本文主要是介绍基于stm32超声波+蓝牙一体式小车，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！
最近制作了一款基于stm32的有两个功能的小车，自我感觉还算不错，于是想分享出来，如果能帮到你那我很开心。如果你感觉哪里有错误和需要改进的地方，欢迎发表意见，我会真诚接受并虚心学习！谢谢哦！
一、成品图片+思维导图
成品图片
思维导图
二、超声波小车
时钟模块
超声波的使用需要配置一个TIM定时器，是用来计算超声波模块的TRIG引脚发射脉冲信号到ECHO引脚接收到返回的脉冲信号这一区间段的时间（单位换算成秒），在我的这个项目中，我使用了TIM4来完成这一步骤。具体配置情况请详见下面的配置函数。（注意！！！第二段代码是TIM4的定时器中断函数，请放在使用TIM4的地方即可）
void Timer4_Init(void)
{RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);TIM_InternalClockConfig(TIM4);/*使用内部时钟TIM4*/TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;//不分频TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;TIM_TimeBaseInitStructure.TIM_Period = 1000 - 1;TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1;TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;TIM_TimeBaseInit(TIM4,&TIM_TimeBaseInitStructure);TIM_ClearFlag(TIM4,TIM_FLAG_Update);/*打开中断*/TIM_ITConfig(TIM4,TIM_IT_Update,ENABLE);NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//NVIC优先级分组2NVIC_InitTypeDef NVIC_InitStructure;NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;NVIC_Init(&NVIC_InitStructure);TIM_Cmd(TIM4,ENABLE);/*使能定时器4*/
}uint16_t Timer4_GetCounter(void) //获取定时器4的值
{return TIM_GetCounter(TIM4);
}void TIM4_IRQHandler(void) //定时器4中断
{ if(TIM_GetITStatus(TIM4,TIM_IT_Update) == SET){TIM_ClearITPendingBit(TIM4,TIM_IT_Update);//更新中断count++;}
}超声波模块
超声波的配置也是相对简单，先给TRIG引脚一个高电平，在使用延时函数延时20微秒，打开TIM4计时，再检测ECHO是否接收，若接收，获取TIM4的计时结果，若为接收，则等待接收。具体请详见下面代码。
/*记录定时器溢出次数*/
uint16_t count = 0;void Ultrasonic_GPIO_Init(void)
{RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);GPIO_InitTypeDef GPIO_InitStructure;/*TRIG触发信号*/GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;GPIO_InitStructure.GPIO_Pin=GPIO_Pin_15;GPIO_Init(GPIOB, &GPIO_InitStructure);/*ECOH回响信号*/GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPD;GPIO_InitStructure.GPIO_Pin=GPIO_Pin_14;GPIO_Init(GPIOB, & GPIO_InitStructure);
}float Get_Ultrasonic_distance(void)
{Timer4_Init();Ultrasonic_GPIO_Init();float distance = 0 ,sum = 0;uint32_t tim = 0 ;uint8_t i = 0;while(i!=5) //连续测5次，求平均值，使结果准确{GPIO_ResetBits(GPIOB, GPIO_Pin_15);//先置为低电平GPIO_SetBits(GPIOB, GPIO_Pin_15); //拉高信号，作为触发信号Delay_us(20); //高电平信号超过10usGPIO_ResetBits(GPIOB, GPIO_Pin_15);/*等待回响信号,回响信号到来*/while(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_14) == RESET);TIM_SetCounter(TIM4,0); //将TIM4计数寄存器的计数值清零TIM_Cmd(TIM4,ENABLE);//开启定时器计数i+=1;/*回响信号消失*/while(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_14) == SET);TIM_Cmd(TIM4, DISABLE);//关闭定时器tim = Timer4_GetCounter();//获取计TIM4数寄存器中的计数值，以便计算回响信号时间distance = ((float)(tim + count * 1000)) / 58.0;//通过回响信号计算距离sum += distance;//TIM4->CNT = 0; TIM_SetCounter(TIM4,0); //将TIM4计数寄存器的计数值清零count = 0; //中断溢出次数清零Delay_ms(20);}distance = (sum / 5.0); //单位cm return distance; //距离作为函数返回值
}void TIM4_IRQHandler(void) //定时器4中断
{ if(TIM_GetITStatus(TIM4,TIM_IT_Update) == SET){TIM_ClearITPendingBit(TIM4,TIM_IT_Update);//更新中断count++;}
}//这里使用了中断函数，就放这里逻辑函数
逻辑函数就是小车收到数据该如何转向的问题，请详见下面的代码，注释很详细的。
void Ultrasonic_car(void)
{int8_t Speed = 50; /*速度范围为[0,100]*/float left_distance = 0.0;float right_distance = 0.0;float front_distance = 0.0;Delay_ms(500);SG90_Front();//舵机面向前方front_distance = Get_Ultrasonic_distance();//测出前方的距离OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);SG90_Left();//舵机转向左边Delay_ms(500);left_distance = Get_Ultrasonic_distance();//测出左边的距离OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);SG90_Right();//舵机转向右边Delay_ms(500);right_distance = Get_Ultrasonic_distance();//测出右边的距离OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);SG90_Front();//舵机面向前方if((front_distance>left_distance)&&(front_distance>right_distance)){Car_Forword(Speed);front_distance = Get_Ultrasonic_distance();//测出前方的距离OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);}else if((left_distance>front_distance)&&(left_distance>right_distance)){Car_Left(Speed);Delay_ms(500);Car_Forword(Speed);front_distance = Get_Ultrasonic_distance();//测出前方的距离OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);}else if((right_distance>front_distance)&&(right_distance>left_distance)){Car_Right(Speed);Delay_ms(500);Car_Forword(Speed);front_distance = Get_Ultrasonic_distance();//测出前方的距离OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);}else Car_Stop();while(1){OLED_ShowNum(2,7,Speed,3);front_distance = Get_Ultrasonic_distance();//测出前方的距离OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);if(front_distance<=50){Car_Stop();SG90_Left();//舵机转向左边Delay_ms(800);left_distance = Get_Ultrasonic_distance();//测出左边的距离OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);SG90_Right();//舵机转向y边Delay_ms(800);right_distance = Get_Ultrasonic_distance();//测出y边的距离OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);SG90_Front();//舵机面向前方front_distance = Get_Ultrasonic_distance();//测出前方的距离OLED_ShowNum(1,6,Get_Ultrasonic_distance(),5);if(left_distance>right_distance){Car_Left(Speed);Delay_ms(500);Car_Stop();Delay_s(1);Car_Forword(Speed);}else if((left_distance<right_distance)){Car_Right(Speed);Delay_ms(500);Car_Stop();Delay_s(1);Car_Forword(Speed);}else{Car_Back(Speed);Delay_ms(800);Car_Left(Speed);Delay_ms(800);Car_Forword(Speed);}}}
}写到这里，超声波小车就结束了，重点很少，主要是得理解思路。上面函数中出现的其他函数的调用，会在下面（五、通用功能的函数文件）给出C文件的。
三、蓝牙小车（具体用到的GPIO请见上面的思维导图）（注意！！！5V供电）
用到的模块是HC-05蓝牙模块，蓝牙模块上的TXD引脚和RXD引脚分别接stm32的USART串口上的RXD和TXD对应的引脚。（我使用的是STM32F103C8T6，它的USART1的RXD和TXD分别是GPIOA9和GPIOA10），具体请见下面的代码。
串口初始化模块
void Serial_Init(void)
{RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);USART_InitTypeDef USART_InitStructure;USART_InitStructure.USART_BaudRate = 9600;USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;USART_InitStructure.USART_Parity = USART_Parity_No;USART_InitStructure.USART_StopBits = USART_StopBits_1;USART_InitStructure.USART_WordLength = USART_WordLength_8b;USART_Init(USART1, &USART_InitStructure);USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);NVIC_InitTypeDef NVIC_InitStructure;NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;NVIC_Init(&NVIC_InitStructure);USART_Cmd(USART1, ENABLE);
}蓝牙模块（发送和接收数据的函数）
uint8_t Serial_RxData;
uint8_t Serial_RxFlag;void Serial_SendByte(uint8_t Byte) //发送一个字节
{USART_SendData(USART1, Byte);while (USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
}void Serial_SendArray(uint8_t *Array, uint16_t Length) //发送一个数组
{uint16_t i;for (i = 0; i < Length; i ++){Serial_SendByte(Array[i]);}
}void Serial_SendString(char *String) //发送一个字符串
{uint8_t i;for (i = 0; String[i] != '\0'; i ++){Serial_SendByte(String[i]);}
}void Serial_SendNumber(uint32_t Number, uint8_t Length) //发送一串数字
{uint8_t i;for (i = 0; i < Length; i ++){Serial_SendByte(Number / Serial_Pow(10, Length - i - 1) % 10 + '0');}
}uint8_t Serial_GetRxFlag(void) //获取中断标志位
{if (Serial_RxFlag == 1){Serial_RxFlag = 0;return 1;}return 0;
}uint8_t Serial_GetRxData(void) //获取收到的数据
{return Serial_RxData;
}void USART1_IRQHandler(void) //串口USART1的中断
{if (USART_GetITStatus(USART1, USART_IT_RXNE) == SET){Serial_RxData = USART_ReceiveData(USART1);Serial_RxFlag = 1;USART_ClearITPendingBit(USART1, USART_IT_RXNE);}
}逻辑函数（手机连接蓝牙模块，发送指令使小车完成相应的动作）
uint8_t RxData=0;void Hc05_car(void)
