毕业设计——基于STM32的智能家具系统(语音识别控制、步进电机、舵机)_毕设智能家居的远程语音控制推荐买什么开发版

#include "Servo_motor.h"
#include "delay.h"
 
//高级定时器1pwm输出初始化
//arr：自动重装值（周期）  psc：时钟预分频数
void tim1_pwmInit(uint16_t arr, uint16_t psc)
{
  GPIO_InitTypeDef GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_OCInitTypeDef  TIM_OCInitStructure;
 
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); // 使能定时器1的外设时钟
 	RCC_APB2PeriphClockCmd(TIM1_CH1_GPIO_CLK, ENABLE);  //使能GPIO外设时钟使能                               	
 
   //设置该引脚为复用输出功能,输出TIM1 CH1的PWM脉冲波形
	GPIO_InitStructure.GPIO_Pin = TIM1_CH1_PIN; //TIM_CH1
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //复用推挽输出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(TIM1_CH1_PORT, &GPIO_InitStructure);
	
	TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值	 80K
	TIM_TimeBaseStructure.TIM_Prescaler = psc; //设置用来作为TIMx时钟频率除数的预分频值  不分频(预分频系数，如系统时钟为72Mhz，psc为7199，则分频后为72M/(7199+1)=10k  ~~~0.1ms,,也就是说一个周期0.1ms，，，，在×arr就得到定时时间了)
	TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
	TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
 
 
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	//TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值(占空比)
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性:TIM输出比较极性低
	TIM_OC1Init(TIM1, &TIM_OCInitStructure);  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
 
  TIM_CtrlPWMOutputs(TIM1,ENABLE);	//MOE 主输出使能	
	
	TIM_Cmd(TIM1, ENABLE);  //使能TIM1
}
 
 
 
void servo_init(void)
{
  tim1_pwmInit(SERVO_TIM_ARR,SERVO_TIM_PSC);
  TIM_SetCompare1(TIM1,150);  //使舵机恢复到中间位置
}
 
 
 
//0.5ms--0°  2.5ms--180°
void servo_angle(uint16_t angle)
{
  uint16_t pulse;
  
  //针对舵机可转角度限辐
  if(angle <= 5)
    angle = 5;
  if(angle >= 175)
    angle = 175;
  //将角度值转换为脉冲值  
  pulse = (uint16_t)(50 + angle * 100/90.0);  //此转换公式需根据pwm的arr及psc配置来做相应变化
  TIM_SetCompare1(TIM1, pulse);
  
}
 
 
 
void servo_debug(void)
{
  uint8_t i;
  for(i = 0; i < 10; ++i)
  {
    delay_ms(500);
    servo_angle(80);  //中间位置
    delay_ms(500);
    servo_angle(175);
 
  }
}

#ifndef __Servo_motor_H
#define __Servo_motor_H
 
#include "stm32f10x.h"
 
 
// 72M / (719 + 1) = 0.1M 故记一个数的时间为10us  定时周期：（1999 + 1） * 10us = 20ms
#define SERVO_TIM_ARR  1999
#define SERVO_TIM_PSC  719
 
 
#define TIM1_CH1_GPIO_CLK    RCC_APB2Periph_GPIOA
#define TIM1_CH1_PORT        GPIOA
#define TIM1_CH1_PIN         GPIO_Pin_8
 
 
 
 
void servo_init(void);
void servo_angle(uint16_t angle);
void servo_debug(void);
void tim1_pwmInit(uint16_t arr, uint16_t psc);
 
#endif  //__TIMER_H
 

#include "ASR.h"
 
//初始化PB5和PE5为输出口.并使能这两个口的时钟		    
//LED IO初始化
void ASR_Init(void)
{
 
 GPIO_InitTypeDef  GPIO_InitStructure;
 	
 RCC_APB2PeriphClockCmd(ASR_LED_CLK, ENABLE);	 //使能PG端口时钟
	
 GPIO_InitStructure.GPIO_Pin = ASR_LED_PIN |ASR_FS_PIN |ASR_stepper_motor_PIN |ASR_Servo_motor_PIN;				            //PA.1、PA.2 端口配置
 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; 		     //输入下拉
 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;		 //IO口速度为50MHz
 GPIO_Init(ASR_LED_PORT, &GPIO_InitStructure);					       
 
	GPIO_ResetBits(ASR_LED_PORT, ASR_LED_PIN);
	GPIO_ResetBits(ASR_FS_PORT, ASR_FS_PIN);
	GPIO_ResetBits(ASR_stepper_motor_PORT, ASR_stepper_motor_PIN);
	GPIO_ResetBits(ASR_Servo_motor_PORT, ASR_Servo_motor_PIN);	
}

#ifndef __ASR_H
#define __ASR_H	 
#include "sys.h"
 
 
//led
#define ASR_LED_PIN                   					 GPIO_Pin_1
#define ASR_LED_PORT                   					 GPIOA
#define ASR_LED_CLK                   					 RCC_APB2Periph_GPIOA
 
//风扇
#define ASR_FS_PIN                    					 GPIO_Pin_2
#define ASR_FS_PORT                   					 GPIOA
#define ASR_FS_CLK                    					 RCC_APB2Periph_GPIOA
 
//步进电机(窗帘)
#define ASR_stepper_motor_PIN                    GPIO_Pin_3
#define ASR_stepper_motor_PORT                   GPIOA
#define ASR_stepper_motor_CLK                    RCC_APB2Periph_GPIOA
 
//开关门
#define ASR_Servo_motor_PIN                    	 GPIO_Pin_4
#define ASR_Servo_motor_PORT                   	 GPIOA
#define ASR_Servo_motor_CLK                    	 RCC_APB2Periph_GPIO4
 
 
#define LED_read  PAin(1)// PA1
#define FS_read   PAin(2)// PA2
#define BJ_read   PAin(3)// PB3
#define KM_read   PAin(4)// PB4
 
void ASR_Init(void);//初始化
 
		 				    
#endif

#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "step_motor.h"
#include "Servo_motor.h"
#include "ASR.h"
 
 int main(void)
 {	
	static u8 BJ_flag;
	delay_init();	    															  //延时函数初始化	  
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); 	//设置NVIC中断分组2:2位抢占优先级，2位响应优先级
	uart_init(9600);	 																//串口初始化为115200
	ASR_Init();
 	LED_Init();			    														  //LED端口初始化
	KEY_Init();         														  //初始化与按键连接的硬件接口
	servo_init();
	Step_Motor_GPIO_Init();
	 
	servo_angle(80);      														 //私服电机初始角度(关门状态)
	//STEP_MOTOR_OFF();
 	while(1)
	{
		//判断语音开关灯
		if(LED_read == 1) 
		{
			LED0=0;             //开灯
			LED1=1;
		}
		else
		{
			LED0=1;            //关灯
			LED1=0;
		}
		
		//语音判断开关风扇
		if(FS_read == 1)
		{
			FS=1;
		}
		else
		{
			FS=0;
		}	 
		
		//判断语音开关窗帘
		if((BJ_read == 1)&&(BJ_flag == 0))
		{
			motorNcircle(64,(bool)1);  //步进电机正传
			BJ_flag=1;
		}
		else if((BJ_read == 0)&&(BJ_flag == 1))
		{
			//STEP_MOTOR_OFF();
			motorNcircle(64,(bool)0);  //步进电机反传
			BJ_flag=0;
			
		}
		
		//判断语音开关门
		if(KM_read == 1) 
		{
			servo_angle(175);
			delay_ms(500);
		}
		else
		{
			servo_angle(80);
			delay_ms(500);
		}
  }
}