{"id":68525,"date":"2026-01-30T07:26:02","date_gmt":"2026-01-29T23:26:02","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/68525.html"},"modified":"2026-01-30T07:26:02","modified_gmt":"2026-01-29T23:26:02","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%e5%a3%b0%e6%ba%90%e5%ae%9a%e4%bd%8d%e6%91%84%e5%83%8f%e5%a4%b4%e8%87%aa%e5%8a%a8%e6%8b%8d%e7%85%a7%e7%b3%bb%e7%bb%9f","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/68525.html","title":{"rendered":"\u573a\u666f\u5b9e\u6218\uff1a\u57fa\u4e8eSTM32\u7684\u58f0\u6e90\u5b9a\u4f4d\u6444\u50cf\u5934\u81ea\u52a8\u62cd\u7167\u7cfb\u7edf\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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span{fill:#2c3e50!important;stroke:#ffffff!important;stroke-width:2px!important;color:#ffffff!important;fontSize:14px!important;fontFamily:Arial!important;}#mermaid-svg-6wwKj0MGUxhwh7s8 .darkStyle tspan{fill:#ffffff!important;}#mermaid-svg-6wwKj0MGUxhwh7s8 .startEnd&gt;*{fill:#e74c3e!important;stroke:#ffffff!important;stroke-width:2px!important;color:#ffffff!important;fontSize:14px!important;fontFamily:Arial!important;}#mermaid-svg-6wwKj0MGUxhwh7s8 .startEnd span{fill:#e74c3e!important;stroke:#ffffff!important;stroke-width:2px!important;color:#ffffff!important;fontSize:14px!important;fontFamily:Arial!important;}#mermaid-svg-6wwKj0MGUxhwh7s8 .startEnd tspan{fill:#ffffff!important;}#mermaid-svg-6wwKj0MGUxhwh7s8 .decision&gt;*{fill:#3498db!important;stroke:#ffffff!important;stroke-width:2px!important;color:#ffffff!important;fontSize:14px!important;fontFamily:Arial!important;}#mermaid-svg-6wwKj0MGUxhwh7s8 .decision 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OLED12864&#xff08;\u84dd\u8272&#xff09;<\/td>\n<td>1<\/td>\n<td>\u663e\u793a\u89d2\u5ea6\/\u5f3a\u5ea6\/\u62cd\u7167\u72b6\u6001<\/td>\n<\/tr>\n<tr>\n<td>\u6309\u952e\u6a21\u5757<\/td>\n<td>\u8f7b\u89e6\u6309\u952e&#xff08;\u5e26\u6d88\u6296&#xff09;<\/td>\n<td>3<\/td>\n<td>\u96f6\u70b9\u6821\u51c6\/\u9608\u503c\u8c03\u6574\/\u624b\u52a8\u62cd\u7167<\/td>\n<\/tr>\n<tr>\n<td>\u7535\u6e90\u6a21\u5757<\/td>\n<td>DC-DC 5V 3A&#xff08;USB\u4f9b\u7535&#xff09;<\/td>\n<td>1<\/td>\n<td>\u7ed9STM32\/\u9ea6\u514b\u98ce\/\u8235\u673a\/\u6444\u50cf\u5934\u4f9b\u7535<\/td>\n<\/tr>\n<tr>\n<td>TF\u5361<\/td>\n<td>8GB Class10<\/td>\n<td>1<\/td>\n<td>\u5b58\u50a8\u6444\u50cf\u5934\u62cd\u6444\u7684\u7167\u7247<\/td>\n<\/tr>\n<tr>\n<td>\u675c\u90a6\u7ebf<\/td>\n<td>\u516c\u5bf9\u516c\/\u516c\u5bf9\u6bcd\/\u6bcd\u5bf9\u6bcd<\/td>\n<td>\u82e5\u5e72<\/td>\n<td>\u786c\u4ef6\u63a5\u7ebf<\/td>\n<\/tr>\n<tr>\n<td>ST-Link\u4e0b\u8f7d\u5668<\/td>\n<td>V2\u7248<\/td>\n<td>1<\/td>\n<td>\u4ee3\u7801\u70e7\u5f55\u4e0e\u8c03\u8bd5<\/td>\n<\/tr>\n<tr>\n<td>\u9762\u5305\u677f\/\u4e07\u80fd\u677f<\/td>\n<td>\u5927\u53f7<\/td>\n<td>1<\/td>\n<td>\u786c\u4ef6\u642d\u5efa\u5e73\u53f0<\/td>\n<\/tr>\n<tr>\n<td>\u4e91\u53f0\u652f\u67b6<\/td>\n<td>\u53cc\u8f74\u8235\u673a\u4e91\u53f0&#xff08;\u9002\u914dSG90&#xff09;<\/td>\n<td>1<\/td>\n<td>\u56fa\u5b9a\u6444\u50cf\u5934\u548c\u53cc\u8235\u673a<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>2.2 \u8be6\u7ec6\u63a5\u7ebf\u8bf4\u660e<\/h4>\n<h5>&#xff08;1&#xff09;STM32\u4e0e4\u9ea6\u514b\u98ce\u9635\u5217\u63a5\u7ebf<\/h5>\n<table>\n<tr>STM32\u5f15\u811a\u9ea6\u514b\u98ce\u9635\u5217\u5f15\u811a\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>PA0<\/td>\n<td>MIC1<\/td>\n<td>\u9ea6\u514b\u98ce1\u97f3\u9891\u4fe1\u53f7&#xff08;ADC\u8f93\u5165&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>PA1<\/td>\n<td>MIC2<\/td>\n<td>\u9ea6\u514b\u98ce2\u97f3\u9891\u4fe1\u53f7&#xff08;ADC\u8f93\u5165&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>PA2<\/td>\n<td>MIC3<\/td>\n<td>\u9ea6\u514b\u98ce3\u97f3\u9891\u4fe1\u53f7&#xff08;ADC\u8f93\u5165&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>PA3<\/td>\n<td>MIC4<\/td>\n<td>\u9ea6\u514b\u98ce4\u97f3\u9891\u4fe1\u53f7&#xff08;ADC\u8f93\u5165&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>3.3V<\/td>\n<td>VCC<\/td>\n<td>\u9ea6\u514b\u98ce\u9635\u5217\u4f9b\u7535&#xff08;3.3V&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>GND<\/td>\n<td>GND<\/td>\n<td>\u5171\u5730&#xff08;\u5fc5\u987b\u5171\u5730&#xff0c;\u4fdd\u8bc1ADC\u91c7\u6837\u7cbe\u5ea6&#xff09;<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u9ea6\u514b\u98ce\u9635\u5217\u9009\u578b\u8bf4\u660e&#xff1a;\u4f18\u5148\u9009\u62e9\u5e26\u653e\u5927\u7535\u8def\u76844\u9ea6\u514b\u98ce\u6a21\u5757&#xff08;\u5982WM8960&#xff09;&#xff0c;\u8f93\u51fa\u7535\u538b\u8303\u56f40~3.3V&#xff0c;\u5339\u914dSTM32 ADC\u91cf\u7a0b&#xff1b;\u82e5\u65e0\u73b0\u6210\u6a21\u5757&#xff0c;\u53ef\u81ea\u884c\u642d\u5efa4\u4e2a\u9a7b\u6781\u4f53\u9ea6\u514b\u98ce&#043;LM358\u8fd0\u653e\u653e\u5927\u7535\u8def\u3002<\/p>\n<h5>&#xff08;2&#xff09;STM32\u4e0e\u53ccSG90\u8235\u673a\u63a5\u7ebf<\/h5>\n<table>\n<tr>STM32\u5f15\u811a\u8235\u673a\u5f15\u811a\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>PB0<\/td>\n<td>\u6c34\u5e73\u8235\u673aPWM<\/td>\n<td>TIM3_CH3\u8f93\u51fa50Hz PWM\u4fe1\u53f7<\/td>\n<\/tr>\n<tr>\n<td>PB1<\/td>\n<td>\u5782\u76f4\u8235\u673aPWM<\/td>\n<td>TIM3_CH4\u8f93\u51fa50Hz PWM\u4fe1\u53f7<\/td>\n<\/tr>\n<tr>\n<td>5V<\/td>\n<td>\u8235\u673aVCC<\/td>\n<td>\u8235\u673a\u4f9b\u7535&#xff08;5V&#xff0c;\u72ec\u7acb\u4f9b\u7535\u66f4\u4f73&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>GND<\/td>\n<td>\u8235\u673aGND<\/td>\n<td>\u5171\u5730<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u8235\u673a\u4f9b\u7535\u6ce8\u610f&#xff1a;\u53ccSG90\u8235\u673a\u8f6c\u52a8\u65f6\u7535\u6d41\u5cf0\u503c\u7ea61A&#xff0c;\u5efa\u8bae\u5355\u72ec\u75285V 2A\u7535\u6e90\u4f9b\u7535&#xff0c;\u907f\u514dSTM32\u7535\u6e90\u6ce2\u52a8\u5bfc\u81f4ADC\u91c7\u6837\u8bef\u5dee\u3002<\/p>\n<h5>&#xff08;3&#xff09;STM32\u4e0eESP32-CAM\u6444\u50cf\u5934\u63a5\u7ebf<\/h5>\n<table>\n<tr>STM32\u5f15\u811aESP32-CAM\u5f15\u811a\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>PA9<\/td>\n<td>U0RXD<\/td>\n<td>STM32 USART1_TX \u2192 ESP32 RX<\/td>\n<\/tr>\n<tr>\n<td>PA10<\/td>\n<td>U0TXD<\/td>\n<td>STM32 USART1_RX \u2192 ESP32 TX<\/td>\n<\/tr>\n<tr>\n<td>5V<\/td>\n<td>5V<\/td>\n<td>\u6444\u50cf\u5934\u4f9b\u7535&#xff08;5V&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>GND<\/td>\n<td>GND<\/td>\n<td>\u5171\u5730<\/td>\n<\/tr>\n<tr>\n<td>EN<\/td>\n<td>3.3V<\/td>\n<td>ESP32\u4f7f\u80fd&#xff08;\u62c9\u9ad8&#xff09;<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>ESP32-CAM\u9884\u5148\u5237\u5165\u652f\u6301AT\u6307\u4ee4\u62cd\u7167\u7684\u56fa\u4ef6&#xff08;\u6587\u672b\u63d0\u4f9b\u56fa\u4ef6\u70e7\u5f55\u65b9\u6cd5&#xff09;&#xff0c;\u9ed8\u8ba4\u6ce2\u7279\u7387115200&#xff0c;\u62cd\u7167\u540e\u7167\u7247\u5b58\u50a8\u81f3TF\u5361\u3002<\/p>\n<h5>&#xff08;4&#xff09;STM32\u4e0eOLED12864\u63a5\u7ebf&#xff08;I2C&#xff09;<\/h5>\n<table>\n<tr>STM32\u5f15\u811aOLED\u5f15\u811a\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>PB6<\/td>\n<td>SCL<\/td>\n<td>I2C1\u65f6\u949f\u7ebf&#xff08;\u4e0a\u62c94.7k\u03a9&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>PB7<\/td>\n<td>SDA<\/td>\n<td>I2C1\u6570\u636e\u7ebf&#xff08;\u4e0a\u62c94.7k\u03a9&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>3.3V<\/td>\n<td>VCC<\/td>\n<td>OLED\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;5&#xff09;STM32\u4e0e\u6309\u952e\u63a5\u7ebf<\/h5>\n<table>\n<tr>STM32\u5f15\u811a\u6309\u952e\u5f15\u811a\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>PB2<\/td>\n<td>KEY1<\/td>\n<td>\u8235\u673a\u96f6\u70b9\u6821\u51c6&#xff08;\u4e0a\u62c9\u8f93\u5165&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>PB3<\/td>\n<td>KEY2<\/td>\n<td>\u62cd\u7167\u9608\u503c\u8c03\u6574&#xff08;\u4e0a\u62c9\u8f93\u5165&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>PB4<\/td>\n<td>KEY3<\/td>\n<td>\u624b\u52a8\u89e6\u53d1\u62cd\u7167&#xff08;\u4e0a\u62c9\u8f93\u5165&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>GND<\/td>\n<td>\u6309\u952e\u53e6\u4e00\u7aef<\/td>\n<td>\u5171\u5730<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h5>&#xff08;6&#xff09;\u7535\u6e90\u63a5\u7ebf<\/h5>\n<ul>\n<li>\u4e3b\u4f9b\u7535&#xff1a;USB 5V \u2192 DC-DC\u6a21\u5757 \u2192 \u5206\u4e24\u8def&#xff1a;\n<ul>\n<li>\u4e00\u8def\u7ed9STM32\u6700\u5c0f\u7cfb\u7edf\u677f5V\u5f15\u811a&#xff08;\u7ed9STM32\/OLED\/\u9ea6\u514b\u98ce\u9635\u5217\u4f9b\u7535&#xff09;&#xff1b;<\/li>\n<li>\u4e00\u8def\u7ed9\u53cc\u8235\u673a\u548cESP32-CAM\u4f9b\u7535&#xff08;\u72ec\u7acb\u4f9b\u7535&#xff0c;\u907f\u514d\u5e72\u6270&#xff09;&#xff1b;<\/li>\n<\/ul>\n<\/li>\n<li>3.3V\u4f9b\u7535&#xff1a;STM32\u677f\u8f7d3.3V\u5f15\u811a \u2192 \u9ea6\u514b\u98ce\u9635\u5217\/OLED\u4f9b\u7535\u3002<\/li>\n<\/ul>\n<h3>\u4e09\u3001\u8f6f\u4ef6\u5f00\u53d1\u73af\u5883\u642d\u5efa<\/h3>\n<h4>3.1 \u73af\u5883\u51c6\u5907<\/h4>\n<li>STM32CubeMX&#xff1a;\u4e0b\u8f7dV6.0\u53ca\u4ee5\u4e0a\u7248\u672c&#xff08;\u5b98\u7f51&#xff1a;https:\/\/www.st.com\/en\/development-tools\/stm32cubemx.html&#xff09;&#xff0c;\u7528\u4e8e\u56fe\u5f62\u5316\u914d\u7f6eSTM32\u5916\u8bbe&#xff0c;\u81ea\u52a8\u751f\u6210\u521d\u59cb\u5316\u4ee3\u7801\u3002<\/li>\n<li>Keil MDK-ARM&#xff1a;\u4e0b\u8f7dV5.36\u53ca\u4ee5\u4e0a\u7248\u672c&#xff0c;\u5b89\u88c5STM32F103C8T6\u5bf9\u5e94\u7684Device Pack&#xff08;\u5728Keil\u4e2d\u901a\u8fc7\u201cPack Installer\u201d\u641c\u7d22\u201cSTM32F1\u201d\u5b89\u88c5&#xff09;&#xff0c;\u7528\u4e8e\u4ee3\u7801\u7f16\u5199\u3001\u7f16\u8bd1\u548c\u70e7\u5f55\u3002<\/li>\n<li>ST-Link\u9a71\u52a8&#xff1a;\u5b89\u88c5ST-Link V2\u9a71\u52a8&#xff0c;\u786e\u4fdd\u7535\u8111\u80fd\u8bc6\u522b\u4e0b\u8f7d\u5668&#xff1b;\u82e5\u7528\u4e32\u53e3\u8c03\u8bd5ESP32-CAM&#xff0c;\u5b89\u88c5CH340\u9a71\u52a8\u3002<\/li>\n<li>\u8f85\u52a9\u5de5\u5177&#xff1a;\n<ul>\n<li>ESP32-CAM\u56fa\u4ef6\u70e7\u5f55\u5de5\u5177&#xff08;ESP Flash Download Tool&#xff09;&#xff1b;<\/li>\n<li>\u4e32\u53e3\u8c03\u8bd5\u52a9\u624b&#xff08;\u8c03\u8bd5ESP32-CAM AT\u6307\u4ee4&#xff09;&#xff1b;<\/li>\n<li>\u4e07\u7528\u8868&#xff08;\u6821\u51c6ADC\u91c7\u6837\u548c\u8235\u673a\u89d2\u5ea6&#xff09;\u3002<\/li>\n<\/ul>\n<\/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;\u5728\u641c\u7d22\u6846\u8f93\u5165\u201cSTM32F103C8T6\u201d&#xff0c;\u9009\u62e9\u5bf9\u5e94\u578b\u53f7&#xff08;STM32F103C8Tx&#xff09;\u540e\u70b9\u51fb\u201cStart Project\u201d\u3002<\/li>\n<li>\u5f39\u51fa\u201cProject Manager\u201d\u63d0\u793a\u6846&#xff0c;\u70b9\u51fb\u201cOK\u201d\u8df3\u8fc7&#xff08;\u9ed8\u8ba4\u914d\u7f6e\u5373\u53ef&#xff09;\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&#xff1a;\n<ul>\n<li>High Speed Clock (HSE)&#xff1a;\u9009\u62e9\u201cCrystal\/Ceramic Resonator\u201d&#xff08;\u5916\u90e88MHz\u6676\u632f&#xff09;&#xff0c;\u542f\u7528HSE&#xff1b;<\/li>\n<li>Low Speed Clock (LSI)&#xff1a;\u4fdd\u6301\u9ed8\u8ba4&#xff08;\u5185\u90e8\u4f4e\u901f\u6676\u632f&#xff09;&#xff1b;<\/li>\n<\/ul>\n<\/li>\n<li>\u70b9\u51fb\u9876\u90e8\u201cClock Configuration\u201d&#xff0c;\u914d\u7f6e\u7cfb\u7edf\u65f6\u949f\u4e3a72MHz&#xff1a;\n<ul>\n<li>HSE &#061; 8MHz \u2192 PLLMUL &#061; 9 \u2192 SYSCLK &#061; 72MHz&#xff1b;<\/li>\n<li>AHB Prescaler &#061; 1&#xff08;HCLK&#061;72MHz&#xff09;&#xff1b;<\/li>\n<li>APB1 Prescaler &#061; 2&#xff08;PCLK1&#061;36MHz&#xff09;&#xff1b;<\/li>\n<li>APB2 Prescaler &#061; 1&#xff08;PCLK2&#061;72MHz&#xff09;&#xff1b;<\/li>\n<li>ADC\u65f6\u949f\u6e90&#xff1a;PCLK2\/6 &#061; 12MHz&#xff08;ADC\u6700\u5927\u65f6\u949f14MHz&#xff09;\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h5>\u6b65\u9aa43&#xff1a;\u914d\u7f6eADC\u5916\u8bbe&#xff08;\u9ea6\u514b\u98ce\u4fe1\u53f7\u91c7\u96c6&#xff09;<\/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>\u914d\u7f6e\u53c2\u6570&#xff1a;Resolution &#061; 12-bit&#xff08;12\u4f4d\u7cbe\u5ea6&#xff09;&#xff0c;Data Alignment &#061; Right&#xff08;\u53f3\u5bf9\u9f50&#xff09;&#xff1b;<\/li>\n<li>\u542f\u7528\u201cIN0\u201d&#xff08;PA0&#xff09;\u3001\u201cIN1\u201d&#xff08;PA1&#xff09;\u3001\u201cIN2\u201d&#xff08;PA2&#xff09;\u3001\u201cIN3\u201d&#xff08;PA3&#xff09;\u901a\u9053&#xff0c;\u8f6c\u6362\u6a21\u5f0f\u4e3a\u201cContinuous Conversion Mode\u201d&#xff08;\u8fde\u7eed\u8f6c\u6362&#xff09;&#xff1b;<\/li>\n<li>\u91c7\u6837\u65f6\u95f4&#xff1a;\u8bbe\u7f6e\u4e3a239.5 Cycles&#xff08;\u63d0\u9ad8\u97f3\u9891\u91c7\u6837\u7cbe\u5ea6&#xff09;&#xff1b;<\/li>\n<li>\u542f\u7528\u201cNVIC Settings\u201d\u4e2d\u7684\u201cADC1 global interrupt\u201d&#xff08;ADC\u4e2d\u65ad&#xff0c;\u7528\u4e8e\u5b9e\u65f6\u91c7\u96c6&#xff09;\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h5>\u6b65\u9aa44&#xff1a;\u914d\u7f6eTIM\u5b9a\u65f6\u5668&#xff08;\u8235\u673aPWM\u8f93\u51fa&#xff09;<\/h5>\n<ul>\n<li>\u5de6\u4fa7\u83dc\u5355\u680f\u9009\u62e9\u201cTIM3\u201d&#xff1a;\n<ul>\n<li>\u6a21\u5f0f\u9009\u62e9\u201cPWM Generation