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STM32智能小车项目

作者：你好赵伟 | 2024-07-17 04:31:03

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stm32智能小车

1、小车电机驱动

1.接线：L90110S的MOTORA控制小车左轮电机

               L9110S的MOTORB控制小车右轮电机     

引脚设计： B-1A -- PB0          B-2A -- PB1      A-1A -- PB2          A-1B -- PB10

2.STM32CubeMX创建工程，设置PB0,PB1,PB2,PB10引脚为OUTPUT,并拉高电平。

3.在项目目录的/Core/Src新建motor.c，/Core/Inc新建motor.h，添加进工程。

5.motor.h

  1. #ifndef __MOTOR_H__
  2. #define __MOTOR_H__
  3.  
  4. void goForward(void);
  5. void goBack(void);
  6. void goLeft(void);
  7. void goRight(void);
  8. void stop(void);
  9.  
  10. #endif

motor.c

  1. #include "motor.h"
  2. #include "gpio.h"
  3.  
  4. void goForward(void)
  5. {
  6. 	// 左轮
  7. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);
  8. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
  9.  
  10. 	// 右轮
  11. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);
  12. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
  13. }
  14.  
  15. void goBack(void)
  16. {
  17. 	// 左轮
  18. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);
  19. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_SET);
  20.  
  21. 	// 右轮
  22. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
  23. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_SET);
  24. }
  25.  
  26. void goLeft(void)
  27. {
  28. 	// 左轮
  29. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);
  30. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
  31.  
  32. 	// 右轮
  33. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);
  34. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
  35. }
  36.  
  37. void goRight(void)
  38. {
  39. 	// 左轮
  40. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);
  41. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
  42.  
  43. 	// 右轮
  44. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
  45. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
  46. }
  47.  
  48. void stop(void)
  49. {
  50. 	// 左轮
  51. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);
  52. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10, GPIO_PIN_RESET);
  53.  
  54. 	// 右轮
  55. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
  56. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
  57. }
  58.

main.c测试：

  1. #include "motor.h"
  2.  
  3. //main函数部分：
  4. while (1)
  5.   {
  6.          goForward();
  7. 		HAL_Delay(1000);
  8. 		goBack();
  9. 		HAL_Delay(1000);
  10. 		goLeft();
  11. 		HAL_Delay(1000);
  12. 		goRight();
  13. 		HAL_Delay(1000);
  14.         stop();
  15.         HAL_Delay(1000);
  16.       
  17.   }

