C8T6+蓝牙小车+gps+oled+灭火小电机
/*
接线说明：
STM32 GPS
VCC ------> VCC
GND ------> GND
RX1 <------ TXD
STM32 USB-TTL模块
GND ------> GND
TX1 ------> RXD
*/
#include “stm32f10x.h”
#include “led.h”
#include “delay.h”
#include “HUOYAN.h”
#include “motor.h”
#include “sys.h”
#include “oled.h”
#include “gui.h”
#include “hoare.h”
#include “pwm.h”
#include “usart.h”
#include “usart2.h”
#include “time.h”
#include “math.h”
#include <stdlib.h>
void errorLog(int num);
void parseGpsBuffer(void);
void printGpsBuffer(void);
int str[4]={0};
double str1[4]={0};
void xianshi();
void Stop(void);
int input=0; //用来接受蓝牙发送过来的数据
int flag=0;
int main(void)
{
//NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
SystemInit();
LED_Init(); //LED初始化
HUOYAN_Init(); //火焰模块初始化
MOTOR_Init(); //小电机初始化
delay_init(); //延时函数初始化
NVIC_Configuration(); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
OLED_Init(); //初始化OLED
OLED_Clear(0); //清屏（全黑）
//Tout = （（4999+1）×（7199+1））/72 = 500000us = 500ms 。
Timer1_Init(4999,71);//定时中断初始化5ms
//delay_init1(72); //延时初始化
HOARE_Init();
uart_init(9600);
uart2_init(9600);
clrStruct();
//IN1–A6 IN3–B6
//IN2–B8 IN4–B0
PWM_Init1(999,719); //小电机PWM
PWM_Init2(999,719); //右电机PWM
TIM4_PWM_Init(999,719); //左电机PWM,不分频。PWM频率=72000000/900=80Khz
Stop(); //先保证不会一上电就开始跑
while(1)
{
while(flag==1)
{
input=USART_ReceiveData(USART1); //接受串口数据
if(input=='A')//这个地方的左前左右是根据自己的接线接法，接的不同自然根据实际情况
{
TIM_SetCompare1(TIM4,400); //PA1 左前
TIM_SetCompare2(TIM4,400); //PA2 左后
TIM_SetCompare1(TIM3,400); //PA6 右前
TIM_SetCompare2(TIM3,400); //PA7 右后
delay_ms(100);Stop();
}
else if(input=='C')
{
TIM_SetCompare1(TIM4,400); //PA1 左前
TIM_SetCompare2(TIM4,400); //PA2 左后
TIM_SetCompare1(TIM3,600); //PA6 右前
TIM_SetCompare2(TIM3,600); //PA7 右后
GPIO_SetBits(GPIOB,GPIO_Pin_8);
GPIO_SetBits(GPIOB,GPIO_Pin_9);
delay_ms(100);Stop();
}
else if(input=='B')
{
TIM_SetCompare1(TIM4,400); //PA1 左前
TIM_SetCompare2(TIM4,400) ; //PA2 左后
TIM_SetCompare1(TIM3,400); //PA6 右前
TIM_SetCompare2(TIM3,400); //PA7 右后
GPIO_SetBits(GPIOB,GPIO_Pin_8);
GPIO_SetBits(GPIOB,GPIO_Pin_9);
GPIO_SetBits(GPIOB,GPIO_Pin_0);
GPIO_SetBits(GPIOB,GPIO_Pin_1);
delay_ms(100);Stop();
}
else if(input=='D')
{
TIM_SetCompare1(TIM4,400); //PA1 左前
TIM_SetCompare2(TIM4,400); //PA2 左后
TIM_SetCompare1(TIM3,600); //PA6 右前
TIM_SetCompare2(TIM3,600); //PA7 右后
GPIO_SetBits(GPIOB,GPIO_Pin_0);
GPIO_SetBits(GPIOB,GPIO_Pin_1);
delay_ms(100);Stop();
}
else if(input=='E')
{
TIM_SetCompare1(TIM4,0);
TIM_SetCompare2(TIM4,0);
TIM_SetCompare1(TIM3,0);
TIM_SetCompare2(TIM3,0);
delay_ms(100);Stop();
}
else break;
}
parseGpsBuffer();
printGpsBuffer();
//xianshi();
if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_15)==0) //读PA0管脚
{
TIM_SetCompare1(TIM2,400); //PA1 左前
TIM_SetCompare2(TIM2,400); //PA1 左前
GPIO_ResetBits(GPIOC,GPIO_Pin_13); //PC13输出低电平 灯亮
delay(10); //粗延时
}
else
{
TIM_SetCompare1(TIM2,0); //PA1 左前
TIM_SetCompare2(TIM2,0); //PA1 左前
GPIO_SetBits(GPIOC,GPIO_Pin_13); //PC13引脚置位（相当于高电平），初始化灯熄灭
}
}
}
void Stop(void)
{
TIM_SetCompare1(TIM4,0);
TIM_SetCompare2(TIM4,0);
TIM_SetCompare1(TIM3,0);
