基于STC15W單片機平衡車程序+PCB工程設(shè)計

ID:398665 · 發(fā)表于 2019-7-28 10:11

有原理圖，PCB板，程序源碼
Altium Designer畫的PCB圖如下：(51hei附件中可下載工程文件)

單片機源程序如下:

/*********************************************************/
#include "config.h"
/************* 本地函數(shù)聲明 **************/
//========================================================================
// 函數(shù): void delay_ms(u8 ms)
// 描述: 延時函數(shù)。
// 參數(shù): ms,要延時的ms數(shù), 這里只支持1~255ms. 自動適應(yīng)主時鐘.
// 返回: none.
// 版本: VER1.0
// 日期:
// 備注:
//========================================================================
void delay_ms(u8 ms)
{
u16 i;
do{
i = MAIN_Fosc / 13000;
while(--i) ; //14T per loop
}while(--ms);
}
/************************ 定時器配置 ****************************/
void Timer_config(void)
{
TIM_InitTypeDef TIM_InitStructure; //結(jié)構(gòu)定義
TIM_InitStructure.TIM_Mode = TIM_16BitAutoReload; //指定工作模式, TIM_16BitAutoReload,TIM_16Bit,TIM_8BitAutoReload,TIM_16BitAutoReloadNoMask
TIM_InitStructure.TIM_Polity = PolityLow; //指定中斷優(yōu)先級, PolityHigh,PolityLow
TIM_InitStructure.TIM_Interrupt = ENABLE; //中斷是否允許, ENABLE或DISABLE
TIM_InitStructure.TIM_ClkSource = TIM_CLOCK_12T; //指定時鐘源, TIM_CLOCK_1T,TIM_CLOCK_12T,TIM_CLOCK_Ext
TIM_InitStructure.TIM_ClkOut = DISABLE; //是否輸出高速脈沖, ENABLE或DISABLE
TIM_InitStructure.TIM_Value = 65536UL - (MAIN_Fosc / 480); //1ms初值,
TIM_InitStructure.TIM_Run = ENABLE; //是否初始化后啟動定時器, ENABLE或DISABLE
Timer_Inilize(Timer0,&TIM_InitStructure); //初始化Timer0 Timer0,Timer1,Timer2,Timer3,Timer4
TIM_InitStructure.TIM_Mode = TIM_16BitAutoReload; //指定工作模式, TIM_16BitAutoReload,TIM_16Bit,TIM_8BitAutoReload,TIM_16BitAutoReloadNoMask
TIM_InitStructure.TIM_Polity = PolityLow; //指定中斷優(yōu)先級, PolityHigh,PolityLow
TIM_InitStructure.TIM_Interrupt = ENABLE; //中斷是否允許, ENABLE或DISABLE
TIM_InitStructure.TIM_ClkSource = TIM_CLOCK_12T; //指定時鐘源, TIM_CLOCK_1T,TIM_CLOCK_12T,TIM_CLOCK_Ext
TIM_InitStructure.TIM_ClkOut = DISABLE; //是否輸出高速脈沖, ENABLE或DISABLE
TIM_InitStructure.TIM_Value = 65536UL - (MAIN_Fosc / 1200); //10ms初值,
TIM_InitStructure.TIM_Run = ENABLE; //是否初始化后啟動定時器, ENABLE或DISABLE
Timer_Inilize(Timer1,&TIM_InitStructure); //初始化Timer1 Timer0,Timer1,Timer2
TIM_InitStructure.TIM_Interrupt = ENABLE; //中斷是否允許, ENABLE或DISABLE. (注意: Timer2固定為16位自動重裝, 中斷固定為低優(yōu)先級)
TIM_InitStructure.TIM_ClkSource = TIM_CLOCK_Ext; //指定時鐘源, TIM_CLOCK_1T,TIM_CLOCK_12T,TIM_CLOCK_Ext
TIM_InitStructure.TIM_ClkOut = DISABLE; //是否輸出高速脈沖, ENABLE或DISABLE
TIM_InitStructure.TIM_Value = 0; //初值
TIM_InitStructure.TIM_Run = ENABLE; //是否初始化后啟動定時器, ENABLE或DISABLE
Timer_Inilize(Timer3,&TIM_InitStructure); //初始化Timer3 Timer0,Timer1,Timer2,Timer3,Timer4
TIM_InitStructure.TIM_Interrupt = ENABLE; //中斷是否允許, ENABLE或DISABLE. (注意: Timer2固定為16位自動重裝, 中斷固定為低優(yōu)先級)
TIM_InitStructure.TIM_ClkSource = TIM_CLOCK_Ext; //指定時鐘源, TIM_CLOCK_1T,TIM_CLOCK_12T,TIM_CLOCK_Ext
TIM_InitStructure.TIM_ClkOut = DISABLE; //是否輸出高速脈沖, ENABLE或DISABLE
TIM_InitStructure.TIM_Value = 0; //初值
TIM_InitStructure.TIM_Run = ENABLE; //是否初始化后啟動定時器, ENABLE或DISABLE
