u540e\u7684\u4ee3\u7801\u70e7\u5f55\u5230STM32\u6700\u5c0f\u7cfb\u7edf\u677f\u3002<\/li>\n<h4>3.2 STM32CubeMX\u521d\u59cb\u5316\u914d\u7f6e\u6b65\u9aa4<\/h4>\n<h5>\u6b65\u9aa41&#xff1a;\u65b0\u5efa\u5de5\u7a0b<\/h5>\n<ul>\n<li>\u6253\u5f00STM32CubeMX&#xff0c;\u70b9\u51fb\u201cNew Project\u201d&#xff0c;\u641c\u7d22\u201cSTM32F103C8T6\u201d&#xff0c;\u9009\u62e9\u5bf9\u5e94\u578b\u53f7\u540e\u70b9\u51fb\u201cStart Project\u201d\u3002<\/li>\n<li>\u5f39\u51fa\u7684\u201cProject Manager\u201d\u754c\u9762\u4e2d&#xff0c;\u6682\u4e0d\u4fee\u6539&#xff0c;\u70b9\u51fb\u201cOK\u201d\u3002<\/li>\n<\/ul>\n<h5>\u6b65\u9aa42&#xff1a;\u914d\u7f6eRCC\u65f6\u949f<\/h5>\n<ul>\n<li>\u5de6\u4fa7\u83dc\u5355\u680f\u9009\u62e9\u201cRCC\u201d&#xff0c;\u5728\u201cHigh Speed Clock (HSE)\u201d\u4e2d\u9009\u62e9\u201cCrystal\/Ceramic Resonator\u201d&#xff08;\u5916\u90e8\u6676\u632f&#xff09;\u3002<\/li>\n<li>\u70b9\u51fb\u9876\u90e8\u201cClock Configuration\u201d&#xff0c;\u5c06\u7cfb\u7edf\u65f6\u949f\u914d\u7f6e\u4e3a72MHz&#xff08;HSE&#061;8MHz&#xff0c;PLL\u500d\u98919\u500d&#xff09;\u3002<\/li>\n<\/ul>\n<h5>\u6b65\u9aa43&#xff1a;\u914d\u7f6eGPIO\u5f15\u811a<\/h5>\n<ul>\n<li>\u5de6\u4fa7\u83dc\u5355\u680f\u9009\u62e9\u201cGPIO\u201d&#xff1a;\n<ul>\n<li>PB0&#xff1a;\u8bbe\u7f6e\u4e3a\u201cOutput Push Pull\u201d&#xff08;\u63a8\u633d\u8f93\u51fa&#xff09;&#xff0c;\u547d\u540d\u4e3a\u201cIN1\u201d&#xff1b;<\/li>\n<li>PB1&#xff1a;\u8bbe\u7f6e\u4e3a\u201cOutput Push Pull\u201d&#xff08;\u63a8\u633d\u8f93\u51fa&#xff09;&#xff0c;\u547d\u540d\u4e3a\u201cIN2\u201d&#xff1b;<\/li>\n<li>PB2&#xff1a;\u8bbe\u7f6e\u4e3a\u201cAlternate Function Push Pull\u201d&#xff08;\u590d\u7528\u63a8\u633d\u8f93\u51fa&#xff09;&#xff0c;\u7528\u4e8ePWM\u8f93\u51fa&#xff0c;\u547d\u540d\u4e3a\u201cENA\u201d&#xff1b;<\/li>\n<li>\u5176\u4f59GPIO\u9ed8\u8ba4\u914d\u7f6e\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h5>\u6b65\u9aa44&#xff1a;\u914d\u7f6eADC<\/h5>\n<ul>\n<li>\u5de6\u4fa7\u83dc\u5355\u680f\u9009\u62e9\u201cADC1\u201d&#xff1a;\n<ul>\n<li>\u6a21\u5f0f\u9009\u62e9\u201cIndependent Mode\u201d&#xff08;\u72ec\u7acb\u6a21\u5f0f&#xff09;&#xff1b;<\/li>\n<li>\u901a\u9053\u914d\u7f6e&#xff1a;PA1\u8bbe\u7f6e\u4e3a\u201cIN1\u201d&#xff0c;\u91c7\u6837\u65f6\u95f4\u9009\u62e9\u201c239.5 Cycles\u201d&#xff08;\u63d0\u9ad8\u91c7\u6837\u7cbe\u5ea6&#xff09;&#xff1b;<\/li>\n<li>\u5f00\u542fADC\u8fde\u7eed\u8f6c\u6362\u6a21\u5f0f\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h5>\u6b65\u9aa45&#xff1a;\u914d\u7f6e\u5b9a\u65f6\u5668<\/h5>\n<ul>\n<li>\u5de6\u4fa7\u83dc\u5355\u680f\u9009\u62e9\u201cTIM2\u201d&#xff1a;\n<ul>\n<li>\u6a21\u5f0f\u9009\u62e9\u201cCounter Mode\u201d\u4e3a\u201cUp Counter\u201d&#xff1b;<\/li>\n<li>\u9884\u5206\u9891\u5668&#xff08;Prescaler&#xff09;\u8bbe\u7f6e\u4e3a71&#xff08;\u7cfb\u7edf\u65f6\u949f72MHz&#xff0c;\u5206\u9891\u540e1MHz&#xff09;&#xff1b;<\/li>\n<li>\u81ea\u52a8\u91cd\u88c5\u503c&#xff08;ARR&#xff09;\u8bbe\u7f6e\u4e3a65535&#xff1b;<\/li>\n<li>\u901a\u90531&#xff08;PA0&#xff09;\u8bbe\u7f6e\u4e3a\u201cInput Capture direct mode\u201d&#xff08;\u8f93\u5165\u6355\u83b7\u6a21\u5f0f&#xff09;&#xff0c;\u7528\u4e8e\u6355\u83b7\u970d\u5c14\u4f20\u611f\u5668\u8109\u51b2\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h5>\u6b65\u9aa46&#xff1a;\u751f\u6210\u4ee3\u7801<\/h5>\n<ul>\n<li>\u70b9\u51fb\u9876\u90e8\u201cProject Manager\u201d&#xff1a;\n<ul>\n<li>\u8bbe\u7f6e\u9879\u76ee\u540d\u79f0&#xff08;\u5982\u201cWindow_Control_System\u201d&#xff09;&#xff1b;<\/li>\n<li>\u9009\u62e9\u9879\u76ee\u8def\u5f84&#xff08;\u975e\u4e2d\u6587\u8def\u5f84&#xff09;&#xff1b;<\/li>\n<li>\u5de5\u5177\u94fe\/IDE\u9009\u62e9\u201cMDK-ARM\u201d&#xff0c;\u7248\u672c\u9009\u62e9\u201cV5\u201d&#xff1b;<\/li>\n<li>\u70b9\u51fb\u201cCode Generator\u201d&#xff0c;\u52fe\u9009\u201cGenerate peripheral initialization as a pair of \u2018.c\/.h\u2019 files per peripheral\u201d&#xff1b;<\/li>\n<li>\u70b9\u51fb\u201cGenerate Code\u201d&#xff0c;\u751f\u6210\u521d\u59cb\u5316\u4ee3\u7801\u540e\u7528Keil MDK\u6253\u5f00\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h3>\u56db\u3001\u6838\u5fc3\u4ee3\u7801\u7f16\u5199<\/h3>\n<h4>4.1 \u5934\u6587\u4ef6\u4e0e\u5168\u5c40\u53d8\u91cf\u5b9a\u4e49&#xff08;main.h&#xff09;<\/h4>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifndef<\/span> <span class=\"token expression\">__MAIN_H<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">__MAIN_H<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;stm32f1xx_hal.h&#034;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/* \u5f15\u811a\u5b9a\u4e49 *\/<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">IN1_PIN<\/span> <span class=\"token expression\">GPIO_PIN_0<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">IN1_GPIO_PORT<\/span> <span class=\"token expression\">GPIOB<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">IN2_PIN<\/span> <span