小车主控MCU: STM32F103ZET6
STM32程序开发IDE: keil5
STM32程序风格: 采用寄存器方式开发，注释齐全，执行效率高，方便移植
手机APP: 采用QT设计，程序支持跨平台编译运行(Android、IOS、Windows、Linux都可以编译运行，对应平台上QT的环境搭建，之前博客已经发了文章讲解)
硬件包含: 淘宝购买的完整一套4轮遥控小车(采用STM32F103ZET6作为主控板)、DHT11温湿度传感器、中科微GPS模块、ESP8266
小车完整源码下载地址: https://download.csdn.net/download/xiaolong1126626497/19557040
APP完整源码下载地址: https://download.csdn.net/download/xiaolong1126626497/19557009
二、功能介绍这是基于STM32设计的4轮遥控小车,支持通过Android手机APP、Windows上位机完成对小车遥控；支持前进、后退、左转、右转、停止等操作。
小车上会实时采集温度、湿度、GPS经纬度、通过ESP8266 WIFI上传至手机APP,手机APP收到数据之后，会将温湿度实时显示出来，经纬度收到后会调用百度地图，显示小车的位置，并且数据也会存放到数据库里，方便查看历史数据;支持范围内温湿度查询、最高温湿度、最低温湿度查询。
小车电机驱动模块采用L298N、WIFI模块采用ESP8266、MCU采用STM32F103C8T6、温湿度模块采用DTH11、GPS模块采用北斗GPS+BDS。
三、相关硬件介绍
四、程序源码硬件连接说明:GPS接的串口1:PA3(RX)--5V~3.3V WIFI接的串口3: PB10(TX)--->接ESP8266的RXPB11(RX)--->接ESP8266的TX--3.3V DHT11温湿度接: PA7
4.1 STM32小车端: main.c源码代码语言：javascript复制#include "stm32f10x.h"#include "led.h"#include "delay.h"#include "key.h"#include "usart.h"#include #include "timer.h"#include "bluetooth.h"#include "esp8266.h"#include "dht11.h"#include "gps.h"#include "motor.h"/*硬件连接说明: GPS接的串口1:PA3(RX)--5V~3.3VWIFI接的串口3: PB10(TX)--->接ESP8266的RXPB11(RX)--->接ESP8266的TX--3.3VDHT11温湿度接: PA7*/u8 ESP8266_SendBuff[50];char Buffer[1024];int main(){u32 time_cnt=0;double Longitude=120.086199;double latitude=30.139219;u8 temp=20;u8 humi=70;//延时2秒保证系统稳定delay_ms(1000);delay_ms(1000); LED_Init();BEEP_Init();USART1_Init(115200); //串口调试USART2_Init(9600); //接GPS模块TIMER2_Init(72,20000);USART3_Init(115200);//串口-WIFI ESP8166_01默认波特率9600 ESP8266_12F默认波特率115200TIMER3_Init(72,20000); //超时时间20msprintf("正在初始化请稍等.\r\n");printf("DHT11_Init:%d\r\n",DHT11_Init());//温湿度传感器初始化printf("准备检测WIFI硬件,请稍等...\r\n");//初始化WIFI硬件if(ESP8266_Init())printf("WIFI硬件错误.\r\n");else{printf("WIFI设备正常....\r\n"); //配置WIFI的模式192.168.4.1 printf("WIFI配置状态:%d\r\n",ESP8266_AP_TCP_Server_Mode("esp8266_666","12345678",8089));}MotorInit(); //电机初始化//电机脉冲控制 TIMER4_Init(72,1000);while(1){//接收到GPS的数据if(USART2_RX_FLAG){USART2_RX_BUFFER[USART2_RX_CNT]='\0';//解析经纬度GPS_GNRMC_Decoding((char*)USART2_RX_BUFFER,&Longitude,&latitude);USART2_RX_CNT=0;USART2_RX_FLAG=0;//打印到串口调试助手printf("GPS:%f,%f\r\n",Longitude,latitude);}//接收到WIFI的数据if(USART3_RX_FLAG){USART3_RX_BUFFER[USART3_RX_CNT]='\0';printf("WIFI:%s\r\n",USART3_RX_BUFFER); strcpy(Buffer,(char*)USART3_RX_BUFFER);USART3_RX_CNT=0;USART3_RX_FLAG=0;BEEP=1;delay_ms(50);BEEP=0;if(strstr((char*)Buffer,":a")){printf("向前...\r\n");CarGo();}else if(strstr((char*)Buffer,":b")){ printf("后退...\r\n");CarBack();}else if(strstr((char*)Buffer,":c")){ printf("向左...\r\n"); CarLeft();}else if(strstr((char*)Buffer,":d")){ printf("向右...\r\n"); CarRight();}else if(strstr((char*)Buffer,":e")){ printf("停止...