毕设仿真分享 STM32单片机+MPU6050传感器平衡车

一、简介

此系统主要由STM32、MPU6050传感器模块组成的平衡车。

二、原理图

三、部分代码

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    /*
     * 硬件连接：------------------------
     *          | PA9  - USART1(Tx)      |
     *          | PA10 - USART1(Rx)      |
     *           ------------------------
     * 库版本  ：ST3.5.0
    
    **********************************************************************************/	
    #include "usart1.h"
    #include "misc.h"
    #include 
    /*
     * 函数名：USART1_Config
     * 描述  ：USART1 GPIO 配置,工作模式配置
     * 输入  ：无
     * 输出  : 无
     * 调用  ：外部调用
     */
    void USART1_Config(void)
    {
    	GPIO_InitTypeDef GPIO_InitStructure;
    	USART_InitTypeDef USART_InitStructure;
    	
    	/* config USART1 clock */
    	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA, ENABLE);
    	
    	/* USART1 GPIO config */
    	/* Configure USART1 Tx (PA.09) as alternate function push-pull */
    	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);    
    	/* Configure USART1 Rx (PA.10) as input floating */
    	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
    	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(USART1, &USART;_InitStructure);
    	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
    	
    	USART_Cmd(USART1, ENABLE);
    }


    void NVIC_Configuration(void)
    {
    	NVIC_InitTypeDef NVIC_InitStructure; 
    	/* Configure the NVIC Preemption Priority Bits */  
    	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
    	
    	/* Enable the USARTy Interrupt */
    	NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;	 
    	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
    	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    	NVIC_Init(&NVIC;_InitStructure);
    }
    
    /*发送字符*/
    int fputc(int ch, FILE *f)
    {
    	/* 将Printf内容发往串口 */
    	USART_SendData(USART1, (unsigned char) ch);
    	while (!(USART1->SR & USART_FLAG_TXE));
    	
    	return (ch);
    }


    /*
     * 函数名：itoa
     * 描述  ：将整形数据转换成字符串
     * 输入  ：-radix =10 表示10进制，其他结果为0
     *         -value 要转换的整形数
     *         -buf 转换后的字符串
     *         -radix = 10
     * 输出  ：无
     * 返回  ：无
     * 调用  ：被USART1_printf()调用
     */
    static char *itoa(int value, char *string, int radix)
    {
    	int     i, d;
    	int     flag = 0;
    	char    *ptr = string;
    	
    	/* This implementation only works for decimal numbers. */
    	if (radix != 10)
    	{
    	    *ptr = 0;
    	    return string;
    	}
    	
    	if (!value)
    	{
    	    *ptr++ = 0x30;
    	    *ptr = 0;
    	    return string;
    	}
    	
    	/* if this is a negative value insert the minus sign. */
    	if (value < 0)
    	{
    	    *ptr++ = '-';
    	
    	    /* Make the value positive. */
    	    value *= -1;
    	}
    	
    	for (i = 10000; i > 0; i /= 10)
    	{
    	    d = value / i;
    	
    	    if (d || flag)
    	    {
    	        *ptr++ = (char)(d + 0x30);
    	        value -= (d * i);
    	        flag = 1;
    	    }
    	}
    	
    	/* Null terminate the string. */
    	*ptr = 0;
    	
    	return string;
    
    } /* NCL_Itoa */
    
    /*
     * 函数名：USART1_printf
     * 描述  ：格式化输出，类似于C库中的printf，但这里没有用到C库
     * 输入  ：-USARTx 串口通道，这里只用到了串口1，即USART1
     *		     -Data   要发送到串口的内容的指针
     *			   -...    其他参数
     * 输出  ：无
     * 返回  ：无 
     * 调用  ：外部调用
     *         典型应用USART1_printf( USART1, "\r\n this is a demo \r\n" );
     *            		 USART1_printf( USART1, "\r\n %d \r\n", i );
     *            		 USART1_printf( USART1, "\r\n %s \r\n", j );
     */
    void USART1_printf(USART_TypeDef* USARTx, uint8_t *Data,...)
    {
    	const char *s;
    	int d;   
    	char buf[16];
    	
    	va_list ap;
    	va_start(ap, Data);
    	
    	while ( *Data != 0)     // 判断是否到达字符串结束符
    	{				                          
    		if ( *Data == 0x5c )  //'\'
    	{									  
    	switch ( *++Data )
    	{
    		case 'r':							          //回车符
    			USART_SendData(USARTx, 0x0d);
    			Data ++;
    		break;
    		
    		case 'n':							          //换行符
    			USART_SendData(USARTx, 0x0a);	
    			Data ++;
    		break;
    		
    		default:
    			Data ++;
    		break;
    	}			 
    	}
    	else if ( *Data == '%')
    	{									  //
    	switch ( *++Data )
    	{				
    		case 's':										  //字符串
    			s = va_arg(ap, const char *);
    	for ( ; *s; s++) 
    	{
    		USART_SendData(USARTx,*s);
    		while( USART_GetFlagStatus(USARTx, USART_FLAG_TC) == RESET );
    	}
    		Data++;
    		break;
    	
    	case 'd':										//十进制
    	d = va_arg(ap, int);
    	itoa(d, buf, 10);
    	for (s = buf; *s; s++) 
    	{
    		USART_SendData(USARTx,*s);
    		while( USART_GetFlagStatus(USARTx, USART_FLAG_TC) == RESET );
    	}
    	Data++;
    	break;
    		 default:
    				Data++;
    		    break;
    	}		 
    	} /* end of else if */
    	else USART_SendData(USARTx, *Data++);
    	while( USART_GetFlagStatus(USARTx, USART_FLAG_TC) == RESET );
    	}
    }
    /******************* (C) COPYRIGHT 2012 WildFire Team *****END OF FILE************/

项目获取:

https://gitee.com/feifei1122/simulation-project