{while(1){if(Serial_GetRxFlag() == 1){RxData=Serial_GetRxData();//OLED_ShowHexNum(3,1,RxData,2);}switch(RxData){case 1:Car_Forword(100);break;case 2:Car_Stop();break;case 3:Car_Back(100);break;case 4:Car_Stop();break;case 5:Car_Left(100);break;case 6:Car_Stop();break;case 7:Car_Right(100);break;case 8:Car_Stop();break;case 9:Buzzer_ON1();break;case 10:Buzzer_OFF();break;case 11:LED_ON();break;case 12:LED_OFF();break;case 13:LED_Flash_ON();break;case 14:LED_Flash_OFF();break;}}
}四、其他模块和功能
OLED显示屏（四引脚）（温馨提示！！！关于这个模块掌握的还不够好，但是我可以分享出大佬代码，供大家参考。。。共有三个文件，大家直接复制粘贴用即可）
OLED.c
#include "stm32f10x.h"
#include "OLED_Font.h"/*引脚配置*/
#define OLED_W_SCL(x) GPIO_WriteBit(GPIOB, GPIO_Pin_8, (BitAction)(x))
#define OLED_W_SDA(x) GPIO_WriteBit(GPIOB, GPIO_Pin_9, (BitAction)(x))/*引脚初始化*/
void OLED_I2C_Init(void)
{RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;GPIO_Init(GPIOB, &GPIO_InitStructure);GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;GPIO_Init(GPIOB, &GPIO_InitStructure);OLED_W_SCL(1);OLED_W_SDA(1);
}/*** @brief I2C开始* @param 无* @retval 无*/
void OLED_I2C_Start(void)
{OLED_W_SDA(1);OLED_W_SCL(1);OLED_W_SDA(0);OLED_W_SCL(0);
}/*** @brief I2C停止* @param 无* @retval 无*/
void OLED_I2C_Stop(void)
{OLED_W_SDA(0);OLED_W_SCL(1);OLED_W_SDA(1);
}/*** @brief I2C发送一个字节* @param Byte 要发送的一个字节* @retval 无*/
void OLED_I2C_SendByte(uint8_t Byte)
{uint8_t i;for (i = 0; i < 8; i++){OLED_W_SDA(Byte & (0x80 >> i));OLED_W_SCL(1);OLED_W_SCL(0);}OLED_W_SCL(1); //额外的一个时钟，不处理应答信号OLED_W_SCL(0);
}/*** @brief OLED写命令* @param Command 要写入的命令* @retval 无*/
void OLED_WriteCommand(uint8_t Command)
{OLED_I2C_Start();OLED_I2C_SendByte(0x78); //从机地址OLED_I2C_SendByte(0x00); //写命令OLED_I2C_SendByte(Command); OLED_I2C_Stop();
}/*** @brief OLED写数据* @param Data 要写入的数据* @retval 无*/
void OLED_WriteData(uint8_t Data)
{OLED_I2C_Start();OLED_I2C_SendByte(0x78); //从机地址OLED_I2C_SendByte(0x40); //写数据OLED_I2C_SendByte(Data);OLED_I2C_Stop();
}/*** @brief OLED设置光标位置* @param Y 以左上角为原点，向下方向的坐标，范围：0~7* @param X 以左上角为原点，向右方向的坐标，范围：0~127* @retval 无*/
void OLED_SetCursor(uint8_t Y, uint8_t X)
{OLED_WriteCommand(0xB0 | Y); //设置Y位置OLED_WriteCommand(0x10 | ((X & 0xF0) >> 4)); //设置X位置低4位OLED_WriteCommand(0x00 | (X & 0x0F)); //设置X位置高4位
}/*** @brief OLED清屏* @param 无* @retval 无*/
void OLED_Clear(void)
{ uint8_t i, j;for (j = 0; j < 8; j++){OLED_SetCursor(j, 0);for(i = 0; i < 128; i++){OLED_WriteData(0x00);}}
}/*** @brief OLED显示一个字符* @param Line 行位置，范围：1~4* @param Column 列位置，范围：1~16* @param Char 要显示的一个字符，范围：ASCII可见字符* @retval 无*/
void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char)
{ uint8_t i;OLED_SetCursor((Line - 1) * 2, (Column - 1) * 8); //设置光标位置在上半部分for (i = 0; i < 8; i++){OLED_WriteData(OLED_F8x16[Char - ' '][i]); //显示上半部分内容}OLED_SetCursor((Line - 1) * 2 + 1, (Column - 1) * 8); //设置光标位置在下半部分for (i = 0; i < 8; i++){OLED_WriteData(OLED_F8x16[Char - ' '][i + 8]); //显示下半部分内容}
}/*** @brief OLED显示字符串* @param Line 起始行位置，范围：1~4* @param Column 起始列位置，范围：1~16* @param String 要显示的字符串，范围：ASCII可见字符* @retval 无*/
void OLED_ShowString(uint8_t Line, uint8_t Column, char *String)
{uint8_t i;for (i = 0; String[i] != '\0'; i++){OLED_ShowChar(Line, Column + i, String[i]);}
}/*** @brief OLED次方函数* @retval 返回值等于X的Y次方*/
uint32_t OLED_Pow(uint32_t X, uint32_t Y)
{uint32_t Result = 1;while (Y--){Result *= X;}return Result;
}/*** @brief OLED显示数字（十进制，正数）* @param Line 起始行位置，范围：1~4* @param Column 起始列位置，范围：1~16* @param Number 要显示的数字，范围：0~4294967295* @param Length 要显示数字的长度，范围：1~10* @retval 无*/
void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{uint8_t i;for (i = 0; i < Length; i++) {OLED_ShowChar(Line, Column + i, Number / OLED_Pow(10, Length - i - 1) % 10 + '0');}
}/*** @brief OLED显示数字（十进制，带符号数）* @param Line 起始行位置，范围：1~4* @param Column 起始列位置，范围：1~16* @param Number 要显示的数字，范围：-2147483648~2147483647* @param Length 要显示数字的长度，范围：1~10* @retval 无*/
void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length)
