stm32智能小车程序

首先，你需要为你的小车选择合适的STM32芯片（如STM32F103C8T6）和相应的开发板（如BluePill或Arduino UNO）。然后，你需要安装STM32CubeMX和Keil MDK-ARM等工具来配置和编译你的代码。

以下是一个简单的STM32智能小车程序的框架：

1. 引入必要的头文件：

```c

#include \"stm32f1xx.h\"

#include \"stm32f1xx_gpio.h\"

#include \"stm32f1xx_rcc.h\"

#include \"stm32f1xx_usart.h\"

#include \"stm32f1xx_tim.h\"

#include \"stm32f1xx_exti.h\"

#include \"stm32f1xx_i2c.h\"

#include \"stm32f1xx_dma.h\"

#include \"stm32f1xx_sdio.h\"

#include \"stm32f1xx_syscfg.h\"

```

2. 定义全局变量：

```c

RCC_HandleTypeDef RCC_Handle;

GPIO_HandleTypeDef GPIO_TX_Handle, GPIO_RX_Handle;

USART_HandleTypeDef USART_Handle;

TIM_HandleTypeDef TIM_Handle;

DMA_HandleTypeDef DMA_Handle;

I2C_HandleTypeDef I2C_Handle;

uint8_t TxBuffer[100];

uint8_t RxBuffer[100];

```

3. 初始化RCC、GPIO、USART和其他外设：

```c

void SystemInit(void) {

SystemInit_Config();

}

void Error_Handler(void) {

while (1) {

}

}

void MX_GPIO_Init(void) {

GPIO_InitTypeDef GPIO_InitStruct;

/* GPIO PCI configuration */

GPIO_InitStruct.Pin = GPIO_PIN_13;

GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;

GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;

GPIO_InitStruct.Pull = GPIO_NOPULL;

GPIO_InitStruct.Alternate = GPIO_AF7_USART1;

GPIO_Init(GPIOA, &GPIO_InitStruct);

/* USART1 GPIO configuration */

GPIO_InitStruct.Pin = GPIO_PIN_9;

GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;

GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;

GPIO_InitStruct.Pull = GPIO_NOPULL;

GPIO_InitStruct.Alternate = GPIO_AF7_USART1;

GPIO_Init(GPIOB, &GPIO_InitStruct);

/* USART1 PF4 MUX configuration */

SYSCTL_RCGCGPIO = SYSCTL_RCC_GPIOA | SYSCTL_RCC_GPIOB;

SYSCTL_PERIPH_ENABLE(SYSCTL_RCC_GPIOB);

}

void MX_USART1_UART_Init(void) {

USART_InitTypeDef USART_InitStruct;

/* USART1 configuration */

USART_InitStruct.USART_BaudRate = 9600;

USART_InitStruct.USART_WordLength = USART_WORDLENGTH_8B;

USART_InitStruct.USART_StopBits = USART_STOPBITS_1;

USART_InitStruct.USART_Parity = USART_PARITY_NONE;

USART_InitStruct.USART_HardwareFlowControl = USART_HWCONTROL_NONE;

USART_Init(USART1, &USART_InitStruct);

/* USART1 interrupt Init */

NVIC_InitStruct.NVIC_IRQChannel = USART1_IRQn;

NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 0;

NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;

NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;

NVIC_Init(&NVIC_InitStruct);

}

```

4. 主循环：

```c

#define BATTERY_VOLTAGE_LOW_THRESHOLD 3.0

#define BATTERY_VOLTAGE_HIGH_THRESHOLD 4.2

int main(void) {

SystemInit();

MX_GPIO_Init();

MX_USART1_UART_Init();

while (1) {

// Read battery voltage and control the speed of the motor based on the voltage

if (BatteryVoltage() < BATTERY_VOLTAGE_LOW_THRESHOLD) {

SetMotorSpeed(50); // Slow down when battery is low

} else if (BatteryVoltage() > BATTERY_VOLTAGE_HIGH_THRESHOLD) {

SetMotorSpeed(255); // Speed up when battery is high

} else {

SetMotorSpeed(128); // Default speed

}

// Send data to the PC

SendData();

// Delay for 10ms

Delay(10);

}

}

```

这个框架包括了一个简单的电池电压监测系统，根据电池电压调整电机速度，以及一个用于发送数据到PC的USART通信模块。你可以根据你的需求添加更多的功能，例如编码器读取、陀螺仪和ACCELEROMETER数据处理、PWM控制等。