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STM32蓝牙连接Android实现云端数据通信（电机控制-开源）

news 来源：原创 2025/9/12 23:52:36

引言

        基于 STM32F103C8T6 最小系统板完成电机控制。这个小项目采用 HAL 库方法实现，通过 CubeMAX 配置相关引脚，步进电机使用 28BYJ-48 （四相五线式步进电机），程序通过蓝牙连接手机 APP 端进行数据收发， OLED 显示当前步进电机角度，并且手机收到数据的同时返回云端保存，记录下当前电机角度。

        对于 28BYJ-48 步进电机，其工作原理基于电磁感应。当定子的某一相绕组通电时，会产生磁场，吸引转子转动。通过按照一定的顺序依次给各相绕组通电，就可以使转子按照预定的方向逐步转动。常见的通电方式有单四拍、双四拍和八拍等。

 一、STM32F103C8T6

芯片对应引脚信息如下：（我这里使用的是 普中-精灵1 开发板）

1. 硬件传感器连接

OLED：0.96寸OLED，四针。

对应引脚：VCC --------> VCC

                  GND --------> GND

                  SCL ---------> PB6

                  SDA ---------> PB7

蓝牙：HC-08，低功耗蓝牙（BLE），六针。

对应引脚：VCC --------> VCC

                  GND --------> GND

                  RXD --------> TXD（PA9）

                  TXD --------> RXD（PA10）

（PS：我这里蓝牙使用的是串口1---USART1）

步进电机：28BYJ-48

驱动板 ULN2003D ：IN1 --------> MOTO IN1（PB8）

                                  IN2 --------> MOTO IN2（PB9）

                                  IN3 --------> MOTO IN3（PB12）

                                  IN4 --------> MOTO IN4（PB13）

2. CubeMAX配置

开启时钟，使用的是晶振。

 有线（SW调试接口）---- 我使用 ST-link 下载器

开启定时器2，内部时钟，开启中断，配置PSC和ARR。

打开 OLED 需要的I2C1

 蓝牙使用的串口1（串口波特率默认为 115200，一般蓝牙默认也是如此，若蓝牙和串口1的不相同，更改其一使他们相同即可）

 引脚设置完成后，芯片大致如下：

配置时钟频率

选择路径，勾选 Keil 代码显示 .c .h文件

点击 GENERATE CODE 生成相关代码

3. Keil5代码相关

        自动生成相关 Keil 5 代码函数，如下：

 OLED相关

        添加oled相关函数（就是市面上通用的oled例程--SSD1306驱动器）

#include "oled.h" 
#include "oledfont.h"
#include "main.h"
#include <stdio.h>
#include <stdarg.h>extern I2C_HandleTypeDef hi2c1;static uint8_t OLED_GRAM[128][8];/*** @brief          write data/command to OLED, if you use spi, please rewrite the function* @param[in]      dat: the data ready to write* @param[in]      cmd: OLED_CMD means command; OLED_DATA means data* @retval         none*/
/*** @brief          写数据或者指令到OLED， 如果使用的是SPI，请重写这个函数* @param[in]      dat: 要写入的字节* @param[in]      cmd: OLED_CMD 代表写入的字节是指令; OLED_DATA 代表写入的字节是数据* @retval         none*/
void oled_write_byte(uint8_t dat, uint8_t cmd)
{static uint8_t cmd_data[2];if(cmd == OLED_CMD){cmd_data[0] = 0x00;}else{cmd_data[0] = 0x40;}cmd_data[1] = dat;HAL_I2C_Master_Transmit(&hi2c1, OLED_I2C_ADDRESS, cmd_data, 2, 10);
}/*** @brief          initialize the oled device* @param[in]      none* @retval         none*/
/*** @brief          初始化OLED模块，* @param[in]      none* @retval         none*/
void OLED_init(void)
{oled_write_byte(0xAE, OLED_CMD);    //display offoled_write_byte(0x20, OLED_CMD);    //Set Memory Addressing Mode	oled_write_byte(0x10, OLED_CMD);    //00,Horizontal Addressing Mode;01,Vertical Addressing Mode;10,Page Addressing Mode (RESET);11,Invalidoled_write_byte(0xb0, OLED_CMD);    //Set Page Start Address for Page Addressing Mode,0-7oled_write_byte(0xc8, OLED_CMD);    //Set COM Output Scan Directionoled_write_byte(0x00, OLED_CMD);    //---set low column addressoled_write_byte(0x10, OLED_CMD);    //---set high column addressoled_write_byte(0x40, OLED_CMD);    //--set start line addressoled_write_byte(0x81, OLED_CMD);    //--set contrast control registeroled_write_byte(0xff, OLED_CMD);    //brightness 0x00~0xffoled_write_byte(0xa1, OLED_CMD);    //--set segment re-map 0 to 127oled_write_byte(0xa6, OLED_CMD);    //--set normal displayoled_write_byte(0xa8, OLED_CMD);    //--set multiplex ratio(1 to 64)oled_write_byte(0x3F, OLED_CMD);    //oled_write_byte(0xa4, OLED_CMD);    //0xa4,Output follows RAM content;0xa5,Output ignores RAM contentoled_write_byte(0xd3, OLED_CMD);    //-set display offsetoled_write_byte(0x00, OLED_CMD);    //-not offsetoled_write_byte(0xd5, OLED_CMD);    //--set display clock divide ratio/oscillator frequencyoled_write_byte(0xf0, OLED_CMD);    //--set divide ratiooled_write_byte(0xd9, OLED_CMD);    //--set pre-charge periodoled_write_byte(0x22, OLED_CMD);    //oled_write_byte(0xda, OLED_CMD);    //--set com pins hardware configurationoled_write_byte(0x12, OLED_CMD);oled_write_byte(0xdb, OLED_CMD);    //--set vcomholed_write_byte(0x20, OLED_CMD);    //0x20,0.77xVccoled_write_byte(0x8d, OLED_CMD);    //--set DC-DC enableoled_write_byte(0x14, OLED_CMD);    //oled_write_byte(0xaf, OLED_CMD);    //--turn on oled panel
}/*** @brief          turn on OLED display* @param[in]      none* @retval         none*/
/*** @brief          打开OLED显示* @param[in]      none* @retval         none*/
void OLED_display_on(void)
{oled_write_byte(0x8d, OLED_CMD);oled_write_byte(0x14, OLED_CMD);oled_write_byte(0xaf, OLED_CMD);
}/*** @brief          turn off OLED display* @param[in]      none* @retval         none*/
/*** @brief          关闭OLED显示* @param[in]      none* @retval         none*/
void OLED_display_off(void)
{oled_write_byte(0x8d, OLED_CMD);oled_write_byte(0x10, OLED_CMD);oled_write_byte(0xae, OLED_CMD);
}/*** @brief          operate the graphic ram(size: 128*8 char)* @param[in]      pen: the type of operate.PEN_CLEAR: set ram to 0x00PEN_WRITE: set ram to 0xffPEN_INVERSION: bit inversion * @retval         none*/
/*** @brief          操作GRAM内存(128*8char数组)* @param[in]      pen: 操作类型.PEN_CLEAR: 设置为0x00PEN_WRITE: 设置为0xffPEN_INVERSION: 按位取反* @retval         none*/
void OLED_operate_gram(pen_typedef pen)
{uint8_t i, n;for (i = 0; i < 8; i++){for (n = 0; n < 128; n++){if (pen == PEN_WRITE){OLED_GRAM[n][i] = 0xff;}else if (pen == PEN_CLEAR){OLED_GRAM[n][i] = 0x00;}else{OLED_GRAM[n][i] = 0xff - OLED_GRAM[n][i];}}}
}/*** @brief          cursor set to (x,y) point* @param[in]      x:X-axis, from 0 to 127* @param[in]      y:Y-axis, from 0 to 7* @retval         none*/
/*** @brief          设置光标起点(x,y)* @param[in]      x:x轴, 从 0 到 127* @param[in]      y:y轴, 从 0 到 7* @retval         none*/
void OLED_set_pos(uint8_t x, uint8_t y)
{oled_write_byte((0xb0 + y), OLED_CMD);              //set page address yoled_write_byte(((x&0xf0)>>4)|0x10, OLED_CMD);      //set column high addressoled_write_byte((x&0x0f), OLED_CMD);                //set column low address
}/*** @brief          draw one bit of graphic raw, operate one point of screan(128*64)* @param[in]      x: x-axis, [0, X_WIDTH-1]* @param[in]      y: y-axis, [0, Y_WIDTH-1]* @param[in]      pen: type of operation,PEN_CLEAR: set (x,y) to 0PEN_WRITE: set (x,y) to 1PEN_INVERSION: (x,y) value inversion * @retval         none*/
/*** @brief          操作GRAM中的一个位，相当于操作屏幕的一个点* @param[in]      x:x轴,  [0,X_WIDTH-1]* @param[in]      y:y轴,  [0,Y_WIDTH-1]* @param[in]      pen: 操作类型,PEN_CLEAR: 设置 (x,y) 点为 0PEN_WRITE: 设置 (x,y) 点为 1PEN_INVERSION: (x,y) 值反转* @retval         none*/
void OLED_draw_point(int8_t x, int8_t y, pen_typedef pen)
{uint8_t page = 0, row = 0;/* check the corrdinate */if ((x < 0) || (x > (X_WIDTH - 1)) || (y < 0) || (y > (Y_WIDTH - 1))){return;}page = y / 8;row = y % 8;if (pen == PEN_WRITE){OLED_GRAM[x][page] |= 1 << row;}else if (pen == PEN_INVERSION){OLED_GRAM[x][page] ^= 1 << row;}else{OLED_GRAM[x][page] &= ~(1 << row);}
}/*** @brief          draw a line from (x1, y1) to (x2, y2)* @param[in]      x1: the start point of line* @param[in]      y1: the start point of line* @param[in]      x2: the end point of line* @param[in]      y2: the end point of line* @param[in]      pen: type of operation,PEN_CLEAR,PEN_WRITE,PEN_INVERSION.* @retval         none*/
/*** @brief          画一条直线，从(x1,y1)到(x2,y2)* @param[in]      x1: 起点* @param[in]      y1: 起点* @param[in]      x2: 终点* @param[in]      y2: 终点* @param[in]      pen: 操作类型,PEN_CLEAR,PEN_WRITE,PEN_INVERSION.* @retval         none*/void OLED_draw_line(uint8_t x1, uint8_t y1, uint8_t x2, uint8_t y2, pen_typedef pen)
{uint8_t col = 0, row = 0;uint8_t x_st = 0, x_ed = 0, y_st = 0, y_ed = 0;float k = 0.0f, b = 0.0f;if (y1 == y2){(x1 <= x2) ? (x_st = x1):(x_st = x2);(x1 <= x2) ? (x_ed = x2):(x_ed = x1);for (col = x_st; col <= x_ed; col++){OLED_draw_point(col, y1, pen);}}else if (x1 == x2){(y1 <= y2) ? (y_st = y1):(y_st = y2);(y1 <= y2) ? (y_ed = y2):(y_ed = y1);for (row = y_st; row <= y_ed; row++){OLED_draw_point(x1, row, pen);}}else{k = ((float)(y2 - y1)) / (x2 - x1);b = (float)y1 - k * x1;(x1 <= x2) ? (x_st = x1):(x_st = x2);(x1 <= x2) ? (x_ed = x2):(x_ed = x2);for (col = x_st; col <= x_ed; col++){OLED_draw_point(col, (uint8_t)(col * k + b), pen);}}
}/*** @brief          show a character* @param[in]      row: start row of character* @param[in]      col: start column of character* @param[in]      chr: the character ready to show* @retval         none*/
/*** @brief          显示一个字符* @param[in]      row: 字符的开始行* @param[in]      col: 字符的开始列* @param[in]      chr: 字符* @retval         none*/
void OLED_show_char(uint8_t row, uint8_t col, uint8_t chr)
{uint8_t x = col * 6;uint8_t y = row * 12;uint8_t temp, t, t1;uint8_t y0 = y;chr = chr - ' ';for (t = 0; t < 12; t++){temp = asc2_1206[chr][t];for (t1 = 0; t1 < 8; t1++){if (temp&0x80)OLED_draw_point(x, y, PEN_WRITE);elseOLED_draw_point(x, y, PEN_CLEAR);temp <<= 1;y++;if ((y - y0) == 12){y = y0;x++;break;}}}
}/*** @brief          show a character string* @param[in]      row: row of character string begin* @param[in]      col: column of character string begin* @param[in]      chr: the pointer to character string* @retval         none*/
/*** @brief          显示一个字符串* @param[in]      row: 字符串的开始行* @param[in]      col: 字符串的开始列* @param[in]      chr: 字符串* @retval         none*/
void OLED_show_string(uint8_t row, uint8_t col, uint8_t *chr)
{uint8_t n =0;uint8_t max_len = 21 - col; // 每行最多显示21个字符（128/6≈21）// 先填充空格覆盖旧内容for (n = 0; n < max_len; n++) {OLED_show_char(row, col + n, ' ');}// 再显示新内容n = 0;while (chr[n] != '\0'){OLED_show_char(row, col, chr[n]);col++;if (col > 20){col = 0;row += 1;}n++;}OLED_refresh_gram();
}/*** @brief          formatted output in oled 128*64* @param[in]      row: row of character string begin, 0 <= row <= 4;* @param[in]      col: column of character string begin, 0 <= col <= 20;* @param          *fmt: the pointer to format character string* @note           if the character length is more than one row at a time, the extra characters will be truncated* @retval         none*/
/*** @brief          格式输出* @param[in]      row: 开始列，0 <= row <= 4;* @param[in]      col: 开始行， 0 <= col <= 20;* @param[in]      *fmt:格式化输出字符串* @note           如果字符串长度大于一行，额外的字符会换行* @retval         none*/
void OLED_printf(uint8_t row, uint8_t col, const char *fmt,...)
{static uint8_t LCD_BUF[128] = {0};static va_list ap;uint8_t remain_size = 0;if ((row > 4) || (col > 20) ){return;}va_start(ap, fmt);vsprintf((char *)LCD_BUF, fmt, ap);va_end(ap);remain_size = 21 - col;LCD_BUF[remain_size] = '\0';OLED_show_string(row, col, LCD_BUF);
}/*** @brief          send the data of gram to oled sreen* @param[in]      none* @retval         none*/
/*** @brief          发送数据到OLED的GRAM* @param[in]      none* @retval         none*/
void OLED_refresh_gram(void)
{uint8_t i, n;for (i = 0; i < 8; i++){OLED_set_pos(0, i);for (n = 0; n < 128; n++){oled_write_byte(OLED_GRAM[n][i], OLED_DATA);}}
}/*** @brief          show the logo of RoboMaster* @param[in]      none* @retval         none*/
/*** @brief          显示RM的LOGO* @param[in]      none* @retval         none*/
void OLED_LOGO(void)
{uint8_t temp_char = 0;uint8_t x = 0, y = 0;uint8_t i = 0;OLED_operate_gram(PEN_CLEAR);for(; y < 64; y += 8){for(x = 0; x < 128; x++){temp_char = LOGO_BMP[x][y/8];for(i = 0; i < 8; i++){if(temp_char & 0x80){OLED_draw_point(x, y + i,PEN_WRITE);}else{OLED_draw_point(x,y + i,PEN_CLEAR);}temp_char <<= 1;}}}OLED_refresh_gram();
}

