STM32+ESP8266wifi遥控小车
单片机源程序如下:
- #include "sys.h"
- #include "delay.h"
- #include "led.h"
- #include "usart3.h"
- #include "esp8266.h"
- #include "l298n.h"
- int main(void){
- delay_init(); //延时函数初始化
- NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置中断优先级分组为组2：2位抢占优先级，2位响应优先级
- LED_Init(); //初始化与LED连接的硬件接口
- usart3_init(115200); //初始化串口3
- L298N_Init();
-
- while(atk_8266_send_cmd("AT","OK",20))//检查WIFI模块是否在线
- {
- atk_8266_quit_trans();//退出透传
- atk_8266_send_cmd("AT+CIPMODE=0","OK",200); //关闭透传模式
- delay_ms(200);
- }
-
- while(atk_8266_send_cmd("ATE0","OK",20));//关闭回显
- atk_8266_send_cmd("AT+CWMODE=2","OK",20);
- atk_8266_send_cmd("AT+RST","OK",20);
- delay_ms(1000);//延时2s等待模块重启
- delay_ms(1000);//
- atk_8266_send_cmd("AT+CWSAP=\"WIFI_CAR\",\"20172017\",1,4","OK",1000);
-
- u16 rlen=0;
- atk_8266_send_cmd("AT+CIPMUX=1","OK",20); //0：单连接，1：多连接
- atk_8266_send_cmd("AT+CIPSERVER=1,8086","OK",20); //开启Server模式，端口号为8086
- delay_ms(200);
- USART3_RX_STA=0;
- IWDG_Init(4,625); //分频数为64,重载值为625,溢出时间为1s
- while(1){
- IWDG_Feed();//喂狗
- if(USART3_RX_STA&0X8000) //接收到一次数据了
- {
- LED1=!LED1;
- rlen=USART3_RX_STA&0X7FFF; //得到本次接收到的数据长度
- u8 flag=0;
- for(u8 i=0;i<rlen-1;i++) {
- if(USART3_RX_BUF[i]==0XAA&&USART3_RX_BUF[i+1]==0X55) {
- flag = i; //0XAA字节的位置
- break;
- }
- }
- u8 revData[6];
- for(u8 i=0;i<6;i++) {
- revData[i] = USART3_RX_BUF[flag+i]; //将有效数据存放到revData数组中
- }
- if(crc16_flage(revData, 4)) { //进行CRC校验
- TIM_SetCompare2(TIM3,10000-60*revData[3]); //改变PWM脉冲宽度以调节小车速度
- switch(revData[2]){
- case 1: forward(); break; //前进
- case 2: back(); break; //后退
- case 3: right(); break; //右转
- case 4: left(); break; //左转
- case 5: stop(); break; //停止
- }
- }
- USART3_RX_STA=0;
- }
- }
- }
所有资料51hei提供下载:
WIFI_CAR.rar
(284.61 KB, 下载次数: 286)
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