32蓝牙小车
最近做了一个蓝牙小车,在这里和大家分享一下,自己做时遇到的坑,希望对大家有点帮助。
话不多说开整。
1:主要用到的模块:stm32103c8+hc—05蓝牙模块+l298n电机驱动
这是我做的车模。
首先介绍l298N模块吧。
看图
这就是l298n模块,淘宝上几块钱就可以买到,很好用。
话不多说开始介绍。我在这里就不介绍他的原理了,就直接告诉你怎么用就好了,他主要就是更方便单片机控制电机。
话不多说开整:
1:12v输入接电源的正极。(我这里是用的4节18650锂电池效果还好,在这里我一开始用的电池比较小他只转一个电机,两个电机是只会响不转)
2:电源地线接电源的负极(注:一定要再引出一条线接单片机的GND不然电机不会转)
3:A,B通道使能要用跳线帽盖上.
4:马达A,B分别接入马达。
5:A,B通道中间有四个接口,与单片机连接,离马达A近的两个控制A马达,离b进的控制b马达。
下面需要一个降压模块来个垫片及供电
没有什么说的很简单(左边输入右边输出,单片机要用3.3V的直接调就行)
最后看一下接线吧
pa6------in1
pa7-------in2
pa0------in3
pa1-----in4
我用的pwm占空比不同来控制车的快慢。
直接上代码–主要有定时器的配置,pwm波的配置以及主函数的代码。
pwm.c的代码
#include "pwm.h"
#include "led.h"
#include "usart.h"
void TIM3_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能定时器3
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE); //
//GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3 , ENABLE); //
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //TIM2=A0,A1;TIM3=A6,A7
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //¸
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);//
//³õʼ»¯TIM3
TIM_TimeBaseStructure.TIM_Period = arr; //
TIM_TimeBaseStructure.TIM_Prescaler =psc; //ÉèÖÃÓÃÀ´×÷ΪTIMxʱÖÓƵÂʳýÊýµÄÔ¤·ÖƵֵ
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //ÉèÖÃʱÖÓ·Ö¸î:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIMÏòÉϼÆÊýģʽ
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //¸ù¾ÝTIM_TimeBaseInitStructÖÐÖ¸¶¨µÄ²ÎÊý³õʼ»¯TIMxµÄʱ¼ä»ùÊýµ¥Î»
//³õʼ»¯TIM3 Channel2 PWMģʽ
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //Ñ¡Ôñ¶¨Ê±Æ÷ģʽ:TIMÂö³å¿í¶Èµ÷ÖÆģʽ1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //±È½ÏÊä³öʹÄÜ
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //Êä³ö¼«ÐÔ:TIMÊä³ö±È½Ï¼«ÐÔ¸ß
TIM_OC1Init(TIM3, &TIM_OCInitStructure); //¸ù¾ÝTÖ¸¶¨µÄ²ÎÊý³õʼ»¯ÍâÉèTIM3 OC1
TIM_OC2Init(TIM3,&TIM_OCInitStructure);//ͨµÀ2
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); //ʹÄÜTIM3ÔÚCCR2ÉϵÄԤװÔؼĴæÆ÷
TIM_OC2PreloadConfig(TIM3,TIM_OCPreload_Enable);
TIM_Cmd(TIM3, ENABLE); //ʹÄÜTIM3
// TIM_SetCompare2(TIM2,1500);//?????
// TIM_SetCompare3(TIM2,2000);//?????