oled.h

/******************************(C) COPYRIGHT 2019 DJI***************************** @file       oled.c/h* @brief      0.96 inch oled use SSD1306 driver. the file includes oled initialization function,*             and some OLED setting function, GRAM operate function, oled show num ,char and string function,*             show RoboMaster LOGO function.*             0.96OLED使用SSD1306驱动器，本文件包括初始化函数以及其他OLED设置函数， GRAM操作函数，oled显示数字，字符，字符串函数*             以及显示RoboMaster LOGO函数* @note       * @history*  Version    Date            Author          Modification*  V1.0.0     Dec-26-2018     RM              1. done*@verbatim============================================================================================================================================================@endverbatim****************************(C) COPYRIGHT 2019 DJI*****************************/#ifndef _OLED_H_
#define _OLED_H_#include "stm32f1xx_hal.h"
#include <stdint.h>// the I2C address of oled
#define OLED_I2C_ADDRESS    0x78//the resolution of oled   128*64
#define MAX_COLUMN      128
#define MAX_ROW         64#define X_WIDTH         MAX_COLUMN
#define Y_WIDTH         MAX_ROW#define OLED_CMD        0x00
#define OLED_DATA       0x01#define CHAR_SIZE_WIDTH 6
#define CHAR_SIZE_HIGHT 12typedef enum
{PEN_CLEAR = 0x00,PEN_WRITE = 0x01,PEN_INVERSION= 0x02,
}pen_typedef;/*** @brief          initialize the oled device* @param[in]      none* @retval         none*/
/*** @brief          初始化OLED模块，* @param[in]      none* @retval         none*/
extern void OLED_init(void);/*** @brief          turn on OLED display* @param[in]      none* @retval         none*/
/*** @brief          打开OLED显示* @param[in]      none* @retval         none*/
extern void OLED_display_on(void);/*** @brief          turn off OLED display* @param[in]      none* @retval         none*/
/*** @brief          关闭OLED显示* @param[in]      none* @retval         none*/
extern void OLED_display_off(void);/*** @brief          operate the graphic ram(size: 128*8 char)* @param[in]      pen: the type of operate.PEN_CLEAR: set ram to 0x00PEN_WRITE: set ram to 0xffPEN_INVERSION: bit inversion * @retval         none*/
/*** @brief          操作GRAM内存(128*8char数组)* @param[in]      pen: 操作类型.PEN_CLEAR: 设置为0x00PEN_WRITE: 设置为0xffPEN_INVERSION: 按位取反* @retval         none*/
extern void OLED_operate_gram(pen_typedef pen);/*** @brief          cursor set to (x,y) point* @param[in]      x:X-axis, from 0 to 127* @param[in]      y:Y-axis, from 0 to 7* @retval         none*/
/*** @brief          设置光标起点(x,y)* @param[in]      x:x轴, 从 0 到 127* @param[in]      y:y轴, 从 0 到 7* @retval         none*/
extern void OLED_set_pos(uint8_t x, uint8_t y);/*** @brief          draw one bit of graphic raw, operate one point of screan(128*64)* @param[in]      x: x-axis, [0, X_WIDTH-1]* @param[in]      y: y-axis, [0, Y_WIDTH-1]* @param[in]      pen: type of operation,PEN_CLEAR: set (x,y) to 0PEN_WRITE: set (x,y) to 1PEN_INVERSION: (x,y) value inversion * @retval         none*/
/*** @brief          操作GRAM中的一个位，相当于操作屏幕的一个点* @param[in]      x:x轴,  [0,X_WIDTH-1]* @param[in]      y:y轴,  [0,Y_WIDTH-1]* @param[in]      pen: 操作类型,PEN_CLEAR: 设置 (x,y) 点为 0PEN_WRITE: 设置 (x,y) 点为 1PEN_INVERSION: (x,y) 值反转* @retval         none*/
extern void OLED_draw_point(int8_t x, int8_t y, pen_typedef pen);/*** @brief          draw a line from (x1, y1) to (x2, y2)* @param[in]      x1: the start point of line* @param[in]      y1: the start point of line* @param[in]      x2: the end point of line* @param[in]      y2: the end point of line* @param[in]      pen: type of operation,PEN_CLEAR,PEN_WRITE,PEN_INVERSION.* @retval         none*/
/*** @brief          画一条直线，从(x1,y1)到(x2,y2)* @param[in]      x1: 起点* @param[in]      y1: 起点* @param[in]      x2: 终点* @param[in]      y2: 终点* @param[in]      pen: 操作类型,PEN_CLEAR,PEN_WRITE,PEN_INVERSION.* @retval         none*/
extern void OLED_draw_line(uint8_t x1, uint8_t y1, uint8_t x2, uint8_t y2, pen_typedef pen);/*** @brief          show a character* @param[in]      row: start row of character* @param[in]      col: start column of character* @param[in]      chr: the character ready to show* @retval         none*/
/*** @brief          显示一个字符* @param[in]      row: 字符的开始行* @param[in]      col: 字符的开始列* @param[in]      chr: 字符* @retval         none*/
extern void OLED_show_char(uint8_t row, uint8_t col, uint8_t chr);/*** @brief          show a character string* @param[in]      row: row of character string begin* @param[in]      col: column of character string begin* @param[in]      chr: the pointer to character string* @retval         none*/
/*** @brief          显示一个字符串* @param[in]      row: 字符串的开始行* @param[in]      col: 字符串的开始列* @param[in]      chr: 字符串* @retval         none*/
extern void OLED_show_string(uint8_t row, uint8_t col, uint8_t *chr);/*** @brief          formatted output in oled 128*64* @param[in]      row: row of character string begin, 0 <= row <= 4;* @param[in]      col: column of character string begin, 0 <= col <= 20;* @param          *fmt: the pointer to format character string* @note           if the character length is more than one row at a time, the extra characters will be truncated* @retval         none*/
/*** @brief          格式输出* @param[in]      row: 开始列，0 <= row <= 4;* @param[in]      col: 开始行， 0 <= col <= 20;* @param[in]      *fmt:格式化输出字符串* @note           如果字符串长度大于一行，额外的字符会换行* @retval         none*/
extern void OLED_printf(uint8_t row, uint8_t col, const char *fmt,...);/*** @brief          send the data of gram to oled sreen* @param[in]      none* @retval         none*/
/*** @brief          发送数据到OLED的GRAM* @param[in]      none* @retval         none*/
extern void OLED_refresh_gram(void);/*** @brief          show the logo of RoboMaster* @param[in]      none* @retval         none*/
/*** @brief          显示RM的LOGO* @param[in]      none* @retval         none*/
extern void OLED_LOGO(void);
#endif