class=\"token expression\">GPIO_PIN_1<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">IN2_GPIO_PORT<\/span> <span class=\"token expression\">GPIOB<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">ENA_PIN<\/span> <span class=\"token expression\">GPIO_PIN_2<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">ENA_GPIO_PORT<\/span> <span class=\"token expression\">GPIOB<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/* \u9608\u503c\u5b9a\u4e49 *\/<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">RAIN_THRESHOLD<\/span> <span class=\"token expression\"><span class=\"token number\">1500<\/span>    <\/span><span class=\"token comment\">\/\/ \u96e8\u6ef4\u4f20\u611f\u5668\u9608\u503c&#xff08;ADC\u503c&#xff0c;\u8d8a\u5c0f\u96e8\u91cf\u8d8a\u5927&#xff09;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">PULSE_THRESHOLD<\/span> <span class=\"token expression\"><span class=\"token number\">50<\/span>     <\/span><span class=\"token comment\">\/\/ \u9632\u5939\u8109\u51b2\u9891\u7387\u9608\u503c&#xff08;Hz&#xff09;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">WINDOW_POSITION_PULSE<\/span> <span class=\"token expression\"><span class=\"token number\">200<\/span> <\/span><span class=\"token comment\">\/\/ \u8f66\u7a97\u5230\u4f4d\u8109\u51b2\u6570<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/* \u5168\u5c40\u53d8\u91cf *\/<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">uint32_t<\/span> hall_pulse_count<span class=\"token punctuation\">;<\/span>    <span class=\"token comment\">\/\/ \u970d\u5c14\u8109\u51b2\u8ba1\u6570<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">uint32_t<\/span> pulse_frequency<span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u8109\u51b2\u9891\u7387<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">uint16_t<\/span> rain_adc_value<span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/ \u96e8\u6ef4\u4f20\u611f\u5668ADC\u503c<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">uint8_t<\/span> window_status<span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ \u8f66\u7a97\u72b6\u6001&#xff1a;0-\u505c\u6b62&#xff0c;1-\u5347\u7a97&#xff0c;2-\u964d\u7a97<\/span><\/p>\n<p><span class=\"token comment\">\/* \u51fd\u6570\u58f0\u660e *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">SystemClock_Config<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">MX_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">MX_ADC1_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">MX_TIM2_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Motor_Control<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> cmd<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u7535\u673a\u63a7\u5236\u51fd\u6570<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Hall_Pulse_Capture<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ \u970d\u5c14\u8109\u51b2\u6355\u83b7\u5904\u7406<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Rain_Detect<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>              <span class=\"token comment\">\/\/ \u96e8\u6ef4\u68c0\u6d4b\u51fd\u6570<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Anti_Pinch_Check<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>         <span class=\"token comment\">\/\/ \u9632\u5939\u68c0\u6d4b\u51fd\u6570<\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span> <span class=\"token comment\">\/* __MAIN_H *\/<\/span><\/span><\/p>\n<h4>4.2 \u5916\u8bbe\u521d\u59cb\u5316\u4ee3\u7801&#xff08;main.c&#xff09;<\/h4>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;main.h&#034;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/* \u5168\u5c40\u53d8\u91cf\u5b9a\u4e49 *\/<\/span><br \/>\n<span class=\"token class-name\">uint32_t<\/span> hall_pulse_count <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint32_t<\/span> pulse_frequency <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint16_t<\/span> rain_adc_value <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> window_status <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/* TIM2\u53e5\u67c4 *\/<\/span><br \/>\nTIM_HandleTypeDef htim2<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token comment\">\/* ADC\u53e5\u67c4 *\/<\/span><br \/>\nADC_HandleTypeDef hadc1<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/* \u7cfb\u7edf\u65f6\u949f\u914d\u7f6e *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">SystemClock_Config<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  RCC_OscInitTypeDef RCC_OscInitStruct <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  RCC_ClkInitTypeDef RCC_ClkInitStruct <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  RCC_PeriphCLKInitTypeDef PeriphClkInit <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/* \u914d\u7f6e\u5916\u90e8\u6676\u632fHSE *\/<\/span><br \/>\n  RCC_OscInitStruct<span class=\"token punctuation\">.