STM32循迹小车/Android蓝牙控制小车（一）

STM32循迹小车

第一天：硬件平台介绍
硬件平台：

控制模块：正点原子STM32精英开发板
驱动模块：L298N两路电机驱动模块，两路pwm控制，正反转控制
转向控制：S3010舵机，由20ms脉宽pwm信号控制转向
循迹模块：5路光电对管循迹模块RS016
蓝牙模块：待定
小车平台：10年前飞思卡尔比赛车模

软件设计平台：

STM32程序开发：MDK5 Keil uVision5
Android APP开发：AndroidStudio2.2.2

预计实现功能：

1、遥控模式，通过红外遥控控制前进后退停止转向，连续调速
2、自动模式，通过循迹模块自动检测黑线并跟踪行驶
3、手机控制，通过Android定制APP控制小车前进后退停止转向，连续调速

已经实现功能：遥控模式，下附主要源代码：

#define MIN_zou 1000 //向左
#define Z_qian 1200  //向前
#define MAX_you 1400 //向右
/*
	循迹车引脚接线：
	PG13/PG14引脚控制车前进(1,0)/倒退(0,1),接L298控制引脚IN4/IN3
	定时器3通道2对应引脚PB5控制舵机转向，由20ms脉宽920-2120高电平控制。黑线(接地)，红线(电源线)，白色（控制线）
	定时器3通道4对应引脚PB1控制车驱动电机转速
*/

//pwm波输出 开发板验证
void TIM3_PWM_Init(u16 arr,u16 psc)
	{
		GPIO_InitTypeDef GPIO_InitStrcut;
		TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStrcut;
		TIM_OCInitTypeDef TIM_OCInitStrcut;	
		RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);	//复用端口需要使能AFIO时钟
		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);	//使能TIM3时钟	
		GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3,ENABLE);	//端口部分重映射	
		//设置该引脚为复用输出功能,输出 TIM3 CH2 的 PWM 脉冲波形 GPIOB.5
		GPIO_InitStrcut.GPIO_Mode = GPIO_Mode_AF_PP;				//复用推挽输出							
		GPIO_InitStrcut.GPIO_Pin = GPIO_Pin_5|GPIO_Pin_1;						//
		GPIO_InitStrcut.GPIO_Speed = GPIO_Speed_50MHz;
		GPIO_Init(GPIOB,&GPIO_InitStrcut);
		//定时器初始化
		TIM_TimeBaseInitStrcut.TIM_CounterMode=TIM_CounterMode_Up;//计数模式
		TIM_TimeBaseInitStrcut.TIM_Period=arr;						//重装值
		TIM_TimeBaseInitStrcut.TIM_Prescaler=psc;					//分频值
		TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStrcut);	
		//PWM相关寄存器初始化
		TIM_OCInitStrcut.TIM_OCMode = TIM_OCMode_PWM2; //选择 PWM 模式 2
		TIM_OCInitStrcut.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
		TIM_OCInitStrcut.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性高
		TIM_OC2Init(TIM3, &TIM_OCInitStrcut); //初始化外设 TIM3 OC2通道2
		TIM_OC4Init(TIM3, &TIM_OCInitStrcut); //初始化外设 TIM3 OC2通道4
		TIM_OC2PreloadConfig(TIM3,TIM_OCPreload_Enable);	//装载预装值
		TIM_Cmd(TIM3,ENABLE);		//使能定时器3
	}

void Init_GPIO1(void)
{	
	 GPIO_InitTypeDef  GPIO_InitStructure;
	 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOG, ENABLE);	 //使能PB,PE端口时钟	
	 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14;				 //LED0-->PB.5 端口配置
	 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; 		 //推挽输出
	 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;		 //IO口速度为50MHz
	 GPIO_Init(GPIOG, &GPIO_InitStructure);					 //根据设定参数初始化GPIOB.5	
}