{uint8_t i;uint32_t Number1;if (Number >= 0){OLED_ShowChar(Line, Column, '+');Number1 = Number;}else{OLED_ShowChar(Line, Column, '-');Number1 = -Number;}for (i = 0; i < Length; i++) {OLED_ShowChar(Line, Column + i + 1, Number1 / OLED_Pow(10, Length - i - 1) % 10 + '0');}
}/*** @brief OLED显示数字（十六进制，正数）* @param Line 起始行位置，范围：1~4* @param Column 起始列位置，范围：1~16* @param Number 要显示的数字，范围：0~0xFFFFFFFF* @param Length 要显示数字的长度，范围：1~8* @retval 无*/
void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{uint8_t i, SingleNumber;for (i = 0; i < Length; i++) {SingleNumber = Number / OLED_Pow(16, Length - i - 1) % 16;if (SingleNumber < 10){OLED_ShowChar(Line, Column + i, SingleNumber + '0');}else{OLED_ShowChar(Line, Column + i, SingleNumber - 10 + 'A');}}
}/*** @brief OLED显示数字（二进制，正数）* @param Line 起始行位置，范围：1~4* @param Column 起始列位置，范围：1~16* @param Number 要显示的数字，范围：0~1111 1111 1111 1111* @param Length 要显示数字的长度，范围：1~16* @retval 无*/
void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{uint8_t i;for (i = 0; i < Length; i++) {OLED_ShowChar(Line, Column + i, Number / OLED_Pow(2, Length - i - 1) % 2 + '0');}
}/*** @brief OLED初始化* @param 无* @retval 无*/
void OLED_Init(void)
{uint32_t i, j;for (i = 0; i < 1000; i++) //上电延时{for (j = 0; j < 1000; j++);}OLED_I2C_Init(); //端口初始化OLED_WriteCommand(0xAE); //关闭显示OLED_WriteCommand(0xD5); //设置显示时钟分频比/振荡器频率OLED_WriteCommand(0x80);OLED_WriteCommand(0xA8); //设置多路复用率OLED_WriteCommand(0x3F);OLED_WriteCommand(0xD3); //设置显示偏移OLED_WriteCommand(0x00);OLED_WriteCommand(0x40); //设置显示开始行OLED_WriteCommand(0xA1); //设置左右方向，0xA1正常 0xA0左右反置OLED_WriteCommand(0xC8); //设置上下方向，0xC8正常 0xC0上下反置OLED_WriteCommand(0xDA); //设置COM引脚硬件配置OLED_WriteCommand(0x12);OLED_WriteCommand(0x81); //设置对比度控制OLED_WriteCommand(0xCF);OLED_WriteCommand(0xD9); //设置预充电周期OLED_WriteCommand(0xF1);OLED_WriteCommand(0xDB); //设置VCOMH取消选择级别OLED_WriteCommand(0x30);OLED_WriteCommand(0xA4); //设置整个显示打开/关闭OLED_WriteCommand(0xA6); //设置正常/倒转显示OLED_WriteCommand(0x8D); //设置充电泵OLED_WriteCommand(0x14);OLED_WriteCommand(0xAF); //开启显示OLED_Clear(); //OLED清屏
}OLED.h
#ifndef __OLED_H
#define __OLED_Hvoid OLED_Init(void);
void OLED_Clear(void);
void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char);
void OLED_ShowString(uint8_t Line, uint8_t Column, char *String);
void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);
void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length);
void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);
void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);#endifOLED_Font.h
#ifndef __OLED_FONT_H
#define __OLED_FONT_H/*OLED字模库，宽8像素，高16像素*/
const uint8_t OLED_F8x16[][16]=
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 00x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 10x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 20x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 30x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 40xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 50x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 60x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 70x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 80x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 90x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 100x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 110x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 120x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 130x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 140x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 150x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 160x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 