}
void TIM2_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //ʹÄܶ¨Ê±Æ÷2ʱÖÓ
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE); //ʹÄÜGPIOÍâÉèºÍAFIO¸´Óù¦ÄÜÄ£¿éʱÖÓ
//GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3 , ENABLE); //Timer3²¿·ÖÖØÓ³Éä TIM3_CH2->PB5
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //TIM2=A0,A1
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //¸´ÓÃÍÆÍìÊä³ö
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);//³õʼ»¯GPIO
//³õʼ»¯TIM2
TIM_TimeBaseStructure.TIM_Period = arr; //ÉèÖÃÔÚÏÂÒ»¸ö¸üÐÂʼþ×°Èë»î¶¯µÄ×Ô¶¯ÖØ×°ÔؼĴæÆ÷ÖÜÆÚµÄÖµ
TIM_TimeBaseStructure.TIM_Prescaler =psc; //ÉèÖÃÓÃÀ´×÷ΪTIMxʱÖÓƵÂʳýÊýµÄÔ¤·ÖƵֵ
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //ÉèÖÃʱÖÓ·Ö¸î:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIMÏòÉϼÆÊýģʽ
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //¸ù¾ÝTIM_TimeBaseInitStructÖÐÖ¸¶¨µÄ²ÎÊý³õʼ»¯TIMxµÄʱ¼ä»ùÊýµ¥Î»
//³õʼ»¯TIM2 Channel2 PWMģʽ
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //Ñ¡Ôñ¶¨Ê±Æ÷ģʽ:TIMÂö³å¿í¶Èµ÷ÖÆģʽ1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //±È½ÏÊä³öʹÄÜ
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //Êä³ö¼«ÐÔ:TIMÊä³ö±È½Ï¼«ÐÔ¸ß
TIM_OC1Init(TIM2, &TIM_OCInitStructure); //¸ù¾ÝTÖ¸¶¨µÄ²ÎÊý³õʼ»¯ÍâÉèTIM3 OC1
TIM_OC2Init(TIM2,&TIM_OCInitStructure);//ͨµÀ2
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable); //ʹÄÜTIM3ÔÚCCR2ÉϵÄԤװÔؼĴæÆ÷
TIM_OC2PreloadConfig(TIM2,TIM_OCPreload_Enable);
TIM_Cmd(TIM2, ENABLE); //ʹÄÜTIM3
// TIM_SetCompare2(TIM2,1500);//?????
// TIM_SetCompare3(TIM2,2000);//?????
}
pwm.h的代码
#ifndef __TIMER_H
#define __TIMER_H
#include "sys.h"
//void TIM3_Int_Init(u16 arr,u16 psc);
void TIM3_PWM_Init(u16 arr,u16 psc);
void TIM2_PWM_Init(u16 arr,u16 psc);
#endif
接下来就是APP的制作
这是我制作好的app。
制作网站 http://app.gzjkw.net/
很简单的不会的化可以留言我再一期详细的制作。
我是同过蓝牙hc-05来控制的,hc-05不会的看我上一期,有讲他的使用。
接着就直接看代码吧
usart.h的代码
#ifndef __USART_H
#define __USART_H
#include "stdio.h"
#include "sys.h"
#define USART_REC_LEN 200 //¶¨Òå×î´ó½ÓÊÕ×Ö½ÚÊý 200
#define EN_USART1_RX 1 //ʹÄÜ£¨1£©/½ûÖ¹£¨0£©´®¿Ú1½ÓÊÕ
extern u8 USART_RX_BUF[USART_REC_LEN]; //½ÓÊÕ»º³å,×î´óUSART_REC_LEN¸ö×Ö½Ú.Ä©×Ö½ÚΪ»»Ðзû
extern u16 USART_RX_STA; //½ÓÊÕ״̬±ê¼Ç
//Èç¹ûÏë´®¿ÚÖжϽÓÊÕ£¬Ç벻ҪעÊÍÒÔϺ궨Òå
void uart_init(u32 bound);
#endif
usart.c的代码
void uart_init(u32 bound)
{
//GPIO¶Ë¿ÚÉèÖÃ
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1|RCC_APB2Periph_GPIOA, ENABLE); //ʹÄÜUSART1£¬GPIOAʱÖÓ
//USART1_TX GPIOA.9
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //PA.9
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //¸´ÓÃÍÆÍìÊä³ö
GPIO_Init(GPIOA, &GPIO_InitStructure);//³õʼ»¯GPIOA.9
//USART1_RX GPIOA.10³õʼ»¯
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;//PA10
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//¸¡¿ÕÊäÈë
GPIO_Init(GPIOA, &GPIO_InitStructure);//³õʼ»¯GPIOA.10
//Usart1 NVIC ÅäÖÃ