2、串口控制小车

STM32CUBEMX打开串口USART1和串口1中断

usart.c:重写fputc和串口接收中断回调函数

  1. #include "string.h"
  2. #include "stdio.h"
  3. #include "motor.h"
  4.  
  5. //串口接收缓存（1字节）
  6. uint8_t buf=0;
  7.  
  8. //定义最大接收字节数 200，可根据需求调整
  9. #define UART1_REC_LEN 200
  10.  
  11. // 接收缓冲, 串口接收到的数据放在这个数组里，最大UART1_REC_LEN个字节
  12. uint8_t UART1_RX_Buffer[UART1_REC_LEN];
  13.  
  14. //  接收状态
  15. //  bit15，      接收完成标志
  16. //  bit14，      接收到0x0d
  17. //  bit13~0，    接收到的有效字节数目
  18. uint16_t UART1_RX_STA=0;
  19.  
  20. #define SIZE 12
  21.  
  22. char buffer[SIZE];
  23.  
  24. // 接收完成回调函数，收到一个数据后，在这里处理
  25. void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
  26. {
  27. 	// 判断中断是由哪个串口触发的
  28. 	if(huart->Instance == USART1)
  29. 	{
  30. 		// 判断接收是否完成（UART1_RX_STA bit15 位是否为1）
  31. 		if((UART1_RX_STA & 0x8000) == 0)
  32. 		{
  33. 			// 如果已经收到了 0x0d （回车），
  34. 			if(UART1_RX_STA & 0x4000)
  35. 			{
  36. 				// 则接着判断是否收到 0x0a （换行）
  37. 				if(buf == 0x0a)
  38. 				{
  39. 					// 如果 0x0a 和 0x0d 都收到，则将 bit15 位置为1
  40. 					UART1_RX_STA |= 0x8000;
  41.  
  42. 					// 控制指令
  43. 					if(!strcmp(UART1_RX_Buffer, "M1"))
  44. 						goForward();
  45. 					else if(!strcmp(UART1_RX_Buffer, "M2"))
  46. 						goBack();
  47. 					else if(!strcmp(UART1_RX_Buffer, "M3"))
  48. 						goLeft();
  49. 					else if(!strcmp(UART1_RX_Buffer, "M4"))
  50. 						goRight();
  51. 					else
  52. 						stop();
  53. 					
  54. 					memset(UART1_RX_Buffer, 0, UART1_REC_LEN);
  55. 					UART1_RX_STA = 0;
  56. 				}
  57. 				else
  58. 					// 否则认为接收错误，重新开始
  59. 					UART1_RX_STA = 0;
  60. 			}
  61. 			else	// 如果没有收到了 0x0d （回车）
  62. 			{
  63. 				//则先判断收到的这个字符是否是 0x0d （回车）
  64. 				if(buf == 0x0d)
  65. 				{
  66. 					// 是的话则将 bit14 位置为1
  67. 					UART1_RX_STA |= 0x4000;
  68. 				}
  69. 				else
  70. 				{
  71. 					// 否则将接收到的数据保存在缓存数组里
  72. 					UART1_RX_Buffer[UART1_RX_STA & 0X3FFF] = buf;
  73. 					UART1_RX_STA++;
  74. 					
  75. 					// 如果接收数据大于UART1_REC_LEN（200字节），则重新开始接收
  76. 					if(UART1_RX_STA > UART1_REC_LEN - 1)
  77. 						UART1_RX_STA = 0;
  78. 				}
  79. 			}
  80. 		}
  81. 		// 重新开启中断
  82. 		HAL_UART_Receive_IT(&huart1, &buf, 1);
  83. 	}
  84. }
  85.  
  86. int fputc(int ch, FILE *f)
  87. {      
  88. 	unsigned char temp[1]={ch};
  89. 	HAL_UART_Transmit(&huart1,temp,1,0xffff);  
  90. 	return ch;
  91. }

main.c:

  1. #include "motor.h"
  2.  
  3.  
  4.  
  5. extern uint8_t buf;
  6.  
  7.  
  8. main函数：
  9. HAL_UART_Receive_IT(&huart1,&buf,1);//开启串口接收中断；