\r\n"); CarStop();}}time_cnt++;delay_ms(10);//判断轮询时间if(time_cnt>=100*2){time_cnt=0;//读取温湿度数据DHT11_Read_Data(&temp,&humi);sprintf((char*)ESP8266_SendBuff,"#%d,%d,%f,%f",temp,humi,Longitude,latitude);//向服务器上传数据ESP8266_ServerSendData(0,ESP8266_SendBuff,strlen((char*)ESP8266_SendBuff));//打印到串口调试助手printf("ESP8266_SendBuff:%s\r\n",(char *)ESP8266_SendBuff);//运行状态Motor_LED=!Motor_LED;}}}4.2 STM32小车端: 电机控制源码代码语言：javascript复制#include "motor.h"//全局变量定义unsigned int speed_count=0;//占空比计数器 50次一周期int front_left_speed_duty=SPEED_DUTY;int front_right_speed_duty=SPEED_DUTY;int behind_left_speed_duty=SPEED_DUTY;int behind_right_speed_duty=SPEED_DUTY;unsigned char continue_time=0;//根据占空比驱动电机转动void CarMove(void){ BEHIND_RIGHT_EN;//右前轮if(front_right_speed_duty > 0)//向前{if(speed_count < front_right_speed_duty){FRONT_RIGHT_GO;}else//停止{FRONT_RIGHT_STOP;}}else if(front_right_speed_duty < 0)//向后{if(speed_count < (-1)*front_right_speed_duty){FRONT_RIGHT_BACK;}else//停止{FRONT_RIGHT_STOP;}}else//停止{FRONT_RIGHT_STOP;}//左后轮if(behind_left_speed_duty > 0)//向前{if(speed_count < behind_left_speed_duty){BEHIND_LEFT_GO;}else//停止{BEHIND_LEFT_STOP;}}else if(behind_left_speed_duty < 0)//向后{if(speed_count < (-1)*behind_left_speed_duty){BEHIND_LEFT_BACK;}else//停止{BEHIND_LEFT_STOP;}}else//停止{BEHIND_LEFT_STOP;}}//向前void CarGo(void){front_left_speed_duty=SPEED_DUTY;front_right_speed_duty=SPEED_DUTY;behind_left_speed_duty=SPEED_DUTY;behind_right_speed_duty=SPEED_DUTY;}//后退void CarBack(void){front_left_speed_duty=-SPEED_DUTY;front_right_speed_duty=-SPEED_DUTY;behind_left_speed_duty=-SPEED_DUTY;behind_right_speed_duty=-SPEED_DUTY;}//向左void CarLeft(void){front_left_speed_duty=-20;front_right_speed_duty=SPEED_DUTY;behind_left_speed_duty=-20;behind_right_speed_duty=SPEED_DUTY+10;//增加后轮驱动力}//向右void CarRight(void){front_left_speed_duty=SPEED_DUTY;front_right_speed_duty=-20;behind_left_speed_duty=SPEED_DUTY+10;//增加后轮驱动力behind_right_speed_duty=-20;}//停止void CarStop(void){front_left_speed_duty=0;front_right_speed_duty=0;behind_left_speed_duty=0;behind_right_speed_duty=0;}/*FRONT_LEFT_F_PINPG13左前前进IOFRONT_LEFT_B_PINPG11左前后退IOFRONT_RIGHT_F_PINPC11右前前进IOFRONT_RIGHT_B_PINPD0 右前后退IOBEHIND_LEFT_F_PINPD6左后前进IOBEHIND_LEFT_B_PINPG9左后后退IO右后电机的两个控制IO这里改为两路使能EN1、EN2，高电平有效BEHIND_RIGHT_F_PINPD4右电机使能IOBEHIND_RIGHT_B_PINPD2左电机使能IO*/void MotorInit(void){RCC->APB2ENR|=1CRL|=0x03030303;GPIOC->CRH&=0xFFFF0FFF;GPIOC->CRH|=0x00003000;CarStop();}4.3 STM32小车端: ESP8266 WIFI源码代码语言：javascript复制#include "esp8266.h"u8 ESP8266_IP_ADDR[16]; //255.255.255.255u8 ESP8266_MAC_ADDR[18]; //硬件地址/*函数功能: ESP8266命令发送函数函数返回值:0表示成功 1表示失败*/u8 ESP8266_SendCmd(char *cmd){u8 i,j;for(i=0;i