STM32蓝牙智能小车

这两周的实训课程，制作一个蓝牙控制的STM32智能小车。代码是给的。

硬件：

1.STM32板卡

2.电机驱动板L298N

3.小车套件（轮子，板材，电机等）

4.蓝牙JDY-30

5.18650锂电池

（巡线，超声波选配，代码有）

先测试电机是否能够正常运行（直接用STM32上的供电），组装小车，连接蓝牙，初始化配置蓝牙（AT指令），

最后烧录小车程序，测试小车能否正常运行。

需要学习这方面的知识：

蓝牙、串口、中断、GPIO、定时器、PWM。（过，不会的自己百度，看书，CSDN都一堆）

接线：

驱动电机与L298N：这还要我教？电机接对应的output,不对就反过来。

JDY-30与STM32连接 :

  JDY-30             STM32

VCC   <---------------->  +5V

GND <---------------->  GND

TXD   <---------------->  U1_Rx(PD2)

RXD   <---------------->  U1_Tx(PC12)

L298N与STM32连接 :

L298N              STM32

 GND  <---------------->  GND

+5V   <---------------->  +5V

IN1   <---------------->  PB4

IN2   <---------------->  PB3

IN3   <---------------->  PB5

IN4   <---------------->  PC11

L298N 与18650锂电池连接:

 L298N            18650锂电池

 GND   <---------------->   GND    （黑色线）        

 +12V   <---------------->   VCC     （红色线）

 

注意事项

电源线和地线切勿接反！！（如果反了可能烧掉MCU）。在烧录代码的时候，请不要外部锂电池给板卡供电！！！

 

主函数main.c

#include "stm32f10x.h"
#include "drv_rgb.h"
#include "drv_uart.h"
#include "SysTick.h"
#include <stdio.h>
#include "misc.h"
#include "Front_hc04.h"
#include "drv_time.h"
#include "drv_car.h"
#include "drv_serchLine.h"

float retDate = 0;

int main(void)
{	
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	SysTick_init(72);
	RGB_Configuration();
	Uart1_Configuration();
	Uart5_Configuration();
	TIM_InitConfig();
	Hc_Sr04_Init();
	TIM3_Configuration();
	TIM_SetSpeed(0, 0);
	SERCHLINE_Configuration();
	
	Hc_Sr04_Start();

	while(1)
	{	
		if (AutoDriver_IsAutoDriverFlag())
		{
			// ×Ô¶¯Ñ°¼£
			SERCHLINE_AutoRun();
			
			// ×Ô¶¯±ÜÕÏ
			if (HCSR04_IsGetDistantFlag())
			{
				HCSR04_ClearIsGetDistantFlag();
				retDate = HC_SR04_Get_Distance();
				printf("retDate = %f\n",retDate);
				if (retDate < 3)
					TIM_SetSpeed(0, 0);
				delay_ms(50);
				Hc_Sr04_Start();
			}
		}
		
	}
}

中断函数stm32f10x_it.c：（手机APP自定义命令，16位那个，a的那个填是0A，b的是0B）

/**
  ******************************************************************************
  * @file    GPIO/IOToggle/stm32f10x_it.c 
  * @author  MCD Application Team
  * @version V3.5.0
  * @date    08-April-2011
  * @brief   Main Interrupt Service Routines.
  *          This file provides template for all exceptions handler and peripherals
  *          interrupt service routine.
  ******************************************************************************
  * @attention
  *
  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
  *
  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_it.h"
#include "stm32f10x_gpio.h"
#include "drv_uart.h"
#include "Front_hc04.h"
#include "SysTick.h"
#include "math.h"
#include "stm32f10x_exti.h"
#include "stdio.h"
#include "drv_time.h"
#include "drv_rgb.h"
/** @addtogroup STM32F10x_StdPeriph_Examples
  * @{
  */

/** @addtogroup GPIO_IOToggle
  * @{
  */

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro --------------------------------