oledfont.h 

#ifndef __OLED__FONT__H
#define __OLED__FONT__H
//the common ascii character
const unsigned char asc2_1206[95][12]={
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*" ",0*/
{0x00,0x00,0x00,0x00,0x3F,0x40,0x00,0x00,0x00,0x00,0x00,0x00},/*"!",1*/
{0x00,0x00,0x30,0x00,0x40,0x00,0x30,0x00,0x40,0x00,0x00,0x00},/*""",2*/
{0x09,0x00,0x0B,0xC0,0x3D,0x00,0x0B,0xC0,0x3D,0x00,0x09,0x00},/*"#",3*/
{0x18,0xC0,0x24,0x40,0x7F,0xE0,0x22,0x40,0x31,0x80,0x00,0x00},/*"$",4*/
{0x18,0x00,0x24,0xC0,0x1B,0x00,0x0D,0x80,0x32,0x40,0x01,0x80},/*"%",5*/
{0x03,0x80,0x1C,0x40,0x27,0x40,0x1C,0x80,0x07,0x40,0x00,0x40},/*"&",6*/
{0x10,0x00,0x60,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*"'",7*/
{0x00,0x00,0x00,0x00,0x00,0x00,0x1F,0x80,0x20,0x40,0x40,0x20},/*"(",8*/
{0x00,0x00,0x40,0x20,0x20,0x40,0x1F,0x80,0x00,0x00,0x00,0x00},/*")",9*/
{0x09,0x00,0x06,0x00,0x1F,0x80,0x06,0x00,0x09,0x00,0x00,0x00},/*"*",10*/
{0x04,0x00,0x04,0x00,0x3F,0x80,0x04,0x00,0x04,0x00,0x00,0x00},/*"+",11*/
{0x00,0x10,0x00,0x60,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*",",12*/
{0x04,0x00,0x04,0x00,0x04,0x00,0x04,0x00,0x04,0x00,0x00,0x00},/*"-",13*/
{0x00,0x00,0x00,0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*".",14*/
{0x00,0x20,0x01,0xC0,0x06,0x00,0x38,0x00,0x40,0x00,0x00,0x00},/*"/",15*/
{0x1F,0x80,0x20,0x40,0x20,0x40,0x20,0x40,0x1F,0x80,0x00,0x00},/*"0",16*/
{0x00,0x00,0x10,0x40,0x3F,0xC0,0x00,0x40,0x00,0x00,0x00,0x00},/*"1",17*/
{0x18,0xC0,0x21,0x40,0x22,0x40,0x24,0x40,0x18,0x40,0x00,0x00},/*"2",18*/
{0x10,0x80,0x20,0x40,0x24,0x40,0x24,0x40,0x1B,0x80,0x00,0x00},/*"3",19*/
{0x02,0x00,0x0D,0x00,0x11,0x00,0x3F,0xC0,0x01,0x40,0x00,0x00},/*"4",20*/
{0x3C,0x80,0x24,0x40,0x24,0x40,0x24,0x40,0x23,0x80,0x00,0x00},/*"5",21*/
{0x1F,0x80,0x24,0x40,0x24,0x40,0x34,0x40,0x03,0x80,0x00,0x00},/*"6",22*/
{0x30,0x00,0x20,0x00,0x27,0xC0,0x38,0x00,0x20,0x00,0x00,0x00},/*"7",23*/
{0x1B,0x80,0x24,0x40,0x24,0x40,0x24,0x40,0x1B,0x80,0x00,0x00},/*"8",24*/
{0x1C,0x00,0x22,0xC0,0x22,0x40,0x22,0x40,0x1F,0x80,0x00,0x00},/*"9",25*/
{0x00,0x00,0x00,0x00,0x08,0x40,0x00,0x00,0x00,0x00,0x00,0x00},/*":",26*/
{0x00,0x00,0x00,0x00,0x04,0x60,0x00,0x00,0x00,0x00,0x00,0x00},/*";",27*/
{0x00,0x00,0x04,0x00,0x0A,0x00,0x11,0x00,0x20,0x80,0x40,0x40},/*"<",28*/
{0x09,0x00,0x09,0x00,0x09,0x00,0x09,0x00,0x09,0x00,0x00,0x00},/*"=",29*/
{0x00,0x00,0x40,0x40,0x20,0x80,0x11,0x00,0x0A,0x00,0x04,0x00},/*">",30*/
{0x18,0x00,0x20,0x00,0x23,0x40,0x24,0x00,0x18,0x00,0x00,0x00},/*"?",31*/
{0x1F,0x80,0x20,0x40,0x27,0x40,0x29,0x40,0x1F,0x40,0x00,0x00},/*"@",32*/
{0x00,0x40,0x07,0xC0,0x39,0x00,0x0F,0x00,0x01,0xC0,0x00,0x40},/*"A",33*/
{0x20,0x40,0x3F,0xC0,0x24,0x40,0x24,0x40,0x1B,0x80,0x00,0x00},/*"B",34*/
{0x1F,0x80,0x20,0x40,0x20,0x40,0x20,0x40,0x30,0x80,0x00,0x00},/*"C",35*/
{0x20,0x40,0x3F,0xC0,0x20,0x40,0x20,0x40,0x1F,0x80,0x00,0x00},/*"D",36*/
{0x20,0x40,0x3F,0xC0,0x24,0x40,0x2E,0x40,0x30,0xC0,0x00,0x00},/*"E",37*/
{0x20,0x40,0x3F,0xC0,0x24,0x40,0x2E,0x00,0x30,0x00,0x00,0x00},/*"F",38*/
{0x0F,0x00,0x10,0x80,0x20,0x40,0x22,0x40,0x33,0x80,0x02,0x00},/*"G",39*/
{0x20,0x40,0x3F,0xC0,0x04,0x00,0x04,0x00,0x3F,0xC0,0x20,0x40},/*"H",40*/
{0x20,0x40,0x20,0x40,0x3F,0xC0,0x20,0x40,0x20,0x40,0x00,0x00},/*"I",41*/
{0x00,0x60,0x20,0x20,0x20,0x20,0x3F,0xC0,0x20,0x00,0x20,0x00},/*"J",42*/
{0x20,0x40,0x3F,0xC0,0x24,0x40,0x0B,0x00,0x30,0xC0,0x20,0x40},/*"K",43*/
{0x20,0x40,0x3F,0xC0,0x20,0x40,0x00,0x40,0x00,0x40,0x00,0xC0},/*"L",44*/
{0x3F,0xC0,0x3C,0x00,0x03,0xC0,0x3C,0x00,0x3F,0xC0,0x00,0x00},/*"M",45*/
{0x20,0x40,0x3F,0xC0,0x0C,0x40,0x23,0x00,0x3F,0xC0,0x20,0x00},/*"N",46*/
{0x1F,0x80,0x20,0x40,0x20,0x40,0x20,0x40,0x1F,0x80,0x00,0x00},/*"O",47*/
{0x20,0x40,0x3F,0xC0,0x24,0x40,0x24,0x00,0x18,0x00,0x00,0x00},/*"P",48*/
{0x1F,0x80,0x21,0x40,0x21,0x40,0x20,0xE0,0x1F,0xA0,0x00,0x00},/*"Q",49*/
{0x20,0x40,0x3F,0xC0,0x24,0x40,0x26,0x00,0x19,0xC0,0x00,0x40},/*"R",50*/
{0x18,0xC0,0x24,0x40,0x24,0x40,0x22,0x40,0x31,0x80,0x00,0x00},/*"S",51*/
{0x30,0x00,0x20,0x40,0x3F,0xC0,0x20,0x40,0x30,0x00,0x00,0x00},/*"T",52*/
{0x20,0x00,0x3F,0x80,0x00,0x40,0x00,0x40,0x3F,0x80,0x20,0x00},/*"U",53*/
{0x20,0x00,0x3E,0x00,0x01,0xC0,0x07,0x00,0x38,0x00,0x20,0x00},/*"V",54*/
{0x38,0x00,0x07,0xC0,0x3C,0x00,0x07,0xC0,0x38,0x00,0x00,0x00},/*"W",55*/
{0x20,0x40,0x39,0xC0,0x06,0x00,0x39,0xC0,0x20,0x40,0x00,0x00},/*"X",56*/
{0x20,0x00,0x38,0x40,0x07,0xC0,0x38,0x40,0x20,0x00,0x00,0x00},/*"Y",57*/
{0x30,0x40,0x21,0xC0,0x26,0x40,0x38,0x40,0x20,0xC0,0x00,0x00},/*"Z",58*/
{0x00,0x00,0x00,0x00,0x7F,0xE0,0x40,0x20,0x40,0x20,0x00,0x00},/*"[",59*/
{0x00,0x00,0x70,0x00,0x0C,0x00,0x03,0x80,0x00,0x40,0x00,0x00},/*"\",60*/
{0x00,0x00,0x40,0x20,0x40,0x20,0x7F,0xE0,0x00,0x00,0x00,0x00},/*"]",61*/
{0x00,0x00,0x20,0x00,0x40,0x00,0x20,0x00,0x00,0x00,0x00,0x00},/*"^",62*/
{0x00,0x10,0x00,0x10,0x00,0x10,0x00,0x10,0x00,0x10,0x00,0x10},/*"_",63*/
{0x00,0x00,0x00,0x00,0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*"`",64*/
{0x00,0x00,0x02,0x80,0x05,0x40,0x05,0x40,0x03,0xC0,0x00,0x40},/*"a",65*/
{0x20,0x00,0x3F,0xC0,0x04,0x40,0x04,0x40,0x03,0x80,0x00,0x00},/*"b",66*/
{0x00,0x00,0x03,0x80,0x04,0x40,0x04,0x40,0x06,0x40,0x00,0x00},/*"c",67*/
{0x00,0x00,0x03,0x80,0x04,0x40,0x24,0x40,0x3F,0xC0,0x00,0x40},/*"d",68*/
{0x00,0x00,0x03,0x80,0x05,0x40,0x05,0x40,0x03,0x40,0x00,0x00},/*"e",69*/
{0x00,0x00,0x04,0x40,0x1F,0xC0,0x24,0x40,0x24,0x40,0x20,0x00},/*"f",70*/
{0x00,0x00,0x02,0xE0,0x05,0x50,0x05,0x50,0x06,0x50,0x04,0x20},/*"g",71*/
{0x20,0x40,0x3F,0xC0,0x04,0x40,0x04,0x00,0x03,0xC0,0x00,0x40},/*"h",72*/
{0x00,0x00,0x04,0x40,0x27,0xC0,0x00,0x40,0x00,0x00,0x00,0x00},/*"i",73*/
{0x00,0x10,0x00,0x10,0x04,0x10,0x27,0xE0,0x00,0x00,0x00,0x00},/*"j",74*/
{0x20,0x40,0x3F,0xC0,0x01,0x40,0x07,0x00,0x04,0xC0,0x04,0x40},/*"k",75*/
{0x20,0x40,0x20,0x40,0x3F,0xC0,0x00,0x40,0x00,0x40,0x00,0x00},/*"l",76*/
{0x07,0xC0,0x04,0x00,0x07,0xC0,0x04,0x00,0x03,0xC0,0x00,0x00},/*"m",77*/