CH3\/CH4\u201d&#xff08;CH3\u5bf9\u5e94PB0&#xff0c;CH4\u5bf9\u5e94PB1&#xff09;&#xff1b;<\/li>\n<li>\u914d\u7f6e\u53c2\u6570&#xff1a;\n<ul>\n<li>Prescaler &#061; 7199&#xff08;72MHz\/7200&#061;10kHz&#xff09;&#xff1b;<\/li>\n<li>Counter Mode &#061; Up&#xff08;\u5411\u4e0a\u8ba1\u6570&#xff09;&#xff1b;<\/li>\n<li>Period &#061; 199&#xff08;10kHz\/200&#061;50Hz&#xff0c;\u8235\u673a\u6807\u51c6PWM\u9891\u7387&#xff09;&#xff1b;<\/li>\n<li>Auto-Reload Preload &#061; Enable&#xff1b;<\/li>\n<\/ul>\n<\/li>\n<li>\u542f\u7528CH3\/CH4\u7684\u201cPWM Generation Channel\u201d&#xff0c;PWM\u6a21\u5f0f\u9009\u62e9\u201cPWM Mode 1\u201d&#xff1b;<\/li>\n<li>\u542f\u7528\u201cNVIC Settings\u201d\u4e2d\u7684\u201cTIM3 global interrupt\u201d&#xff08;\u5b9a\u65f6\u5668\u4e2d\u65ad&#xff0c;\u7528\u4e8e\u8235\u673a\u89d2\u5ea6\u6821\u51c6&#xff09;\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h5>\u6b65\u9aa45&#xff1a;\u914d\u7f6eUART\u5916\u8bbe&#xff08;ESP32-CAM\u901a\u4fe1&#xff09;<\/h5>\n<ul>\n<li>\u5de6\u4fa7\u83dc\u5355\u680f\u9009\u62e9\u201cUSART1\u201d&#xff1a;\n<ul>\n<li>\u6a21\u5f0f\u9009\u62e9\u201cAsynchronous\u201d&#xff08;\u5f02\u6b65\u6a21\u5f0f&#xff09;&#xff1b;<\/li>\n<li>\u914d\u7f6e\u53c2\u6570&#xff1a;Baud Rate &#061; 115200 bps&#xff0c;Word Length &#061; 8 Bits&#xff0c;Parity &#061; None&#xff0c;Stop Bits &#061; 1&#xff1b;<\/li>\n<li>\u5f15\u811a\u6620\u5c04&#xff1a;PA9&#xff08;TX&#xff09;\u3001PA10&#xff08;RX&#xff09;&#xff1b;<\/li>\n<li>\u542f\u7528\u201cNVIC Settings\u201d\u4e2d\u7684\u201cUSART1 global interrupt\u201d&#xff08;\u4e32\u53e3\u4e2d\u65ad&#xff0c;\u7528\u4e8e\u63a5\u6536ESP32-CAM\u54cd\u5e94&#xff09;\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h5>\u6b65\u9aa46&#xff1a;\u914d\u7f6eI2C\u5916\u8bbe&#xff08;OLED\u901a\u4fe1&#xff09;<\/h5>\n<ul>\n<li>\u5de6\u4fa7\u83dc\u5355\u680f\u9009\u62e9\u201cI2C1\u201d&#xff1a;\n<ul>\n<li>\u6a21\u5f0f\u9009\u62e9\u201cI2C\u201d&#xff08;\u6807\u51c6\u6a21\u5f0f&#xff09;&#xff1b;<\/li>\n<li>\u914d\u7f6e\u53c2\u6570&#xff1a;Clock Speed &#061; 100kHz&#xff0c;Addressing Mode &#061; 7-bit&#xff1b;<\/li>\n<li>\u5f15\u811a\u6620\u5c04&#xff1a;PB6&#xff08;SCL&#xff09;\u3001PB7&#xff08;SDA&#xff09;\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h5>\u6b65\u9aa47&#xff1a;\u914d\u7f6eGPIO\u5916\u8bbe&#xff08;\u6309\u952e&#xff09;<\/h5>\n<ul>\n<li>\u5de6\u4fa7\u83dc\u5355\u680f\u9009\u62e9\u201cGPIO\u201d&#xff1a;\n<ul>\n<li>PB2\/PB3\/PB4&#xff08;\u6309\u952e&#xff09;&#xff1a;\u8bbe\u7f6e\u4e3a\u201cInput Pull-Up\u201d&#xff08;\u4e0a\u62c9\u8f93\u5165&#xff09;&#xff0c;\u547d\u540d\u4e3a\u201cKEY_CALIB\u201d\/\u201cKEY_THRESH\u201d\/\u201cKEY_CAPTURE\u201d&#xff1b;<\/li>\n<li>\u6240\u6709GPIO\u901f\u5ea6\u8bbe\u4e3a\u201cHigh\u201d\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h5>\u6b65\u9aa48&#xff1a;\u751f\u6210\u5de5\u7a0b\u4ee3\u7801<\/h5>\n<ul>\n<li>\u70b9\u51fb\u9876\u90e8\u201cProject Manager\u201d&#xff1a;\n<ul>\n<li>Project Name&#xff1a;\u8bbe\u7f6e\u4e3a\u201cSound_Locate_Camera\u201d&#xff1b;<\/li>\n<li>Project Path&#xff1a;\u9009\u62e9\u975e\u4e2d\u6587\u8def\u5f84&#xff08;\u5982D:\\\\STM32_Projects\\\\Sound_Locate_Camera&#xff09;&#xff1b;<\/li>\n<li>Toolchain\/IDE&#xff1a;\u9009\u62e9\u201cMDK-ARM\u201d&#xff0c;\u7248\u672c\u201cV5\u201d&#xff1b;<\/li>\n<\/ul>\n<\/li>\n<li>\u70b9\u51fb\u201cCode Generator\u201d&#xff1a;\n<ul>\n<li>\u52fe\u9009\u201cGenerate peripheral initialization as a pair of \u2018.c\/.h\u2019 files per peripheral\u201d&#xff1b;<\/li>\n<li>\u52fe\u9009\u201cCopy all used libraries into the project folder\u201d&#xff1b;<\/li>\n<\/ul>\n<\/li>\n<li>\u70b9\u51fb\u201cGenerate Code\u201d&#xff0c;\u751f\u6210\u5b8c\u6210\u540e\u70b9\u51fb\u201cOpen Project\u201d\u76f4\u63a5\u6253\u5f00Keil\u5de5\u7a0b\u3002<\/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><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;stdio.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;string.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;math.h&#034;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/* \u5f15\u811a\u5b8f\u5b9a\u4e49 *\/<\/span><br \/>\n<span class=\"token comment\">\/\/ \u8235\u673aPWM<\/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\">SERVO_HOR_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\">SERVO_HOR_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\">SERVO_VER_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\">SERVO_VER_PORT<\/span>   <span class=\"token expression\">GPIOB<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ OLED I2C\u5730\u5740<\/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\">OLED_I2C_ADDR<\/span>    <span class=\"token expression\"><span class=\"token number\">0x78<\/span><\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6309\u952e<\/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\">KEY_CALIB_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\">KEY_CALIB_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\">KEY_THRESH_PIN<\/span>   <span class=\"token expression\">GPIO_PIN_3<\/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\">KEY_THRESH_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\">KEY_CAPTURE_PIN<\/span>  <span class=\"token expression\">GPIO_PIN_4<\/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\">KEY_CAPTURE_PORT<\/span> <span class=\"token expression\">GPIOB<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/* \u529f\u80fd\u5b8f\u5b9a\u4e49 *\/<\/span><br \/>\n<span class=\"token comment\">\/\/ ADC\u53c2\u6570<\/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\">ADC_REF_VOLTAGE<\/span>  <span class=\"token expression\"><span class=\"token number\">3.3f<\/span>            <\/span><span class=\"token comment\">\/\/ ADC\u53c2\u8003\u7535\u538b3.3V<\/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\">ADC_MAX_VALUE<\/span>    <span class=\"token expression\"><span class=\"token number\">4095.0f<\/span>         <\/span><span class=\"token comment\">\/\/ 12\u4f4dADC\u6700\u5927\u503c<\/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\">SOUND_SPEED<\/span>      <span class=\"token expression\"><span class=\"token number\">340.0f<\/span>          <\/span><span class=\"token comment\">\/\/ \u58f0\u97f3\u4f20\u64ad\u901f\u5ea6&#xff08;m\/s&#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\">MIC_SPACING<\/span>      <span class=\"token expression\"><span class=\"token number\">0.05f<\/span>           <\/span><span class=\"token comment\">\/\/ \u9ea6\u514b\u98ce\u95f4\u8ddd&#xff08;5cm&#xff09;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8235\u673a\u53c2\u6570&#xff08;SG90&#xff09;<\/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\">PWM_FREQ<\/span>         <span class=\"token expression\"><span class=\"token number\">50<\/span>              <\/span><span class=\"token comment\">\/\/ PWM\u9891\u738750Hz<\/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\">PWM_PERIOD<\/span>       <span class=\"token expression\"><span class=\"token number\">200<\/span>             <\/span><span class=\"token comment\">\/\/ \u5468\u671f\u503c&#xff08;72MHz\/7200\/50&#061;200&#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\">SERVO_MIN_PWM<\/span>    <span class=\"token expression\"><span class=\"token number\">10<\/span>              <\/span><span class=\"token comment\">\/\/ 0\u00b0\u5bf9\u5e94\u5360\u7a7a\u6bd45%&#xff08;10\/200&#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\">SERVO_MAX_PWM<\/span>    <span class=\"token expression\"><span class=\"token number\">20<\/span>              <\/span><span class=\"token comment\">\/\/ 180\u00b0\u5bf9\u5e94\u5360\u7a7a\u6bd410%&#xff08;20\/200&#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\">SERVO_ANGLE_PWM<\/span>  <span class=\"token expression\"><span class=\"token number\">0.0556f<\/span>         <\/span><span class=\"token comment\">\/\/ 1\u00b0\u5bf9\u5e94PWM\u503c&#xff08;(20-10)\/180&#xff09;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u58f0\u6e90\u5b9a\u4f4d\u53c2\u6570<\/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\">ANGLE_THRESH<\/span>     <span class=\"token expression\"><span class=\"token number\">5.0f<\/span>            <\/span><span class=\"token comment\">\/\/ \u89d2\u5ea6\u7a33\u5b9a\u9608\u503c&#xff08;\u00b0&#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\">SOUND_THRESH<\/span>     <span class=\"token expression\"><span class=\"token number\">2000.0f<\/span>         <\/span><span class=\"token comment\">\/\/ \u58f0\u6e90\u5f3a\u5ea6\u9608\u503c&#xff08;ADC\u5e45\u503c&#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\">LOCATE_CNT<\/span>       <span class=\"token expression\"><span class=\"token number\">3<\/span>               <\/span><span class=\"token comment\">\/\/ \u89d2\u5ea6\u7a33\u5b9a\u5224\u5b9a\u6b21\u6570<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6444\u50cf\u5934AT\u6307\u4ee4\u53c2\u6570<\/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\">CAM_BAUDRATE<\/span>     <span class=\"token expression\"><span class=\"token number\">115200<\/span>          <\/span><span class=\"token comment\">\/\/ \u4e32\u53e3\u6ce2\u7279\u7387<\/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\">CAPTURE_RETRY<\/span>    <span class=\"token expression\"><span class=\"token number\">2<\/span>               <\/span><span class=\"token comment\">\/\/ \u62cd\u7167\u91cd\u8bd5\u6b21\u6570<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u663e\u793a\u53c2\u6570<\/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\">OLED_REFRESH_FREQ<\/span> <span class=\"token expression\"><span class=\"token number\">100<\/span>            <\/span><span class=\"token comment\">\/\/ OLED\u5237\u65b0\u9891\u7387&#xff08;ms&#xff09;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/* \u6570\u636e\u7c7b\u578b\u5b9a\u4e49 *\/<\/span><br \/>\n<span class=\"token comment\">\/\/ \u58f0\u6e90\u5b9a\u4f4d\u6570\u636e\u7ed3\u6784\u4f53<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token keyword\">float<\/span> azimuth<span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ \u65b9\u4f4d\u89d2&#xff08;0~360\u00b0&#xff09;<\/span><br \/>\n  <span class=\"token keyword\">float<\/span> pitch<span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/\/ \u4fef\u4ef0\u89d2&#xff08;-45\u00b0~&#043;45\u00b0&#xff09;<\/span><br \/>\n  <span class=\"token keyword\">float<\/span> intensity<span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/ \u58f0\u6e90\u5f3a\u5ea6&#xff08;ADC\u5e45\u503c&#xff09;<\/span><br \/>\n  <span class=\"token keyword\">float<\/span> last_azimuth<span class=\"token punctuation\">[<\/span>LOCATE_CNT<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5386\u53f2\u65b9\u4f4d\u89d2<\/span><br \/>\n  <span class=\"token keyword\">float<\/span> last_pitch<span class=\"token punctuation\">[<\/span>LOCATE_CNT<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u5386\u53f2\u4fef\u4ef0\u89d2<\/span><br \/>\n  <span class=\"token class-name\">uint8_t<\/span> locate_cnt<span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u5b9a\u4f4d\u6b21\u6570\u8ba1\u6570<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> Sound_LocateTypeDef<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8235\u673a\u63a7\u5236\u7ed3\u6784\u4f53<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token class-name\">uint16_t<\/span> hor_pwm<span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u6c34\u5e73\u8235\u673aPWM\u503c<\/span><br \/>\n  <span class=\"token class-name\">uint16_t<\/span> ver_pwm<span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u5782\u76f4\u8235\u673aPWM\u503c<\/span><br \/>\n  <span class=\"token keyword\">float<\/span> hor_angle<span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/ \u6c34\u5e73\u8235\u673a\u5f53\u524d\u89d2\u5ea6<\/span><br \/>\n  <span class=\"token keyword\">float<\/span> ver_angle<span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/ \u5782\u76f4\u8235\u673a\u5f53\u524d\u89d2\u5ea6<\/span><br \/>\n  <span class=\"token class-name\">uint8_t<\/span> calib_flag<span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u96f6\u70b9\u6821\u51c6\u6807\u5fd7<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> Servo_TypeDef<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6444\u50cf\u5934\u72b6\u6001\u7ed3\u6784\u4f53<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token class-name\">uint8_t<\/span> capture_state<span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/ \u62cd\u7167\u72b6\u6001&#xff1a;0&#061;\u7a7a\u95f2&#xff0c;1&#061;\u62cd\u7167\u4e2d&#xff0c;2&#061;\u6210\u529f&#xff0c;3&#061;\u5931\u8d25<\/span><br \/>\n  <span class=\"token class-name\">uint32_t<\/span> capture_time<span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/ \u62cd\u7167\u65f6\u95f4\u6233&#xff08;\u79d2&#xff09;<\/span><br \/>\n  <span class=\"token class-name\">uint8_t<\/span> retry_cnt<span class=\"token punctuation\">;<\/span>    <span class=\"token comment\">\/\/ \u91cd\u8bd5\u6b21\u6570<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> Camera_TypeDef<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7cfb\u7edf\u72b6\u6001\u7ed3\u6784\u4f53<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token class-name\">uint8_t<\/span> run_flag<span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u8fd0\u884c\u6807\u5fd7&#xff1a;0&#061;\u505c\u6b62&#xff0c;1&#061;\u8fd0\u884c<\/span><br \/>\n  <span class=\"token keyword\">float<\/span> sound_thresh<span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u58f0\u6e90\u5f3a\u5ea6\u9608\u503c&#xff08;\u53ef\u8c03\u6574&#xff09;<\/span><br \/>\n  <span class=\"token class-name\">uint8_t<\/span> key_flag<span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u6309\u952e\u6807\u5fd7&#xff1a;0&#061;\u65e0\u64cd\u4f5c&#xff0c;1&#061;\u6821\u51c6&#xff0c;2&#061;\u8c03\u9608\u503c&#xff0c;3&#061;\u624b\u52a8\u62cd\u7167<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> System_StateTypeDef<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/* \u5168\u5c40\u53d8\u91cf\u58f0\u660e *\/<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> ADC_HandleTypeDef hadc1<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> TIM_HandleTypeDef htim3<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> UART_HandleTypeDef huart1<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> I2C_HandleTypeDef hi2c1<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">extern<\/span> Sound_LocateTypeDef g_sound_data<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> Servo_TypeDef g_servo_data<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> Camera_TypeDef g_camera_data<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> System_StateTypeDef g_sys_state<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">uint8_t<\/span> g_uart_rx_buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">128<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ \u4e32\u53e3\u63a5\u6536\u7f13\u51b2\u533a<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">uint16_t<\/span> g_uart_rx_len<span class=\"token punctuation\">;<\/span>           <span class=\"token comment\">\/\/ \u4e32\u53e3\u63a5\u6536\u957f\u5ea6<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">uint16_t<\/span> g_adc_buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>            <span class=\"token comment\">\/\/ ADC\u91c7\u6837\u7f13\u51b2\u533a&#xff08;4\u9ea6\u514b\u98ce&#xff09;<\/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_TIM3_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_USART1_UART_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_I2C1_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ ADC\u91c7\u96c6\u51fd\u6570<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">ADC_Get_Mic_Data<\/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\">float<\/span> <span class=\"token function\">ADC_Calc_Intensity<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u58f0\u6e90\u5b9a\u4f4d\u7b97\u6cd5\u51fd\u6570<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">TDOA_Calc_Angle<\/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 class-name\">uint8_t<\/span> <span class=\"token function\">Check_Angle_Stable<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8235\u673a\u63a7\u5236\u51fd\u6570<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Servo_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\">Servo_Set_Angle<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span> hor_angle<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> ver_angle<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Servo_Calib_Zero<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6444\u50cf\u5934\u63a7\u5236\u51fd\u6570<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Camera_Send_AT_CMD<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>cmd<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>ack<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> timeout<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Camera_Capture<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ OLED\u663e\u793a\u51fd\u6570<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">OLED_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\">OLED_Clear<\/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\">OLED_ShowString<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> x<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> y<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>str<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">OLED_ShowNum<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> x<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> y<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> num<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> len<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> dot<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">OLED_Show_State<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6309\u952e\u5904\u7406\u51fd\u6570<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> <span class=\"token function\">Key_Scan<\/span><span class=\"token punctuation\">(<\/span>GPIO_TypeDef <span class=\"token operator\">*<\/span>GPIOx<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> GPIO_Pin<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Key_Process<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4e2d\u65ad\u56de\u8c03\u51fd\u6570<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_ADC_ConvCpltCallback<\/span><span class=\"token punctuation\">(<\/span>ADC_HandleTypeDef <span class=\"token operator\">*<\/span>hadc<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_UART_RxCpltCallback<\/span><span class=\"token punctuation\">(<\/span>UART_HandleTypeDef <span class=\"token operator\">*<\/span>huart<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_TIM_PeriodElapsedCallback<\/span><span class=\"token punctuation\">(<\/span>TIM_HandleTypeDef <span class=\"token operator\">*<\/span>htim<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/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 \/>\nADC_HandleTypeDef hadc1<span class=\"token punctuation\">;<\/span><br \/>\nTIM_HandleTypeDef htim3<span class=\"token punctuation\">;<\/span><br \/>\nUART_HandleTypeDef huart1<span class=\"token punctuation\">;<\/span><br \/>\nI2C_HandleTypeDef hi2c1<span class=\"token punctuation\">;<\/span><\/p>\n<p>Sound_LocateTypeDef g_sound_data <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 \/>\nServo_TypeDef g_servo_data <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 \/>\nCamera_TypeDef g_camera_data <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 \/>\nSystem_StateTypeDef g_sys_state <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> SOUND_THRESH<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 class-name\">uint8_t<\/span> g_uart_rx_buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">128<\/span><span class=\"token punctuation\">]<\/span> <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<span class=\"token class-name\">uint16_t<\/span> g_uart_rx_len <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> g_adc_buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span> <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\">\/* \u7cfb\u7edf\u65f6\u949f\u914d\u7f6e\u51fd\u6570 *\/<\/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\u7f6eHSE\u5916\u90e8\u6676\u632f *\/<\/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\u603b\u7ebf *\/<\/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><\/p>\n<p>  <span class=\"token comment\">\/* \u914d\u7f6eADC\u65f6\u949f\u6e90 *\/<\/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&#xff08;\u9ea6\u514b\u98ce\u4fe1\u53f7\u91c7\u96c6&#xff09; *\/<\/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>  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_ENABLE<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><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\">4<\/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\u7f6eMIC1&#xff08;IN0\/PA0&#xff09; *\/<\/span><br \/>\n  sConfig<span class=\"token punctuation\">.<\/span>Channel <span class=\"token operator\">&#061;<\/span> ADC_CHANNEL_0<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\">\/* \u914d\u7f6eMIC2&#xff08;IN1\/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_2<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\">\/* \u914d\u7f6eMIC3&#xff08;IN2\/PA2&#xff09; *\/<\/span><br \/>\n  sConfig<span class=\"token punctuation\">.<\/span>Channel <span class=\"token operator\">&#061;<\/span> ADC_CHANNEL_2<span class=\"token punctuation\">;<\/span><br \/>\n  sConfig<span class=\"token punctuation\">.<\/span>Rank <span class=\"token operator\">&#061;<\/span> ADC_REGULAR_RANK_3<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\">\/* \u914d\u7f6eMIC4&#xff08;IN3\/PA3&#xff09; *\/<\/span><br \/>\n  sConfig<span class=\"token punctuation\">.<\/span>Channel <span class=\"token operator\">&#061;<\/span> ADC_CHANNEL_3<span class=\"token punctuation\">;<\/span><br \/>\n  sConfig<span class=\"token punctuation\">.<\/span>Rank <span class=\"token operator\">&#061;<\/span> ADC_REGULAR_RANK_4<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\u4e2d\u65ad\u91c7\u96c6<\/span><br \/>\n  <span class=\"token function\">HAL_ADC_Start_IT<\/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\">\/* TIM3\u521d\u59cb\u5316&#xff08;\u8235\u673aPWM\u8f93\u51fa&#xff09; *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">MX_TIM3_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_ClockConfigTypeDef sClockSourceConfig <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  TIM_MasterConfigTypeDef sMasterConfig <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  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><\/p>\n<p>  htim3<span class=\"token punctuation\">.<\/span>Instance <span class=\"token operator\">&#061;<\/span> TIM3<span class=\"token punctuation\">;<\/span><br \/>\n  htim3<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>Prescaler <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">7199<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  htim3<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  htim3<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>Period <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">199<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  htim3<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  htim3<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>AutoReloadPreload <span class=\"token operator\">&#061;<\/span> TIM_AUTORELOAD_PRELOAD_ENABLE<span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_TIM_Base_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<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>  sClockSourceConfig<span class=\"token punctuation\">.<\/span>ClockSource <span class=\"token operator\">&#061;<\/span> TIM_CLOCKSOURCE_INTERNAL<span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_TIM_ConfigClockSource<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>sClockSourceConfig<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 keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_TIM_PWM_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<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>  sMasterConfig<span class=\"token punctuation\">.<\/span>MasterOutputTrigger <span class=\"token operator\">&#061;<\/span> TIM_TRGO_RESET<span class=\"token punctuation\">;<\/span><br \/>\n  sMasterConfig<span class=\"token punctuation\">.<\/span>MasterSlaveMode <span class=\"token operator\">&#061;<\/span> TIM_MASTERSLAVEMODE_DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_TIMEx_MasterConfigSynchronization<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>sMasterConfig<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\u7f6eCH3&#xff08;PB0&#xff0c;\u6c34\u5e73\u8235\u673a&#xff09; *\/<\/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\">15<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u521d\u59cb90\u00b0&#xff08;\u5360\u7a7a\u6bd47.5%&#xff09;<\/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 keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_TIM_PWM_ConfigChannel<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>sConfigOC<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_3<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\u7f6eCH4&#xff08;PB1&#xff0c;\u5782\u76f4\u8235\u673a&#xff09; *\/<\/span><br \/>\n  sConfigOC<span class=\"token punctuation\">.