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0 ;//ÇÀÕ¼ÓÅÏȼ¶3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //×ÓÓÅÏȼ¶3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQͨµÀʹÄÜ
NVIC_Init(&NVIC_InitStructure); //¸ù¾ÝÖ¸¶¨µÄ²ÎÊý³õʼ»¯VIC¼Ä´æÆ÷
//USART ³õʼ»¯ÉèÖÃ
USART_InitStructure.USART_BaudRate = bound;//´®¿Ú²¨ÌØÂÊ
USART_InitStructure.USART_WordLength = USART_WordLength_8b;//×Ö³¤Îª8λÊý¾Ý¸ñʽ
USART_InitStructure.USART_StopBits = USART_StopBits_1;//Ò»¸öֹͣλ
USART_InitStructure.USART_Parity = USART_Parity_No;//ÎÞÆæżУÑéλ
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//ÎÞÓ²¼þÊý¾ÝÁ÷¿ØÖÆ
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //ÊÕ·¢Ä£Ê½
USART_Init(USART1, &USART_InitStructure); //³õʼ»¯´®¿Ú1
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//¿ªÆô´®¿Ú½ÓÊÜÖжÏ
USART_Cmd(USART1, ENABLE); //ʹÄÜ´®¿Ú1
}
void USART1_IRQHandler(void) //´®¿Ú1ÖжϷþÎñ³ÌÐò
{ u8 res;
if(USART_GetITStatus(USART1,USART_IT_RXNE)!= RESET)
{
res=USART_ReceiveData(USART1);
switch(res)
{
case 0x03://正转慢速
TIM_SetCompare1(TIM3,5000);//500/20000=0.5/20
TIM_SetCompare2(TIM3,500);
TIM_SetCompare1(TIM2,5000);//500/20000=0.5/20
TIM_SetCompare2(TIM2,500);
delay_ms(10);
break;
case 0x04://正转快速
TIM_SetCompare1(TIM3,10000);//500/20000=0.5/20
TIM_SetCompare2(TIM3,500);
delay_ms(10);
TIM_SetCompare1(TIM2,10000);//500/20000=0.5/20
TIM_SetCompare2(TIM2,500);
delay_ms (10);
break;
case 0x01://反转慢速
TIM_SetCompare1(TIM3,500);//500/20000=0.5/20
TIM_SetCompare2(TIM3,5000);
delay_ms (10);
TIM_SetCompare1(TIM2,500);//500/20000=0.5/20
TIM_SetCompare2(TIM2,5000);
delay_ms(10);
break;
case 0x02://反转快速
TIM_SetCompare1(TIM3,500);//500/20000=0.5/20
TIM_SetCompare2(TIM3,10000);
delay_ms (10);
TIM_SetCompare1(TIM2,500);//500/20000=0.5/20
TIM_SetCompare2(TIM2,10000);
delay_ms(1);
break;
case 0x05://刹车
TIM_SetCompare1(TIM3,10000);//500/20000=0.5/20
TIM_SetCompare2(TIM3,10000);
TIM_SetCompare1(TIM2,10000);//500/20000=0.5/20
TIM_SetCompare2(TIM2,10000);
delay_ms(10);
break;
case 0x06://左转
TIM_SetCompare1(TIM3,3000);//500/20000=0.5/20
TIM_SetCompare2(TIM3,5000);
TIM_SetCompare1(TIM2,500);//500/20000=0.5/20
TIM_SetCompare2(TIM2,5000);
delay_ms(10);
break;
case 0x07://右转
TIM_SetCompare1(TIM3,500);//500/20000=0.5/20
TIM_SetCompare2(TIM3,5000);
TIM_SetCompare1(TIM2,3000);//500/20000=0.5/20
TIM_SetCompare2(TIM2,5000);
delay_ms(10);
break;
}
}
}
#endif
主函数
#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "beep.h"
#include "pwm.h"
int main(void)
{
delay_init(); //ÑÓʱº¯Êý³õʼ»¯
uart_init(9600); //´®¿Ú³õʼ»¯Îª115200
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //ÉèÖÃNVICÖжϷÖ×é2:2λÇÀÕ¼ÓÅÏȼ¶£¬2λÏìÓ¦ÓÅÏȼ¶
TIM3_PWM_Init(19999,71); //ÖÜÆÚΪ20ms (arr+1)(psc+1)/Tclk=20000*72/72000000=0.02s
TIM2_PWM_Init(19999,71);
// TIM_SetCompare1(TIM3,500);//10000/2000=0.5,Õ¼¿Õ±ÈΪ0.5
// TIM_SetCompare2(TIM3,1000);
// TIM_SetCompare1(TIM2,1000);
// TIM_SetCompare2(TIM2,1000);
while(1)
{
}
}
到这我的小车就做完了,有视频演示在微博HappyLife73516.可以看一下
第二次写文采不好,还请不要介意,有什么问题还望大神指点,有问题都可以在此留言我会及时回复。