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資源簡介

編寫藍牙串口通信、電機PWM調速、MPU9250獲取偏航角

遙控部分：
使用藍牙模塊連接PC10、11，USART3。
PC10為TX，PC11為RX。

電機部分：
PB6、7、8、9控制電機，TIM4四個通道。
舵機部分：
PC9已初始化可控制舵機，TIM8_CH4，PC8(TIM8_CH3）備用。

mpu9250：
PB10、11分別復用為SCL、SDAI2C進行通信；PA15接AD0；


//按鍵部分：
計劃所買控制板有兩個按鍵KEY0（PC12)和KEY1（PD2），設定KEY0按下時開始循跡避障，KEY1按下時藍牙遙控。
（程序中會另外設一變量，在循跡脫離五秒后置位與觸發KEY1相同效果進入遙控控制）

資源截圖

代碼片段和文件信息 

/**************************************************************************//**
?*?@file?????core_cm3.c
?*?@brief????CMSIS?Cortex-M3?Core?Peripheral?Access?layer?Source?File
?*?@version??V1.30
?*?@date?????30.?October?2009
?*
?*?@note
?*?Copyright?（C）?2009?ARM?Limited.?All?rights?reserved.
?*
?*?@par
?*?ARM?Limited?（ARM）?is?supplying?this?software?for?use?with?Cortex-M?
?*?processor?based?microcontrollers.??This?file?can?be?freely?distributed?
?*?within?development?tools?that?are?supporting?such?ARM?based?processors.?
?*
?*?@par
?*?THIS?SOFTWARE?IS?PROVIDED?“AS?IS“.??NO?WARRANTIES?WHETHER?EXPRESS?IMPLIED
?*?OR?STATUTORY?INCLUDING?BUT?NOT?LIMITED?TO?IMPLIED?WARRANTIES?OF
?*?MERCHANTABILITY?AND?FITNESS?FOR?A?PARTICULAR?PURPOSE?APPLY?TO?THIS?SOFTWARE.
?*?ARM?SHALL?NOT?IN?ANY?CIRCUMSTANCES?BE?LIABLE?FOR?SPECIAL?INCIDENTAL?OR
?*?CONSEQUENTIAL?DAMAGES?FOR?ANY?REASON?WHATSOEVER.
?*
?******************************************************************************/

#include?

/*?define?compiler?specific?symbols?*/
#if?defined?（?__CC_ARM???）
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????__inline???????????????????????????????????/*!
#elif?defined?（?__ICCARM__?）
??#define?__ASM???????????__asm???????????????????????????????????????/*!??#define?__INLINE????????inline??????????????????????????????????????/*!
#elif?defined???（??__GNUC__??）
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????inline?????????????????????????????????????/*!
#elif?defined???（??__TASKING__??）
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????inline?????????????????????????????????????/*!
#endif


/*?###################??Compiler?specific?Intrinsics??###########################?*/

#if?defined?（?__CC_ARM???）?/*------------------RealView?Compiler?-----------------*/
/*?ARM?armcc?specific?functions?*/

/**
?*?@brief??Return?the?Process?Stack?Pointer
?*
?*?@return?ProcessStackPointer
?*
?*?Return?the?actual?process?stack?pointer
?*/
__ASM?uint32_t?__get_PSP（void）
{
??mrs?r0?psp
??bx?lr
}

/**
?*?@brief??Set?the?Process?Stack?Pointer
?*
?*?@param??topOfProcStack??Process?Stack?Pointer
?*
?*?Assign?the?value?ProcessStackPointer?to?the?MSP?
?*?（process?stack?pointer）?Cortex?processor?register
?*/
__ASM?void?__set_PSP（uint32_t?topOfProcStack）
{
??msr?psp?r0
??bx?lr
}

/**
?*?@brief??Return?the?Main?Stack?Pointer
?*
?*?@return?Main?Stack?Pointer
?*
?*?Return?the?curren