<\/span>Pulse <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">15<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u521d\u59cb90\u00b0<\/span><br \/>\n  <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_TIM_PWM_ConfigChannel<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>sConfigOC<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_4<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\u52a8PWM\u8f93\u51fa<\/span><br \/>\n  <span class=\"token function\">HAL_TIM_PWM_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_3<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>htim3<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_4<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* USART1\u521d\u59cb\u5316&#xff08;ESP32-CAM\u901a\u4fe1&#xff09; *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">MX_USART1_UART_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  huart1<span class=\"token punctuation\">.<\/span>Instance <span class=\"token operator\">&#061;<\/span> USART1<span class=\"token punctuation\">;<\/span><br \/>\n  huart1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>BaudRate <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">115200<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  huart1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>WordLength <span class=\"token operator\">&#061;<\/span> UART_WORDLENGTH_8B<span class=\"token punctuation\">;<\/span><br \/>\n  huart1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>StopBits <span class=\"token operator\">&#061;<\/span> UART_STOPBITS_1<span class=\"token punctuation\">;<\/span><br \/>\n  huart1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>Parity <span class=\"token operator\">&#061;<\/span> UART_PARITY_NONE<span class=\"token punctuation\">;<\/span><br \/>\n  huart1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> UART_MODE_TX_RX<span class=\"token punctuation\">;<\/span><br \/>\n  huart1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>HwFlowCtl <span class=\"token operator\">&#061;<\/span> UART_HWCONTROL_NONE<span class=\"token punctuation\">;<\/span><br \/>\n  huart1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>OverSampling <span class=\"token operator\">&#061;<\/span> UART_OVERSAMPLING_16<span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_UART_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>huart1<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\u7528\u4e32\u53e3\u63a5\u6536\u4e2d\u65ad<\/span><br \/>\n  <span class=\"token function\">HAL_UART_Receive_IT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>huart1<span class=\"token punctuation\">,<\/span> g_uart_rx_buf<span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/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\">\/* I2C1\u521d\u59cb\u5316&#xff08;OLED\u901a\u4fe1&#xff09; *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">MX_I2C1_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  hi2c1<span class=\"token punctuation\">.<\/span>Instance <span class=\"token operator\">&#061;<\/span> I2C1<span class=\"token punctuation\">;<\/span><br \/>\n  hi2c1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>ClockSpeed <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">100000<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  hi2c1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>DutyCycle <span class=\"token operator\">&#061;<\/span> I2C_DUTYCYCLE_2<span class=\"token punctuation\">;<\/span><br \/>\n  hi2c1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>OwnAddress1 <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  hi2c1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>AddressingMode <span class=\"token operator\">&#061;<\/span> I2C_ADDRESSINGMODE_7BIT<span class=\"token punctuation\">;<\/span><br \/>\n  hi2c1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>DualAddressMode <span class=\"token operator\">&#061;<\/span> I2C_DUALADDRESS_DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n  hi2c1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>OwnAddress2 <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  hi2c1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>GeneralCallMode <span class=\"token operator\">&#061;<\/span> I2C_GENERALCALL_DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n  hi2c1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>NoStretchMode <span class=\"token operator\">&#061;<\/span> I2C_NOSTRETCH_DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_I2C_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hi2c1<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\">\/* GPIO\u521d\u59cb\u5316&#xff08;\u6309\u952e&#xff09; *\/<\/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_GPIOA_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_GPIOB_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\u7f6e\u6309\u952e\u5f15\u811a&#xff08;\u4e0a\u62c9\u8f93\u5165&#xff09; *\/<\/span><br \/>\n  GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pin <span class=\"token operator\">&#061;<\/span> KEY_CALIB_PIN<span class=\"token operator\">|<\/span>KEY_THRESH_PIN<span class=\"token operator\">|<\/span>KEY_CAPTURE_PIN<span class=\"token punctuation\">;<\/span><br \/>\n  GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> GPIO_MODE_INPUT<span class=\"token punctuation\">;<\/span><br \/>\n  GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pull <span class=\"token operator\">&#061;<\/span> GPIO_PULLUP<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><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\">\/\/ \u9519\u8bef\u65f6OLED\u663e\u793a\u9519\u8bef&#xff0c;\u8235\u673a\u5f52\u4f4d<\/span><br \/>\n    <span class=\"token function\">Servo_Calib_Zero<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/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 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 \u58f0\u6e90\u5b9a\u4f4d\u6838\u5fc3\u7b97\u6cd5&#xff08;main.c\u7eed&#xff09;<\/h4>\n<p><span class=\"token comment\">\/* ADC\u4e2d\u65ad\u56de\u8c03&#xff1a;\u91c7\u96c64\u9ea6\u514b\u98ce\u6570\u636e *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_ADC_ConvCpltCallback<\/span><span class=\"token punctuation\">(<\/span>ADC_HandleTypeDef <span class=\"token operator\">*<\/span>hadc<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>hadc<span class=\"token operator\">-&gt;<\/span>Instance <span class=\"token operator\">&#061;&#061;<\/span> ADC1<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u8bfb\u53d64\u4e2a\u9ea6\u514b\u98ce\u7684ADC\u503c<\/span><br \/>\n    g_adc_buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span> <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> <span class=\"token comment\">\/\/ MIC1<\/span><br \/>\n    <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\">10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    g_adc_buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span> <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> <span class=\"token comment\">\/\/ MIC2<\/span><br \/>\n    <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\">10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    g_adc_buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">]<\/span> <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> <span class=\"token comment\">\/\/ MIC3<\/span><br \/>\n    <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\">10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    g_adc_buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span> <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> <span class=\"token comment\">\/\/ MIC4<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u91cd\u65b0\u542f\u52a8ADC\u4e2d\u65ad\u91c7\u96c6<\/span><br \/>\n    <span class=\"token function\">HAL_ADC_Start_IT<\/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><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* \u8ba1\u7b97\u58f0\u6e90\u5f3a\u5ea6&#xff08;4\u9ea6\u514b\u98ceADC\u5e45\u503c\u5747\u503c&#xff09; *\/<\/span><br \/>\n<span class=\"token keyword\">float<\/span> <span class=\"token function\">ADC_Calc_Intensity<\/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 keyword\">float<\/span> sum <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">for<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> i<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&lt;<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    sum <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span>g_adc_buf<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n  <span class=\"token keyword\">return<\/span> sum <span class=\"token operator\">\/<\/span> <span class=\"token number\">4.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* TDOA\u7b97\u6cd5\u8ba1\u7b97\u65b9\u4f4d\u89d2\u548c\u4fef\u4ef0\u89d2 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">TDOA_Calc_Angle<\/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\">\/\/ \u6b65\u9aa41&#xff1a;\u8ba1\u7b97\u9ea6\u514b\u98ce\u95f4\u7684\u65f6\u95f4\u5dee&#xff08;\u7b80\u5316\u7248TDOA&#xff0c;\u57fa\u4e8eADC\u5cf0\u503c\u65f6\u95f4\u5dee&#xff09;<\/span><br \/>\n  <span class=\"token comment\">\/\/ \u5b9e\u9645\u9879\u76ee\u4e2d\u9700\u589e\u52a0\u5cf0\u503c\u68c0\u6d4b&#xff0c;\u6b64\u5904\u7b80\u5316\u4e3a\u57fa\u4e8eADC\u503c\u5dee\u8ba1\u7b97<\/span><br \/>\n  <span class=\"token keyword\">float<\/span> t12 <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>g_adc_buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#8211;<\/span> g_adc_buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> ADC_MAX_VALUE <span class=\"token operator\">*<\/span> <span class=\"token number\">1e-6f<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ MIC1-MIC2\u65f6\u95f4\u5dee<\/span><br \/>\n  <span class=\"token keyword\">float<\/span> t13 <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>g_adc_buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#8211;<\/span> g_adc_buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> ADC_MAX_VALUE <span class=\"token operator\">*<\/span> <span class=\"token number\">1e-6f<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ MIC1-MIC3\u65f6\u95f4\u5dee<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u6b65\u9aa42&#xff1a;\u8ba1\u7b97\u65b9\u4f4d\u89d2&#xff08;\u6c34\u5e73&#xff09;<\/span><br \/>\n  <span class=\"token comment\">\/\/ \u516c\u5f0f&#xff1a;azimuth &#061; arctan((c * t12) \/ MIC_SPACING) * (180\/\u03c0)<\/span><br \/>\n  <span class=\"token keyword\">float<\/span> delta_x <span class=\"token operator\">&#061;<\/span> SOUND_SPEED <span class=\"token operator\">*<\/span> t12<span class=\"token punctuation\">;<\/span><br \/>\n  g_sound_data<span class=\"token punctuation\">.<\/span>azimuth <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">atan<\/span><span class=\"token punctuation\">(<\/span>delta_x <span class=\"token operator\">\/<\/span> MIC_SPACING<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">*<\/span> <span class=\"token number\">180.0f<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">3.1415926f<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u4fee\u6b63\u65b9\u4f4d\u89d2\u81f30~360\u00b0<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>g_sound_data<span class=\"token punctuation\">.<\/span>azimuth <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> g_sound_data<span class=\"token punctuation\">.<\/span>azimuth <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token number\">360.0f<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u6b65\u9aa43&#xff1a;\u8ba1\u7b97\u4fef\u4ef0\u89d2&#xff08;\u5782\u76f4&#xff09;<\/span><br \/>\n  <span class=\"token keyword\">float<\/span> delta_y <span class=\"token operator\">&#061;<\/span> SOUND_SPEED <span class=\"token operator\">*<\/span> t13<span class=\"token punctuation\">;<\/span><br \/>\n  g_sound_data<span class=\"token punctuation\">.<\/span>pitch <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">atan<\/span><span class=\"token punctuation\">(<\/span>delta_y <span class=\"token operator\">\/<\/span> MIC_SPACING<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">*<\/span> <span class=\"token number\">180.0f<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">3.1415926f<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u4fee\u6b63\u4fef\u4ef0\u89d2\u81f3-45\u00b0~&#043;45\u00b0<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>g_sound_data<span class=\"token punctuation\">.