3、点动控制小车

STM32CUBEMX提高滴答定时器的优先级：

 修改usart.c

  1. #include "string.h"
  2. #include "stdio.h"
  3. #include "motor.h"
  4.  
  5. //串口接收缓存（1字节）
  6. uint8_t buf=0;
  7.  
  8. //定义最大接收字节数 200，可根据需求调整
  9. #define UART1_REC_LEN 200
  10.  
  11. // 接收缓冲, 串口接收到的数据放在这个数组里，最大UART1_REC_LEN个字节
  12. uint8_t UART1_RX_Buffer[UART1_REC_LEN];
  13.  
  14. //  接收状态
  15. //  bit15，      接收完成标志
  16. //  bit14，      接收到0x0d
  17. //  bit13~0，    接收到的有效字节数目
  18. uint16_t UART1_RX_STA=0;
  19.  
  20. #define SIZE 12
  21.  
  22. char buffer[SIZE];
  23.  
  24. // 接收完成回调函数，收到一个数据后，在这里处理
  25. void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
  26. {
  27. 	// 判断中断是由哪个串口触发的
  28. 	if(huart->Instance == USART1)
  29. 	{
  30. 		// 判断接收是否完成（UART1_RX_STA bit15 位是否为1）
  31. 		if((UART1_RX_STA & 0x8000) == 0)
  32. 		{
  33. 			// 如果已经收到了 0x0d （回车），
  34. 			if(UART1_RX_STA & 0x4000)
  35. 			{
  36. 				// 则接着判断是否收到 0x0a （换行）
  37. 				if(buf == 0x0a)
  38. 				{
  39. 					// 如果 0x0a 和 0x0d 都收到，则将 bit15 位置为1
  40. 					UART1_RX_STA |= 0x8000;
  41.  
  42. 					// 控制指令
  43. 					if(!strcmp(UART1_RX_Buffer, "M1"))
  44. 					{
  45. 						goForward();
  46. 						HAL_Delay(10);
  47. 					}
  48. 					else if(!strcmp(UART1_RX_Buffer, "M2"))
  49. 					{
  50. 						goBack();
  51. 						HAL_Delay(10);
  52. 					}
  53. 					else if(!strcmp(UART1_RX_Buffer, "M3"))
  54. 					{
  55. 						goLeft();
  56. 						HAL_Delay(10);
  57. 					}
  58. 					else if(!strcmp(UART1_RX_Buffer, "M4"))
  59. 					{
  60. 						goRight();
  61. 						HAL_Delay(10);
  62. 					}
  63. 					else
  64. 						stop();
  65. 					
  66. 					memset(UART1_RX_Buffer, 0, UART1_REC_LEN);
  67. 					UART1_RX_STA = 0;
  68. 				}
  69. 				else
  70. 					// 否则认为接收错误，重新开始
  71. 					UART1_RX_STA = 0;
  72. 			}
  73. 			else	// 如果没有收到了 0x0d （回车）
  74. 			{
  75. 				//则先判断收到的这个字符是否是 0x0d （回车）
  76. 				if(buf == 0x0d)
  77. 				{
  78. 					// 是的话则将 bit14 位置为1
  79. 					UART1_RX_STA |= 0x4000;
  80. 				}
  81. 				else
  82. 				{
  83. 					// 否则将接收到的数据保存在缓存数组里
  84. 					UART1_RX_Buffer[UART1_RX_STA & 0X3FFF] = buf;
  85. 					UART1_RX_STA++;
  86. 					
  87. 					// 如果接收数据大于UART1_REC_LEN（200字节），则重新开始接收
  88. 					if(UART1_RX_STA > UART1_REC_LEN - 1)
  89. 						UART1_RX_STA = 0;
  90. 				}
  91. 			}
  92. 		}
  93. 		// 重新开启中断
  94. 		HAL_UART_Receive_IT(&huart1, &buf, 1);
  95. 	}
  96. }
  97.  
  98. int fputc(int ch, FILE *f)
  99. {      
  100. 	unsigned char temp[1]={ch};
  101. 	HAL_UART_Transmit(&huart1,temp,1,0xffff);  
  102. 	return ch;
  103. }

mian.c

  1. // main函数里
  2. HAL_NVIC_SetPriority(SysTick_IRQn,0,0); //或者通过cubeMX配置
  3. while(1)
  4. {
  5. stop();
  6. }

4、PWM调速

硬件接线 B-1A -- PA0          B-2A -- PB1         A-1A -- PA1         A-1B -- PB10

STM32CUBEMX打开TM2的PWM：

 PSC配置7199，ARR配置199，T=20ms;

将PB0 PB1 PB2 PB10 改为低电平(电机需要一高一低才可以驱动）；

main.c

  1. //main函数：    
  2.     
  3. 	HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
  4. 	HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
  5.   /* USER CODE END 2 */
  6.  
  7.   /* Infinite loop */
  8.   /* USER CODE BEGIN WHILE */
  9.   while (1)
  10.   {
  11.     /* USER CODE END WHILE */
  12.  
  13.     /* USER CODE BEGIN 3 */
  14. 		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,80);
  15. 		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,80);
  16. 		HAL_Delay(1000);
  17. 		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,100);
  18. 		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,100);
  19. 		HAL_Delay(1000);
  20. 		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,150);
  21. 		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,150);
  22. 		HAL_Delay(1000);
  23.   }