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2020-08-07?09:42??code_Boat?0807?-?副本\
?????目錄???????????0??2020-08-07?09:42??code_Boat?0807?-?副本\CORE\
?????文件???????17273??2010-06-07?10:25??code_Boat?0807?-?副本\CORE\core_cm3.c
?????文件???????85714??2011-02-09?14:59??code_Boat?0807?-?副本\CORE\core_cm3.h
?????文件???????15503??2011-03-10?10:52??code_Boat?0807?-?副本\CORE\startup_stm32f10x_hd.s
?????文件???????12765??2011-03-10?10:52??code_Boat?0807?-?副本\CORE\startup_stm32f10x_md.s
?????目錄???????????0??2020-08-07?09:46??code_Boat?0807?-?副本\HARDWARE\
?????目錄???????????0??2020-08-07?09:42??code_Boat?0807?-?副本\HARDWARE\EXTI\
?????文件????????3181??2012-02-22?00:07??code_Boat?0807?-?副本\HARDWARE\EXTI\exti.c
?????文件?????????582??2011-09-15?16:11??code_Boat?0807?-?副本\HARDWARE\EXTI\exti.h
?????目錄???????????0??2020-08-07?09:42??code_Boat?0807?-?副本\HARDWARE\KEY\
?????文件????????1178??2019-08-23?17:03??code_Boat?0807?-?副本\HARDWARE\KEY\key.c
?????文件????????1091??2019-08-23?16:15??code_Boat?0807?-?副本\HARDWARE\KEY\key.h
?????目錄???????????0??2020-08-07?09:42??code_Boat?0807?-?副本\HARDWARE\LED\
?????文件????????1377??2014-03-27?16:59??code_Boat?0807?-?副本\HARDWARE\LED\led.c
?????文件?????????264??2012-03-06?00:16??code_Boat?0807?-?副本\HARDWARE\LED\led.h
?????目錄???????????0??2020-08-07?09:42??code_Boat?0807?-?副本\HARDWARE\Motor_Drive\
?????文件????????2795??2020-08-05?21:08??code_Boat?0807?-?副本\HARDWARE\Motor_Drive\motor_drive.c
?????文件????????1314??2020-08-05?21:08??code_Boat?0807?-?副本\HARDWARE\Motor_Drive\motor_drive.h
?????目錄???????????0??2020-08-07?09:46??code_Boat?0807?-?副本\HARDWARE\MPU9250\
?????目錄???????????0??2020-08-07?09:46??code_Boat?0807?-?副本\HARDWARE\MPU9250\eMPL\
?????文件???????19342??2012-12-14?11:16??code_Boat?0807?-?副本\HARDWARE\MPU9250\eMPL\dmpKey.h
?????文件????????6765??2012-12-14?11:16??code_Boat?0807?-?副本\HARDWARE\MPU9250\eMPL\dmpmap.h
?????文件???????91172??2020-08-07?10:24??code_Boat?0807?-?副本\HARDWARE\MPU9250\eMPL\inv_mpu.c
?????文件????????4865??2015-01-17?12:09??code_Boat?0807?-?副本\HARDWARE\MPU9250\eMPL\inv_mpu.h
?????文件???????58387??2020-08-07?10:24??code_Boat?0807?-?副本\HARDWARE\MPU9250\eMPL\inv_mpu_dmp_motion_driver.c
?????文件????????3538??2012-12-14?11:16??code_Boat?0807?-?副本\HARDWARE\MPU9250\eMPL\inv_mpu_dmp_motion_driver.h
?????文件????????6796??2020-08-07?10:24??code_Boat?0807?-?副本\HARDWARE\MPU9250\mpu6050.c
?????文件????????5061??2015-01-30?20:40??code_Boat?0807?-?副本\HARDWARE\MPU9250\mpu6050.h
?????文件????????3392??2015-04-27?15:56??code_Boat?0807?-?副本\HARDWARE\MPU9250\mpuiic.c
?????文件????????1480??2015-04-27?15:55??code_Boat?0807?-?副本\HARDWARE\MPU9250\mpuiic.h
............此處省略262個文件信息

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