{0x04,0x40,0x07,0xC0,0x04,0x40,0x04,0x00,0x03,0xC0,0x00,0x40},/*"n",78*/
{0x00,0x00,0x03,0x80,0x04,0x40,0x04,0x40,0x03,0x80,0x00,0x00},/*"o",79*/
{0x04,0x10,0x07,0xF0,0x04,0x50,0x04,0x40,0x03,0x80,0x00,0x00},/*"p",80*/
{0x00,0x00,0x03,0x80,0x04,0x40,0x04,0x50,0x07,0xF0,0x00,0x10},/*"q",81*/
{0x04,0x40,0x07,0xC0,0x02,0x40,0x04,0x00,0x04,0x00,0x00,0x00},/*"r",82*/
{0x00,0x00,0x06,0x40,0x05,0x40,0x05,0x40,0x04,0xC0,0x00,0x00},/*"s",83*/
{0x00,0x00,0x04,0x00,0x1F,0x80,0x04,0x40,0x00,0x40,0x00,0x00},/*"t",84*/
{0x04,0x00,0x07,0x80,0x00,0x40,0x04,0x40,0x07,0xC0,0x00,0x40},/*"u",85*/
{0x04,0x00,0x07,0x00,0x04,0xC0,0x01,0x80,0x06,0x00,0x04,0x00},/*"v",86*/
{0x06,0x00,0x01,0xC0,0x07,0x00,0x01,0xC0,0x06,0x00,0x00,0x00},/*"w",87*/
{0x04,0x40,0x06,0xC0,0x01,0x00,0x06,0xC0,0x04,0x40,0x00,0x00},/*"x",88*/
{0x04,0x10,0x07,0x10,0x04,0xE0,0x01,0x80,0x06,0x00,0x04,0x00},/*"y",89*/
{0x00,0x00,0x04,0x40,0x05,0xC0,0x06,0x40,0x04,0x40,0x00,0x00},/*"z",90*/
{0x00,0x00,0x00,0x00,0x04,0x00,0x7B,0xE0,0x40,0x20,0x00,0x00},/*"{",91*/
{0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0xF0,0x00,0x00,0x00,0x00},/*"|",92*/
{0x00,0x00,0x40,0x20,0x7B,0xE0,0x04,0x00,0x00,0x00,0x00,0x00},/*"}",93*/
{0x40,0x00,0x80,0x00,0x40,0x00,0x20,0x00,0x20,0x00,0x40,0x00},/*"~",94*/
};//the logo of robomaster
const unsigned char LOGO_BMP[128][8] = {
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x06},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x1E},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xDE},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD8},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD8},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD8},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xDE},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFE},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xF6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x72},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x7C},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFE},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xC6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xC6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xC6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFE},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x7C},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x1E},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xDE},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xDE},
{0x40,0x00,0x00,0x00,0x00,0x00,0x00,0xFE},
{0x60,0x00,0x00,0x00,0x00,0x10,0x00,0x6C},
{0x70,0x00,0x00,0x00,0x00,0x30,0x00,0x00},
{0x78,0x00,0x00,0x00,0x00,0xF0,0x00,0x7C},
{0x7C,0x00,0x00,0x00,0x07,0xF0,0x00,0xFE},
{0x7E,0x00,0x00,0x00,0x3F,0xF0,0x00,0xC6},
{0x7F,0x00,0x00,0x01,0xFF,0xF0,0x00,0xC6},
{0x7F,0x80,0x00,0x0F,0xFF,0xF0,0x00,0xC6},
{0x7F,0xC0,0x00,0x7F,0xFF,0xF0,0x00,0xFE},
{0x7F,0xE0,0x03,0xFF,0xFF,0xF0,0x00,0x7C},
{0x7F,0xF0,0x3F,0xFF,0xFF,0xF0,0x00,0x02},
{0x7F,0xF8,0x3F,0xFF,0xFF,0xF0,0x00,0x06},
{0x7F,0xFC,0x3F,0xFF,0xFF,0xF0,0x00,0x1E},
{0x7F,0xFE,0x3F,0xFF,0xFF,0xF0,0x00,0xBC},
{0x7F,0xFF,0x3F,0xFF,0xFF,0xF0,0x00,0xE0},
{0x7F,0xFF,0xBF,0xFF,0xFF,0x80,0x00,0xF8},
{0x7F,0xFF,0xFF,0xFF,0xFC,0x00,0x00,0x3E},
{0x7F,0xFF,0xFF,0xFF,0xE0,0x00,0x00,0x0E},
{0x7F,0xFF,0xFF,0xFF,0x00,0x00,0x00,0xB8},
{0x7F,0xFF,0xFF,0xF8,0x00,0x00,0x00,0xE0},
{0x7F,0xFF,0xFF,0xF0,0x00,0x00,0x00,0xFE},
{0x7F,0xFF,0xFF,0xF0,0x00,0x00,0x00,0x1E},
{0x7F,0xFF,0xFF,0xF0,0x00,0x00,0x00,0x02},
{0x7F,0xFF,0xFF,0xF0,0x00,0x00,0x00,0x00},
{0x7F,0xEF,0xFF,0xF0,0x02,0x00,0x00,0x06},
{0x7F,0xE7,0xFF,0xF0,0x02,0x00,0x00,0x0E},
{0x7F,0xE3,0xFF,0xF0,0x02,0x00,0x00,0x1C},
{0x7F,0xE1,0xFF,0xF8,0x03,0x00,0x00,0xBA},
{0x7F,0xE0,0xFF,0xFC,0x03,0x00,0x00,0xF6},
{0x7F,0xE0,0x7F,0xFE,0x03,0x80,0x00,0xE6},
{0x7F,0xE0,0x3F,0xFF,0x03,0x80,0x00,0xF6},
{0x7F,0xE0,0x3F,0xFF,0x83,0xC0,0x00,0x3E},
{0x7F,0xE0,0x3F,0xFF,0xC3,0xC0,0x00,0x0E},
{0x7F,0xE0,0x3F,0xFF,0xE3,0xE0,0x00,0x02},
{0x7F,0xE0,0x3F,0xFF,0xF3,0xE0,0x00,0x00},
{0x7F,0xE0,0x3F,0xFF,0xFB,0xF0,0x00,0x02},
{0x7F,0xE0,0x3F,0xFF,0xFF,0xF0,0x00,0x66},
{0x7F,0xE0,0x3F,0xFF,0xFF,0xF8,0x00,0xF6},
{0x7F,0xE0,0x3F,0xFF,0xFF,0xF8,0x00,0xD6},
{0x7F,0xE0,0x3F,0xFF,0xFF,0xFC,0x00,0xD6},
{0x7F,0xF0,0x7F,0xFF,0xFF,0xFC,0x00,0xD6},
{0x7F,0xF8,0xFF,0xF7,0xFF,0xFE,0x00,0xD6},
{0x7F,0xFF,0xFF,0xF3,0xFF,0xFE,0x00,0xDE},
{0x3F,0xFF,0xFF,0xE1,0xFF,0xFF,0x00,0x8C},
{0x3F,0xFF,0xFF,0xE0,0xFF,0xCF,0x00,0x40},
{0x1F,0xFF,0xFF,0xC0,0x7F,0xC7,0x80,0xC0},
{0x1F,0xFF,0xFF,0xC0,0x3F,0xC3,0x80,0xC0},
{0x0F,0xFF,0xFF,0x80,0x1F,0xC1,0xC0,0xFE},
{0x07,0xFF,0xFF,0x00,0x0F,0xC0,0xC0,0xFE},
{0x03,0xFF,0xFE,0x00,0x07,0xC0,0x60,0xC0},
{0x01,0xFF,0xFC,0x00,0x03,0xC0,0x20,0xC0},
{0x00,0x7F,0xF0,0x00,0x01,0xC0,0x00,0x86},
{0x00,0x0F,0x80,0x00,0x00,0xC0,0x00,0x16},
{0x00,0x00,0x00,0x00,0x00,0x40,0x00,0xD6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD0},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xC0},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x06},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x1E},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xDE},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD8},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD8},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD8},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xDE},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xDE},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xF6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x72},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x62},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xF6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xF6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD6},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xDE},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x8C},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
};#endif

