基于STM32F103两轮平衡小车设计（开源）

ID:127084 · 发表于 2016-6-17 14:25

给大家分享个两轮平衡小车设计，不多说了，直接上图

附件资料

/**---------------------------------------------------------------
项目：两轮自平衡小车(Two-Wheels Auto-Balancing Vechile)
版本：v1.0.0
文件：AHRS_Rcv.c
功能：AHRS姿态数据接收
作者：[email]flotox@yeah.net[/email]
日期：2014.9.7
更新：2014.9.7
----------------------------------------------------------------*/
#include "stm32f10x.h"
#include "AHRS_Rcv.h"
/**
* @brief AHRS姿态数据接收外设初始化
* @param none
* @retval none
*/
void AHRS_Rcv_Init(void){
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/*开启GPIOC外设时钟*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
/*开启USART2外设时钟*/
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
/*USART2的GPIO配置*/
/*配置USART2 Tx(PA.02)为AF_PP模式*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*配置USART2 Rx(PA.03)为IN_FLOATING*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*USART2 NVIC配置*/
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //2 bits for pre-emption priority 2 bits for subpriority
NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //指定抢占式优先级别,可取0~3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //指定响应式优先级别,可取0~3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/*USART2模式配置*/
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(USART2, &USART_InitStructure);
USART_Cmd(USART2, ENABLE);
/*接收中断使能*/
USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);
}