5、左右轮各自调速

  1. //main函数：	
  2. HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
  3. 	HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
  4.   /* USER CODE END 2 */
  5.  
  6.   /* Infinite loop */
  7.   /* USER CODE BEGIN WHILE */
  8.   while (1)
  9.   {
  10.     /* USER CODE END WHILE */
  11.  
  12.     /* USER CODE BEGIN 3 */
  13. 		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,80);
  14. 		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,150);
  15. 		HAL_Delay(1000);
  16. 		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,150);
  17. 		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,80);
  18. 		HAL_Delay(1000);
  19.   }

6、循迹小车

引脚设计： B-1A -- PB0         B-2A -- PB1         A-1A -- PB2         A-1B -- PB10

循迹模块左：PB3 

循迹模块右：PB4

循迹模块发射红外线，黑色有较强的吸收能力，

遇到黑线，没有红外返回，输出高电平，LED灭；

遇到白线，有红外返回，输出低电平，LED亮；

main.c

  1. #define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3)
  2. #define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4)
  3.  
  4. //main函数：
  5.  while (1)
  6.   {
  7.     /* USER CODE END WHILE */
  8.  
  9.     /* USER CODE BEGIN 3 */
  10. 		if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET)
  11. 			goForward();
  12. 		if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET)
  13. 			goLeft();
  14. 		if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET)
  15. 			goRight();
  16. 		if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET)
  17. 			stop();
  18.   }

7. 循迹小车解决转弯平滑问题

硬件接线：       B-1A -- PA0          B-2A -- PB1         A-1A -- PA1         A-1B -- PB10

循迹模块（左） PB3

循迹模块（右） PB4

 PSC配置7199，ARR配置199，T=20ms;

将PB0 PB1 PB2 PB10 改为低电平(电机需要一高一低才可以驱动）；

  1. #define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3)
  2. #define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4)
  3.  
  4.  
  5. // main函数里
  6.  
  7.  
  8. HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
  9. HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
  10.  
  11.  
  12. while (1)
  13. {
  14. if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET)
  15. {
  16. __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,190);
  17. __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,190);
  18. }
  19. if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET)
  20. {
  21. __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,150);
  22. __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,80);
  23. }
  24. if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET)
  25. {
  26. __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,80);
  27. __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,150);
  28. }
  29. if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET)
  30. {
  31. __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,0);
  32. __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,0);
  33. }
  34. }

8. 跟随小车

硬件接线 B-1A -- PB0          B-2A -- PB1         A-1A -- PB2         A-1B -- PB10

跟随模块（左） -- PB5

跟随模块（右） -- PB6

原理跟循迹模块相同，循迹模块红外发出朝下，跟随模块是朝前；

有物体时，红外返回，输出低电平，LED亮；

没有物体，红外不返回，输出高电平，LED灭

  1. #define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_5)
  2. #define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_6)
  3. // main函数里
  4. while (1)
  5. {
  6. if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET)
  7. goForward();
  8. if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET)
  9. goRight();
  10. if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET)
  11. goLeft();
  12. if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET)
  13. stop();
  14. }

9. 摇头避障小车

9.1 封装摇头功能

硬件接线 sg90 -- PB9

CUBEMX配置：

 sg90.c

  1. #include "sg90.h"
  2. #include "gpio.h"
  3. #include "tim.h"
  4. void initSG90(void)
  5. {
  6. HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_4); //启动定时器4
  7. __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 15); //将舵机置为90度
  8. }
  9. void sgMiddle(void)
  10. {
  11. __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 15); //将舵机置为90度
  12. }
  13. void sgRight(void)
  14. {
  15. __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 5); //将舵机置为0度
  16. }
  17. void sgLeft(void)
  18. {
  19. __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 25); //将舵机置为180度
  20. }

sg90.h

  1. #ifndef __SG90_H__
  2. #define __SG90_H__
  3. void initSG90(void);
  4. void sgMiddle(void);
  5. void sgRight(void);
  6. void sgLeft(void);
  7. #endif

main.c

  1. initSG90();
  2. HAL_Delay(1000);
  3. while (1)
  4. {
  5. sgLeft();
  6. HAL_Delay(1000);
  7. sgMiddle();
  8. HAL_Delay(1000);
  9. sgRight();
  10. HAL_Delay(1000);
  11. sgMiddle();
  12. HAL_Delay(1000);
  13. }