<\/span>pitch <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">45.0f<\/span><span class=\"token punctuation\">)<\/span> g_sound_data<span class=\"token punctuation\">.<\/span>pitch <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">45.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>g_sound_data<span class=\"token punctuation\">.<\/span>pitch <span class=\"token operator\">&lt;<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">45.0f<\/span><span class=\"token punctuation\">)<\/span> g_sound_data<span class=\"token punctuation\">.<\/span>pitch <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">45.0f<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u6b65\u9aa44&#xff1a;\u8ba1\u7b97\u58f0\u6e90\u5f3a\u5ea6<\/span><br \/>\n  g_sound_data<span class=\"token punctuation\">.<\/span>intensity <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">ADC_Calc_Intensity<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u6b65\u9aa45&#xff1a;\u5b58\u50a8\u5386\u53f2\u89d2\u5ea6&#xff0c;\u7528\u4e8e\u7a33\u5b9a\u6027\u5224\u5b9a<\/span><br \/>\n  g_sound_data<span class=\"token punctuation\">.<\/span>last_azimuth<span class=\"token punctuation\">[<\/span>g_sound_data<span class=\"token punctuation\">.<\/span>locate_cnt <span class=\"token operator\">%<\/span> LOCATE_CNT<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> g_sound_data<span class=\"token punctuation\">.<\/span>azimuth<span class=\"token punctuation\">;<\/span><br \/>\n  g_sound_data<span class=\"token punctuation\">.<\/span>last_pitch<span class=\"token punctuation\">[<\/span>g_sound_data<span class=\"token punctuation\">.<\/span>locate_cnt <span class=\"token operator\">%<\/span> LOCATE_CNT<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> g_sound_data<span class=\"token punctuation\">.<\/span>pitch<span class=\"token punctuation\">;<\/span><br \/>\n  g_sound_data<span class=\"token punctuation\">.<\/span>locate_cnt<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* \u68c0\u67e5\u89d2\u5ea6\u662f\u5426\u7a33\u5b9a&#xff08;\u8fde\u7eed3\u6b21\u504f\u5dee&lt;5\u00b0&#xff09; *\/<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> <span class=\"token function\">Check_Angle_Stable<\/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 keyword\">if<\/span><span class=\"token punctuation\">(<\/span>g_sound_data<span class=\"token punctuation\">.<\/span>locate_cnt <span class=\"token operator\">&lt;<\/span> LOCATE_CNT<span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token keyword\">float<\/span> az_avg <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> pt_avg <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">float<\/span> az_diff <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> pt_diff <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u8ba1\u7b97\u5386\u53f2\u89d2\u5ea6\u5747\u503c<\/span><br \/>\n  <span class=\"token keyword\">for<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> i<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&lt;<\/span>LOCATE_CNT<span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    az_avg <span class=\"token operator\">&#043;&#061;<\/span> g_sound_data<span class=\"token punctuation\">.<\/span>last_azimuth<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    pt_avg <span class=\"token operator\">&#043;&#061;<\/span> g_sound_data<span class=\"token punctuation\">.<\/span>last_pitch<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n  az_avg <span class=\"token operator\">\/&#061;<\/span> LOCATE_CNT<span class=\"token punctuation\">;<\/span><br \/>\n  pt_avg <span class=\"token operator\">\/&#061;<\/span> LOCATE_CNT<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u8ba1\u7b97\u89d2\u5ea6\u504f\u5dee<\/span><br \/>\n  <span class=\"token keyword\">for<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> i<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&lt;<\/span>LOCATE_CNT<span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    az_diff <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token function\">fabs<\/span><span class=\"token punctuation\">(<\/span>g_sound_data<span class=\"token punctuation\">.<\/span>last_azimuth<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#8211;<\/span> az_avg<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    pt_diff <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token function\">fabs<\/span><span class=\"token punctuation\">(<\/span>g_sound_data<span class=\"token punctuation\">.<\/span>last_pitch<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#8211;<\/span> pt_avg<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n  az_diff <span class=\"token operator\">\/&#061;<\/span> LOCATE_CNT<span class=\"token punctuation\">;<\/span><br \/>\n  pt_diff <span class=\"token operator\">\/&#061;<\/span> LOCATE_CNT<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u504f\u5dee\u5c0f\u4e8e\u9608\u503c\u5219\u7a33\u5b9a<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>az_diff <span class=\"token operator\">&lt;<\/span> ANGLE_THRESH <span class=\"token operator\">&amp;&amp;<\/span> pt_diff <span class=\"token operator\">&lt;<\/span> ANGLE_THRESH<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n  <span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>4.4 \u8235\u673a\u63a7\u5236\u51fd\u6570&#xff08;main.c\u7eed&#xff09;<\/h4>\n<p><span class=\"token comment\">\/* \u8235\u673a\u521d\u59cb\u5316&#xff1a;\u5f52\u4f4d\u81f3\u96f6\u70b9 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Servo_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  g_servo_data<span class=\"token punctuation\">.<\/span>hor_angle <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  g_servo_data<span class=\"token punctuation\">.<\/span>ver_angle <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  g_servo_data<span class=\"token punctuation\">.<\/span>calib_flag <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u8ba1\u7b97\u96f6\u70b9PWM\u503c&#xff08;0\u00b0\u5bf9\u5e9410&#xff0c;90\u00b0\u5bf9\u5e9415&#xff0c;180\u00b0\u5bf9\u5e9420&#xff09;<\/span><br \/>\n  g_servo_data<span class=\"token punctuation\">.<\/span>hor_pwm <span class=\"token operator\">&#061;<\/span> SERVO_MIN_PWM <span class=\"token operator\">&#043;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>g_servo_data<span class=\"token punctuation\">.<\/span>hor_angle <span class=\"token operator\">*<\/span> SERVO_ANGLE_PWM<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  g_servo_data<span class=\"token punctuation\">.<\/span>ver_pwm <span class=\"token operator\">&#061;<\/span> SERVO_MIN_PWM <span class=\"token operator\">&#043;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>g_servo_data<span class=\"token punctuation\">.<\/span>ver_angle <span class=\"token operator\">*<\/span> SERVO_ANGLE_PWM<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u8bbe\u7f6ePWM\u503c<\/span><br \/>\n  <span class=\"token function\">__HAL_TIM_SET_COMPARE<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_3<span class=\"token punctuation\">,<\/span> g_servo_data<span class=\"token punctuation\">.<\/span>hor_pwm<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">__HAL_TIM_SET_COMPARE<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_4<span class=\"token punctuation\">,<\/span> g_servo_data<span class=\"token punctuation\">.<\/span>ver_pwm<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token function\">HAL_Delay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1000<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u8235\u673a\u5f52\u4f4d\u5ef6\u65f6<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* \u8bbe\u7f6e\u8235\u673a\u89d2\u5ea6 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Servo_Set_Angle<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span> hor_angle<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> ver_angle<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token comment\">\/\/ \u89d2\u5ea6\u8303\u56f4\u9650\u5236<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>hor_angle <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">0.0f<\/span><span class=\"token punctuation\">)<\/span> hor_angle <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>hor_angle <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">180.0f<\/span><span class=\"token punctuation\">)<\/span> hor_angle <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">180.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>ver_angle <span class=\"token operator\">&lt;<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">45.0f<\/span><span class=\"token punctuation\">)<\/span> ver_angle <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">45.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>ver_angle <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">45.0f<\/span><span class=\"token punctuation\">)<\/span> ver_angle <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">45.0f<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u8f6c\u6362\u4e3aPWM\u503c&#xff08;\u5782\u76f4\u89d2\u5ea6\u504f\u79fb90\u00b0&#xff0c;\u8f6c\u4e3a0~180\u00b0&#xff09;<\/span><br \/>\n  <span class=\"token keyword\">float<\/span> ver_angle_adj <span class=\"token operator\">&#061;<\/span> ver_angle <span class=\"token operator\">&#043;<\/span> <span class=\"token number\">90.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  g_servo_data<span class=\"token punctuation\">.<\/span>hor_pwm <span class=\"token operator\">&#061;<\/span> SERVO_MIN_PWM <span class=\"token operator\">&#043;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>hor_angle <span class=\"token operator\">*<\/span> SERVO_ANGLE_PWM<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  g_servo_data<span class=\"token punctuation\">.<\/span>ver_pwm <span class=\"token operator\">&#061;<\/span> SERVO_MIN_PWM <span class=\"token operator\">&#043;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>ver_angle_adj <span class=\"token operator\">*<\/span> SERVO_ANGLE_PWM<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u66f4\u65b0PWM\u8f93\u51fa<\/span><br \/>\n  <span class=\"token function\">__HAL_TIM_SET_COMPARE<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_3<span class=\"token punctuation\">,<\/span> g_servo_data<span class=\"token punctuation\">.<\/span>hor_pwm<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">__HAL_TIM_SET_COMPARE<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>htim3<span class=\"token punctuation\">,<\/span> TIM_CHANNEL_4<span class=\"token punctuation\">,<\/span> g_servo_data<span class=\"token punctuation\">.<\/span>ver_pwm<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u66f4\u65b0\u5f53\u524d\u89d2\u5ea6<\/span><br \/>\n  g_servo_data<span class=\"token punctuation\">.<\/span>hor_angle <span class=\"token operator\">&#061;<\/span> hor_angle<span class=\"token punctuation\">;<\/span><br \/>\n  g_servo_data<span class=\"token punctuation\">.<\/span>ver_angle <span class=\"token operator\">&#061;<\/span> ver_angle<span class=\"token punctuation\">;<\/span><\/p>\n<p>  <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> <span class=\"token comment\">\/\/ \u8235\u673a\u8f6c\u5411\u5ef6\u65f6<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* \u8235\u673a\u96f6\u70b9\u6821\u51c6 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Servo_Calib_Zero<\/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  g_servo_data<span class=\"token punctuation\">.<\/span>calib_flag <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token comment\">\/\/ \u5f3a\u5236\u5f52\u4f4d\u81f30\u00b0\u65b9\u4f4d\u89d2&#xff0c;0\u00b0\u4fef\u4ef0\u89d2<\/span><br \/>\n  <span class=\"token function\">Servo_Set_Angle<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0.0f<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.0f<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  g_servo_data<span class=\"token punctuation\">.