Timer_Inilize(Timer4,&TIM_InitStructure); //初始化Timer4 Timer0,Timer1,Timer2,Timer3,Timer4
}
/***************** 串口配置函數(shù) *****************************/
void UART_config(void)
{
COMx_InitDefine COMx_InitStructure; //結(jié)構(gòu)定義
COMx_InitStructure.UART_Mode = UART_8bit_BRTx; //模式, UART_ShiftRight,UART_8bit_BRTx,UART_9bit,UART_9bit_BRTx
COMx_InitStructure.UART_BRT_Use = BRT_Timer2; //使用波特率, BRT_Timer1, BRT_Timer2 (注意: 串口2固定使用BRT_Timer2)
COMx_InitStructure.UART_BaudRate = 9600ul; //波特率, 一般 110 ~ 115200
COMx_InitStructure.UART_RxEnable = ENABLE; //接收允許, ENABLE或DISABLE
COMx_InitStructure.UART_Interrupt = ENABLE; //中斷允許, ENABLE或DISABLE
COMx_InitStructure.UART_P_SW = UART1_SW_P30_P31; //切換端口, UART1_SW_P30_P31,UART1_SW_P36_P37,UART1_SW_P16_P17(必須使用內(nèi)部時鐘)
USART_Configuration(USART1, &COMx_InitStructure); //初始化串口1 USART1,USART2,USART3,USART4
// COMx_InitStructure.UART_Mode = UART_8bit_BRTx; //模式, UART_8bit_BRTx,UART_9bit_BRTx
// COMx_InitStructure.UART_BaudRate = 9600ul; //波特率, 110 ~ 115200
// COMx_InitStructure.UART_RxEnable = ENABLE; //接收允許, ENABLE或DISABLE
// COMx_InitStructure.UART_Interrupt = ENABLE; //中斷允許, ENABLE或DISABLE
// COMx_InitStructure.UART_P_SW = UART2_SW_P10_P11; //切換端口, UART2_SW_P10_P11, UART2_SW_P46_P47
// USART_Configuration(USART2, &COMx_InitStructure); //初始化串口2 USART1,USART2,USART3,USART4
COMx_InitStructure.UART_Mode = UART_8bit_BRTx; //模式, UART_8bit_BRTx,UART_9bit_BRTx
COMx_InitStructure.UART_BRT_Use = BRT_Timer2; //使用波特率, BRT_Timer3, BRT_Timer2
COMx_InitStructure.UART_BaudRate = 9600ul; //波特率, 110 ~ 115200
COMx_InitStructure.UART_RxEnable = ENABLE; //接收允許, ENABLE或DISABLE
COMx_InitStructure.UART_Interrupt = ENABLE; //中斷允許, ENABLE或DISABLE
COMx_InitStructure.UART_P_SW = UART3_SW_P00_P01; //切換端口, UART3_SW_P00_P01, UART3_SW_P50_P51
USART_Configuration(USART3, &COMx_InitStructure); //初始化串口2 USART1,USART2,USART3,USART4
// COMx_InitStructure.UART_Mode = UART_8bit_BRTx; //模式, UART_8bit_BRTx,UART_9bit_BRTx
// COMx_InitStructure.UART_BRT_Use = BRT_Timer4; //使用波特率, BRT_Timer4, BRT_Timer2
// COMx_InitStructure.UART_BaudRate = 9600ul; //波特率, 110 ~ 115200
// COMx_InitStructure.UART_RxEnable = ENABLE; //接收允許, ENABLE或DISABLE
// COMx_InitStructure.UART_Interrupt = ENABLE; //中斷允許, ENABLE或DISABLE
// COMx_InitStructure.UART_P_SW = UART4_SW_P02_P03; //切換端口, UART4_SW_P02_P03, UART4_SW_P52_P53
// USART_Configuration(USART4, &COMx_InitStructure); //初始化串口4 USART1,USART2,USART3,USART4
}
/**********************************************/
void main(void)
{
SYSTEM_CLK_1T();
P0n_standard(0xff); //設(shè)置為準(zhǔn)雙向口
P1n_standard(0xff); //設(shè)置為準(zhǔn)雙向口
P2n_standard(0xff); //設(shè)置為準(zhǔn)雙向口
P3n_standard(0xff); //設(shè)置為準(zhǔn)雙向口
P4n_standard(0xff); //設(shè)置為準(zhǔn)雙向口
P5n_standard(0xff); //設(shè)置為準(zhǔn)雙向口
UART_config(); //串口初始化
Timer_config(); //定時器0,1初始化
PWMInit();
MPU6050Init();
CarUpstandInit();
EA = 1;
delay_ms(10);
PrintString(USART1,"STC15W4K32S4 USART1 Ready!\r\n");
while (1)
{
UART_handle(); //處理串口和藍(lán)牙接收數(shù)據(jù)
}
}