 usart串口相关

        main函数中添加串口重定向，方便串口打印，对应库记得加上。

        定义回调函数 --- HAL_UART_RxCpltCallback --- 用于在使用 HAL 库进行串口接收时处理接收完成事件。（连接蓝牙收发数据相关）

 28BYJ-48 电机相关

        定义电机半步驱动序列

        定义回调函数 --- HAL_TIM_PeriodElapsedCallback --- 处理定时器的周期性中断事件。（驱动电机旋转相关）

 主函数内部实现

        main() 函数里启用中断模式来接收 UART 数据，通过串口打印调试信息（printf），添加 oled 初始化函数，启动定时器的中断功能。

 

        while（）循环，在 oled 上显示信息，串口发送对应角度信息。如下图示例：

        结束后重新启用串口接收中断。

4. 控制电机（方法扩展）

        我们前面介绍了直接计算步长来实现对应角度旋转，现在以 PWM 频率为节拍，即用 PWM 方式来计时。28BYJ-48 是一种步进电机，而不是直流电机，不能直接用 PWM 占空比来控制转速或转向，需要控制四个线圈的步进顺序。

        首先，对应 CubeMAX 引脚相关都不需要改动，需要改动的配置是 定时器2 ，我们将定时器2通道1设置为PWM输出，然后生成代码文件（这里注意，代码一定写在注释里，不然重新生成会覆盖掉）。

        代码部分，前面串口重定向和串口回调函数都不需要变动，主要修改处为 中断回调函数。相关代码如下，我这里还添加了电机速度调控函数。

变量定义：

  • volatile uint8_t current_step = 0;：当前步序号，使用volatile关键字确保在中断中也能正确访问和修改。
  • volatile int8_t direction = 1;：电机旋转方向，1表示正转，-1表示反转。
  • volatile int32_t steps_remaining = 0;：剩余步数。
  • volatile uint8_t continuous_mode = 0;：连续旋转模式标志，1表示持续旋转，0表示停止。
  • uint32_t current_speed = 100;：当前速度，单位为步/秒。
  • volatile uint32_t steps_divider = 1;：步进分频系数，用于调整实际速度。
  • volatile uint32_t step_counter = 0;：步进计数器，用于计算何时执行下一步。 

速度设置函数 Set_Stepper_Speed：

  • 接收一个速度参数speed_steps，表示每秒的步数。
  • 限制速度在10到1000步/秒之间。
  • 根据速度计算新的分频系数steps_divider，以调整定时器中断频率，从而控制步进电机的速度。
  • 更新当前速度并在OLED显示屏上显示。