<\/span>OscillatorType <span class=\"token operator\">&#061;<\/span> RCC_OSCILLATORTYPE_HSE<span class=\"token punctuation\">;<\/span><br \/>\n  RCC_OscInitStruct<span class=\"token punctuation\">.<\/span>HSEState <span class=\"token operator\">&#061;<\/span> RCC_HSE_ON<span class=\"token punctuation\">;<\/span><br \/>\n  RCC_OscInitStruct<span class=\"token punctuation\">.<\/span>HSEPredivValue <span class=\"token operator\">&#061;<\/span> RCC_HSE_PREDIV_DIV1<span class=\"token punctuation\">;<\/span><br \/>\n  RCC_OscInitStruct<span class=\"token punctuation\">.<\/span>PLL<span class=\"token punctuation\">.<\/span>PLLState <span class=\"token operator\">&#061;<\/span> RCC_PLL_ON<span class=\"token punctuation\">;<\/span><br \/>\n  RCC_OscInitStruct<span class=\"token punctuation\">.<\/span>PLL<span class=\"token punctuation\">.<\/span>PLLSource <span class=\"token operator\">&#061;<\/span> RCC_PLLSOURCE_HSE<span class=\"token punctuation\">;<\/span><br \/>\n  RCC_OscInitStruct<span class=\"token punctuation\">.<\/span>PLL<span class=\"token punctuation\">.<\/span>PLLMUL <span class=\"token operator\">&#061;<\/span> RCC_PLL_MUL9<span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_RCC_OscConfig<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>RCC_OscInitStruct<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><\/p>\n<p>  <span class=\"token comment\">\/* \u914d\u7f6e\u7cfb\u7edf\u65f6\u949f *\/<\/span><br \/>\n  RCC_ClkInitStruct<span class=\"token punctuation\">.<\/span>ClockType <span class=\"token operator\">&#061;<\/span> RCC_CLOCKTYPE_HCLK<span class=\"token operator\">|<\/span>RCC_CLOCKTYPE_SYSCLK<br \/>\n                              <span class=\"token operator\">|<\/span>RCC_CLOCKTYPE_PCLK1<span class=\"token operator\">|<\/span>RCC_CLOCKTYPE_PCLK2<span class=\"token punctuation\">;<\/span><br \/>\n  RCC_ClkInitStruct<span class=\"token punctuation\">.<\/span>SYSCLKSource <span class=\"token operator\">&#061;<\/span> RCC_SYSCLKSOURCE_PLLCLK<span class=\"token punctuation\">;<\/span><br \/>\n  RCC_ClkInitStruct<span class=\"token punctuation\">.<\/span>AHBCLKDivider <span class=\"token operator\">&#061;<\/span> RCC_SYSCLK_DIV1<span class=\"token punctuation\">;<\/span><br \/>\n  RCC_ClkInitStruct<span class=\"token punctuation\">.<\/span>APB1CLKDivider <span class=\"token operator\">&#061;<\/span> RCC_HCLK_DIV2<span class=\"token punctuation\">;<\/span><br \/>\n  RCC_ClkInitStruct<span class=\"token punctuation\">.<\/span>APB2CLKDivider <span class=\"token operator\">&#061;<\/span> RCC_HCLK_DIV1<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_RCC_ClockConfig<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>RCC_ClkInitStruct<span class=\"token punctuation\">,<\/span> FLASH_LATENCY_2<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n  PeriphClkInit<span class=\"token punctuation\">.<\/span>PeriphClockSelection <span class=\"token operator\">&#061;<\/span> RCC_PERIPHCLK_ADC<span class=\"token punctuation\">;<\/span><br \/>\n  PeriphClkInit<span class=\"token punctuation\">.<\/span>AdcClockSelection <span class=\"token operator\">&#061;<\/span> RCC_ADCPCLK2_DIV6<span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_RCCEx_PeriphCLKConfig<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>PeriphClkInit<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* ADC1\u521d\u59cb\u5316 *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">MX_ADC1_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  ADC_ChannelConfTypeDef sConfig <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/* ADC\u57fa\u7840\u914d\u7f6e *\/<\/span><br \/>\n  hadc1<span class=\"token punctuation\">.<\/span>Instance <span class=\"token operator\">&#061;<\/span> ADC1<span class=\"token punctuation\">;<\/span><br \/>\n  hadc1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>ScanConvMode <span class=\"token operator\">&#061;<\/span> ADC_SCAN_DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n  hadc1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>ContinuousConvMode <span class=\"token operator\">&#061;<\/span> ENABLE<span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u8fde\u7eed\u8f6c\u6362\u6a21\u5f0f<\/span><br \/>\n  hadc1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>DiscontinuousConvMode <span class=\"token operator\">&#061;<\/span> DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n  hadc1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>ExternalTrigConv <span class=\"token operator\">&#061;<\/span> ADC_SOFTWARE_START<span class=\"token punctuation\">;<\/span><br \/>\n  hadc1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>DataAlign <span class=\"token operator\">&#061;<\/span> ADC_DATAALIGN_RIGHT<span class=\"token punctuation\">;<\/span><br \/>\n  hadc1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>NbrOfConversion <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_ADC_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hadc1<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><\/p>\n<p>  <span class=\"token comment\">\/* \u914d\u7f6eADC\u901a\u90531&#xff08;PA1&#xff09; *\/<\/span><br \/>\n  sConfig<span class=\"token punctuation\">.