9.2 封装超声波传感器

超声波模块： Trig   --    PB7

                        Echo     -- PB8

cubeMX配置

sr04.c

  1. #include "sr04.h"
  2. #include "gpio.h"
  3. #include "tim.h"
  4.  
  5. //使用TIM2来做us级延时函数
  6. void TIM2_Delay_us(uint16_t n_us)
  7. {
  8. /* 使能定时器2计数 */
  9. __HAL_TIM_ENABLE(&htim2);
  10. __HAL_TIM_SetCounter(&htim2, 0);
  11. while(__HAL_TIM_GetCounter(&htim2) < ((1 * n_us)-1) );
  12. /* 关闭定时器2计数 */
  13. __HAL_TIM_DISABLE(&htim2);
  14. }
  15.  
  16.  
  17. double get_distance(void)
  18. {
  19. int cnt=0;
  20. //1. Trig ，给Trig端口至少10us的高电平
  21. HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_SET);//拉高
  22. TIM2_Delay_us(20);
  23. HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_RESET);//拉低
  24. //2. echo由低电平跳转到高电平，表示开始发送波
  25. //波发出去的那一下，开始启动定时器
  26. while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_8) == GPIO_PIN_RESET);//等待输入电平拉高
  27. HAL_TIM_Base_Start(&htim2);
  28. __HAL_TIM_SetCounter(&htim2,0);
  29. //3. 由高电平跳转回低电平，表示波回来了
  30. while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_8) == GPIO_PIN_SET);//等待输入电平变低
  31. //波回来的那一下，我们开始停止定时器
  32. HAL_TIM_Base_Stop(&htim2);
  33. //4. 计算出中间经过多少时间
  34. cnt = __HAL_TIM_GetCounter(&htim2);
  35. //5. 距离 = 速度 （340m/s）* 时间/2（计数1次表示1us）
  36. return (cnt*340/2*0.000001*100); //单位：cm
  37. }

sr04.h

  1. #ifndef __SR04_H__
  2. #define __SR04_H__
  3. double get_distance(void);
  4. #endif

main.c

  1.  
  2. #define MIDDLE 0
  3. #define LEFT 1
  4. #define RIGHT 2
  5.  
  6. char dir;
  7. double disMiddle;
  8. double disLeft;
  9. double disRight;
  10.  
  11.  
  12. while (1)
  13. {
  14. if(dir != MIDDLE){
  15. sgMiddle();
  16. dir = MIDDLE;
  17. HAL_Delay(300);
  18. }
  19. disMiddle = get_distance();
  20. if(disMiddle > 35){
  21. //前进
  22. }
  23. else
  24. {
  25. //停止
  26. //测左边距离
  27. sgLeft();
  28. HAL_Delay(300);
  29. disLeft = get_distance();
  30. sgMiddle();
  31. HAL_Delay(300);
  32. sgRight();
  33. dir = RIGHT;
  34. HAL_Delay(300);
  35. disRight = get_distance();
  36. }
  37. }