中断回调 HAL_TIM_PeriodElapsedCallback：

  • 当定时器（TIM2）周期结束时调用。
  • 增加步进计数器step_counter。
  • 如果计数器达到分频系数steps_divider且剩余步数大于0或处于连续旋转模式，则执行步进操作：
    • 清除所有线圈（GPIO引脚）的输出。
    • 根据当前步序号current_step和旋转方向direction设置新的线圈状态。
    • 更新当前步序号。
    • 如果不是连续旋转模式，则减少剩余步数。
    • 如果剩余步数为0且不是连续旋转模式，则停止PWM输出并清除所有线圈状态。

         main 函数中定义相关控制，我们在初始化这段加入 pwm 启动，同时定义电机初始转速为 400步/s 。

然后在 while 循环中加入控制代码：

命令处理：

  • 启动/停止：如果接收到 'm'，电机将以连续模式启动并顺时针旋转；如果接收到 'n'，电机将停止。
  • 加减速：如果接收到 'j'，电机将加速；如果接收到 'k'，电机将减速。加减速是通过改变current_speed变量实现的，然后调用Set_Stepper_Speed(current_speed);来设置新的速度。
  • 角度控制：如果接收到 'a' 到 'd' 或 'x' 到 'w' 中的任何字符，电机将旋转到指定的角度。这些字符分别代表不同的角度（例如，'a' 代表90度，'b' 代表180度，'x' 代表-90度等）。角度转换为步数，然后电机根据计算出的步数和方向旋转。
  while (1){OLED_show_string(1,1,"28BYJ-48: ");// OLED_show_string(2,1,"Angle: ");/* USER CODE END WHILE *//* USER CODE BEGIN 3 */if(rflag == 1) {rflag = 0;// 持续旋转命令if(rdata == 'm') {continuous_mode = 1;direction = 1;HAL_TIM_PWM_Start_IT(&htim2, TIM_CHANNEL_1);printf("START\n");OLED_show_string(3,1,"START ");}// 停止命令else if(rdata == 'n') {continuous_mode = 0;steps_remaining = 0;HAL_TIM_PWM_Stop_IT(&htim2, TIM_CHANNEL_1);HAL_GPIO_WritePin(GPIOB, GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_12|GPIO_PIN_13, GPIO_PIN_RESET);printf("STOP\n");OLED_show_string(3,1,"STOP ");}// 加减速else if(rdata == 'j' || rdata == 'k') {// 加速if(rdata == 'j'){current_speed += SPEED_STEP;}// 减速else{if (current_speed > SPEED_STEP) {current_speed -= SPEED_STEP;} else {current_speed = 10;  // 不能低于10}}Set_Stepper_Speed(current_speed);}// 角度控制else {int16_t angle = 0;switch(rdata) {case 'a': angle = 90; break;case 'b': angle = 180; break;case 'c': angle = 270; break;case 'd': angle = 360; break;case 'x': angle = -90; break;case 'y': angle = -180; break;case 'z': angle = -270; break;case 'w': angle = -360; break;}if(angle != 0) {steps_remaining = abs(angle) * 4096 / 360;direction = (angle > 0) ? 1 : -1;HAL_TIM_PWM_Start_IT(&htim2, TIM_CHANNEL_1);// 显示角度uint8_t angle_str[5];snprintf((char*)angle_str, sizeof(angle_str), "%4d", angle);OLED_show_string(3,7, angle_str);printf("%d\n", angle);}}HAL_UART_Receive_IT(&huart1, &rdata, 1);}}

二、AndroidStudio 蓝牙开发

        使用 Android Studio 编写一个蓝牙 app ，主要语言为 Java，实现与 stm32 的数据收发。

        