<\/span>Channel <span class=\"token operator\">&#061;<\/span> ADC_CHANNEL_1<span class=\"token punctuation\">;<\/span><br \/>\n  sConfig<span class=\"token punctuation\">.<\/span>Rank <span class=\"token operator\">&#061;<\/span> ADC_REGULAR_RANK_1<span class=\"token punctuation\">;<\/span><br \/>\n  sConfig<span class=\"token punctuation\">.<\/span>SamplingTime <span class=\"token operator\">&#061;<\/span> ADC_SAMPLETIME_239CYCLES_5<span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_ADC_ConfigChannel<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hadc1<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>sConfig<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><\/p>\n<p>  <span class=\"token comment\">\/* \u542f\u52a8ADC\u8f6c\u6362 *\/<\/span><br \/>\n  <span class=\"token function\">HAL_ADC_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hadc1<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* TIM2\u521d\u59cb\u5316&#xff08;\u8f93\u5165\u6355\u83b7&#xff09; *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">MX_TIM2_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  TIM_IC_InitTypeDef sConfigIC <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  htim2<span class=\"token punctuation\">.<\/span>Instance <span class=\"token operator\">&#061;<\/span> TIM2<span class=\"token punctuation\">;<\/span><br \/>\n  htim2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>Prescaler <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">71<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5206\u9891\u540e1MHz<\/span><br \/>\n  htim2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>CounterMode <span class=\"token operator\">&#061;<\/span> TIM_COUNTERMODE_UP<span class=\"token punctuation\">;<\/span><br \/>\n  htim2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>Period <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">65535<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  htim2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>ClockDivision <span class=\"token operator\">&#061;<\/span> TIM_CLOCKDIVISION_DIV1<span class=\"token punctuation\">;<\/span><br \/>\n  htim2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>AutoReloadPreload <span class=\"token operator\">&#061;<\/span> TIM_AUTORELOAD_PRELOAD_DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_TIM_IC_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim2<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><\/p>\n<p>  <span class=\"token comment\">\/* \u914d\u7f6eTIM2\u901a\u90531\u4e3a\u8f93\u5165\u6355\u83b7 *\/<\/span><br \/>\n  sConfigIC<span class=\"token punctuation\">.<\/span>ICPolarity <span class=\"token operator\">&#061;<\/span> TIM_INPUTCHANNELPOLARITY_RISING<span class=\"token punctuation\">;<\/span><br \/>\n  sConfigIC<span class=\"token punctuation\">.<\/span>ICSelection <span class=\"token operator\">&#061;<\/span> TIM_ICSELECTION_DIRECTTI<span class=\"token punctuation\">;<\/span><br \/>\n  sConfigIC<span class=\"token punctuation\">.<\/span>ICPrescaler <span class=\"token operator\">&#061;<\/span> TIM_ICPSC_DIV1<span class=\"token punctuation\">;<\/span><br \/>\n  sConfigIC<span class=\"token punctuation\">.<\/span>ICFilter <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_TIM_IC_ConfigChannel<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim2<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>sConfigIC<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_1<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><\/p>\n<p>  <span class=\"token comment\">\/* \u542f\u52a8\u8f93\u5165\u6355\u83b7\u4e2d\u65ad *\/<\/span><br \/>\n  <span class=\"token function\">HAL_TIM_IC_Start_IT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim2<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_1<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token comment\">\/* \u5f00\u542fTIM2\u4e2d\u65ad *\/<\/span><br \/>\n  <span class=\"token function\">HAL_NVIC_EnableIRQ<\/span><span class=\"token punctuation\">(<\/span>TIM2_IRQn<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">HAL_NVIC_SetPriority<\/span><span class=\"token punctuation\">(<\/span>TIM2_IRQn<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* GPIO\u521d\u59cb\u5316 *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">MX_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  GPIO_InitTypeDef GPIO_InitStruct <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/* \u4f7f\u80fdGPIO\u65f6\u949f *\/<\/span><br \/>\n  <span class=\"token function\">__HAL_RCC_GPIOB_CLK_ENABLE<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">__HAL_RCC_GPIOA_CLK_ENABLE<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/* \u914d\u7f6eIN1(PB0)\u3001IN2(PB1)\u4e3a\u8f93\u51fa *\/<\/span><br \/>\n  GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pin <span class=\"token operator\">&#061;<\/span> IN1_PIN<span class=\"token operator\">|<\/span>IN2_PIN<span class=\"token punctuation\">;<\/span><br \/>\n  GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> GPIO_MODE_OUTPUT_PP<span class=\"token punctuation\">;<\/span><br \/>\n  GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pull <span class=\"token operator\">&#061;<\/span> GPIO_NOPULL<span class=\"token punctuation\">;<\/span><br \/>\n  GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Speed <span class=\"token operator\">&#061;<\/span> GPIO_SPEED_FREQ_HIGH<span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">HAL_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStruct<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/* \u914d\u7f6eENA(PB2)\u4e3a\u590d\u7528\u8f93\u51fa&#xff08;PWM&#xff09; *\/<\/span><br \/>\n  GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pin <span class=\"token operator\">&#061;<\/span> ENA_PIN<span class=\"token punctuation\">;<\/span><br \/>\n  GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> GPIO_MODE_AF_PP<span class=\"token punctuation\">;<\/span><br \/>\n  GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Speed <span class=\"token operator\">&#061;<\/span> GPIO_SPEED_FREQ_HIGH<span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">HAL_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>ENA_GPIO_PORT<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStruct<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/* \u521d\u59cb\u72b6\u6001&#xff1a;\u7535\u673a\u505c\u6b62 *\/<\/span><br \/>\n  <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>IN1_GPIO_PORT<span class=\"token punctuation\">,<\/span> IN1_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>IN2_GPIO_PORT<span class=\"token punctuation\">,<\/span> IN2_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* \u9519\u8bef\u5904\u7406\u51fd\u6570 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token function\">__disable_irq<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u51fa\u9519\u65f6\u53ef\u6dfb\u52a0LED\u95ea\u70c1\u63d0\u793a<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">USE_FULL_ASSERT<\/span><\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">assert_failed<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>file<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> line<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span> <span class=\"token comment\">\/* USE_FULL_ASSERT *\/<\/span><\/span><\/p>\n<h4>4.3 \u6838\u5fc3\u529f\u80fd\u51fd\u6570&#xff08;main.c\u7eed&#xff09;<\/h4>\n<p><span class=\"token comment\">\/* \u7535\u673a\u63a7\u5236\u51fd\u6570&#xff1a;cmd&#061;0-\u505c\u6b62&#xff0c;1-\u5347\u7a97&#xff08;\u6b63\u8f6c&#xff09;&#xff0c;2-\u964d\u7a97&#xff08;\u53cd\u8f6c&#xff09; *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Motor_Control<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> cmd<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token keyword\">switch<\/span><span class=\"token punctuation\">(<\/span>cmd<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">case<\/span> <span class=\"token number\">0<\/span><span class=\"token operator\">:<\/span> <span class=\"token comment\">\/\/ \u505c\u6b62<\/span><br \/>\n      <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>IN1_GPIO_PORT<span class=\"token punctuation\">,<\/span> IN1_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>IN2_GPIO_PORT<span class=\"token punctuation\">,<\/span> IN2_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      window_status <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token keyword\">break<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">case<\/span> <span class=\"token number\">1<\/span><span class=\"token operator\">:<\/span> <span class=\"token comment\">\/\/ \u5347\u7a97<\/span><br \/>\n      <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>IN1_GPIO_PORT<span class=\"token punctuation\">,<\/span> IN1_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_SET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>IN2_GPIO_PORT<span class=\"token punctuation\">,<\/span> IN2_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token comment\">\/\/ \u914d\u7f6eTIM2\u901a\u90532\u4e3aPWM\u8f93\u51fa&#xff08;ENA\u5f15\u811a&#xff09;&#xff0c;\u5360\u7a7a\u6bd480%<\/span><br \/>\n      TIM_OC_InitTypeDef sConfigOC <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      sConfigOC<span class=\"token punctuation\">.