【DIY】STM32F103C6T6蓝牙车，从硬件设计到代码编写手把手教学，附源码

stm32f103c6t6蓝牙车，从硬件设计到代码编写手把手教学，附源码

---

前言

STM32F103C6T6蓝牙车，从硬件设计到代码编写手把手教学，附源码

很少有STM32F103C6T6芯片的操作说明，最近芯片大涨，我用STM32F103C6T6简单的做了个蓝牙小车，供大家参考使用。源码在后面。走过的朋友一键三连哦。

使用工具：
工业设计：Fusion360设计外壳
PCB设计: 立创EDA+嘉立创
控制器：STM32CUBEMX
驱动器：DRV8833
电机：普通的直流电机
控制算法：无，简单的IO口打开关断

设计出来的总体是这样，

stm32f103c6t6蓝牙小车车

---

提示：以下是本篇文章正文内容，下面案例可供参考

一、STM32CUBEMX配置

用stm32cubemx玩新的芯片是比较友好的，以下是设置步骤

二、Fusion360（工业设计）

车身
车轮胎

三、立创EDA（硬件设计）

原理图
3D图

四、控制算法（源代码）

1.引入GPIO库，小车motor端

代码如下（示例）：

void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, car0_Pin|car1_Pin|car2_Pin|car3_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin : PtPin */
  GPIO_InitStruct.Pin = LED1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LED1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : PBPin PBPin PBPin PBPin */
  GPIO_InitStruct.Pin = car0_Pin|car1_Pin|car2_Pin|car3_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

}

GPIO端口配置

2.引入UART库，小车蓝牙端

代码如下（示例）：

/**
  ******************************************************************************
  * @file    usart.c
  * @brief   This file provides code for the configuration
  *          of the USART instances.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "usart.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

UART_HandleTypeDef huart1;

/* USART1 init function */

void MX_USART1_UART_Init(void)
{

  huart1.Instance = USART1;
  huart1.Init.BaudRate = 115200;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }

}

void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(uartHandle->Instance==USART1)
  {
  /* USER CODE BEGIN USART1_MspInit 0 */

  /* USER CODE END USART1_MspInit 0 */
    /* USART1 clock enable */
    __HAL_RCC_USART1_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**USART1 GPIO Configuration
    PA9     ------> USART1_TX
    PA10     ------> USART1_RX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_9;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_10;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /* USART1 interrupt Init */
    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(USART1_IRQn);
  /* USER CODE BEGIN USART1_MspInit 1 */

  /* USER CODE END USART1_MspInit 1 */
  }
}

void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{

  if(uartHandle->Instance==USART1)
  {
  /* USER CODE BEGIN USART1_MspDeInit 0 */

  /* USER CODE END USART1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_USART1_CLK_DISABLE();

    /**USART1 GPIO Configuration
    PA9     ------> USART1_TX
    PA10     ------> USART1_RX
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);

    /* USART1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(USART1_IRQn);
  /* USER CODE BEGIN USART1_MspDeInit 1 */

  /* USER CODE END USART1_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

UART串口通信配置

3.主函数

代码如下（示例）：

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define LED_Pin  GPIO_PIN_13
#define LED_GPIO GPIOC

//#define LED_Pin0  GPIO_PIN_12
//#define LED_GPIO0 GPIOB
//#define LED_Pin1  GPIO_PIN_13
//#define LED_GPIO1 GPIOB

//#define LED_Pin2  GPIO_PIN_14
//#define LED_GPIO2 GPIOB
//#define LED_Pin3  GPIO_PIN_15
//#define LED_GPIO3 GPIOB


//#define LED_Pin4  GPIO_PIN_11
//#define LED_GPIO4 GPIOA
//#define LED_Pin5  GPIO_PIN_12
//#define LED_GPIO5 GPIOA

//#define LED_Pin6  GPIO_PIN_15
//#define LED_GPIO6 GPIOA
//#define LED_Pin7  GPIO_PIN_18
//#define LED_GPIO7 GPIOA



/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint8_t aTxStartMessages[] = "\r\n******Please enter your choic******\r\nLED_ON:1,LED_OFF:0:\r\n";
uint8_t LEDON[]="\r\nLED_ON\r\n";
uint8_t LEDOFF[]="\r\nLED_OFF\r\n";
uint8_t aRxBuffer[1];
 
void SystemClock_Config(void);

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
	HAL_UART_Receive_IT(&huart1,(uint8_t*)aRxBuffer,1);  
	HAL_UART_Transmit_IT(&huart1 ,(uint8_t*)aTxStartMessages,sizeof(aTxStartMessages)); 
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

//     HAL_Delay(300);
//		HAL_GPIO_WritePin(LED1_GPIO_Port,LED1_Pin,GPIO_PIN_RESET);
//		HAL_Delay(300);
//		HAL_GPIO_WritePin(LED1_GPIO_Port,LED1_Pin,GPIO_PIN_SET);
//		
//		HAL_UART_Transmit(&huart1, (uint8_t *)"hello windows!!!\r\n", 16 , HAL_MAX_DELAY);
//	  HAL_Delay(100);  
//		
		HAL_UART_Receive_IT(&huart1,(uint8_t*)aRxBuffer,1);   
	  }
  


  
  /* USER CODE END 3 */
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
  /* Prevent unused argument(s) compilation warning */
  UNUSED(huart);
  /* NOTE: This function Should not be modified, when the callback is needed,
           the HAL_UART_TxCpltCallback could be implemented in the user file
   */
 
	if(aRxBuffer[0]=='1')//Í£Ö¹
	{
			HAL_GPIO_WritePin(GPIOB,car0_Pin,GPIO_PIN_SET);
			HAL_GPIO_WritePin(GPIOB,car1_Pin,GPIO_PIN_SET);
			HAL_GPIO_WritePin(GPIOB,car2_Pin,GPIO_PIN_SET);
			HAL_GPIO_WritePin(GPIOB,car3_Pin,GPIO_PIN_SET);
	  
	}
	else if(aRxBuffer[0]=='2')//Ç°½ø
	{
	
	    HAL_GPIO_WritePin(GPIOB,car0_Pin,GPIO_PIN_SET);
			HAL_GPIO_WritePin(GPIOB,car1_Pin,GPIO_PIN_RESET);
			HAL_GPIO_WritePin(GPIOB,car2_Pin,GPIO_PIN_SET);
			HAL_GPIO_WritePin(GPIOB,car3_Pin,GPIO_PIN_RESET);
		
		
		
	}
		else if(aRxBuffer[0]=='3')
	{
	
	    HAL_GPIO_WritePin(LED1_GPIO_Port,LED1_Pin,GPIO_PIN_RESET);
			HAL_UART_Transmit(&huart1,(uint8_t*)LEDON,sizeof(LEDON),0xFFFF);
	}
	
		else if(aRxBuffer[0]=='4')
	{
	
	    HAL_GPIO_WritePin(LED1_GPIO_Port,LED1_Pin,GPIO_PIN_SET);
			HAL_UART_Transmit(&huart1,(uint8_t*)LEDOFF,sizeof(LEDOFF),0xFFFF);
	}
	
	
	
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

 

---

总结

本文仅仅简单介绍了STM32F103C6T6芯片控制蓝牙车的使用，评论区欢迎讨论。