STM32F10x GPIO Configuration for Car Control with Line Following Example

"#include" "stm32f10x.h"\n\n#define LEFT_FORWARD_GPIO_PIN GPIO_Pin_0\n#define LEFT_BACKWARD_GPIO_PIN GPIO_Pin_1\n#define RIGHT_FORWARD_GPIO_PIN GPIO_Pin_2\n#define RIGHT_BACKWARD_GPIO_PIN GPIO_Pin_3\n\nvoid GPIO_Configuration(void)\n{\n GPIO_InitTypeDef GPIO_InitStructure;\n\n RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);\n\n GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;\n GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;\n\n GPIO_InitStructure.GPIO_Pin = LEFT_FORWARD_GPIO_PIN;\n GPIO_Init(GPIOA, &GPIO_InitStructure);\n\n GPIO_InitStructure.GPIO_Pin = LEFT_BACKWARD_GPIO_PIN;\n GPIO_Init(GPIOA, &GPIO_InitStructure);\n\n GPIO_InitStructure.GPIO_Pin = RIGHT_FORWARD_GPIO_PIN;\n GPIO_Init(GPIOA, &GPIO_InitStructure);\n\n GPIO_InitStructure.GPIO_Pin = RIGHT_BACKWARD_GPIO_PIN;\n GPIO_Init(GPIOA, &GPIO_InitStructure);\n}\n\nvoid Car_Forward(void)\n{\n GPIO_SetBits(GPIOA, LEFT_FORWARD_GPIO_PIN);\n GPIO_SetBits(GPIOA, RIGHT_FORWARD_GPIO_PIN);\n\n GPIO_ResetBits(GPIOA, LEFT_BACKWARD_GPIO_PIN);\n GPIO_ResetBits(GPIOA, RIGHT_BACKWARD_GPIO_PIN);\n}\n\nvoid Car_Backward(void)\n{\n GPIO_ResetBits(GPIOA, LEFT_FORWARD_GPIO_PIN);\n GPIO_ResetBits(GPIOA, RIGHT_FORWARD_GPIO_PIN);\n\n GPIO_SetBits(GPIOA, LEFT_BACKWARD_GPIO_PIN);\n GPIO_SetBits(GPIOA, RIGHT_BACKWARD_GPIO_PIN);\n}\n\nvoid Car_Turn_Left(void)\n{\n GPIO_ResetBits(GPIOA, LEFT_FORWARD_GPIO_PIN);\n GPIO_SetBits(GPIOA, RIGHT_FORWARD_GPIO_PIN);\n\n GPIO_SetBits(GPIOA, LEFT_BACKWARD_GPIO_PIN);\n GPIO_ResetBits(GPIOA, RIGHT_BACKWARD_GPIO_PIN);\n}\n\nvoid Car_Turn_Right(void)\n{\n GPIO_SetBits(GPIOA, LEFT_FORWARD_GPIO_PIN);\n GPIO_ResetBits(GPIOA, RIGHT_FORWARD_GPIO_PIN);\n\n GPIO_ResetBits(GPIOA, LEFT_BACKWARD_GPIO_PIN);\n GPIO_SetBits(GPIOA, RIGHT_BACKWARD_GPIO_PIN);\n}\n\nvoid Car_Stop(void)\n{\n GPIO_ResetBits(GPIOA, LEFT_FORWARD_GPIO_PIN);\n GPIO_ResetBits(GPIOA, RIGHT_FORWARD_GPIO_PIN);\n\n GPIO_ResetBits(GPIOA, LEFT_BACKWARD_GPIO_PIN);\n GPIO_ResetBits(GPIOA, RIGHT_BACKWARD_GPIO_PIN);\n}\n\nint main(void)\n{\n GPIO_Configuration();\n\n while (1)\n {\n // 在这里编写循迹代码\n }\n}\n\nThe code provided is a basic setup for controlling a car with a STM32 microcontroller. It configures the GPIO pins for controlling the car's motors, and provides functions for moving the car forward, backward, turning left, turning right, and stopping.\n\nTo add line-following functionality, you would need to add additional code inside the while loop in the main function. Here's an example of how you could implement a basic line-following algorithm using a line sensor:\n\nc\nint main(void)\n{\n GPIO_Configuration();\n\n while (1)\n {\n // Read line sensor values\n uint8_t leftSensor = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_4);\n uint8_t middleSensor = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_5);\n uint8_t rightSensor = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_6);\n\n // Line-following logic\n if (leftSensor == 1 && middleSensor == 0 && rightSensor == 1)\n {\n // Forward\n Car_Forward();\n }\n else if (leftSensor == 0 && middleSensor == 1 && rightSensor == 0)\n {\n // Stop\n Car_Stop();\n }\n else if (leftSensor == 1 && middleSensor == 1 && rightSensor == 0)\n {\n // Turn right\n Car_Turn_Right();\n }\n else if (leftSensor == 0 && middleSensor == 1 && rightSensor == 1)\n {\n // Turn left\n Car_Turn_Left();\n }\n else\n {\n // Unknown condition, stop the car\n Car_Stop();\n }\n }\n}\n\n\nIn this example, the line sensor pins are connected to GPIO pins 4, 5, and 6 of port A. The line sensor outputs a logic 1 when it detects a line and a logic 0 when it does not. The line-following logic determines the movement of the car based on the readings of the line sensor. You may need to adjust the logic based on the specific behavior of your line sensor.