9.3 封装电机驱动

main.c

  1. while (1)
  2. {
  3. /* USER CODE END WHILE */
  4. /* USER CODE BEGIN 3 */
  5. if(dir != MIDDLE){
  6. sgMiddle();
  7. dir = MIDDLE;
  8. HAL_Delay(300);
  9. }
  10. disMiddle = get_distance();
  11. if(disMiddle > 35){
  12. //前进
  13. goForward();
  14. }else if(disMiddle < 10){
  15. goBack();
  16. }else
  17. {
  18. //停止
  19. stop();
  20. //测左边距离
  21. sgLeft();
  22. HAL_Delay(300);
  23. disLeft = get_distance();
  24. sgMiddle();
  25. HAL_Delay(300);
  26. sgRight();
  27. dir = RIGHT;
  28. HAL_Delay(300);
  29. disRight = get_distance();
  30. if(disLeft < disRight){
  31. goRight();
  32. HAL_Delay(150);
  33. stop();
  34. }
  35. if(disRight < disLeft){
  36. goLeft();
  37. HAL_Delay(150);
  38. stop();
  39. }
  40. }
  41. HAL_Delay(50);
  42. }

10. 小车测速

在项目2的基础上修改：

测速模块： VCC -- 3.3V 不能接5V，否则遮挡一次会触发3次中断 OUT -- PB14

 

  1. unsigned int speedCnt;
  2. void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
  3. {
  4. if (GPIO_Pin == GPIO_PIN_14)
  5. if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_14) == GPIO_PIN_RESET)
  6. speedCnt++;
  7. }
  8. void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
  9. {
  10. printf("speed: %d\r\n", speedCnt);
  11. speedCnt = 0;
  12. }
  13. main函数里：
  14. HAL_TIM_Base_Start_IT(&htim2);