Bluetooth相关

        权限问题 --- AndroidManifest.xml

        首先建立 Bluetooth 包，专门存放蓝牙相关的函数。

 BluetoothConstants.java
  • 定义 BLE 服务和特性的 UUID 常量（如服务 UUID、TX/RX 特性 UUID）。
package com.example.myapplication.Bluetooth;import java.util.UUID;public class BluetoothConstants {public static final UUID SERVICE_UUID = UUID.fromString("0000ffe0-0000-1000-8000-00805f9b34fb");public static final UUID TX_CHARACTERISTIC_UUID = UUID.fromString("0000ffe1-0000-1000-8000-00805f9b34fb");public static final UUID RX_CHARACTERISTIC_UUID = UUID.fromString("0000ffe1-0000-1000-8000-00805f9b34fb");
}
DeviceListAdapter.java
  • getView() 自定义列表项视图，显示设备名称和 MAC 地址。 
package com.example.myapplication.Bluetooth;import android.annotation.SuppressLint;
import android.bluetooth.BluetoothDevice;
import android.content.Context;
import android.view.LayoutInflater;
import android.view.View;
import android.view.ViewGroup;
import android.widget.ArrayAdapter;
import android.widget.TextView;
import androidx.annotation.NonNull;
import java.util.ArrayList;public class DeviceListAdapter extends ArrayAdapter<BluetoothDevice> {private final int resourceLayout;public DeviceListAdapter(Context context, int resource, ArrayList<BluetoothDevice> devices) {super(context, resource, devices);this.resourceLayout = resource;}@SuppressLint("MissingPermission")@NonNull@Overridepublic View getView(int position, View convertView, @NonNull ViewGroup parent) {if (convertView == null) {convertView = LayoutInflater.from(getContext()).inflate(resourceLayout, parent, false);}BluetoothDevice device = getItem(position);TextView deviceName = convertView.findViewById(android.R.id.text1);TextView deviceAddress = convertView.findViewById(android.R.id.text2);if (device != null) {deviceName.setText(device.getName());deviceAddress.setText(device.getAddress());}return convertView;}
}
BluetoothManager.java  
  • startDiscovery() 启动蓝牙设备扫描。  
  • registerReceivers() / unregisterReceivers() 注册/注销广播接收器，监听设备发现事件。
  • requestPermissions() 请求用户启用蓝牙功能。  
  • notifyConnectionStatus() / notifyDataReceived() 通知监听器连接状态或数据接收事件。 
package com.example.myapplication.Bluetooth;import android.annotation.SuppressLint;
import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;
import android.content.IntentFilter;public class BluetoothManager {private final BluetoothAdapter bluetoothAdapter;private final Context context;private BluetoothStatusListener statusListener;private final BroadcastReceiver discoveryReceiver = new BroadcastReceiver() {@Overridepublic void onReceive(Context context, Intent intent) {if (BluetoothDevice.ACTION_FOUND.equals(intent.getAction())) {BluetoothDevice device = intent.getParcelableExtra(BluetoothDevice.EXTRA_DEVICE);if (statusListener != null) {statusListener.onDeviceDiscovered(device);}}}};public BluetoothManager(Context context) {this.context = context;bluetoothAdapter = BluetoothAdapter.getDefaultAdapter();}public void setBluetoothStatusListener(BluetoothStatusListener listener) {this.statusListener = listener;}@SuppressLint("MissingPermission")public void startDiscovery() {bluetoothAdapter.startDiscovery();}public void registerReceivers() {IntentFilter filter = new IntentFilter(BluetoothDevice.ACTION_FOUND);context.registerReceiver(discoveryReceiver, filter);}public void unregisterReceivers() {context.unregisterReceiver(discoveryReceiver);}public boolean checkPermissions() {return bluetoothAdapter != null && bluetoothAdapter.isEnabled();}@SuppressLint("MissingPermission")public void requestPermissions() {Intent enableBtIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);context.startActivity(enableBtIntent);}public void notifyConnectionStatus(String status) {if (statusListener != null) statusListener.onConnectionStatusChanged(status);}public void notifyDataReceived(String data) {if (statusListener != null) statusListener.onDataReceived(data);}public void notifyError(String errorMessage) {if (statusListener != null) statusListener.onError(errorMessage);}public interface BluetoothStatusListener {void onDeviceDiscovered(BluetoothDevice device);void onConnectionStatusChanged(String status);void onDataReceived(String data);void onError(String errorMessage);}
}
 BLEConnection.java
  • connect(BluetoothDevice device) 连接指定的 BLE 设备，并初始化 GATT 通信。  
  • sendData(String data) 通过 RX 特性向 BLE 设备发送数据。  
  • setOnDataReceivedListener() 设置监听器，用于接收从 BLE 设备返回的数据。  
  • setOnConnectionStateChangeListener() 设置监听器，处理连接成功或断开事件。  
  • close() 关闭 GATT 连接并释放资源。  
  • gattCallback（内部类）处理连接状态变化（如连接成功、断开）、服务发现、特性值变化（如接收数据）等回调。
package com.example.myapplication.Bluetooth;import android.annotation.SuppressLint;
import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothGatt;
import android.bluetooth.BluetoothGattCallback;
import android.bluetooth.BluetoothGattCharacteristic;
import android.bluetooth.BluetoothGattService;
import android.bluetooth.BluetoothProfile;
import android.content.Context;
import android.util.Log;public class BLEConnection {private static final String TAG = "BLEConnection";private final Context context;private BluetoothGatt bluetoothGatt;private BluetoothGattCharacteristic txCharacteristic;private BluetoothGattCharacteristic rxCharacteristic;private OnDataReceivedListener dataReceivedListener;private OnConnectionStateChangeListener connectionStateChangeListener;public BLEConnection(Context context) {this.context = context;}@SuppressLint("MissingPermission")public void connect(BluetoothDevice device) {Log.d(TAG, "正在连接 BLE 设备: " + device.getName());bluetoothGatt = device.connectGatt(context, false, gattCallback);}private final BluetoothGattCallback gattCallback = new BluetoothGattCallback() {@SuppressLint("MissingPermission")@Overridepublic void onConnectionStateChange(BluetoothGatt gatt, int status, int newState) {if (newState == BluetoothProfile.STATE_CONNECTED) {Log.d(TAG, "BLE 设备已连接");bluetoothGatt.discoverServices();if (connectionStateChangeListener != null) {connectionStateChangeListener.onConnected();}} else if (newState == BluetoothProfile.STATE_DISCONNECTED) {Log.d(TAG, "BLE 设备已断开连接");if (connectionStateChangeListener != null) {connectionStateChangeListener.onDisconnected();}close();}}@SuppressLint("MissingPermission")@Overridepublic void onServicesDiscovered(BluetoothGatt gatt, int status) {if (status == BluetoothGatt.GATT_SUCCESS) {BluetoothGattService service = bluetoothGatt.getService(BluetoothConstants.SERVICE_UUID);if (service != null) {txCharacteristic = service.getCharacteristic(BluetoothConstants.TX_CHARACTERISTIC_UUID);rxCharacteristic = service.getCharacteristic(BluetoothConstants.RX_CHARACTERISTIC_UUID);Log.d(TAG, "发现 BLE 透传服务！");bluetoothGatt.setCharacteristicNotification(txCharacteristic, true);}}}@Overridepublic void onCharacteristicChanged(BluetoothGatt gatt, BluetoothGattCharacteristic characteristic) {if (characteristic.getUuid().equals(BluetoothConstants.TX_CHARACTERISTIC_UUID)) {String receivedData = new String(characteristic.getValue());Log.d(TAG, "收到 BLE 数据: " + receivedData);if (dataReceivedListener != null) {dataReceivedListener.onDataReceived(receivedData);}}}};@SuppressLint("MissingPermission")public void sendData(String data) {if (rxCharacteristic != null) {rxCharacteristic.setValue(data.getBytes());bluetoothGatt.writeCharacteristic(rxCharacteristic);Log.d(TAG, "发送数据: " + data);}}public void setOnDataReceivedListener(OnDataReceivedListener listener) {this.dataReceivedListener = listener;}public void setOnConnectionStateChangeListener(OnConnectionStateChangeListener listener) {this.connectionStateChangeListener = listener;}@SuppressLint("MissingPermission")public void close() {if (bluetoothGatt != null) {bluetoothGatt.close();bluetoothGatt = null;}}public interface OnDataReceivedListener {void onDataReceived(String data);}public interface OnConnectionStateChangeListener {void onConnected();void onDisconnected();}
}
 BluetoothConnectionActivity.java
  • requestBluetoothPermissions() 动态请求 Android 12+ 的蓝牙扫描和连接权限。  
  • initializeUI() 初始化界面组件（列表、按钮、状态栏），并绑定点击事件。  
  • setupBluetoothManager() 配置蓝牙管理器，绑定设备发现、连接状态、数据接收等事件的监听器。  
  • startBluetoothDiscovery() 启动蓝牙设备扫描，更新界面状态。  
  • updateDeviceList(BluetoothDevice device) 将新发现的设备添加到列表并更新 UI。
  • connectToDevice(BluetoothDevice device) 连接选中的设备，成功后跳转到数据传输界面。
package com.example.myapplication.Bluetooth;import static android.content.ContentValues.TAG;import android.Manifest;
import android.annotation.SuppressLint;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothGatt;
import android.bluetooth.BluetoothProfile;
import android.content.Intent;
import android.content.pm.PackageManager;
import android.os.Build;
import android.os.Bundle;
import android.util.Log;
import android.view.View;
import android.widget.ArrayAdapter;
import android.widget.Button;
import android.widget.ListView;
import android.widget.TextView;
import android.widget.Toast;import androidx.appcompat.app.AppCompatActivity;
import androidx.core.app.ActivityCompat;
import androidx.core.content.ContextCompat;import com.example.myapplication.R;
import java.util.ArrayList;public class BluetoothConnectionActivity extends AppCompatActivity {private ListView devicesListView;private TextView statusText;private Button scanButton;private BluetoothManager bluetoothManager;private ArrayAdapter<String> devicesAdapter;private ArrayList<BluetoothDevice> discoveredDevices = new ArrayList<>();@Overrideprotected void onCreate(Bundle savedInstanceState) {super.onCreate(savedInstanceState);setContentView(R.layout.activity_bluetooth);initializeUI();setupBluetoothManager();}// **动态请求 Android 12+ 的蓝牙权限**private void requestBluetoothPermissions() {if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.S) {if (ContextCompat.checkSelfPermission(this, Manifest.permission.BLUETOOTH_CONNECT) != PackageManager.PERMISSION_GRANTED ||ContextCompat.checkSelfPermission(this, Manifest.permission.BLUETOOTH_SCAN) != PackageManager.PERMISSION_GRANTED) {ActivityCompat.requestPermissions(this, new String[]{Manifest.permission.BLUETOOTH_CONNECT,Manifest.permission.BLUETOOTH_SCAN}, 1);}}}private void initializeUI() {devicesListView = findViewById(R.id.devicesListView);statusText = findViewById(R.id.statusText);scanButton = findViewById(R.id.scanButton);devicesAdapter = new ArrayAdapter<>(this, android.R.layout.simple_list_item_1, new ArrayList<>());devicesListView.setAdapter(devicesAdapter);scanButton.setOnClickListener(v -> startBluetoothDiscovery());devicesListView.setOnItemClickListener((parent, view, position, id) -> {BluetoothDevice selectedDevice = discoveredDevices.get(position);connectToDevice(selectedDevice);});}private void setupBluetoothManager() {bluetoothManager = new BluetoothManager(this);bluetoothManager.setBluetoothStatusListener(new BluetoothManager.BluetoothStatusListener() {@Overridepublic void onDeviceDiscovered(BluetoothDevice device) {runOnUiThread(() -> updateDeviceList(device));}@Overridepublic void onConnectionStatusChanged(String status) {runOnUiThread(() -> statusText.setText(status));}@Overridepublic void onDataReceived(String data) {runOnUiThread(() -> showToast("收到数据: " + data));}@Overridepublic void onError(String errorMessage) {runOnUiThread(() -> showToast("错误: " + errorMessage));}});}private void startBluetoothDiscovery() {if (bluetoothManager.checkPermissions()) {devicesAdapter.clear();discoveredDevices.clear();statusText.setText("扫描中...");bluetoothManager.startDiscovery();} else {bluetoothManager.requestPermissions();}}private void updateDeviceList(BluetoothDevice device) {if (!containsDevice(device)) {discoveredDevices.add(device);@SuppressLint("MissingPermission")String deviceInfo = device.getName() + "\n" + device.getAddress();devicesAdapter.add(deviceInfo);devicesAdapter.notifyDataSetChanged();}}private boolean containsDevice(BluetoothDevice newDevice) {for (BluetoothDevice existingDevice : discoveredDevices) {if (existingDevice.getAddress().equals(newDevice.getAddress())) {return true;}}return false;}@SuppressLint("MissingPermission")private void connectToDevice(BluetoothDevice device) {statusText.setText("连接到：" + device.getName());BLEConnection bleConnection = new BLEConnection(this);bleConnection.setOnConnectionStateChangeListener(new BLEConnection.OnConnectionStateChangeListener() {@Overridepublic void onConnected() {runOnUiThread(() -> {Intent intent = new Intent(BluetoothConnectionActivity.this, BluetoothDataTransferActivity.class);intent.putExtra("device_name", device.getName());intent.putExtra("device_address", device.getAddress());startActivity(intent);});}@Overridepublic void onDisconnected() {runOnUiThread(() -> statusText.setText("设备已断开"));}});bleConnection.connect(device);}private void showToast(String message) {Toast.makeText(this, message, Toast.LENGTH_SHORT).show();}@Overrideprotected void onResume() {super.onResume();bluetoothManager.registerReceivers();}@Overrideprotected void onPause() {super.onPause();bluetoothManager.unregisterReceivers();}
}
BluetoothDataTransferActivity.java
  • setupBLEListener() 绑定 BLE 数据接收监听器，将收到的数据通过 MQTT 发送到云端。  发送按钮点击事件 将用户输入的数据通过 BLE 发送到设备。  （云端详情请看第四部分MQTT相关）
  • onDestroy() 关闭 BLE 连接，释放资源。
package com.example.myapplication.Bluetooth;import android.annotation.SuppressLint;
import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.os.Bundle;
import android.view.View;
import android.widget.Button;
import android.widget.EditText;
import android.widget.TextView;
import android.widget.Toast;import androidx.appcompat.app.AppCompatActivity;import com.example.myapplication.MQTT.MqttHelper;
import com.example.myapplication.R;public class BluetoothDataTransferActivity extends AppCompatActivity {private BLEConnection bleConnection;private EditText sendDataEdit;private Button sendButton;private TextView receivedDataText;private TextView deviceInfoText;private String deviceName;private String deviceAddress;// MQTT 连接对象private MqttHelper mqttHelper;@Overrideprotected void onCreate(Bundle savedInstanceState) {super.onCreate(savedInstanceState);setContentView(R.layout.activity_bluetooth_data_transfer);sendDataEdit = findViewById(R.id.sendDataEdit);sendButton = findViewById(R.id.sendButton);receivedDataText = findViewById(R.id.receivedDataText);deviceInfoText = findViewById(R.id.deviceInfoText);// **获取设备信息**deviceName = getIntent().getStringExtra("device_name");deviceAddress = getIntent().getStringExtra("device_address");if (deviceAddress == null || deviceAddress.isEmpty()) {showToast("设备地址无效");finish();return;}deviceInfoText.setText("已连接到: " + deviceName + "\n" + deviceAddress);// **创建 BLE 连接**BluetoothDevice device = BluetoothAdapter.getDefaultAdapter().getRemoteDevice(deviceAddress);bleConnection = new BLEConnection(this);bleConnection.connect(device);// **启动 MQTT 连接**mqttHelper = new MqttHelper(this);mqttHelper.connect();// **设置监听器，接收数据**setupBLEListener();// **点击按钮发送数据**sendButton.setOnClickListener(v -> {String data = sendDataEdit.getText().toString();if (!data.isEmpty()) {bleConnection.sendData(data);} else {showToast("请输入要发送的数据");}});}// **监听 BLE 设备的数据**private void setupBLEListener() {bleConnection.setOnDataReceivedListener(data -> runOnUiThread(() -> {receivedDataText.setText("收到数据: " + data);showToast("收到数据: " + data);// 将收到数据通过mqtt发送到云端 （同步）if (mqttHelper.isConnected()) {mqttHelper.publishMessage("mqtt", data); // 发送到 MQTT 主题 "mqtt"} else {showToast("MQTT 未连接，无法同步数据");}}));}@Overrideprotected void onDestroy() {super.onDestroy();if (bleConnection != null) {bleConnection.close();}}private void showToast(String message) {Toast.makeText(this, message, Toast.LENGTH_SHORT).show();}
}