170x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 180x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 190x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 200x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 210x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 220x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 230x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 240x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 250x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 260x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 270x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 280x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 290x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 300x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 310xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 320x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 330x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 340xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 350x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 360x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 370x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 380xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 390x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 400x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 410x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 420x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 430x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 440x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 450x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 460xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 470x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 480xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 490x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 500x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 510x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 520x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 530x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 540xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 550x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 560x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 570x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 580x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 590x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 600x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 610x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 620x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 630x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 640x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 650x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 660x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 670x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 680x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 690x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 700x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 710x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 720x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 730x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 740x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 750x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 760x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 770x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 780x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 790x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 800x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 810x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 820x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 830x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 840x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 850x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 860x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 870x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 880x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 890x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 900x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 910x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 920x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 930x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
};#endif舵机（注意5V供电！！！橙色接PWM，红色接5V，黑色接GND）
我使用的舵机模块是SG90，并使用stm32的TIM3的通道1输出PWM信号来控制旋转角度和方向，具体请详见代码和注释。
/*这里用TIM3的通道1来产生PWM信号调速舵机的旋转角度*/
void PWM_TIM3_Init(void)/*这个是TIM3的配置，和上面的说明一样*/
{RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA,&GPIO_InitStructure);TIM_InternalClockConfig(TIM3);TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;TIM_TimeBaseInitStructure.TIM_Period = 20000 - 1; //ARRTIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1; //PSCTIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStructure);TIM_OCInitTypeDef TIM_OCInitStructure;TIM_OCStructInit(&TIM_OCInitStructure);TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;TIM_OCInitStructure.TIM_Pulse = 0; //CCR的值TIM_OC1Init(TIM3,&TIM_OCInitStructure);TIM_Cmd(TIM3,ENABLE);
}/*封装TIM的通道的调用函数，不封装也可以，看自己情况*/
void PWM_TIM3_SetCompare1(uint16_t Compare) //TIM3 的通道1
{TIM_SetCompare1(TIM3,Compare);
}L298N（我在关于PWM的讲解有介绍）
这里我放上小车的两路电机（4个电机，因为我采用并联方法，使一OUT1/OUT2，OUT3/OUT4分别驱动两个电机）所用到的PWM调速的文件。其中使用定时器TIM2的通道1和通道2
void PWM_TIM2_Init(void)/*配置TIM用来输出PWM波形时，要参考使用手册，因为它的GPIO口是官方确定的*/
{/*打开TIM和GPIO的时钟*/RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);/*配置GPIO的输出模式、GPIO口、频率*/ GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;/*复用推挽输出*/GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA,&GPIO_InitStructure);/*GPIO初始化*//**/TIM_InternalClockConfig(TIM2);/*这里通过ARR,PSC,CCR的值来计算计时频率和占空比的值*/TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;TIM_TimeBaseInitStructure.TIM_Period = 100 - 1; //ARRTIM_TimeBaseInitStructure.TIM_Prescaler = 720 - 1; //PSCTIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;/*确定占空比*/TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);/*这里配置输出比较单元*/TIM_OCInitTypeDef TIM_OCInitStructure;TIM_OCStructInit(&TIM_OCInitStructure);TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;TIM_OCInitStructure.TIM_Pulse = 0; //CCR的值/*输出PWM波形的GPIO口的初始化*/TIM_OC1Init(TIM2,&TIM_OCInitStructure); /*非常重要且容易忘记，配置好PWM的gpio口后一定要记得初始化*/TIM_OC2Init(TIM2,&TIM_OCInitStructure);/*使能TIM2*/TIM_Cmd(TIM2,ENABLE);
}/*封装TIM的通道的调用函数，不封装也可以，看自己情况*/
void PWM_TIM2_SetCompare1(uint16_t Compare) //TIM2 的通道1
{TIM_SetCompare1(TIM2,Compare);/*很重要，改变占空比参数就靠这个函数*/
}void PWM_TIM2_SetCompare2(uint16_t Compare) //TIM2 的通道2
{TIM_SetCompare2(TIM2,Compare);
}电源（12V锂电池组，可充电）
多路输出的电源模块（稳压模块）
由于电源是12V，但是STM32最小系统板供电是3.3V，而且舵机和超声波是5V供电，所以我觉得这个模块是必不可少的东西。
五、通用功能的函数文件
延时函数
#include "stm32f10x.h"/*** @brief 微秒级延时* @param xus 延时时长，范围：0~233015* @retval 无*/
void Delay_us(uint32_t xus)
{SysTick->LOAD = 72 * xus; //设置定时器重装值SysTick->VAL = 0x00; //清空当前计数值SysTick->CTRL = 0x00000005; //设置时钟源为HCLK，启动定时器while(!(SysTick->CTRL & 0x00010000)); //等待计数到0SysTick->CTRL = 0x00000004; //关闭定时器
}/*** @brief 毫秒级延时* @param xms 延时时长，范围：0~4294967295* @retval 无*/
void Delay_ms(uint32_t xms)
{while(xms--){Delay_us(1000);}
}/*** @brief 秒级延时* @param xs 延时时长，范围：0~4294967295* @retval 无*/
void Delay_s(uint32_t xs)
