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95 lines
2.7 KiB
95 lines
2.7 KiB
#include "stm32f10x.h"
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#include "bluetooth.h"
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#include "sys.h"
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u8 i;
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int flag; //定义标志位
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char flag2='W'; //定义标志位2
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int speed=75;//定义速度speed PWM占空比
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void USART2_IRQHandler(void)
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{
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if(USART_GetITStatus(USART2, USART_IT_RXNE) == SET) //USART2 中断发生与否
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{
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USART_ClearITPendingBit(USART2, USART_IT_RXNE); //清除中断待处理位
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i= USART_ReceiveData(USART2); //数据处理
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if(i=='0')
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{ flag=0;}
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if(i=='1')
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{ flag=1;}
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if(i=='2')
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{ flag=2;}
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if(i=='3')
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{ flag=3;}
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if(i=='4')
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{ flag=4;} //移动指令
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if(i=='W')
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{ flag2='W';}
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if(i=='B')
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{ flag2='B';}
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if(i=='U')
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{ flag2='U';} //状态指令
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if(i=='H')
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{ speed=100;
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TIM_SetCompare1(TIM1,speed);
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TIM_SetCompare4(TIM1,speed);}
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if(i=='L')
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{ speed=75;
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TIM_SetCompare1(TIM1,speed);
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TIM_SetCompare4(TIM1,speed);} //调速
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if(i=='J')
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{ PAout(5)=!PAout(5);} //继电器开关
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}
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}
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void BluetoothInit(void)
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{
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//利用中断进行蓝牙的收发
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GPIO_InitTypeDef GPIO_InitStructure;
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USART_InitTypeDef USART_InitStructure;
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NVIC_InitTypeDef NVIC_InitStructure;
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_AFIO, ENABLE );
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE );//使能USART3，GPIOC时钟
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//USART1_TX PA2
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; //PA2
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
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GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化PA2
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//USART1_RX PA3
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//浮空输入
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GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化PA3
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//GPIO_PinRemapConfig(GPIO_PartialRemap_USART3,ENABLE);
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USART_InitStructure.USART_BaudRate = 38400;
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USART_InitStructure.USART_WordLength = USART_WordLength_8b;
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USART_InitStructure.USART_StopBits = USART_StopBits_1;
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USART_InitStructure.USART_Parity = USART_Parity_No;
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USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
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USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
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USART_Init(USART2, &USART_InitStructure);
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USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);//开启中断
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//Usart1 NVIC 配置
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
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NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2 ;//抢占优先级3
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //子优先级3
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
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NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器
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USART_Cmd(USART2, ENABLE); //使能串口
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}
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