单片机蓝牙小车

手机下载串口助手，定义协议，前后左右几个按键编辑发送的字符串

USART2接蓝牙，蓝牙接收到数据后透传给串口2，从蓝牙得到数据分析后进行处理。控制四个电机，还可以扩展

USART2配置

/*
uasrt2接受数据，并且分析数据
*/

 void NVIC_Configuration_2(void)
{
	NVIC_InitTypeDef NVIC_InitStructure;
	/* 閰嶇疆 NVIC 涓轰紭鍏堢骇缁?1 */
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	/* 閰嶇疆涓柇婧愶細鎸夐敭 1 */
	NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
	/* 閰嶇疆鎶㈠崰浼樺厛绾э細 1 */
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
	/* 閰嶇疆瀛愪紭鍏堢骇锛?1 */
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
	/* 浣胯兘涓柇閫氶亾 */
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);
}

void USART2_Config(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
	
	/* config USART1 clock */
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	/* USART1 GPIO config */
	/* Configure USART1 Tx (PA.09) as alternate function push-pull */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);    
	
	/* Configure USART1 Rx (PA.10) as input floating */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	/* USART1 mode config */
	USART_InitStructure.USART_BaudRate = 115200;
	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);
	// 涓插彛涓柇浼樺厛绾ч厤缃?
	NVIC_Configuration_2();
	// 閰嶇疆瀹?NVIC 涔嬪悗璋冪敤 USART_ITConfig 鍑芥暟浣胯兘 USART 鎺ユ敹涓柇銆?
	USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);

	USART_Cmd(USART2, ENABLE);
}

void USART_Config(void)
{
	USART1_Config();
	USART2_Config();

}

char get_usart2_buf[4];

void gRxHostBufferFlush(u32 BufferSize,char *buf){
    for(u32 counter=0; counter<BufferSize; counter++) buf[counter] = 0;
}


char get_usart2_i=0;
bool get_usart2_buffer = FALSE;

void USART2_IRQHandler_FUN(void)
{

	u8 data;

	(void)USART2->SR;   //Error clear;
	data =	(u8)(USART2->DR & (u16)0x01FF);
	USART_ClearITPendingBit(USART2, USART_IT_RXNE);
	get_usart2_buffer = FALSE;


	get_usart2_buf[get_usart2_i] = data;
	USART_SendData(USART1, get_usart2_buf[get_usart2_i]);	
	get_usart2_i++;
	if(get_usart2_buf[0] != 0xFF)
	{
		get_usart2_i=0;
	}
		
	if(get_usart2_i==4)
	{	get_usart2_buffer = TRUE;
		AnalizingBuf();
		get_usart2_i = 0;
		gRxHostBufferFlush(4,get_usart2_buf);
	}
	

}

void AnalizingBuf(void)
{
	if(get_usart2_buffer == FALSE)
		return;

	switch (get_usart2_buf[2])
	{
		case 1://涓?
			switch (get_usart2_buf[3])
			{
				case 1://鎸変笅
					car_front;
					printf("forward down\n");
					break;
				case 0://鎸夋姮璧?
					car_stop;
					printf("forward up\n");
					break;
               default :
					break;
			}
			break;

		case 2://涓?
			switch (get_usart2_buf[3])
			{
				case 1://鎸変笅
					car_rear;
					printf("back on\n");
					break;
				case 0://鎸夋姮璧?
					car_stop;
					printf("back off\n");
					break;
				default :
					break;
			}
			break;
		case 3://涓棿
			switch (get_usart2_buf[3])
			{
				case 1://鎸変笅
					printf("centre on\n");
					break;
				case 0://鎸夋姮璧?
					printf("centre off\n");
					break;
				default :
					break;
			}
			break;
		case 4://宸?
			switch (get_usart2_buf[3])
			{
				case 1://鎸変笅
					car_left;
					printf("left on\n");
					break;
				case 0://鎸夋姮璧?
					car_stop;
					printf("left off \n");
					break;
				default :
					break;
			}
			break;
		case 5://鍙?
			switch (get_usart2_buf[3])
			{
				case 1://鎸変笅
					car_right;
					printf("right on \n");
					break;
				case 0://鎸夋姮璧?
					car_stop;
					printf("right off\n");
					break;
				default :
					break;
			}
			break;

		default :
			break;			
	}


}

GPIO配置

#define front_ch1(BitVal)  GPIO_WriteBit( GPIOB,  GPIO_Pin_12,(BitAction) BitVal)
#define front_ch2(BitVal)  GPIO_WriteBit( GPIOB,  GPIO_Pin_13, (BitAction)BitVal)
#define front_ch3(BitVal)  GPIO_WriteBit( GPIOB,  GPIO_Pin_14, (BitAction)BitVal)
#define front_ch4(BitVal)  GPIO_WriteBit( GPIOB,  GPIO_Pin_15, (BitAction)BitVal)


#define rear_ch1(BitVal)  GPIO_WriteBit( GPIOC,  GPIO_Pin_2, (BitAction)BitVal)
#define rear_ch2(BitVal)  GPIO_WriteBit( GPIOC,  GPIO_Pin_3,(BitAction) BitVal)
#define rear_ch3(BitVal)  GPIO_WriteBit( GPIOC,  GPIO_Pin_4,(BitAction) BitVal)
#define rear_ch4(BitVal)  GPIO_WriteBit( GPIOC,  GPIO_Pin_5, (BitAction)BitVal)


#define front_stop		 	front_ch1(1);front_ch2(1);front_ch3(1);front_ch4(1)
#define rear_stop 			rear_ch1(1);rear_ch2(1);rear_ch3(1);rear_ch4(1)

#define front_start_z		 	front_ch1(0);front_ch2(1);front_ch3(0);front_ch4(1)
#define front_start_f			front_ch1(1);front_ch2(0);front_ch3(1);front_ch4(0)


#define rear_start_z	 		rear_ch1(0);rear_ch2(1);rear_ch3(0);rear_ch4(1)
#define rear_start_f	 		rear_ch1(1);rear_ch2(0);rear_ch3(1);rear_ch4(0)

#define front_start_left 		front_ch1(1);front_ch2(0);front_ch3(0);front_ch4(1)
#define front_start_right		front_ch1(0);front_ch2(1);front_ch3(1);front_ch4(0)

#define rear_start_left	 		rear_ch1(1);rear_ch2(0);rear_ch3(0);rear_ch4(1)
#define rear_start_right	 	rear_ch1(0);rear_ch2(1);rear_ch3(1);rear_ch4(0)

#define car_front  	front_start_z;rear_start_z
#define car_rear 	front_start_f;rear_start_f

#define car_left  	front_start_left;rear_start_left
#define car_right 	front_start_right;rear_start_right

#define car_stop front_stop;rear_stop

单片机最小系统

轮子X4

电机控制模块X2

蓝牙模块

小车底板

扫描二维码关注公众号，回复： 2945474 查看本文章

最小系统