stm蓝牙小车程序代码

下面是一个简单的 STM32F103C8T6 蓝牙小车程序代码，使用 HC-05 蓝牙模块和 L298N 驱动模块控制两个电机。

代码中使用了定时器 TIM2 作为 PWM 信号的产生器，同时使用 USART1 与 HC-05 蓝牙模块通信。通过蓝牙发送的数据来控制小车的运动，具体控制方式见代码注释。

#include "stm32f10x.h"

#define USART_RX_BUF_SIZE 128

volatile uint8_t USART_RX_BUF[USART_RX_BUF_SIZE];
volatile uint8_t USART_RX_STA = 0;

void USART1_Init(uint32_t baudrate)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    USART_InitTypeDef USART_InitStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_USART1, 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 = baudrate;
    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_IRQHandler(void)
{
    uint8_t res;

    if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
    {
        res = USART_ReceiveData(USART1);

        if ((USART_RX_STA & 0x80) == 0)
        {
            if (USART_RX_STA & 0x40)
            {
                if (res != 0x0a)
                {
                    USART_RX_STA = 0;
                }
                else
                {
                    USART_RX_STA |= 0x80;
                }
            }
            else
            {
                if (res == 0x0d)
                {
                    USART_RX_STA |= 0x40;
                }
                else
                {
                    USART_RX_BUF[USART_RX_STA & 0x3f] = res;
                    USART_RX_STA++;
                    if (USART_RX_STA > (USART_RX_BUF_SIZE - 1))
                    {
                        USART_RX_STA = 0;
                    }
                }
            }
        }
    }
}

void TIM2_PWM_Init(uint32_t freq, uint16_t duty)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    TIM_TimeBaseStructure.TIM_Period = (SystemCoreClock / freq) - 1;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    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 = duty;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC2Init(TIM2, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = duty;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC3Init(TIM2, &TIM_OCInitStructure);
    TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);

    TIM_Cmd(TIM2, ENABLE);
}

void Motor_Control(int32_t motor1, int32_t motor2)
{
    if (motor1 > 0)
    {
        TIM_SetCompare2(TIM2, motor1);
        GPIO_ResetBits(GPIOB, GPIO_Pin_1);
        GPIO_SetBits(GPIOB, GPIO_Pin_0);
    }
    else if (motor1 < 0)
    {
        TIM_SetCompare2(TIM2, -motor1);
        GPIO_ResetBits(GPIOB, GPIO_Pin_0);
        GPIO_SetBits(GPIOB, GPIO_Pin_1);
    }
    else
    {
        TIM_SetCompare2(TIM2, 0);
        GPIO_ResetBits(GPIOB, GPIO_Pin_0);
        GPIO_ResetBits(GPIOB, GPIO_Pin_1);
    }

    if (motor2 > 0)
    {
        TIM_SetCompare3(TIM2, motor2);
        GPIO_ResetBits(GPIOB, GPIO_Pin_4);
        GPIO_SetBits(GPIOB, GPIO_Pin_3);
    }
    else if (motor2 < 0)
    {
        TIM_SetCompare3(TIM2, -motor2);
        GPIO_ResetBits(GPIOB, GPIO_Pin_3);
        GPIO_SetBits(GPIOB, GPIO_Pin_4);
    }
    else
    {
        TIM_SetCompare3(TIM2, 0);
        GPIO_ResetBits(GPIOB, GPIO_Pin_3);
        GPIO_ResetBits(GPIOB, GPIO_Pin_4);
    }
}

int main(void)
{
    SystemInit();

    USART1_Init(9600);
    TIM2_PWM_Init(20000, 0);

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_3 | GPIO_Pin_4;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    while (1)
    {
        if ((USART_RX_STA & 0x80) == 0x80)
        {
            uint8_t cmd = USART_RX_BUF[0];

            if (cmd == 'F')
            {
                Motor_Control(1000, 1000);
            }
            else if (cmd == 'B')
            {
                Motor_Control(-1000, -1000);
            }
            else if (cmd == 'L')
            {
                Motor_Control(-1000, 1000);
            }
            else if (cmd == 'R')
            {
                Motor_Control(1000, -1000);
            }
            else if (cmd == 'S')
            {
                Motor_Control(0, 0);
            }

            USART_RX_STA = 0;
        }
    }
}

注意事项：

1. 代码中使用的是 STM32F103C8T6 开发板，如果使用其他型号的开发板需要进行相应的修改。

2. HC-05 蓝牙模块需要先进行 AT 指令配置，具体方法可以参考模块的说明书。此处默认模块已经配置好，波特率为 9600。

3. 代码中使用的是 L298N 驱动模块，如果使用其他型号的驱动模块需要进行相应的修改。

4. 代码中 PWM 信号的频率为 20 kHz，占空比范围为 0~1000，可以根据实际需要进行修改。