<\/span>calib_flag <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>4.5 \u6444\u50cf\u5934\u63a7\u5236\u51fd\u6570&#xff08;main.c\u7eed&#xff09;<\/h4>\n<p><span class=\"token comment\">\/* ESP32-CAM\u53d1\u9001AT\u6307\u4ee4\u5e76\u7b49\u5f85\u54cd\u5e94 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Camera_Send_AT_CMD<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>cmd<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>ack<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> timeout<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token comment\">\/\/ \u6e05\u7a7a\u63a5\u6536\u7f13\u51b2\u533a<\/span><br \/>\n  <span class=\"token function\">memset<\/span><span class=\"token punctuation\">(<\/span>g_uart_rx_buf<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">128<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  g_uart_rx_len <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u53d1\u9001AT\u6307\u4ee4<\/span><br \/>\n  <span class=\"token function\">HAL_UART_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>huart1<span class=\"token punctuation\">,<\/span> cmd<span class=\"token punctuation\">,<\/span> <span class=\"token function\">strlen<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">char<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>cmd<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1000<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">HAL_Delay<\/span><span class=\"token punctuation\">(<\/span>timeout<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u68c0\u67e5\u54cd\u5e94<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">strstr<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">char<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>g_uart_rx_buf<span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">char<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>ack<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    g_camera_data<span class=\"token punctuation\">.<\/span>capture_state <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5931\u8d25<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n  <span class=\"token keyword\">else<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    g_camera_data<span class=\"token punctuation\">.<\/span>capture_state <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6210\u529f<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* \u89e6\u53d1\u6444\u50cf\u5934\u62cd\u7167 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Camera_Capture<\/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  g_camera_data<span class=\"token punctuation\">.<\/span>capture_state <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u62cd\u7167\u4e2d<\/span><br \/>\n  g_camera_data<span class=\"token punctuation\">.<\/span>retry_cnt <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token keyword\">while<\/span><span class=\"token punctuation\">(<\/span>g_camera_data<span class=\"token punctuation\">.<\/span>retry_cnt <span class=\"token operator\">&lt;<\/span> CAPTURE_RETRY<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u53d1\u9001\u62cd\u7167AT\u6307\u4ee4&#xff08;\u9700\u9884\u5148\u5237\u5165\u652f\u6301\u8be5\u6307\u4ee4\u7684\u56fa\u4ef6&#xff09;<\/span><br \/>\n    <span class=\"token function\">Camera_Send_AT_CMD<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token string\">&#034;AT&#043;CAPTURE\\\\r\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token string\">&#034;OK&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2000<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>g_camera_data<span class=\"token punctuation\">.<\/span>capture_state <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\">\/\/ \u62cd\u7167\u6210\u529f&#xff0c;\u8bb0\u5f55\u65f6\u95f4\u6233&#xff08;\u7b80\u5316\u4e3a\u7cfb\u7edf\u8fd0\u884c\u79d2\u6570&#xff09;<\/span><br \/>\n      g_camera_data<span class=\"token punctuation\">.<\/span>capture_time <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">1000<\/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    g_camera_data<span class=\"token punctuation\">.<\/span>retry_cnt<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/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 punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>4.6 OLED\u663e\u793a\u51fd\u6570&#xff08;main.c\u7eed&#xff09;<\/h4>\n<p><span class=\"token comment\">\/* OLED\u5199\u547d\u4ee4 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">OLED_Write_Cmd<\/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 class-name\">uint8_t<\/span> data<span class=\"token punctuation\">[<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> cmd<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">HAL_I2C_Master_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hi2c1<span class=\"token punctuation\">,<\/span> OLED_I2C_ADDR<span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">,<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/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\">\/* OLED\u5199\u6570\u636e *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">OLED_Write_Data<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> data<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token class-name\">uint8_t<\/span> buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0x40<\/span><span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">HAL_I2C_Master_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hi2c1<span class=\"token punctuation\">,<\/span> OLED_I2C_ADDR<span class=\"token punctuation\">,<\/span> buf<span class=\"token punctuation\">,<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/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\">\/* OLED\u521d\u59cb\u5316 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">OLED_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  <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\">\/\/ \u4e0a\u7535\u5ef6\u65f6<\/span><\/p>\n<p>  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xAE<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5173\u95ed\u663e\u793a<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x00<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5217\u8d77\u59cb\u5730\u5740\u4f4e4\u4f4d<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5217\u8d77\u59cb\u5730\u5740\u9ad84\u4f4d<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x40<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u884c\u8d77\u59cb\u5730\u5740<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xB0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u9875\u5730\u5740<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x81<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5bf9\u6bd4\u5ea6\u8bbe\u7f6e<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xFF<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6700\u5927\u5bf9\u6bd4\u5ea6<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xA1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6bb5\u91cd\u6620\u5c04<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xA6<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6b63\u5e38\u663e\u793a<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xA8<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u591a\u8def\u590d\u7528\u7387<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x3F<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ 1\/64 Duty<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xC8<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ COM\u626b\u63cf\u65b9\u5411<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xD3<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u663e\u793a\u504f\u79fb<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x00<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u65e0\u504f\u79fb<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xD5<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u65f6\u949f\u5206\u9891<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x80<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u9ed8\u8ba4\u503c<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xD9<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u9884\u5145\u7535\u5468\u671f<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xF1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u589e\u5f3a\u5bf9\u6bd4\u5ea6<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xDA<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ COM\u5f15\u811a\u914d\u7f6e<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x12<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xDB<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ VCOMH\u7535\u538b<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x40<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x8D<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u7535\u8377\u6cf5<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x14<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u542f\u7528\u7535\u8377\u6cf5<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xAF<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5f00\u542f\u663e\u793a<\/span><\/p>\n<p>  <span class=\"token function\">OLED_Clear<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6e05\u5c4f<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* OLED\u6e05\u5c4f *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">OLED_Clear<\/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 class-name\">uint8_t<\/span> i<span class=\"token punctuation\">,<\/span> j<span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">for<\/span><span class=\"token punctuation\">(<\/span>i<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&lt;<\/span><span class=\"token number\">8<\/span><span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xB0<\/span> <span class=\"token operator\">&#043;<\/span> i<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x00<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">for<\/span><span class=\"token punctuation\">(<\/span>j<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> j<span class=\"token operator\">&lt;<\/span><span class=\"token number\">128<\/span><span class=\"token punctuation\">;<\/span> j<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n      <span class=\"token function\">OLED_Write_Data<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x00<\/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><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* OLED\u663e\u793a\u5b57\u7b26\u4e32 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">OLED_ShowString<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> x<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> y<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>str<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token class-name\">uint8_t<\/span> i<span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0xB0<\/span> <span class=\"token operator\">&#043;<\/span> y<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span>x <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0x0F<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">OLED_Write_Cmd<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x10<\/span> <span class=\"token operator\">&#043;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span>x <span class=\"token operator\">&gt;&gt;<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0x0F<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token keyword\">for<\/span><span class=\"token punctuation\">(<\/span>i<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> str<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token operator\">!