{while(xs--){Delay_ms(1000);}
}
直流电机函数
#include "stm32f10x.h" // Device header
#include "Motor.h"
#include "PWM.h"void Motor_R_Init(void)
{RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2|GPIO_Pin_3;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA,&GPIO_InitStructure);PWM_TIM2_Init();
}void Motor_L_Init(void)
{RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA,&GPIO_InitStructure);PWM_TIM2_Init();
}void Motor_R_SetSpeed(int8_t Speed)
{if(Speed>=0){GPIO_SetBits(GPIOA,GPIO_Pin_2);GPIO_ResetBits(GPIOA,GPIO_Pin_3);PWM_TIM2_SetCompare1(Speed);}else{GPIO_SetBits(GPIOA,GPIO_Pin_3);GPIO_ResetBits(GPIOA,GPIO_Pin_2);PWM_TIM2_SetCompare1(-Speed);}
}
void Motor_L_SetSpeed(int8_t Speed)
{if(Speed>=0){GPIO_SetBits(GPIOA,GPIO_Pin_4);GPIO_ResetBits(GPIOA,GPIO_Pin_5);PWM_TIM2_SetCompare2(Speed);}else{GPIO_SetBits(GPIOA,GPIO_Pin_5);GPIO_ResetBits(GPIOA,GPIO_Pin_4);PWM_TIM2_SetCompare2(-Speed);}
}小车运动函数
#include "stm32f10x.h" // Device header
#include "Car.h"
#include "Motor.h"void Car_Init(void)
{Motor_R_Init();Motor_L_Init();
}void Car_Forword(uint8_t Speed)
{Motor_R_SetSpeed(Speed);Motor_L_SetSpeed(Speed);
}void Car_Back(uint8_t Speed)
{Motor_R_SetSpeed(-Speed);Motor_L_SetSpeed(-Speed);
}void Car_Left(uint8_t Speed)
{Motor_R_SetSpeed(Speed);Motor_L_SetSpeed(-Speed);
}void Car_Right(uint8_t Speed)
{Motor_R_SetSpeed(-Speed);Motor_L_SetSpeed(Speed);
}void Car_Stop(void)
{Motor_R_SetSpeed(0);Motor_L_SetSpeed(0);
}PWM调速（我有对PWM专门的讲解文章，不懂的话可以去看看关于PWM的讲解）
#include "stm32f10x.h" // Device header
#include "PWM.h" void PWM_TIM2_Init(void)/*配置TIM用来输出PWM波形时，要参考使用手册，因为它的GPIO口是官方确定的*/
{/*打开TIM和GPIO的时钟*/RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);/*配置GPIO的输出模式、GPIO口、频率*/ GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;/*复用推挽输出*/GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA,&GPIO_InitStructure);/*GPIO初始化*//**/TIM_InternalClockConfig(TIM2);/*这里通过ARR,PSC,CCR的值来计算计时频率和占空比的值*/TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;TIM_TimeBaseInitStructure.TIM_Period = 100 - 1; //ARRTIM_TimeBaseInitStructure.TIM_Prescaler = 720 - 1; //PSCTIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;/*确定占空比*/TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);/*这里配置输出比较单元*/TIM_OCInitTypeDef TIM_OCInitStructure;TIM_OCStructInit(&TIM_OCInitStructure);TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;TIM_OCInitStructure.TIM_Pulse = 0; //CCR的值/*输出PWM波形的GPIO口的初始化*/TIM_OC1Init(TIM2,&TIM_OCInitStructure); /*非常重要且容易忘记，配置好PWM的gpio口后一定要记得初始化*/TIM_OC2Init(TIM2,&TIM_OCInitStructure);/*使能TIM2*/TIM_Cmd(TIM2,ENABLE);
}/*这里用TIM3的通道1来产生PWM信号调速舵机的旋转角度*/
void PWM_TIM3_Init(void)/*这个是TIM3的配置，和上面的说明一样*/
{RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA,&GPIO_InitStructure);TIM_InternalClockConfig(TIM3);TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;TIM_TimeBaseInitStructure.TIM_Period = 20000 - 1; //ARRTIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1; //PSCTIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStructure);TIM_OCInitTypeDef TIM_OCInitStructure;TIM_OCStructInit(&TIM_OCInitStructure);TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;TIM_OCInitStructure.TIM_OCPolarity = TIM_OCNPolarity_High;TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;TIM_OCInitStructure.TIM_Pulse = 0; //CCR的值TIM_OC1Init(TIM3,&TIM_OCInitStructure);TIM_Cmd(TIM3,ENABLE);
}/*封装TIM的通道的调用函数，不封装也可以，看自己情况*/
void PWM_TIM2_SetCompare1(uint16_t Compare) //TIM2 的通道1
{TIM_SetCompare1(TIM2,Compare);/*很重要，改变占空比参数就靠这个函数*/
}void PWM_TIM2_SetCompare2(uint16_t Compare) //TIM2 的通道2
{TIM_SetCompare2(TIM2,Compare);
}void PWM_TIM3_SetCompare1(uint16_t Compare) //TIM3 的通道1
{TIM_SetCompare1(TIM3,Compare);
}按键函数