 int main(void)
 {	 
	u8 key;				//键值
	u16 led0pwmval=Z_qian,pwm_sudu=0;
	u8 *str=0;	 
	delay_init();	    	 //延时函数初始化	  
	Init_GPIO1();
	LCD_Init();			   		//初始化LCD   
	W25QXX_Init();				//初始化W25Q128
	Remote_Init();
	TIM3_PWM_Init(14399,99);
	TIM_SetCompare2(TIM3,led0pwmval);
	TIM_SetCompare4(TIM3,pwm_sudu);	
	POINT_COLOR=RED;
	while(font_init()) 		//检查字库
	{	    
		LCD_ShowString(30,50,16,"Font Error!",0);
		delay_ms(200);				  
		LCD_Fill(30,50,240,66,WHITE);//清除显示	     
		delay_ms(200);				  
	} 
	Show_Str(30,30,200,16,"循迹小车调试界面",16,0);
	Show_Str(30,70,200,16,"PWM捕获寄存器值：",16,0);	
	Show_Str(30,100,200,16,"遥控接收值：",16,0);	
	Show_Str(30,130,200,16,"按键连按次数：",16,0);
	Show_Str(30,160,200,16,"按键键值：",16,0);
	Show_Str(30,190,200,16,"速度PWM值：",16,0);	
	POINT_COLOR=BLUE;
	Show_Str(30,210,200,64,"|<< ：向左  2 ：前进",16,0);	
	Show_Str(30,230,200,64,">>| ：向右  8 ：倒退",16,0);	
	Show_Str(30,250,200,64,">|| ：向前  5 ：停止",16,0);	
	Show_Str(30,270,200,64,"VOL+/- ：快/慢",16,0);
	Show_Str(30,300,200,64,"上/下  ：左/右",16,0);	
//	Show_Str(30,350,200,64,"2 ：前进",16,0);	
//	Show_Str(30,370,200,64,"8 ：倒退",16,0);	
//	Show_Str(30,390,200,64,"5 ：停止",16,0);	
	
	while(1)
	{	
		key=Remote_Scan();	
		if(key)
		{		
			switch(key)
			{
				case 98:
				{
					str="UP";
					led0pwmval += 20;
					if(led0pwmval >= MAX_you)led0pwmval=MAX_you;
					TIM_SetCompare2(TIM3,led0pwmval);
				}break;	    
				case 194:
				{
					str="RIGHT";
					led0pwmval = MIN_zou;
					TIM_SetCompare2(TIM3,led0pwmval);
				}break;	   
				case 34:
				{
					str="LEFT";
					led0pwmval = MAX_you;
					TIM_SetCompare2(TIM3,led0pwmval);
				}break;		  
				case 168:
				{
					str="DOWN";
					if(led0pwmval >= (MIN_zou+20))led0pwmval -= 20;
					else led0pwmval = MIN_zou;
					TIM_SetCompare2(TIM3,led0pwmval);
				}break;			
				case 2:
				{
					str="PLAY";
					led0pwmval=Z_qian;
					TIM_SetCompare2(TIM3,led0pwmval);
				}break;	
				case 224:
				{
					str="VOL-";
					if(pwm_sudu >=100)pwm_sudu-=100;
					else pwm_sudu=0;
					TIM_SetCompare4(TIM3,pwm_sudu);
				}break;		  		   
				case 144:
				{
					str="VOL+";
					if(pwm_sudu <= 8000)pwm_sudu+=100;
					else pwm_sudu=8000;	
					TIM_SetCompare4(TIM3,pwm_sudu);					
				}break;	
				case 56:
				{
					str="8";
					TIM_SetCompare4(TIM3,pwm_sudu);
					delay_ms(100);
					PGout(13) = 0;
					PGout(14) = 1;
				}break;	
				case 152:
				{
					str="2";
					TIM_SetCompare4(TIM3,pwm_sudu);
					delay_ms(100);
					PGout(13) = 1;
					PGout(14) = 0;
				}break;	
				case 24:
				{
					str="5";
					if(pwm_sudu>=3000){
						TIM_SetCompare4(TIM3,pwm_sudu/2);
						delay_ms(200);
					}	
					PGout(13) = 0;
					PGout(14) = 0;
					delay_ms(20);
				}break;					
			}
			LCD_ShowNum(30+8*16,70,led0pwmval,5,16);	
			LCD_ShowNum(30+8*10,100,key,4,16);		
			LCD_ShowNum(30+8*14,130,RmtCnt,3,16);	
			LCD_ShowString(30+8*10,160,16,"      ",0);	
			LCD_ShowString(30+8*10,160,16,str,0);		
			LCD_ShowNum(30+8*14,190,pwm_sudu,5,16);			
		}
		delay_ms(150);
	}
}

后续功能开发待续，不定时更新，业余作品，预计一个月左右更新完成。
源码开发过程中随时会修正更改，暂时不提供完整代码。