&#061;<\/span><span class=\"token char\">&#039;\\\\0&#039;<\/span><span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">for<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> j<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> j<span class=\"token operator\">&lt;<\/span><span class=\"token number\">8<\/span><span class=\"token punctuation\">;<\/span> j<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n      <span class=\"token function\">OLED_Write_Data<\/span><span class=\"token punctuation\">(<\/span>F8x16<span class=\"token punctuation\">[<\/span>str<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token operator\">&#8211;<\/span><span class=\"token char\">&#039; &#039;<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">[<\/span>j<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><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* OLED\u663e\u793a\u6570\u5b57&#xff08;\u6d6e\u70b9\u578b&#xff09; *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">OLED_ShowNum<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> x<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> y<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> num<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> len<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> dot<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token class-name\">uint8_t<\/span> i<span class=\"token punctuation\">,<\/span> temp<span class=\"token punctuation\">,<\/span> num_buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">10<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token class-name\">uint32_t<\/span> int_num <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint32_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>num <span class=\"token operator\">*<\/span> <span class=\"token function\">pow<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">10<\/span><span class=\"token punctuation\">,<\/span> dot<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token keyword\">for<\/span><span class=\"token punctuation\">(<\/span>i<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&lt;<\/span>len<span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    temp <span class=\"token operator\">&#061;<\/span> int_num <span class=\"token operator\">%<\/span> <span class=\"token number\">10<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    int_num <span class=\"token operator\">\/&#061;<\/span> <span class=\"token number\">10<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    num_buf<span class=\"token punctuation\">[<\/span>len<span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1<\/span><span class=\"token operator\">&#8211;<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> temp <span class=\"token operator\">&#043;<\/span> <span class=\"token char\">&#039;0&#039;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>i <span class=\"token operator\">&#061;&#061;<\/span> dot<span class=\"token punctuation\">)<\/span> num_buf<span class=\"token punctuation\">[<\/span>len<span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1<\/span><span class=\"token operator\">&#8211;<\/span>i<span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token char\">&#039;.&#039;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><\/p>\n<p>  <span class=\"token function\">OLED_ShowString<\/span><span class=\"token punctuation\">(<\/span>x<span class=\"token punctuation\">,<\/span> y<span class=\"token punctuation\">,<\/span> num_buf<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* OLED\u663e\u793a\u7cfb\u7edf\u72b6\u6001 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">OLED_Show_State<\/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\">OLED_Clear<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u7b2c\u4e00\u884c&#xff1a;\u65b9\u4f4d\u89d2<\/span><br \/>\n  <span class=\"token function\">OLED_ShowString<\/span><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><span class=\"token class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token string\">&#034;Azimuth: &#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">OLED_ShowNum<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">64<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> g_sound_data<span class=\"token punctuation\">.<\/span>azimuth<span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">OLED_ShowString<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">96<\/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 class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token string\">&#034;\u00b0&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u7b2c\u4e8c\u884c&#xff1a;\u4fef\u4ef0\u89d2<\/span><br \/>\n  <span class=\"token function\">OLED_ShowString<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/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 class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token string\">&#034;Pitch: &#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">OLED_ShowNum<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">56<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span> g_sound_data<span class=\"token punctuation\">.<\/span>pitch<span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">OLED_ShowString<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">88<\/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 class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token string\">&#034;\u00b0&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u7b2c\u4e09\u884c&#xff1a;\u58f0\u6e90\u5f3a\u5ea6<\/span><br \/>\n  <span class=\"token function\">OLED_ShowString<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token string\">&#034;Intensity: &#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">OLED_ShowNum<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">72<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">,<\/span> g_sound_data<span class=\"token punctuation\">.<\/span>intensity<span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/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\">\/\/ \u7b2c\u56db\u884c&#xff1a;\u7cfb\u7edf\u72b6\u6001\/\u62cd\u7167\u72b6\u6001<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>g_camera_data<span class=\"token punctuation\">.<\/span>capture_state <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 function\">OLED_ShowString<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">6<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token string\">&#034;Capture OK! &#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">OLED_ShowNum<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">80<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">6<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span>g_camera_data<span class=\"token punctuation\">.<\/span>capture_time<span class=\"token punctuation\">,<\/span> <span class=\"token number\">5<\/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 function\">OLED_ShowString<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">112<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">6<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token string\">&#034;s&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n  <span class=\"token keyword\">else<\/span> <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>g_camera_data<span class=\"token punctuation\">.<\/span>capture_state <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">OLED_ShowString<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">6<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token string\">&#034;Capture Fail&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n  <span class=\"token keyword\">else<\/span> <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>g_servo_data<span class=\"token punctuation\">.<\/span>calib_flag <span class=\"token operator\">&#061;&#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\">OLED_ShowString<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">6<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token string\">&#034;Calib Zero&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n  <span class=\"token keyword\">else<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">OLED_ShowString<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">6<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token string\">&#034;Running&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><\/p>\n<p>  <span class=\"token function\">HAL_Delay<\/span><span class=\"token punctuation\">(<\/span>OLED_REFRESH_FREQ<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ 8&#215;16\u5b57\u5e93&#xff08;\u7b80\u5316\u7248&#xff0c;\u9700\u8865\u5145\u5b8c\u6574\u5b57\u5e93&#xff09;<\/span><br \/>\n<span class=\"token keyword\">const<\/span> <span class=\"token keyword\">unsigned<\/span> <span class=\"token keyword\">char<\/span> F8x16<span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token comment\">\/\/ \u6570\u5b570-9\u3001\u5b57\u6bcd\u3001\u7b26\u53f7\u7684\u70b9\u9635\u6570\u636e<\/span><br \/>\n  <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x7C<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x12<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x11<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x12<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x7C<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token comment\">\/\/ 0<\/span><br \/>\n  <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x7F<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span><span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token comment\">\/\/ 1<\/span><br \/>\n  <span class=\"token comment\">\/\/ \u6b64\u5904\u7701\u7565\u5176\u4f59\u5b57\u5e93\u6570\u636e<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<h4>4.7 \u6309\u952e\u5904\u7406\u4e0e\u4e3b\u51fd\u6570&#xff08;main.c\u7eed&#xff09;<\/h4>\n<p><span class=\"token comment\">\/* \u6309\u952e\u626b\u63cf&#xff08;\u6d88\u6296&#xff09; *\/<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> <span class=\"token function\">Key_Scan<\/span><span class=\"token punctuation\">(<\/span>GPIO_TypeDef <span class=\"token operator\">*<\/span>GPIOx<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> GPIO_Pin<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_GPIO_ReadPin<\/span><span class=\"token punctuation\">(<\/span>GPIOx<span class=\"token punctuation\">,<\/span> GPIO_Pin<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">HAL_Delay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">20<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6d88\u6296<\/span><br \/>\n    <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_GPIO_ReadPin<\/span><span class=\"token punctuation\">(<\/span>GPIOx<span class=\"token punctuation\">,<\/span> GPIO_Pin<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n      <span class=\"token keyword\">while<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_GPIO_ReadPin<\/span><span class=\"token punctuation\">(<\/span>GPIOx<span class=\"token punctuation\">,<\/span> GPIO_Pin<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token keyword\">return<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n  <span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* \u6309\u952e\u5904\u7406 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Key_Process<\/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\">\/\/ \u96f6\u70b9\u6821\u51c6\u6309\u952e<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">Key_Scan<\/span><span class=\"token punctuation\">(<\/span>KEY_CALIB_PORT<span class=\"token punctuation\">,<\/span> KEY_CALIB_PIN<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    g_sys_state<span class=\"token punctuation\">.<\/span>key_flag <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">Servo_Calib_Zero<\/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\">\/\/ \u9608\u503c\u8c03\u6574\u6309\u952e&#xff08;\u6bcf\u6b21\u00b1200&#xff09;<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">Key_Scan<\/span><span class=\"token punctuation\">(<\/span>KEY_THRESH_PORT<span class=\"token punctuation\">,<\/span> KEY_THRESH_PIN<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    g_sys_state<span class=\"token punctuation\">.<\/span>key_flag <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    g_sys_state<span class=\"token punctuation\">.<\/span>sound_thresh <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token number\">200.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>g_sys_state<span class=\"token punctuation\">.<\/span>sound_thresh <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">4000.0f<\/span><span class=\"token punctuation\">)<\/span> g_sys_state<span class=\"token punctuation\">.<\/span>sound_thresh <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">2000.0f<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token punctuation\">}<\/span><\/p>\n<p>  <span class=\"token comment\">\/\/ \u624b\u52a8\u62cd\u7167\u6309\u952e<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">Key_Scan<\/span><span class=\"token punctuation\">(<\/span>KEY_CAPTURE_PORT<span class=\"token punctuation\">,<\/span> KEY_CAPTURE_PIN<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    g_sys_state<span class=\"token punctuation\">.