stm32f103c6t6用蓝牙控制舵机的完整代码

以下是使用stm32f103c6t6和蓝牙控制舵机的完整代码：

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

#define PI 3.14159265358979323846

void USART1_Init(void);
void GPIO_Configuration(void);
void TIM2_Configuration(void);
void TIM3_Configuration(void);
void Delay_us(int nCount);
void Delay_ms(int nCount);
void servo_control(float angle);

float angle;
char RxBuffer[20];
volatile uint16_t Pulse[4] = {1500, 1500, 1500, 1500};

int main(void)
{
    GPIO_Configuration();
    USART1_Init();
    TIM2_Configuration();
    TIM3_Configuration();

    while (1)
    {
        if (USART_GetFlagStatus(USART1, USART_FLAG_RXNE) == SET)
        {
            static uint8_t i = 0;
            char ch = USART_ReceiveData(USART1);
            if (ch == '\r' || ch == '\n')
            {
                RxBuffer[i] = '\0';
                i = 0;
                angle = atof(RxBuffer);
                servo_control(angle);
            }
            else
            {
                RxBuffer[i++] = ch;
                if (i > 19)
                {
                    i = 0;
                }
            }
        }
        Delay_ms(10);
    }
}

void servo_control(float angle)
{
    uint16_t pulse_width = (uint16_t)(500.0 + angle * 10.0);
    if (pulse_width < 500)
    {
        pulse_width = 500;
    }
    else if (pulse_width > 2500)
    {
        pulse_width = 2500;
    }
    Pulse[0] = pulse_width;
    TIM_SetCompare1(TIM2, Pulse[0]);
}

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

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    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);
    USART_Cmd(USART1, ENABLE);
}

void GPIO_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);

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

void TIM2_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    TIM_TimeBaseStructure.TIM_Period = 20000;
    TIM_TimeBaseStructure.TIM_Prescaler = 71;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = Pulse[0];
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC1Init(TIM2, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);

    TIM_ARRPreloadConfig(TIM2, ENABLE);
    TIM_Cmd(TIM2, ENABLE);
}

void TIM3_Configuration(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

    TIM_TimeBaseStructure.TIM_Period = 9999;
    TIM_TimeBaseStructure.TIM_Prescaler = 7199;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

    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_ITConfig(TIM3, TIM_IT_Update, ENABLE);
    TIM_Cmd(TIM3, ENABLE);
}

void TIM3_IRQHandler(void)
{
    static uint16_t i = 0;
    static uint16_t j = 0;
    static uint16_t counter = 0;
    static uint16_t channel = 0;

    if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
    {
        TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
        if (counter == 0)
        {
            GPIO_SetBits(GPIOA, GPIO_Pin_0);
            TIM_SetCompare1(TIM2, Pulse[channel]);
        }
        else if (counter == 1)
        {
            GPIO_ResetBits(GPIOA, GPIO_Pin_0);
        }
        if (++channel >= 4)
        {
            channel = 0;
        }
        if (++i >= 50)
        {
            Pulse[1] = 1500 + (int)(500 * sin(2 * PI * j / 2000));
            Pulse[2] = 1500 + (int)(500 * sin(2 * PI * j / 2000 + PI / 2));
            Pulse[3] = 1500 + (int)(500 * sin(2 * PI * j / 2000 + PI));
            j++;
            i = 0;
        }
        if (++counter >= 2)
        {
            counter = 0;
        }
    }
}

void Delay_us(int nCount)
{
    int i;
    for (i = 0; i < nCount; i++)
    {
        asm("nop");
    }
}

void Delay_ms(int nCount)
{
    int i, j;
    for (i = 0; i < nCount; i++)
    {
        for (j = 0; j < 1000; j++)
        {
            asm("nop");
        }
    }
}

注意，这是一个简单的代码示例，仅用于演示如何使用stm32f103c6t6和蓝牙控制舵机。您需要根据自己的具体情况进行修改和优化。