 11.  串口控制小车并使用Oled显示速度

在项目10基础上修改：添加oled.c oled.h oledfont.h

硬件接线 SCL -- PB6 SDA -- PB7

oled.c

  1. #include "oled.h"
  2. #include "i2c.h"
  3. #include "oledfont.h"
  4.  
  5. void Oled_Write_Cmd(uint8_t dataCmd)
  6. {
  7. 	
  8. 	HAL_I2C_Mem_Write(&hi2c1, 0x78, 0x00, I2C_MEMADD_SIZE_8BIT,
  9. 										&dataCmd, 1, 0xff);
  10. }
  11.  
  12. void Oled_Write_Data(uint8_t dataData)
  13. {
  14. 	HAL_I2C_Mem_Write(&hi2c1, 0x78, 0x40, I2C_MEMADD_SIZE_8BIT,
  15. 										&dataData, 1, 0xff);
  16. }
  17.  
  18. void Oled_Init(void){
  19. 	Oled_Write_Cmd(0xAE);//--display off
  20. 	Oled_Write_Cmd(0x00);//---set low column address
  21. 	Oled_Write_Cmd(0x10);//---set high column address
  22. 	Oled_Write_Cmd(0x40);//--set start line address  
  23. 	Oled_Write_Cmd(0xB0);//--set page address
  24. 	Oled_Write_Cmd(0x81); // contract control
  25. 	Oled_Write_Cmd(0xFF);//--128   
  26. 	Oled_Write_Cmd(0xA1);//set segment remap 
  27. 	Oled_Write_Cmd(0xA6);//--normal / reverse
  28. 	Oled_Write_Cmd(0xA8);//--set multiplex ratio(1 to 64)
  29. 	Oled_Write_Cmd(0x3F);//--1/32 duty
  30. 	Oled_Write_Cmd(0xC8);//Com scan direction
  31. 	Oled_Write_Cmd(0xD3);//-set display offset
  32. 	Oled_Write_Cmd(0x00);//
  33. 	
  34. 	Oled_Write_Cmd(0xD5);//set osc division
  35. 	Oled_Write_Cmd(0x80);//
  36. 	
  37. 	Oled_Write_Cmd(0xD8);//set area color mode off
  38. 	Oled_Write_Cmd(0x05);//
  39. 	
  40. 	Oled_Write_Cmd(0xD9);//Set Pre-Charge Period
  41. 	Oled_Write_Cmd(0xF1);//
  42. 	
  43. 	Oled_Write_Cmd(0xDA);//set com pin configuartion
  44. 	Oled_Write_Cmd(0x12);//
  45. 	
  46. 	Oled_Write_Cmd(0xDB);//set Vcomh
  47. 	Oled_Write_Cmd(0x30);//
  48. 	
  49. 	Oled_Write_Cmd(0x8D);//set charge pump enable
  50. 	Oled_Write_Cmd(0x14);//
  51. 	
  52. 	Oled_Write_Cmd(0xAF);//--turn on oled panel		
  53. }
  54.  
  55. void Oled_Screen_Clear(void){
  56. 	char i,n;
  57. 	Oled_Write_Cmd (0x20);                    //set memory addressing mode
  58. 	Oled_Write_Cmd (0x02);                    //page addressing mode
  59.  
  60. 	for(i=0;i<8;i++){
  61. 		Oled_Write_Cmd(0xb0+i);               //éè??ò3μ??·￡¨0~7￡?
  62. 		Oled_Write_Cmd(0x00);                 //éè????ê??????aáDμíμ??·
  63. 		Oled_Write_Cmd(0x10);                 //éè????ê??????aáD??μ??·   
  64. 		for(n=0;n<128;n++)Oled_Write_Data(0x00); 			
  65. 	}	
  66. }
  67.  
  68. void Oled_Show_Char(char row,char col,char oledChar){ //row*2-2
  69. 	unsigned int  i;
  70. 	Oled_Write_Cmd(0xb0+(row*2-2));                           //page 0
  71. 	Oled_Write_Cmd(0x00+(col&0x0f));                          //low
  72. 	Oled_Write_Cmd(0x10+(col>>4));                            //high	
  73. 	for(i=((oledChar-32)*16);i<((oledChar-32)*16+8);i++){
  74. 		Oled_Write_Data(F8X16[i]);                            //写数据oledTable1
  75. 	}
  76.  
  77. 	Oled_Write_Cmd(0xb0+(row*2-1));                           //page 1
  78. 	Oled_Write_Cmd(0x00+(col&0x0f));                          //low
  79. 	Oled_Write_Cmd(0x10+(col>>4));                            //high
  80. 	for(i=((oledChar-32)*16+8);i<((oledChar-32)*16+8+8);i++){
  81. 		Oled_Write_Data(F8X16[i]);                            //写数据oledTable1
  82. 	}		
  83. }
  84.  
  85.  
  86. /******************************************************************************/
  87. // 函数名称：Oled_Show_Char 
  88. // 输入参数：oledChar 
  89. // 输出参数：无 
  90. // 函数功能：OLED显示单个字符
  91. /******************************************************************************/
  92. void Oled_Show_Str(char row,char col,char *str){
  93. 	while(*str!=0){
  94. 		Oled_Show_Char(row,col,*str);
  95. 		str++;
  96. 		col += 8;	
  97. 	}		
  98. }

oled.h

  1. #ifndef __OLED_H__
  2. #define __OLED_H__
  3.  
  4. void Oled_Init(void);
  5. void Oled_Screen_Clear(void);
  6. void Oled_Show_Char(char row,char col,char oledChar);
  7. void Oled_Show_Str(char row,char col,char *str);
  8.  
  9. #endif