三、MQTT连接阿里云配置

选择试用云服务器ESC

 

重置完成后，点击实例进入服务器详情页面，远程连接登录进入终端。

 打开阿里云控制台页面，在安全组中开放 8888、1883、8083、18083、8084、443端口。

 右侧管理规则，进入后手动添加开放对应端口。

1. 终端配置（主要演示终端操作）

EMQX配置，下载对应centos版本的emqx

wget https://www.emqx.com/en/downloads/broker/3.1.2/emqx-centos7-v3.1.2.zip

解压

unzip emqx-centos7-v3.1.2.zip

 在emqx目录下启动

./bin/emqx console

./bin/emqx start

打开emqx，公网ip+18083。（你自己申请的云平台公网ip）

118.178.234.179:18083

若出现连接不上和以下错误可能是版本不适配问题，重新下载emqx

 还是无法连接，也可能是安全组没有配置成功，手动检查对应配置

 检查本地是否开放：

        若服务器本地访问 127.0.0.1:18083 返回了 HTTP 200，说明 EMQX Dashboard 运行正常，问题应该出在 远程访问（本地电脑无法访问服务器的 18083 端口）。

curl -I http://127.0.0.1:18083

 检查云端地址能否访问：

        长时间没有反应说明端口开放有问题，查询防火墙开放端口。

curl -I http://118.178.234.179:18083sudo firewall-cmd --list-ports

这里可以看出18083端口并没有被放通（博主也不知道为什么，安全组明明已经配置了）

手动配置18083号端口，配置完成后重新加载

sudo firewall-cmd --add-port=18083/tcp --permanentsudo firewall-cmd --reload

 登录，初始账号为：admin 密码：public

在打开的网页EMQX中进行Websocket连接

订阅主题（该主题为 mqtt 发送信息的主题名）

本机电脑MQTT创建连接

 添加订阅主题（该主题为 emqx 发送信息的主题名）

 2. 宝塔面板（较简略，请主要看终端）

 安装宝塔面板（Linux-Centos）

url=https://download.bt.cn/install/install_panel.sh;if [ -f /usr/bin/curl ];then curl -sSO $url;else wget -O install_panel.sh $url;fi;bash install_panel.sh ed8484bec

 如下，版本安装完成

 打开阿里云控制台页面，在安全组中开放 8888（宝塔面板）、1883（TCP、UDP）、8083、18083、8084、443（TCP）端口。

 右侧管理规则，进入后手动添加开放对应端口。

复制连接打开宝塔面板，（链接就是刚刚下载完成的信息）

输入账号密码登录。 

 点击安全，添加刚刚对应的端口号。

 安装nginx

四、Android与阿里云通信

        在已经完成的蓝牙app中继续添加功能，即MQTT通信功能，完成与阿里云emqx的数据通信。

MQTT相关

        创建MQTT包，存放对应 mqtt 功能的函数。（只看MqttHelper即可，MqttActivity是我用于测试的函数）

        MqttHelper用于实现 MQTT 协议的客户端功能，包括连接代理服务器、订阅主题、发布消息，并通过回调机制处理消息接收和连接状态。

  • 构造函数 MqttHelper(Context context) 初始化 MQTT 客户端，配置连接参数（服务器地址、用户名、密码、超时等），设置回调监听（连接丢失、消息送达完成、消息接收）。
  • init() 创建 MqttClient 实例，使用内存持久化（MemoryPersistence），配置连接选项（清理会话、心跳间隔等），定义回调逻辑，初始化 Handler。
  • connect() 在新线程中发起异步 MQTT 连接。连接成功时通过 Handler 发送成功消息（显示 Toast 并自动订阅主题），连接失败时发送失败提示。
  • isConnected() 检查客户端当前是否已连接到 MQTT 服务器。
  • publishMessage(String topic, String message) 向指定主题发布消息，消息内容需为字符串。若未连接则记录错误日志。
  • disconnect() 断开 MQTT 连接，释放资源。
package com.example.myapplication.MQTT;import android.content.Context;
import android.os.Handler;
import android.os.Message;
import android.util.Log;
import android.widget.Toast;import org.eclipse.paho.client.mqttv3.IMqttDeliveryToken;
import org.eclipse.paho.client.mqttv3.MqttCallback;
import org.eclipse.paho.client.mqttv3.MqttClient;
import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
import org.eclipse.paho.client.mqttv3.MqttException;
import org.eclipse.paho.client.mqttv3.MqttMessage;
import org.eclipse.paho.client.mqttv3.persist.MemoryPersistence;import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.TimeUnit;public class MqttHelper {private static final String TAG = "MQTT";private static final String HOST = "tcp://118.178.234.179:1883";private static final String USERNAME = "aliyun";private static final String PASSWORD = "123456";private static final String CLIENT_ID = "mqttx_0bdbad30";private MqttClient client;private MqttConnectOptions options;private ScheduledExecutorService scheduler;private Context context;private Handler handler;public MqttHelper(Context context) {this.context = context;init();}private void init() {try {client = new MqttClient(HOST, CLIENT_ID, new MemoryPersistence());options = new MqttConnectOptions();options.setCleanSession(true);options.setUserName(USERNAME);options.setPassword(PASSWORD.toCharArray());options.setConnectionTimeout(10);options.setKeepAliveInterval(20);client.setCallback(new MqttCallback() {@Overridepublic void connectionLost(Throwable cause) {Log.e(TAG, "MQTT 连接丢失", cause);}@Overridepublic void deliveryComplete(IMqttDeliveryToken token) {Log.d(TAG, "消息发送完成: " + token.isComplete());}@Overridepublic void messageArrived(String topic, MqttMessage message) {Log.d(TAG, "MQTT 接收消息: " + topic + " - " + message.toString());Message msg = new Message();msg.what = 3;msg.obj = topic + "---" + message.toString();handler.sendMessage(msg);}});handler = new Handler(msg -> {if (msg.what == 30) {Toast.makeText(context, "MQTT 连接失败", Toast.LENGTH_SHORT).show();} else if (msg.what == 31) {Toast.makeText(context, "MQTT 连接成功", Toast.LENGTH_SHORT).show();try {client.subscribe("ali_emqx", 1);} catch (MqttException e) {Log.e(TAG, "订阅失败", e);}}return false;});} catch (MqttException e) {Log.e(TAG, "MQTT 初始化失败", e);}}public void connect() {new Thread(() -> {try {if (!client.isConnected()) {client.connect(options);handler.sendEmptyMessage(31);}} catch (MqttException e) {handler.sendEmptyMessage(30);}}).start();}public boolean isConnected() {return client != null && client.isConnected();}public void publishMessage(String topic, String message) {if (client == null || !client.isConnected()) {Log.e(TAG, "MQTT 未连接，无法发送消息");return;}try {MqttMessage mqttMessage = new MqttMessage(message.getBytes());client.publish(topic, mqttMessage);Log.d(TAG, "消息发送到: " + topic);} catch (MqttException e) {Log.e(TAG, "消息发送失败", e);}}public void disconnect() {try {if (client != null) {client.disconnect();}} catch (MqttException e) {Log.e(TAG, "MQTT 断开连接失败", e);}}
}

         在 BluetoothDataTransferActivity.java 中添加相关 MQTT 代码。首先创建一个 MQTT 连接对象。

        启动 MQTT 连接

 将收到的数据利用 MQTT 传入云端，结果显示在 EMQX 上。

五、项目完整代码链接（开源）

【免费】stm32f103c8t6蓝牙通信驱动电机资源-CSDN文库

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