TIM_SetCompare2(TIM3,0);
GPIO_ResetBits(GPIOB,GPIO_Pin_8);
GPIO_ResetBits(GPIOB,GPIO_Pin_9);
GPIO_ResetBits(GPIOB,GPIO_Pin_0);
GPIO_ResetBits(GPIOB,GPIO_Pin_1);
}
//*******************************************
void xianshi()
{
GUI_ShowString(40,0,“GPS”,16,1);
GUI_ShowString(0,16,“Longitude:”,16,1);
GUI_ShowNum(80,16,str[0],3,16,1);
GUI_ShowString(0,32,“Latitude:”,16,1);
GUI_ShowNum(80,32,str[1],3,16,1);
GUI_ShowString(20,48,“Good luck”,16,1);
delay_ms(10);
//delay_ms(1500);
}
void errorLog(int num)
{
while (1)
{
printf("ERROR%d\r\n",num);
}
}
void parseGpsBuffer()
{
char *subString;
char *subStringNext;
char i = 0;
if (Save_Data.isGetData)
{
Save_Data.isGetData = false;
printf("**************\r\n");
printf(Save_Data.GPS_Buffer);
for (i = 0 ; i <= 6 ; i++)
{
if (i == 0)
{
if ((subString = strstr(Save_Data.GPS_Buffer, ",")) == NULL)
errorLog(1); //解析错误
}
else
{
subString++;
if ((subStringNext = strstr(subString, ",")) != NULL)
{
char usefullBuffer[2];
switch(i)
{
case 1:memcpy(Save_Data.UTCTime, subString, subStringNext - subString);break; //获取UTC时间
case 2:memcpy(usefullBuffer, subString, subStringNext - subString);break; //获取UTC时间
case 3:memcpy(Save_Data.latitude, subString, subStringNext - subString);break; //获取纬度信息
case 4:memcpy(Save_Data.N_S, subString, subStringNext - subString);break; //获取N/S
case 5:memcpy(Save_Data.longitude, subString, subStringNext - subString);break; //获取经度信息
case 6:memcpy(Save_Data.E_W, subString, subStringNext - subString);break; //获取E/W
default:break;
}
subString = subStringNext;
Save_Data.isParseData = true;
if(usefullBuffer[0] == 'A')
Save_Data.isUsefull = true;
else if(usefullBuffer[0] == 'V')
Save_Data.isUsefull = false;
}
else
{
errorLog(2); //解析错误
}
}
}
}
}
void printGpsBuffer()
{
if (Save_Data.isParseData)
{
Save_Data.isParseData = false;
printf("Save_Data.UTCTime = ");
printf(Save_Data.UTCTime);
printf("\r\n");
if(Save_Data.isUsefull)
{
//str1[0]=atof(Save_Data.latitude);
//str1[0]=str1[0]/100;
//str[0]=(int)str[0];
// str[1]=Save_Data.longitude;
// str[2]=Save_Data.E_W;
// str[3]=Save_Data.N_S;
Save_Data.isUsefull = false;
printf("Save_Data.latitude = ");
printf(Save_Data.latitude);
printf("\r\n");
GUI_ShowString(0,0,"Lat :",16,1);//OLED显示
GUI_ShowString(40,0,Save_Data.latitude,16,1);
//GUI_ShowNum(40,0,str1[0],10,16,1);
printf("Save_Data.N_S = ");
printf(Save_Data.N_S);
printf("\r\n");
GUI_ShowString(0,32,"N_S:",16,1);//OLED显示
GUI_ShowString(40,32,Save_Data.N_S,16,1);
printf("Save_Data.longitude = ");
printf(Save_Data.longitude);
printf("\r\n");
GUI_ShowString(0,16,"Long:",16,1);//OLED显示
GUI_ShowString(40,16,Save_Data.longitude,16,1);
printf("Save_Data.E_W = ");
printf(Save_Data.E_W);
printf("\r\n");
GUI_ShowString(0,48,"E_W:",16,1);//OLED显示
GUI_ShowString(40,48,Save_Data.E_W,16,1);
// GUI_ShowString(0,64,“E_W:”,16,1);//OLED显示
// GUI_ShowString(40,64,Save_Data.UTCTime,16,1);
}
else
{
printf("GPS DATA is not usefull!\r\n");
GUI_ShowString(2,0,"GPS DATA is not usefull! ",16,1);//OLED显示
}
}
}
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