基于stm32芯片的hc-05模块主机控制智能车代码

以下是基于stm32芯片的hc-05模块主机控制智能车的示例代码，仅供参考：

#include "stm32f10x.h"
#include "stdio.h"
#include "string.h"

#define USART1_DR_Base 0x40013804
#define MAX_STRLEN 100

volatile char received_string[MAX_STRLEN+1];
volatile int string_complete;

void USART1_Init(void);
void USART1_SendChar(char ch);
void USART1_SendString(char* str);
void GPIO_Configuration(void);
void TIM_Configuration(void);
void TIM3_IRQHandler(void);
void delay_ms(uint32_t time_ms);

int main(void)
{
    GPIO_Configuration();
    USART1_Init();
    TIM_Configuration();

    while (1)
    {
        if (string_complete)
        {
            string_complete = 0;
            if (strcmp(received_string, "forward") == 0)
            {
                GPIO_SetBits(GPIOA, GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3);
                delay_ms(1000);
                GPIO_ResetBits(GPIOA, GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3);
            }
            else if (strcmp(received_string, "backward") == 0)
            {
                GPIO_SetBits(GPIOA, GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7);
                delay_ms(1000);
                GPIO_ResetBits(GPIOA, GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7);
            }
            else if (strcmp(received_string, "left") == 0)
            {
                GPIO_SetBits(GPIOA, GPIO_Pin_0 | GPIO_Pin_2);
                GPIO_ResetBits(GPIOA, GPIO_Pin_1 | GPIO_Pin_3);
                delay_ms(500);
                GPIO_ResetBits(GPIOA, GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3);
            }
            else if (strcmp(received_string, "right") == 0)
            {
                GPIO_SetBits(GPIOA, GPIO_Pin_1 | GPIO_Pin_3);
                GPIO_ResetBits(GPIOA, GPIO_Pin_0 | GPIO_Pin_2);
                delay_ms(500);
                GPIO_ResetBits(GPIOA, GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3);
            }
            USART1_SendString(received_string);
            USART1_SendString("\r\n");
        }
    }
}

void USART1_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    USART_InitTypeDef USART_InitStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    USART_InitStructure.USART_BaudRate = 9600;
    USART_InitStructure.USART_WordLength = USART_WordLength_8b;
    USART_InitStructure.USART_StopBits = USART_StopBits_1;
    USART_InitStructure.USART_Parity = USART_Parity_No;
    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
    USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
    USART_Init(USART1, &USART_InitStructure);

    NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);

    USART_Cmd(USART1, ENABLE);
}

void USART1_SendChar(char ch)
{
    while (!(USART1->SR & USART_SR_TXE));
    USART1->DR = ch;
}

void USART1_SendString(char* str)
{
    while (*str)
    {
        USART1_SendChar(*str++);
    }
}

void GPIO_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
}

void TIM_Configuration(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

    TIM_TimeBaseStructure.TIM_Period = 999;
    TIM_TimeBaseStructure.TIM_Prescaler = 7199;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

    TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);

    NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    TIM_Cmd(TIM3, ENABLE);
}

void TIM3_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
    {
        TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
        string_complete = 1;
    }
}

void delay_ms(uint32_t time_ms)
{
    volatile uint32_t i;
    for (i = 0; i < time_ms * 1000; i++);
}

void USART1_IRQHandler(void)
{
    static uint32_t i = 0;

    if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
    {
        char t = USART1->DR;
        if ((t == '\n') || (i >= MAX_STRLEN))
        {
            received_string[i] = '\0';
            i = 0;
        }
        else if (t != '\r')
        {
            received_string[i] = t;
            i++;
        }
    }
}

这个代码使用USART1串口连接hc-05蓝牙模块，并使用GPIO控制电机和舵机的运动。在主函数中，通过比较接收到的指令来控制小车的运动。在USART1_IRQHandler()中，接收到的字符被存储在received_string数组中，并在定时器中断中处理。

需要注意的是，这只是一个简单的示例代码，具体实现可能需要根据您的硬件和需求进行修改和调整。