#include "stm32f10x.h" // Device header
#include "Key.h"
#include "Delay.h"void Key_Init(void)
{RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_5;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOB,&GPIO_InitStructure);
}uint8_t Key_GetNum(void)
{uint8_t KeyNum = 0;if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_3) == 0){Delay_ms(20);while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_3) == 0);Delay_ms(20);KeyNum=1;}if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_5) == 0){Delay_ms(20);while(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_5) == 0);Delay_ms(20);KeyNum=2;}return KeyNum;
}蜂鸣器
#include "stm32f10x.h" // Device header
#include "Buzzer.h"
#include "Delay.h"void Buzzer_Init(void)
{RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOB,&GPIO_InitStructure);
}void Buzzer_OFF(void) //关闭蜂鸣器
{Buzzer_Init();GPIO_SetBits(GPIOB,GPIO_Pin_11); //GPIOB设置为高电平
}void Buzzer_ON1(void)
{Buzzer_Init();GPIO_ResetBits(GPIOB,GPIO_Pin_11); //GPIOB设置为d电平
}void Buzzer_ON2(void) //打开蜂鸣器
{Buzzer_Init();GPIO_ResetBits(GPIOB,GPIO_Pin_11); //GPIOB设置为低电平Delay_ms(100);GPIO_SetBits(GPIOB,GPIO_Pin_11); //GPIOB设置为高电平Delay_ms(100);GPIO_ResetBits(GPIOB,GPIO_Pin_11); //GPIOB设置为低电平Delay_ms(100);GPIO_SetBits(GPIOB,GPIO_Pin_11); //GPIOB设置为高电平Delay_ms(700);}提示灯
#include "stm32f10x.h" // Device header
#include "LED.h"
#include "Delay.h"void LED_Init(void)
{//第一步，使能GPIO的时钟RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);//第二步，定义GPIO的初始化结构体类型GPIO_InitTypeDef GPIO_InitStructure;//第三步，配置GPIO的输出类型为推挽输出GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//第四步，配置GPIO的引脚GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_1;//第五步，配置GPIO的输出速度GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//第六步，初始化GPIOx的寄存器GPIO_Init(GPIOB,&GPIO_InitStructure);// GPIO_ResetBits(GPIOA,GPIO_Pin_0); //GPIOA设置为低电平，LED点亮
// GPIO_SetBits(GPIOA,GPIO_Pin_0); //GPIOA设置为高电平，LED灭
// GPIO_WriteBit(GPIOA,GPIO_Pin_0,Bit_RESET); //LED亮
// GPIO_WriteBit(GPIOA,GPIO_Pin_0,Bit_SET); //LED灭
}void LED_ON(void)
{LED_Init();GPIO_WriteBit(GPIOB,GPIO_Pin_1,Bit_RESET); //LED亮
}void LED_OFF(void)
{LED_Init();GPIO_WriteBit(GPIOB,GPIO_Pin_1,Bit_SET); //LED灭Delay_ms(500);
}void LED_Flash_ON(void)
{LED_Init();GPIO_WriteBit(GPIOB,GPIO_Pin_10,Bit_RESET); //LED亮Delay_ms(500);GPIO_WriteBit(GPIOB,GPIO_Pin_10,Bit_SET); //LED灭Delay_ms(500);
}void LED_Flash_OFF(void)
{LED_Init();GPIO_WriteBit(GPIOB,GPIO_Pin_10,Bit_RESET); //LED灭
}六、主函数
main.c
#include "stm32f10x.h" // Device header
#include "Delay.h"
#include "OLED.h"
#include "Motor.h"
#include "PWM.h"
#include "LED.h"
#include "Car.h"
#include "SG90.h"
#include "Ultrasonic.h"
#include "Timer.h"
#include "Buzzer.h"
#include "Key.h"
#include "Serial.h"
#include "Hc05.h"uint8_t Speed = 50; /*速度范围为[0,100]*/
uint8_t KeyNum;
uint8_t Mode=0;
//extern uint8_t RxData;int main(void)
{OLED_Init();Car_Init();Key_Init();Serial_Init();SG90_Servo_Init();Ultrasonic_GPIO_Init();OLED_ShowString(1,1,"Dist:");OLED_ShowString(2,1,"Speed:");OLED_ShowString(3,1,"MOde:");while(1){Mode = Key_GetNum();OLED_ShowNum(3,6,Mode,3);if(Mode){switch(Mode){case 1: Hc05_car();break;case 2: Ultrasonic_car();break;}} }
}七、电路连接表述
电路连接的时候一定要细心，防止出现短路的情况。接下来，我会描述一下我的电路连接思路，供大家参考一下。
首先从电源出发，电源正负极分别接到L298N的12V和GND位置上，这样就可以给L298N供电，使其驱动4个直流电机。再把12V的电源正负极接到稳压模块上，把电压降到5V和3.3V，这样就可以用3.3V来给stm32最小系统板供电，5V来给舵机和超声波以及蓝牙模块供电。
接4个电机时采用并联的方法，这里不太好描述，上个图片一目了然！！
像这样，应该很容易理解吧！
最后就是操作步骤了：连接好电路，打开开关，此时OLED显示屏上的第三行内容是Mode：000，这时如果按下B5引脚上的按键，Mode;002，这时候就开始了超声波避障模式。如果按下B3引脚上的按键，Mode;001，这时候就是蓝牙控制模式，打开手机连接蓝牙，操作自己设置的键盘就可以控制小车了。（补充;OLED显示屏第一行内容是Dist： ，它显示的是超声波模式下探测到的距离的实时值。第二行内容是Speed： ，它显示的是小车的速度值）
这篇关于基于stm32超声波+蓝牙一体式小车的文章就介绍到这儿，希望我们推荐的文章对编程师们有所帮助！
