基于STM32的机器人串口总线数字舵机方案

/** ****************************************************************************** * @file stm32f0xx.h * @author MCD Application Team * @version V1.0.1 * @date 20-April-2012 * @brief CMSIS Cortex-M0 Device Peripheral Access Layer Header File. * This file contains all the peripheral register's definitions, bits * definitions and memory mapping for STM32F0xx devices. * * The file is the unique include file that the application programmer * is using in the C source code, usually in main.c. This file contains: * - Configuration section that allows to select: * - The device used in the target application * - To use or not the peripheral’s drivers in application code(i.e. * code will be based on direct access to peripheral’s registers * rather than drivers API), this option is controlled by * "#define USE_STDPERIPH_DRIVER" * - To change few application-specific parameters such as the HSE * crystal frequency * - Data structures and the address mapping for all peripherals * - Peripheral's registers declarations and bits definition * - Macros to access peripheral’s registers hardware * ****************************************************************************** * @attention * * <h2><center>&copy; COPYRIGHT 2012 STMicroelectronics</center></h2> * * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License"); * You may not use this file except in compliance with the License. * You may obtain a copy of the License at: * * http://www.st.com/software_license_agreement_liberty_v2 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * ****************************************************************************** */ /** @addtogroup CMSIS * @{ */ /** @addtogroup stm32f0xx * @{ */ #ifndef __STM32F0XX_H #define __STM32F0XX_H #ifdef __cplusplus extern "C" { #endif /** @addtogroup Library_configuration_section * @{ */ /* Uncomment the line below according to the target STM32F0 device used in your application */ #if !defined (STM32F0XX) #define STM32F0XX /*!< STM32F0XX: STM32F0xx devices */ #endif /* Tip: To avoid modifying this file each time you need to switch between these devices, you can define the device in your toolchain compiler preprocessor. STM32F0xx devices are: - STM32F050xx microcontrollers where the Flash memory density can go up to 32 Kbytes. - STM32F051xx microcontrollers where the Flash memory density can go up to 64 Kbytes. */ #if !defined (STM32F0XX) #error "Please select first the target STM32F0xx device used in your application (in stm32f0xx.h file)" #endif /* STM32F0XX */ #if !defined USE_STDPERIPH_DRIVER /** * @brief Comment the line below if you will not use the peripherals drivers. In this case, these drivers will not be included and the application code will be based on direct access to peripherals registers */ /*#define USE_STDPERIPH_DRIVER*/ #endif /* USE_STDPERIPH_DRIVER */ /** * @brief In the following line adjust the value of External High Speed oscillator (HSE) used in your application Tip: To avoid modifying this file each time you need to use different HSE, you can define the HSE value in your toolchain compiler preprocessor. */ #if !defined (HSE_VALUE) #define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz*/ #endif /* HSE_VALUE */ /** * @brief In the following line adjust the External High Speed oscillator (HSE) Startup Timeout value */ #if !defined (HSE_STARTUP_TIMEOUT) #define HSE_STARTUP_TIMEOUT ((uint16_t)0x5000) /*!< Time out for HSE start up */ #endif /* HSE_STARTUP_TIMEOUT */ /** * @brief In the following line adjust the Internal High Speed oscillator (HSI) Startup Timeout value */ #if !defined (HSI_STARTUP_TIMEOUT) #define HSI_STARTUP_TIMEOUT ((uint16_t)0x0500) /*!< Time out for HSI start up */ #endif /* HSI_STARTUP_TIMEOUT */ #if !defined (HSI_VALUE) #define HSI_VALUE ((uint32_t)8000000) /*!< Value of the Internal High Speed oscillator in Hz. The real value may vary depending on the variations in voltage and temperature. */ #endif /* HSI_VALUE */ #if !defined (HSI14_VALUE) #define HSI14_VALUE ((uint32_t)14000000) /*!< Value of the Internal High Speed oscillator for ADC in Hz. The real value may vary depending on the variations in voltage and temperature. */ #endif /* HSI14_VALUE */ #if !defined (LSI_VALUE) #define LSI_VALUE ((uint32_t)40000) /*!< Value of the Internal Low Speed oscillator in Hz The real value may vary depending on the variations in voltage and temperature. */ #endif /* LSI_VALUE */ #if !defined (LSE_VALUE) #define LSE_VALUE ((uint32_t)32768) /*!< Value of the External Low Speed oscillator in Hz */ #endif /* LSE_VALUE */ /** * @brief STM32F0xx Standard Peripheral Library version number V1.0.1 */ #define __STM32F0XX_STDPERIPH_VERSION_MAIN (0x01) /*!< [31:24] main version */ #define __STM32F0XX_STDPERIPH_VERSION_SUB1 (0x00) /*!< [23:16] sub1 version */ #define __STM32F0XX_STDPERIPH_VERSION_SUB2 (0x01) /*!< [15:8] sub2 version */ #define __STM32F0XX_STDPERIPH_VERSION_RC (0x00) /*!< [7:0] release candidate */ #define __STM32F0XX_STDPERIPH_VERSION ((__STM32F0XX_STDPERIPH_VERSION_MAIN << 24)\ |(__STM32F0XX_STDPERIPH_VERSION_SUB1 << 16)\ |(__STM32F0XX_STDPERIPH_VERSION_SUB2 << 8)\ |(__STM32F0XX_STDPERIPH_VERSION_RC)) /** * @} */ /** @addtogroup Configuration_section_for_CMSIS * @{ */ /** * @brief STM32F0xx Interrupt Number Definition, according to the selected device * in @ref Library_configuration_section */ //#define __CM0_REV 0 /*!< Core Revision r0p0 */ //#define __MPU_PRESENT 0 /*!< STM32F0xx do not provide MPU */ //#define __NVIC_PRIO_BITS 2 /*!< STM32F0xx uses 2 Bits for the Priority Levels */ //#define __Vendor_SysTickConfig 0 /*!< Set to 1 if different SysTick Config is used */ #define __CM23_REV 0x0100U /*!< Core revision r1p0 */ #define __SAUREGION_PRESENT 0U /*!< SAU regions are not present */ #define __MPU_PRESENT 0U /*!< MPU is present */ #define __VTOR_PRESENT 1U /*!< VTOR is present */ #define __NVIC_PRIO_BITS 2U /*!< Number of Bits used for Priority Levels */ #define __Vendor_SysTickConfig 0U /*!< Set to 1 if different SysTick Config is used */ /*!< Interrupt Number Definition */ typedef enum IRQn { /****** Cortex-M3 Processor Exceptions Numbers ***************************************************/ NonMaskableInt_IRQn = -14, /*!< 2 Non Maskable Interrupt