STM32入门教程：智能电动车控制

智能电动车控制是一种基于嵌入式系统的控制方案，使用STM32微控制器来实现。本教程将介绍如何使用STM32来控制智能电动车的各种功能，包括电机驱动、传感器读取、通信等。下面将详细介绍每个功能的代码案例。

1. 电机驱动 智能电动车的核心是电机驱动。我们使用PWM信号来控制电机的速度和方向。下面是一个简单的电机驱动案例：

#include "stm32f4xx.h"

void motor_init()
{
    // 初始化引脚
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource0, GPIO_AF_TIM5);
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_TIM5);
    
    // 初始化定时器
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Prescaler = 47;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_Period = 999;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);
    
    // 初始化PWM输出
    TIM_OCInitTypeDef TIM_OCInitStructure;
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OC1Init(TIM5, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM5, TIM_OCPreload_Enable);
    TIM_OC2Init(TIM5, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM5, TIM_OCPreload_Enable);
    
    // 启动定时器
    TIM_Cmd(TIM5, ENABLE);
}

void motor_set_speed(int speed)
{
    TIM5->CCR1 = speed;
    TIM5->CCR2 = speed;
}

int main()
{
    motor_init();
    motor_set_speed(500);
    
    while (1)
    {
        // 其他任务
    }
}

在这个例子中，我们使用了TIM5定时器的通道1和通道2来控制电机的速度。通过调整TIM5->CCR1和TIM5->CCR2的值来控制电机的转速。

1. 传感器读取 智能电动车通常需要使用各种传感器来感知周围环境，比如温度传感器、距离传感器等。下面是一个读取温度传感器数据的例子：

#include "stm32f4xx.h"

void sensor_init()
{
    // 初始化I2C总线
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &GPIO_InitStructure);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_I2C1);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_I2C1);
    
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    I2C_InitTypeDef I2C_InitStructure;
    I2C_InitStructure.I2C_ClockSpeed = 100000;
    I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStructure.I2C_OwnAddress1 = 0x00;
    I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
    I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_Init(I2C1, &I2C_InitStructure);
    I2C_Cmd(I2C1, ENABLE);
}

int sensor_read_temperature()
{
    uint8_t data;
    
    // 启动传输
    I2C_GenerateSTART(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));
    
    // 发送从设备地址
    I2C_Send7bitAddress(I2C1, 0xA0, I2C_Direction_Receiver);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));
    
    // 读取数据
    I2C_AcknowledgeConfig(I2C1, DISABLE);
    I2C_GenerateSTOP(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
    data = I2C_ReceiveData(I2C1);
    
    // 返回温度值
    return data;
}

int main()
{
    sensor_init();
    int temperature = sensor_read_temperature();
    
    while (1)
    {
        // 其他任务
    }
}

在这个例子中，我们使用了I2C总线来读取温度传感器的数据。通过调用I2C_GenerateSTART、I2C_Send7bitAddress、I2C_ReceiveData等函数来完成传感器数据的读取。

1. 通信控制 智能电动车通常需要与其他设备进行通信，比如与遥控器通信、与中控系统通信等。下面是一个与遥控器通信的例子：

#include "stm32f4xx.h"

void uart_init()
{
    // 初始化串口
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_USART1);
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_USART1);
    
    USART_InitTypeDef USART_InitStructure;
    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_Cmd(USART1, ENABLE);
}

void uart_send(uint8_t data)
{
    while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
    USART_SendData(USART1, data);
}

uint8_t uart_receive()
{
    while(USART_GetFlagStatus(USART1, USART_FLAG_RXNE) == RESET);
    return USART_ReceiveData(USART1);
}

int main()
{
    uart_init();
    
    while (1)
    {
        uint8_t data = uart_receive();
        
        // 处理接收到的数据
        
        uart_send(data);
    }
}

在这个例子中，我们使用USART1串口来与遥控器通信。通过调用USART_SendData、USART_ReceiveData等函数来发送和接收数据。

以上是一个简单的 STM32 入门教程，介绍了如何使用 STM32 来控制智能电动车的各种功能。通过代码案例，可以更好地理解和学习 STM32 的开发和应用。希望本教程对你有所帮助！