Linux与stm32F401根据RS232通信控制STM32F401的电机外设转动的代码编写

很高兴能帮您解决问题！以下是一份简单的示例代码，用于控制STM32F401的电机外设转动：

#include "stm32f4xx.h"

#define MOTOR_ON 0x01
#define MOTOR_OFF 0x00

void USART2_Init(void);
void GPIO_Init(void);
void delay_ms(uint32_t ms);

int main(void)
{
    uint8_t motor_state = MOTOR_OFF;
    
    GPIO_Init();
    USART2_Init();

    while(1)
    {
        // 接收串口数据
        while(USART_GetFlagStatus(USART2, USART_FLAG_RXNE) == RESET);
        uint8_t recv_data = USART_ReceiveData(USART2);

        // 根据接收到的数据控制电机
        if(recv_data == '1')
        {
            motor_state = MOTOR_ON;
        }
        else if(recv_data == '0')
        {
            motor_state = MOTOR_OFF;
        }

        // 发送电机状态
        USART_SendData(USART2, motor_state);
        while(USART_GetFlagStatus(USART2, USART_FLAG_TXE) == RESET);
        delay_ms(100);
    }
}

void GPIO_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    /* GPIOD Periph clock enable */
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);

    /* Configure PD12, PD13, PD14 and PD15 in output pushpull mode */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOD, &GPIO_InitStructure);
}

void USART2_Init(void)
{
    USART_InitTypeDef USART_InitStructure;
    GPIO_InitTypeDef GPIO_InitStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    /* Enable GPIO clock */
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

    /* Enable USART clock */
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);

    /* Configure USART Rx and Tx pins */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    /* Connect USART pins to AF */
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_USART2);
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource3, GPIO_AF_USART2);

    /* Configure USART */
    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(USART2, &USART_InitStructure);

    /* Enable USART2 interrupt */
    NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    /* Enable USART */
    USART_Cmd(USART2, ENABLE);
}

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

您可以根据需要对代码进行修改，以实现更复杂的控制逻辑。希望这能帮到您！