STM32接收C#上位机命令控制电机，和根据红外线判断电机位置

使用STM32通过串口接收来自C#上位机的命令，下位机通过PWM控制电机的速度，控制方向和距离，通过红外线判断电机位置，这样可以保护好电机。

/**************************************************************************//**
 * @file     core_cm3.c
 * @brief    CMSIS Cortex-M3 Core Peripheral Access layer Source File
 * @version  V1.30
 * @date     30. October 2009
 *
 * @note
 * Copyright （C） 2009 ARM Limited. All rights reserved.
 *
 * @par
 * ARM Limited （ARM） is supplying this software for use with Cortex-M 
 * processor based microcontrollers.  This file can be freely distributed 
 * within development tools that are supporting such ARM based processors. 
 *
 * @par
 * THIS SOFTWARE IS PROVIDED “AS IS“.  NO WARRANTIES WHETHER EXPRESS IMPLIED
 * OR STATUTORY INCLUDING BUT NOT LIMITED TO IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
 * ARM SHALL NOT IN ANY CIRCUMSTANCES BE LIABLE FOR SPECIAL INCIDENTAL OR
 * CONSEQUENTIAL DAMAGES FOR ANY REASON WHATSOEVER.
 *
 ******************************************************************************/

#include 

/* define compiler specific symbols */
#if defined （ __CC_ARM   ）
  #define __ASM            __asm                                      /*!< asm keyword for ARM Compiler          */
  #define __INLINE         __inline                                   /*!< inline keyword for ARM Compiler       */

#elif defined （ __ICCARM__ ）
  #define __ASM           __asm                                       /*!< asm keyword for IAR Compiler          */
  #define __INLINE        inline                                      /*!< inline keyword for IAR Compiler. Only avaiable in High optimization mode! */

#elif defined   （  __GNUC__  ）
  #define __ASM            __asm                                      /*!< asm keyword for GNU Compiler          */
  #define __INLINE         inline                                     /*!< inline keyword for GNU Compiler       */

#elif defined   （  __TASKING__  ）
  #define __ASM            __asm                                      /*!< asm keyword for TASKING Compiler      */
  #define __INLINE         inline                                     /*!< inline keyword for TASKING Compiler   */

#endif


/* ###################  Compiler specific Intrinsics  ########################### */

#if defined （ __CC_ARM   ） /*------------------RealView Compiler -----------------*/
/* ARM armcc specific functions */

/**
 * @brief  Return the Process Stack Pointer
 *
 * @return ProcessStackPointer
 *
 * Return the actual process stack pointer
 */
__ASM uint32_t __get_PSP（void）
{
  mrs r0 psp
  bx lr
}

/**
 * @brief  Set the Process Stack Pointer
 *
 * @param  topOfProcStack  Process Stack Pointer
 *
 * Assign the value ProcessStackPointer to the MSP 
 * （process stack pointer） Cortex processor register
 */
__ASM void __set_PSP（uint32_t topOfProcStack）
{
  msr psp r0
  bx lr
}

/**
 * @brief  Return the Main Stack Pointer
 *
 * @return Main Stack Pointer
 *
 * Return the curren

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件      17273  2010-06-07 10:25  STM32F10x\Libraries\CMSIS\CM3\CoreSupport\core_cm3.c

     文件      85714  2011-02-09 14:59  STM32F10x\Libraries\CMSIS\CM3\CoreSupport\core_cm3.h

     文件      26297  2011-03-14 12:31  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\Release_Notes.html

     文件      15766  2011-03-10 10:52  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_cl.s

     文件      15503  2011-03-10 10:52  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_hd.s

     文件      15692  2011-03-10 10:52  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_hd_vl.s

     文件      12376  2011-03-10 10:52  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_ld.s

     文件      13656  2011-03-10 10:52  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_ld_vl.s

     文件      12765  2011-03-10 10:52  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_md.s

     文件      14073  2011-03-10 10:51  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_md_vl.s

     文件      15955  2011-03-10 10:51  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_xl.s

     文件      13072  2011-03-10 10:52  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_cl.s

     文件      13160  2011-03-10 10:52  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_hd.s

     文件      12482  2011-03-10 10:52  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_hd_vl.s

     文件       9814  2011-03-10 10:52  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_ld.s

     文件      10562  2011-03-10 10:52  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_ld_vl.s

     文件      10269  2011-03-10 10:52  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_md.s

     文件      11058  2011-03-10 10:52  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_md_vl.s

     文件      13261  2011-03-10 10:52  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_xl.s

     文件      16626  2011-03-10 10:53  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_cl.s

     文件      16229  2011-03-10 10:53  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_hd.s

     文件      15675  2011-03-10 10:53  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_hd_vl.s

     文件      12650  2011-03-10 10:53  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_ld.s

     文件      12950  2011-03-10 10:53  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_ld_vl.s

     文件      12912  2011-03-10 10:53  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_md.s

     文件      13601  2011-03-10 10:53  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_md_vl.s

     文件      16628  2011-03-10 10:53  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_xl.s

     文件      12604  2011-03-10 10:54  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\TrueSTUDIO\startup_stm32f10x_cl.s

     文件      12592  2011-03-10 10:53  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\TrueSTUDIO\startup_stm32f10x_hd.s

     文件      12239  2011-03-10 10:53  STM32F10x\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\TrueSTUDIO\startup_stm32f10x_hd_vl.s

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