<\/span>OCMode <span class=\"token operator\">&#061;<\/span> TIM_OCMODE_PWM1<span class=\"token punctuation\">;<\/span><br \/>\n      sConfigOC<span class=\"token punctuation\">.<\/span>Pulse <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">4000<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5360\u7a7a\u6bd4&#061;4000\/5000&#061;80%<\/span><br \/>\n      sConfigOC<span class=\"token punctuation\">.<\/span>OCPolarity <span class=\"token operator\">&#061;<\/span> TIM_OCPOLARITY_HIGH<span class=\"token punctuation\">;<\/span><br \/>\n      sConfigOC<span class=\"token punctuation\">.<\/span>OCFastMode <span class=\"token operator\">&#061;<\/span> TIM_OCFAST_DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token function\">HAL_TIM_PWM_ConfigChannel<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim2<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>sConfigOC<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_2<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token function\">HAL_TIM_PWM_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim2<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_2<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      window_status <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token keyword\">break<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">case<\/span> <span class=\"token number\">2<\/span><span class=\"token operator\">:<\/span> <span class=\"token comment\">\/\/ \u964d\u7a97<\/span><br \/>\n      <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>IN1_GPIO_PORT<span class=\"token punctuation\">,<\/span> IN1_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>IN2_GPIO_PORT<span class=\"token punctuation\">,<\/span> IN2_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_SET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token comment\">\/\/ \u914d\u7f6ePWM\u5360\u7a7a\u6bd480%<\/span><br \/>\n      TIM_OC_InitTypeDef sConfigOC2 <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      sConfigOC2<span class=\"token punctuation\">.<\/span>OCMode <span class=\"token operator\">&#061;<\/span> TIM_OCMODE_PWM1<span class=\"token punctuation\">;<\/span><br \/>\n      sConfigOC2<span class=\"token punctuation\">.<\/span>Pulse <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">4000<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      sConfigOC2<span class=\"token punctuation\">.<\/span>OCPolarity <span class=\"token operator\">&#061;<\/span> TIM_OCPOLARITY_HIGH<span class=\"token punctuation\">;<\/span><br \/>\n      sConfigOC2<span class=\"token punctuation\">.<\/span>OCFastMode <span class=\"token operator\">&#061;<\/span> TIM_OCFAST_DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token function\">HAL_TIM_PWM_ConfigChannel<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim2<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>sConfigOC2<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_2<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token function\">HAL_TIM_PWM_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim2<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_2<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      window_status <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token keyword\">break<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">default<\/span><span class=\"token operator\">:<\/span><br \/>\n      <span class=\"token function\">Motor_Control<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token keyword\">break<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* \u970d\u5c14\u8109\u51b2\u6355\u83b7\u4e2d\u65ad\u5904\u7406\u51fd\u6570 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">TIM2_IRQHandler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token function\">HAL_TIM_IRQHandler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim2<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* \u8f93\u5165\u6355\u83b7\u56de\u8c03\u51fd\u6570 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_TIM_IC_CaptureCallback<\/span><span class=\"token punctuation\">(<\/span>TIM_HandleTypeDef <span class=\"token operator\">*<\/span>htim<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token keyword\">static<\/span> <span class=\"token class-name\">uint32_t<\/span> last_capture_time <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token class-name\">uint32_t<\/span> current_capture_time <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>htim<span class=\"token operator\">-&gt;<\/span>Instance <span class=\"token operator\">&#061;&#061;<\/span> TIM2 <span class=\"token operator\">&amp;&amp;<\/span> htim<span class=\"token operator\">-&gt;<\/span>Channel <span class=\"token operator\">&#061;&#061;<\/span> HAL_TIM_ACTIVE_CHANNEL_1<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u83b7\u53d6\u5f53\u524d\u6355\u83b7\u503c<\/span><br \/>\n    current_capture_time <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_TIM_ReadCapturedValue<\/span><span class=\"token punctuation\">(<\/span>htim<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_1<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u8ba1\u7b97\u8109\u51b2\u5468\u671f&#xff0c;\u8f6c\u6362\u4e3a\u9891\u7387&#xff08;Hz&#xff09;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>current_capture_time <span class=\"token operator\">&gt;<\/span> last_capture_time<span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n      pulse_frequency <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1000000<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token punctuation\">(<\/span>current_capture_time <span class=\"token operator\">&#8211;<\/span> last_capture_time<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    last_capture_time <span class=\"token operator\">&#061;<\/span> current_capture_time<span class=\"token punctuation\">;<\/span><br \/>\n    hall_pulse_count<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u8109\u51b2\u8ba1\u6570&#043;1<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* \u96e8\u6ef4\u68c0\u6d4b\u51fd\u6570&#xff1a;\u8bfb\u53d6ADC\u503c\u5e76\u5224\u65ad *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Rain_Detect<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token comment\">\/\/ \u8bfb\u53d6ADC\u8f6c\u6362\u503c<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_ADC_PollForConversion<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hadc1<span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    rain_adc_value <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_ADC_GetValue<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hadc1<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u68c0\u6d4b\u5230\u96e8\u6ef4&#xff0c;\u89e6\u53d1\u81ea\u52a8\u5173\u7a97<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>rain_adc_value <span class=\"token operator\">&lt;<\/span> RAIN_THRESHOLD <span class=\"token operator\">&amp;&amp;<\/span> window_status <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">Motor_Control<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u542f\u52a8\u5347\u7a97<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* \u9632\u5939\u68c0\u6d4b\u51fd\u6570&#xff1a;\u5224\u65ad\u8109\u51b2\u9891\u7387\u662f\u5426\u4f4e\u4e8e\u9608\u503c *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Anti_Pinch_Check<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token comment\">\/\/ \u4ec5\u5728\u5347\u7a97\/\u964d\u7a97\u65f6\u68c0\u6d4b<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>window_status <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">1<\/span> <span class=\"token operator\">||<\/span> window_status <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u8109\u51b2\u9891\u7387\u4f4e\u4e8e\u9608\u503c&#xff0c;\u89e6\u53d1\u9632\u5939<\/span><br \/>\n    <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>pulse_frequency <span class=\"token operator\">&lt;<\/span> PULSE_THRESHOLD<span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n      <span class=\"token function\">Motor_Control<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u505c\u6b62\u7535\u673a<\/span><br \/>\n      <span class=\"token function\">HAL_Delay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">100<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u5ef6\u65f6100ms<\/span><br \/>\n      <span class=\"token function\">Motor_Control<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u53cd\u8f6c\u964d\u7a970.5\u79d2<\/span><br \/>\n      <span class=\"token function\">HAL_Delay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">500<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token function\">Motor_Control<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u505c\u6b62\u7535\u673a<\/span><br \/>\n      hall_pulse_count <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u91cd\u7f6e\u8109\u51b2\u8ba1\u6570<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8f66\u7a97\u5230\u4f4d&#xff08;\u8109\u51b2\u6570\u8fbe\u5230\u9608\u503c&#xff09;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>hall_pulse_count <span class=\"token operator\">&gt;&#061;<\/span> WINDOW_POSITION_PULSE<span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n      <span class=\"token function\">Motor_Control<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u505c\u6b62\u7535\u673a<\/span><br \/>\n      hall_pulse_count <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u91cd\u7f6e\u8109\u51b2\u8ba1\u6570<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* \u4e3b\u51fd\u6570 *\/<\/span><br \/>\n<span class=\"token keyword\">int<\/span> <span class=\"token function\">main<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token comment\">\/* \u521d\u59cb\u5316HAL\u5e93 *\/<\/span><br \/>\n  <span class=\"token function\">HAL_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/* \u914d\u7f6e\u7cfb\u7edf\u65f6\u949f *\/<\/span><br \/>\n  <span class=\"token function\">SystemClock_Config<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/* \u521d\u59cb\u5316\u5916\u8bbe *\/<\/span><br \/>\n  <span class=\"token function\">MX_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">MX_ADC1_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">MX_TIM2_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/* \u4e3b\u5faa\u73af *\/<\/span><br \/>\n  <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">Rain_Detect<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ \u96e8\u6ef4\u68c0\u6d4b<\/span><br \/>\n    <span class=\"token function\">Anti_Pinch_Check<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u9632\u5939\u68c0\u6d4b<\/span><br \/>\n    <span class=\"token function\">HAL_Delay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ \u4e3b\u5faa\u73af\u5ef6\u65f610ms&#xff0c;\u964d\u4f4eCPU\u5360\u7528<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h3>\u4e94\u3001\u4ee3\u7801\u70e7\u5f55\u4e0e\u8c03\u8bd5<\/h3>\n<h4>5.1 \u4ee3\u7801\u7f16\u8bd1\u4e0e\u70e7\u5f55<\/h4>\n<li>\u5728Keil MDK\u4e2d\u6253\u5f00\u751f\u6210\u7684\u5de5\u7a0b&#xff0c;\u5c06\u4e0a\u8ff0\u4ee3\u7801\u8865\u5145\u5230\u5bf9\u5e94\u6587\u4ef6\u4e2d\u3002<\/li>\n<li>\u70b9\u51fb\u201cBuild\u201d\u6309\u94ae\u7f16\u8bd1\u4ee3\u7801&#xff0c;\u786e\u4fdd\u65e0\u9519\u8bef&#xff08;0 Error&#xff09;\u3001\u65e0\u8b66\u544a&#xff08;0 Warning&#xff09;\u3002<\/li>\n<li>\u8fde\u63a5ST-Link\u4e0b\u8f7d\u5668\u5230STM32\u6700\u5c0f\u7cfb\u7edf\u677f\u7684SWD\u63a5\u53e3&#xff0c;\u540c\u65f6\u8fde\u63a5\u7535\u8111USB\u3002<\/li>\n<li>\u5728Keil\u4e2d\u70b9\u51fb\u201cDownload\u201d\u6309\u94ae&#xff0c;\u5c06\u7f16\u8bd1\u540e\u7684\u4ee3\u7801\u70e7\u5f55\u5230STM32\u4e2d\u3002<\/li>\n<h4>5.2 \u786c\u4ef6\u8c03\u8bd5\u6b65\u9aa4<\/h4>\n<h5>\u6b65\u9aa41&#xff1a;\u7535\u6e90\u8c03\u8bd5<\/h5>\n<ul>\n<li>\u7ed9STM32\u4f9b\u7535&#xff08;5V&#xff09;&#xff0c;\u7ed9L298N\u9a71\u52a8\u6a21\u5757\u4f9b\u7535&#xff08;12V&#xff09;&#xff0c;\u786e\u4fdd\u6240\u6709\u786c\u4ef6\u901a\u7535\u540e\u65e0\u53d1\u70eb\u3001\u77ed\u8def\u73b0\u8c61\u3002<\/li>\n<li>\u6d4b\u91cfSTM32\u5f15\u811a\u8f93\u51fa&#xff1a;\u672a\u89e6\u53d1\u6307\u4ee4\u65f6&#xff0c;PB0\u3001PB1\u5e94\u4e3a\u4f4e\u7535\u5e73&#xff0c;ENA\u5f15\u811a\u65e0PWM\u8f93\u51fa\u3002<\/li>\n<\/ul>\n<h5>\u6b65\u9aa42&#xff1a;\u96e8\u6ef4\u4f20\u611f\u5668\u8c03\u8bd5<\/h5>\n<ul>\n<li>\u7528\u55b7\u58f6\u5411\u96e8\u6ef4\u4f20\u611f\u5668\u55b7\u6c34&#xff0c;\u89c2\u5bdfSTM32\u7684PA1\u5f15\u811aADC\u503c\u53d8\u5316&#xff08;\u53ef\u901a\u8fc7\u4e32\u53e3\u6253\u5370&#xff0c;\u9700\u6dfb\u52a0\u4e32\u53e3\u4ee3\u7801&#xff09;&#xff0c;\u6b63\u5e38\u60c5\u51b5\u4e0bADC\u503c\u5e94\u968f\u96e8\u91cf\u589e\u5927\u800c\u51cf\u5c0f\u3002<\/li>\n<li>\u5f53ADC\u503c\u4f4e\u4e8eRAIN_THRESHOLD\u65f6&#xff0c;\u5e94\u89e6\u53d1\u8f66\u7a97\u5347\u7a97\u52a8\u4f5c\u3002<\/li>\n<\/ul>\n<h5>\u6b65\u9aa43&#xff1a;\u970d\u5c14\u4f20\u611f\u5668\u8c03\u8bd5<\/h5>\n<ul>\n<li>\u624b\u52a8\u8f6c\u52a8\u8f66\u7a97\u7535\u673a&#xff0c;\u89c2\u5bdfPA0\u5f15\u811a\u662f\u5426\u6709\u8109\u51b2\u4fe1\u53f7\u8f93\u51fa&#xff08;\u53ef\u7528\u793a\u6ce2\u5668\u6216\u903b\u8f91\u5206\u6790\u4eea\u68c0\u6d4b&#xff09;&#xff0c;\u540c\u65f6\u67e5\u770bhall_pulse_count\u53d8\u91cf\u662f\u5426\u9012\u589e\u3002<\/li>\n<li>\u6b63\u5e38\u60c5\u51b5\u4e0b&#xff0c;\u7535\u673a\u8f6c\u901f\u8d8a\u5feb&#xff0c;pulse_frequency\u503c\u8d8a\u5927\u3002<\/li>\n<\/ul>\n<h5>\u6b65\u9aa44&#xff1a;\u9632\u5939\u529f\u80fd\u8c03\u8bd5<\/h5>\n<ul>\n<li>\u542f\u52a8\u5347\u7a97\u6307\u4ee4&#xff0c;\u5728\u8f66\u7a97\u5347\u964d\u8fc7\u7a0b\u4e2d\u7528\u624b\u963b\u6321\u8f66\u7a97&#xff0c;\u89c2\u5bdf\u7535\u673a\u662f\u5426\u7acb\u5373\u505c\u6b62\u5e76\u53cd\u8f6c0.5\u79d2&#xff0c;\u9a8c\u8bc1\u9632\u5939\u529f\u80fd\u662f\u5426\u751f\u6548\u3002<\/li>\n<li>\u82e5\u9632\u5939\u4e0d\u751f\u6548&#xff0c;\u53ef\u8c03\u6574PULSE_THRESHOLD\u9608\u503c&#xff08;\u6839\u636e\u5b9e\u9645\u7535\u673a\u8f6c\u901f\u8c03\u6574&#xff09;\u3002<\/li>\n<\/ul>\n<h4>5.3 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