“三、从零开始，上手操作.第六阶段 变身蓝牙遥控小车. 3). 在Keil中编写代码. 代码main.c中代码编写“处参考main.c文件代码

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.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 */
uint8_t usart2ReceiveData;
/* USER CODE END PD */

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

/* USER CODE END PM */

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

/* USER CODE BEGIN PV */

/* 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 */
void Stop_run()
	{
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_RESET);
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_9, GPIO_PIN_RESET);
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_RESET);
	}
void Forward()
	{
    	//左正转
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_SET);
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);
    	//右正传
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_9, GPIO_PIN_SET);
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_RESET);
	}
	
void Backward()
	{
    	//左反转
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_RESET);
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_SET);
    	//右反传
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_9, GPIO_PIN_RESET);
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_SET);
	}
void Leftward()
	{
    	//左反转
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_RESET);
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_SET);
    	//右正传
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_9, GPIO_PIN_SET);
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_RESET);
	}
void Rightward()
	{
    	//左正转
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_SET);
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET); 
    	//右反传
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_9, GPIO_PIN_RESET);
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_SET);
	}
	
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart){
	
	if(huart->Instance == USART2){	
		if(usart2ReceiveData == 101) 	Stop_run();//停止
		if(usart2ReceiveData == 102) 	Forward();//前进
		if(usart2ReceiveData == 103)	Backward();//后退
		if(usart2ReceiveData == 104)	Leftward();//左转
		if(usart2ReceiveData == 105)	Rightward();//右转
		if(0 <= usart2ReceiveData && usart2ReceiveData <= 100){
			__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_4,usart2ReceiveData);//设置占空比
			__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_1,usart2ReceiveData);//设置占空比
		}
		HAL_UART_Transmit(&huart2,&usart2ReceiveData,1,100);
		HAL_UART_Receive_IT(&huart2,&usart2ReceiveData,1);
	}
}
/* 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_TIM1_Init();
  MX_TIM3_Init();
  MX_USART2_UART_Init();
  /* USER CODE BEGIN 2 */
	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_4);	//开启定时器1的通道4的PWM输出
	HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);	//开启定时器3的通道1的PWM输出
		
	//串口中断模式接收
	HAL_UART_Receive_IT(&huart2,&usart2ReceiveData,1);//HAL_UART_Receive_IT(&huart2, (uint8_t *)rx_buf,1);这是接收1个字节到rx_buf中
	
  /* USER CODE END 2 */

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

    /* USER CODE BEGIN 3 */
		HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);//板载绿色LED小灯引脚电平反转
		HAL_Delay(100);	
	}
  /* USER CODE END 3 */
}

/**
  * @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 */