<\/span>key_flag <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">Camera_Capture<\/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\">\/* \u4e32\u53e3\u63a5\u6536\u4e2d\u65ad\u56de\u8c03 *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_UART_RxCpltCallback<\/span><span class=\"token punctuation\">(<\/span>UART_HandleTypeDef <span class=\"token operator\">*<\/span>huart<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n  <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>huart<span class=\"token operator\">-&gt;<\/span>Instance <span class=\"token operator\">&#061;&#061;<\/span> USART1<span class=\"token punctuation\">)<\/span><br \/>\n  <span class=\"token punctuation\">{<\/span><br \/>\n    g_uart_rx_len<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u9632\u6b62\u7f13\u51b2\u533a\u6ea2\u51fa<\/span><br \/>\n    <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>g_uart_rx_len <span class=\"token operator\">&gt;&#061;<\/span> <span class=\"token number\">127<\/span><span class=\"token punctuation\">)<\/span> g_uart_rx_len <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u91cd\u65b0\u542f\u7528\u4e2d\u65ad<\/span><br \/>\n    <span class=\"token function\">HAL_UART_Receive_IT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>huart1<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>g_uart_rx_buf<span class=\"token punctuation\">[<\/span>g_uart_rx_len<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/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\">\/* \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_TIM3_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">MX_USART1_UART_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">MX_I2C1_Init<\/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\u529f\u80fd\u6a21\u5757 *\/<\/span><br \/>\n  <span class=\"token function\">OLED_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>                <span class=\"token comment\">\/\/ OLED\u521d\u59cb\u5316<\/span><br \/>\n  <span class=\"token function\">Servo_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>               <span class=\"token comment\">\/\/ \u8235\u673a\u521d\u59cb\u5316<\/span><br \/>\n  g_camera_data<span class=\"token punctuation\">.<\/span>capture_state <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6444\u50cf\u5934\u521d\u59cb\u7a7a\u95f2<\/span><\/p>\n<p>  <span class=\"token comment\">\/* \u521d\u59cb\u663e\u793a *\/<\/span><br \/>\n  <span class=\"token function\">OLED_ShowString<\/span><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><span class=\"token class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token string\">&#034;Sound Locate Cam&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n  <span class=\"token function\">HAL_Delay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">2000<\/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 comment\">\/\/ 1. \u6309\u952e\u5904\u7406<\/span><br \/>\n    <span class=\"token function\">Key_Process<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ 2. \u4ec5\u5728\u8fd0\u884c\u72b6\u6001\u4e0b\u8fdb\u884c\u58f0\u6e90\u5b9a\u4f4d<\/span><br \/>\n    <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>g_sys_state<span class=\"token punctuation\">.<\/span>run_flag <span class=\"token operator\">&#061;&#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 comment\">\/\/ \u91c7\u96c6\u9ea6\u514b\u98ce\u6570\u636e\u5e76\u8ba1\u7b97\u89d2\u5ea6\/\u5f3a\u5ea6<\/span><br \/>\n      <span class=\"token function\">TDOA_Calc_Angle<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>      <span class=\"token comment\">\/\/ 3. \u663e\u793a\u7cfb\u7edf\u72b6\u6001<\/span><br \/>\n      <span class=\"token function\">OLED_Show_State<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>      <span class=\"token comment\">\/\/ 4. \u5224\u5b9a\u662f\u5426\u89e6\u53d1\u62cd\u7167<\/span><br \/>\n      <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span>g_sound_data<span class=\"token punctuation\">.<\/span>intensity <span class=\"token operator\">&gt;&#061;<\/span> g_sys_state<span class=\"token punctuation\">.<\/span>sound_thresh<span class=\"token punctuation\">)<\/span><br \/>\n      <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">if<\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">Check_Angle_Stable<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#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 comment\">\/\/ \u8235\u673a\u8f6c\u5411\u58f0\u6e90\u65b9\u5411<\/span><br \/>\n          <span class=\"token function\">Servo_Set_Angle<\/span><span class=\"token punctuation\">(<\/span>g_sound_data<span class=\"token punctuation\">.<\/span>azimuth<span class=\"token punctuation\">,<\/span> g_sound_data<span class=\"token punctuation\">.<\/span>pitch<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>          <span class=\"token comment\">\/\/ \u89e6\u53d1\u62cd\u7167<\/span><br \/>\n          <span class=\"token function\">Camera_Capture<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>          <span class=\"token comment\">\/\/ \u62cd\u7167\u540e\u91cd\u7f6e\u5b9a\u4f4d\u8ba1\u6570<\/span><br \/>\n          g_sound_data<span class=\"token punctuation\">.<\/span>locate_cnt <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/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\">\/\/ 5. \u4f4e\u529f\u8017\u5ef6\u65f6<\/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><br \/>\n  <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h3>\u4e94\u3001ESP32-CAM\u56fa\u4ef6\u70e7\u5f55\u4e0e\u8c03\u8bd5<\/h3>\n<h4>5.1 ESP32-CAM AT\u6307\u4ee4\u56fa\u4ef6\u70e7\u5f55<\/h4>\n<li>\u56fa\u4ef6\u51c6\u5907&#xff1a;\u4e0b\u8f7d\u652f\u6301\u62cd\u7167AT\u6307\u4ee4\u7684ESP32-CAM\u56fa\u4ef6&#xff08;\u6587\u672b\u63d0\u4f9b\u7b80\u5316\u7248\u56fa\u4ef6&#xff09;&#xff1b;<\/li>\n<li>\u786c\u4ef6\u8fde\u63a5&#xff1a;ESP32-CAM\u901a\u8fc7USB-TTL\u6a21\u5757\u8fde\u63a5\u7535\u8111&#xff0c;\u63a5\u7ebf&#xff1a;\n<ul>\n<li>USB-TTL TX \u2192 ESP32-CAM U0RXD&#xff1b;<\/li>\n<li>USB-TTL RX \u2192 ESP32-CAM U0TXD&#xff1b;<\/li>\n<li>USB-TTL 5V \u2192 ESP32-CAM 5V&#xff1b;<\/li>\n<li>USB-TTL GND \u2192 ESP32-CAM GND&#xff1b;<\/li>\n<li>ESP32-CAM IO0\u63a5GND&#xff08;\u8fdb\u5165\u70e7\u5f55\u6a21\u5f0f&#xff09;&#xff1b;<\/li>\n<\/ul>\n<\/li>\n<li>\u70e7\u5f55\u64cd\u4f5c&#xff1a;\n<ul>\n<li>\u6253\u5f00ESP Flash Download Tool&#xff0c;\u9009\u62e9\u201cESP32\u201d\u82af\u7247\u7c7b\u578b&#xff1b;<\/li>\n<li>\u9009\u62e9\u56fa\u4ef6\u6587\u4ef6&#xff0c;\u8bbe\u7f6e\u70e7\u5f55\u5730\u57400x00000&#xff1b;<\/li>\n<li>\u6ce2\u7279\u7387\u8bbe\u4e3a115200&#xff0c;\u70b9\u51fb\u201cSTART\u201d\u5f00\u59cb\u70e7\u5f55&#xff1b;<\/li>\n<li>\u70e7\u5f55\u5b8c\u6210\u540e\u65ad\u5f00IO0\u4e0eGND\u7684\u8fde\u63a5&#xff0c;\u91cd\u542fESP32-CAM\u3002<\/li>\n<\/ul>\n<\/li>\n<h4>5.2 \u7cfb\u7edf\u6574\u4f53\u8c03\u8bd5<\/h4>\n<h5>\u6b65\u9aa41&#xff1a;\u57fa\u7840\u529f\u80fd\u9a8c\u8bc1<\/h5>\n<ul>\n<li>\u4e0a\u7535\u68c0\u67e5&#xff1a;STM32\u4e0a\u7535\u540e&#xff0c;\u8235\u673a\u5f52\u4f4d\u81f30\u00b0&#xff0c;OLED\u663e\u793a\u201cRunning\u2026\u201d&#xff0c;ESP32-CAM\u6307\u793a\u706f\u5e38\u4eae&#xff08;\u5c31\u7eea\u72b6\u6001&#xff09;&#xff1b;<\/li>\n<li>\u58f0\u6e90\u5b9a\u4f4d\u9a8c\u8bc1&#xff1a;\u5728\u4e0d\u540c\u65b9\u4f4d&#xff08;\u598290\u00b0\u3001180\u00b0&#xff09;\u62cd\u624b&#xff0c;OLED\u663e\u793a\u7684\u65b9\u4f4d\u89d2\u5e94\u4e0e\u5b9e\u9645\u4f4d\u7f6e\u4e00\u81f4&#xff0c;\u504f\u5dee&lt;5\u00b0&#xff1b;<\/li>\n<li>\u8235\u673a\u8f6c\u5411\u9a8c\u8bc1&#xff1a;\u58f0\u6e90\u5b9a\u4f4d\u540e&#xff0c;\u8235\u673a\u5e94\u7cbe\u51c6\u8f6c\u5411\u58f0\u6e90\u65b9\u5411&#xff0c;\u6444\u50cf\u5934\u5bf9\u51c6\u53d1\u58f0\u4f4d\u7f6e\u3002<\/li>\n<\/ul>\n<h5>\u6b65\u9aa42&#xff1a;\u62cd\u7167\u529f\u80fd\u8c03\u8bd5<\/h5>\n<ul>\n<li>\u624b\u52a8\u89e6\u53d1&#xff1a;\u6309\u4e0b\u201c\u624b\u52a8\u62cd\u7167\u201d\u6309\u952e&#xff0c;STM32\u53d1\u9001AT&#043;CAPTURE\u6307\u4ee4&#xff0c;ESP32-CAM\u5b8c\u6210\u62cd\u7167\u5e76\u5b58\u50a8\u81f3TF\u5361&#xff1b;<\/li>\n<li>\u81ea\u52a8\u89e6\u53d1&#xff1a;\u5728\u58f0\u6e90\u5f3a\u5ea6\u8d85\u8fc7\u9608\u503c\u7684\u4f4d\u7f6e\u62cd\u624b&#xff0c;\u7cfb\u7edf\u81ea\u52a8\u8f6c\u5411\u5e76\u62cd\u7167&#xff0c;OLED\u663e\u793a\u201cCapture OK!\u201d&#xff1b;<\/li>\n<li>\u7167\u7247\u67e5\u770b&#xff1a;\u53d6\u51faTF\u5361&#xff0c;\u63d2\u5165\u7535\u8111\u67e5\u770b\u62cd\u6444\u7684\u7167\u7247&#xff0c;\u786e\u8ba4\u753b\u9762\u6e05\u6670\u3001\u89d2\u5ea6\u51c6\u786e\u3002<\/li>\n<\/ul>\n<h5>\u6b65\u9aa43&#xff1a;\u7cbe\u5ea6\u6821\u51c6<\/h5>\n<ul>\n<li>ADC\u6821\u51c6&#xff1a;\u7528\u4fe1\u53f7\u53d1\u751f\u5668\u8f93\u51fa\u6807\u51c6\u7535\u538b&#xff0c;\u8c03\u6574ADC_REF_VOLTAGE\u4f7f\u91c7\u6837\u503c\u4e0e\u5b9e\u9645\u503c\u4e00\u81f4&#xff1b;<\/li>\n<li>\u8235\u673a\u89d2\u5ea6\u6821\u51c6&#xff1a;\u7528\u89d2\u5ea6\u5c3a\u6d4b\u91cf\u8235\u673a\u5b9e\u9645\u89d2\u5ea6&#xff0c;\u8c03\u6574SERVO_ANGLE_PWM\u4f7f\u663e\u793a\u89d2\u5ea6\u4e0e\u5b9e\u9645\u89d2\u5ea6\u504f\u5dee&lt;1\u00b0&#xff1b;<\/li>\n<li>\u58f0\u6e90\u5b9a\u4f4d\u6821\u51c6&#xff1a;\u5728\u5df2\u77e5\u89d2\u5ea6&#xff08;\u598230\u00b0\u300160\u00b0&#xff09;\u53d1\u58f0&#xff0c;\u8c03\u6574MIC_SPACING\u548cTDOA\u7b97\u6cd5\u53c2\u6570&#xff0c;\u4f18\u5316\u5b9a\u4f4d\u7cbe\u5ea6\u3002<\/li>\n<\/ul>\n<h4>5.3 \u5e38\u89c1\u95ee\u9898\u4e0e\u89e3\u51b3<\/h4>\n<table>\n<tr>\u95ee\u9898\u73b0\u8c61\u53ef\u80fd\u539f\u56e0\u89e3\u51b3\u65b9\u6cd5<\/tr>\n<tbody>\n<tr>\n<td>\u58f0\u6e90\u5b9a\u4f4d\u89d2\u5ea6\u504f\u5dee\u5927<\/td>\n<td>\u9ea6\u514b\u98ce\u9635\u5217\u5b89\u88c5\u4e0d\u5bf9\u79f0\u3001TDOA\u53c2\u6570\u9519\u8bef<\/td>\n<td>\u91cd\u65b0\u5b89\u88c5\u9ea6\u514b\u98ce\u9635\u5217&#xff0c;\u8c03\u6574MIC_SPACING<\/td>\n<\/tr>\n<tr>\n<td>\u8235\u673a\u65e0\u54cd\u5e94<\/td>\n<td>PWM\u5f15\u811a\u914d\u7f6e\u9519\u8bef\u3001\u4f9b\u7535\u4e0d\u8db3<\/td>\n<td>\u6838\u5bf9PB0\/PB1\u63a5\u7ebf&#xff0c;\u7ed9\u8235\u673a\u72ec\u7acb\u4f9b\u7535<\/td>\n<\/tr>\n<tr>\n<td>\u6444\u50cf\u5934\u4e0d\u62cd\u7167<\/td>\n<td>AT\u6307\u4ee4\u56fa\u4ef6\u672a\u70e7\u5f55\u3001\u4e32\u53e3\u6ce2\u7279\u7387\u4e0d\u5339\u914d<\/td>\n<td>\u91cd\u65b0\u70e7\u5f55\u56fa\u4ef6&#xff0c;\u786e\u8ba4\u6ce2\u7279\u7387115200<\/td>\n<\/tr>\n<tr>\n<td>OLED\u663e\u793a\u4e71\u7801<\/td>\n<td>I2C\u63a5\u7ebf\u9519\u8bef\u3001\u5b57\u5e93\u7f3a\u5931<\/td>\n<td>\u6838\u5bf9PB6\/PB7\u63a5\u7ebf&#xff0c;\u8865\u5145\u5b8c\u65748&#215;16\u5b57\u5e93<\/td>\n<\/tr>\n<tr>\n<td>\u62cd\u7167\u540e\u65e0\u7167\u7247\u5b58\u50a8<\/td>\n<td>TF\u5361\u672a\u683c\u5f0f\u5316\u3001\u5361\u5bb9\u91cf\u8fc7\u5927<\/td>\n<td>\u683c\u5f0f\u5316TF\u5361\u4e3aFAT32&#xff0c;\u4f7f\u75288GB\u4ee5\u4e0b\u5361<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>\u516d\u3001\u529f\u80fd\u6269\u5c55\u5efa\u8bae<\/h3>\n<li>WiFi\u8fdc\u7a0b\u67e5\u770b&#xff1a;ESP32-CAM\u63a5\u5165WiFi&#xff0c;\u62cd\u7167\u540e\u5c06\u7167\u7247\u4e0a\u4f20\u81f3\u963f\u91cc\u4e91\/\u817e\u8baf\u4e91&#xff0c;\u624b\u673aAPP\u5b9e\u65f6\u67e5\u770b&#xff1b;<\/li>\n<li>\u591a\u58f0\u6e90\u8bc6\u522b&#xff1a;\u4f18\u5316TDOA\u7b97\u6cd5&#xff0c;\u652f\u6301\u540c\u65f6\u8bc6\u522b\u591a\u4e2a\u58f0\u6e90&#xff0c;\u4f18\u5148\u8f6c\u5411\u5f3a\u5ea6\u6700\u5927\u7684\u58f0\u6e90&#xff1b;<\/li>\n<li>\u8bed\u97f3\u5524\u9192&#xff1a;\u589e\u52a0\u79bb\u7ebf\u8bed\u97f3\u8bc6\u522b\u6a21\u5757&#xff08;\u5982LD3320&#xff09;&#xff0c;\u652f\u6301\u201c\u62cd\u7167\u201d\u8bed\u97f3\u6307\u4ee4\u89e6\u53d1&#xff1b;<\/li>\n<li>\u89c6\u9891\u5f55\u5236&#xff1a;\u6269\u5c55\u6444\u50cf\u5934\u529f\u80fd&#xff0c;\u652f\u6301\u58f0\u6e90\u5b9a\u4f4d\u540e\u5f55\u523610\u79d2\u89c6\u9891&#xff1b;<\/li>\n<li>\u89d2\u5ea6\u8865\u507f&#xff1a;\u52a0\u5165\u6444\u50cf\u5934\u7578\u53d8\u6821\u6b63\u7b97\u6cd5&#xff0c;\u63d0\u5347\u62cd\u7167\u753b\u9762\u7684\u89d2\u5ea6\u51c6\u786e\u6027&#xff1b;<\/li>\n<li>\u4f4e\u529f\u8017\u6a21\u5f0f&#xff1a;\u7cfb\u7edf\u65e0\u58f0\u6e90\u65f6\u8fdb\u5165\u4f11\u7720&#xff0c;\u68c0\u6d4b\u5230\u58f0\u97f3\u540e\u5524\u9192&#xff0c;\u964d\u4f4e\u529f\u8017\u3002<\/li>\n<h3>\u603b\u7ed3<\/h3>\n<li>\u672c\u65b9\u6848\u4ee5STM32F103C8T6\u4e3a\u6838\u5fc3&#xff0c;\u7ed3\u54084\u9ea6\u514b\u98ce\u9635\u5217TDOA\u7b97\u6cd5\u3001\u53cc\u8235\u673a\u4e91\u53f0\u3001ESP32-CAM\u6444\u50cf\u5934&#xff0c;\u5b9e\u73b0\u4e86\u58f0\u6e90\u5b9a\u4f4d&#043;\u81ea\u52a8\u62cd\u7167\u7684\u5b8c\u6574\u529f\u80fd&#xff0c;\u786c\u4ef6\u63a5\u7ebf\u6a21\u5757\u5316&#xff0c;\u4ee3\u7801\u6ce8\u91ca\u8be6\u5c3d&#xff0c;\u96f6\u57fa\u7840\u5c0f\u767d\u53ef\u6309\u6b65\u9aa4\u843d\u5730\u3002<\/li>\n<li>\u7cfb\u7edf\u6838\u5fc3\u903b\u8f91\u901a\u8fc7Mermaid\u6d41\u7a0b\u56fe\u6e05\u6670\u5448\u73b0&#xff0c;TDOA\u7b80\u5316\u7b97\u6cd5\u517c\u987e\u4e86\u5b9a\u4f4d\u7cbe\u5ea6\u548c\u4ee3\u7801\u6613\u7406\u89e3\u6027&#xff0c;\u8235\u673a\u89d2\u5ea6\u6821\u51c6\u3001\u6444\u50cf\u5934AT\u6307\u4ee4\u63a7\u5236\u7b49\u6a21\u5757\u4fdd\u8bc1\u4e86\u7cfb\u7edf\u7684\u5b9e\u7528\u6027\u3002<\/li>\n<li>\u8c03\u8bd5\u65f6\u9700\u4f18\u5148\u9a8c\u8bc1ADC\u91c7\u6837\u548c\u58f0\u6e90\u5b9a\u4f4d\u7684\u51c6\u786e\u6027&#xff0c;\u518d\u8c03\u8bd5\u8235\u673a\u8f6c\u5411\u548c\u6444\u50cf\u5934\u62cd\u7167\u529f\u80fd&#xff0c;\u9047\u5230\u95ee\u9898\u53ef\u901a\u8fc7\u4e32\u53e3\u8c03\u8bd5\u52a9\u624b\u67e5\u770b\u6307\u4ee4\u4ea4\u4e92\u8fc7\u7a0b&#xff0c;\u5feb\u901f\u5b9a\u4f4d\u6545\u969c\u70b9\u3002<\/li>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u76ee\u5f55 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