一、简介
传感器模块组成的平衡车。
二、原理图
三、部分代码
/* * 硬件连接：------------------------ * | PA9 - USART1(Tx) | * | PA10 - USART1(Rx) | * ------------------------ * 库版本 ：ST3.5.0 **********************************************************************************/ #include "usart1.h" #include "misc.h" #include <stdarg.h> /* * 函数名：USART1_Config * 描述 ：USART1 GPIO 配置,配置工作模式 * 输入 ：无 * 输出 : 无 * 调用 ：外部调用 */ void USART1_Config(void) { GPIO_InitTypeDef GPIO_InitStructure; USART_InitTypeDef USART_InitStructure; /* config USART1 clock */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA, ENABLE); /* USART1 GPIO config */ /* Configure USART1 Tx (PA.09) as alternate function push-pull */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); /* Configure USART1 Rx (PA.10) as input floating */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_Init(GPIOA, &GPIO_InitStructure); /* USART1 mode config */ USART_InitStructure.USART_BaudRate = 115200; USART_InitStructure.USART_WordLength = USART_WordLength_8b; USART_InitStructure.USART_StopBits = USART_StopBits_1; USART_InitStructure.USART_Parity = USART_Parity_No ; USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; USART_Init(USART1, &USART_InitStructure); USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); USART_Cmd(USART1, ENABLE); } void NVIC_Configuration(void) { NVIC_InitTypeDef NVIC_InitStructure; /* Configure the NVIC Preemption Priority Bits */ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0); /* Enable the USARTy Interrupt */ NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); } /*发送字符*/ int fputc(int ch, FILE *f) { /* 将Printf内容发送到串口 */ USART_SendData(USART1, (unsigned char) ch); while (!(USART1->SR & USART_FLAG_TXE)); return (ch); } /* * 函数名：itoa * 描述 ：将整形数据转换成字符串 * 输入 ：-radix =10 表示10进制，其他结果为0 * -value 要转换的整形数 * -buf 转换后的字符串 * -radix = 10 * 输出 ：无 * 返回 ：无 * 调用 ：被USART1_printf()调用 */ static char *itoa(int value, char *string, int radix) { int i, d; int flag = 0; char *ptr = string; /* This implementation only works for decimal numbers. */ if (radix != 10) { *ptr = 0; return string; } if (!value) { *ptr = 0x30; *ptr = 0; return string; } /* if this is a negative value insert the minus sign. */ if (value < 0) { *ptr = '-'; /* Make the value positive. */ value *= -1; } for (i = 10000; i > 0; i /= 10) { d = value / i; if (d || flag) { *ptr = (char)(d 0x30); value -= (d * i); flag = 1; } } /* Null terminate the string. */ *ptr = 0; return string; } /* NCL_Itoa */ /* * 函数名：USART1_printf * 描述 ：格式化输出，类似C库printf，但这里没有C库 * 输入 ：-USARTx 这里只使用串口1，即USART1 * -Data 指针发送到串口的内容 * -... 其他参数 * 输出 ：无 * 返回 ：无 * 调用 ：外部调用 * 典型应用USART1_printf( USART1, "\r\n this is a demo \r\n" ); * USART1_printf( USART1, "\r\n %d \r\n", i ); * USART1_printf( USART1, "\r\n %s \r\n", j ); */ void USART1_printf(USART_TypeDef* USARTx, uint8_t *Data,...) { const char *s; int d; char buf[16]; va_list ap; va_start(ap, Data); while ( *Data != 0) // 判断是否达到字符串结束符是否已经到达 { if ( *Data == 0x5c ) //'\' { switch ( * Data ) { case 'r': //回车符 USART_SendData(USARTx, 0x0d); Data ; break; case 'n': //换行符 USART_SendData(USARTx, 0x0a); Data ; break; default: Data ; break; } } else if ( *Data == '%') { // switch ( * Data ) { case 's': //字符串 s = va_arg(ap, const char *); for ( ; *s; s ) { USART_SendData(USARTx,*s); while( USART_GetFlagStatus(USARTx, USART_FLAG_TC) == RESET ); } Data ; break; case 'd': //十进制 d = va_arg(ap, int); itoa(d, buf, 10); for (s = buf; *s; s ) { USART_SendData(USARTx,*s); while( UART_GetFlagStatus(USARTx, USART_FLAG_TC) == RESET );
}
Data++;
break;
default:
Data++;
break;
}
} /* end of else if */
else USART_SendData(USARTx, *Data++);
while( USART_GetFlagStatus(USARTx, USART_FLAG_TC) == RESET );
}
}
/******************* (C) COPYRIGHT 2012 WildFire Team *****END OF FILE************/