olefont.h

  1.  
  2. const unsigned char F8X16[]=	  
  3. {
  4.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0
  5.   0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
  6.   0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
  7.   0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
  8.   0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
  9.   0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
  10.   0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
  11.   0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
  12.   0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
  13.   0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
  14.   0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
  15.   0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
  16.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
  17.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
  18.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
  19.   0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
  20.   0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
  21.   0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
  22.   0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
  23.   0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
  24.   0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
  25.   0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
  26.   0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
  27.   0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
  28.   0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
  29.   0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
  30.   0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
  31.   0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
  32.   0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
  33.   0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
  34.   0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
  35.   0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
  36.   0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
  37.   0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
  38.   0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
  39.   0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
  40.   0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
  41.   0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
  42.   0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
  43.   0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
  44.   0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
  45.   0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
  46.   0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
  47.   0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
  48.   0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
  49.   0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
  50.   0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
  51.   0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
  52.   0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
  53.   0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
  54.   0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
  55.   0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
  56.   0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
  57.   0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
  58.   0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
  59.   0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
  60.   0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
  61.   0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
  62.   0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
  63.   0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
  64.   0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
  65.   0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
  66.   0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
  67.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
  68.   0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
  69.   0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
  70.   0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
  71.   0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
  72.   0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
  73.   0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
  74.   0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
  75.   0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
  76.   0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
  77.   0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
  78.   0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
  79.   0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
  80.   0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
  81.   0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
  82.   0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
  83.   0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
  84.   0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
  85.   0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
  86.   0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
  87.   0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
  88.   0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
  89.   0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
  90.   0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
  91.   0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
  92.   0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
  93.   0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
  94.   0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
  95.   0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
  96.   0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
  97.   0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
  98.   0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
  99. };
  100.

mian.c

  1. #include "motor.h"
  2. #include "stdio.h"
  3. #include "oled.h"
  4. extern uint8_t buf;
  5.  
  6. unsigned int speedCnt=0;
  7. char speedMes[24];
  8.  
  9. void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
  10. {
  11. if (GPIO_Pin == GPIO_PIN_14)
  12. 	if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_14) == GPIO_PIN_RESET)
  13. 		speedCnt++;
  14. }
  15. void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
  16. {
  17. 	printf("speed: %d\r\n", speedCnt);//每一秒钟打印一次速度
  18. 	sprintf(speedMes,"%2d cm/s",speedCnt);
  19.  
  20. 	Oled_Show_Str(2,2,speedMes);
  21. 	speedCnt = 0;
  22. }
  23.  
  24.  
  25. HAL_UART_Receive_IT(&huart1,&buf,1);
  26. HAL_TIM_Base_Start_IT(&htim2);//开启定时器
  27. Oled_Init();
  28. Oled_Screen_Clear();

12. Wi-Fi测速小车并本地Oled显示

硬件接线 把esp8266插进串口1

提高滴答定时器的优先级：

 

添加esp8266.c,esp8266.h

  1. #ifndef __ESP8266_H__
  2. #define __ESP8266_H__
  3.  
  4. void initWifi_AP(void);
  5. void waitConnect(void);
  6.  
  7. #endif
  1. #include "esp8266.h"
  2. #include "stdio.h"
  3. #include "usart.h"
  4.  
  5. //工作在路由模式
  6. char LYMO[]="AT+CWMODE=2\r\n";
  7. //使能多链接
  8. char DLJ[]="AT+CIPMUX=1\r\n";
  9. //建立TCPServer
  10. char JLFW[]="AT+CPISERVER=1\r\n";
  11. //发送数据
  12. char FSSJ[]="AT+CPISEND=0,5\r\n";
  13.  
  14. char AT_OK_Flag = 0;
  15. char AT_Connect_Net_Flag=0;
  16. char Client_Connect_Flag =0;
  17.  
  18. void initWifi_AP()
  19. {
  20. 	printf(LYMO);
  21. 	while(!AT_OK_Flag) HAL_Delay(50);
  22. 	AT_OK_Flag=0;
  23. 	printf(DLJ);
  24. 	while(!AT_OK_Flag) HAL_Delay(50);
  25. 	AT_OK_Flag=0;
  26. }
  27.  
  28.  
  29. void waitConnect()
  30. {
  31. 	printf(JLFW);
  32. 	while(!Client_Connect_Flag) HAL_Delay(50);
  33. 	AT_OK_Flag=0;
  34. }
  1. usart.c
  2.  
  3.  
  4. #include "string.h"
  5. #include "stdio.h"
  6. #include "motor.h"
  7.  #include "esp8266.h"
  8. extern char AT_OK_Flag ;
  9. extern char AT_Connect_Net_Flag;
  10. extern char Client_Connect_Flag ;
  11. //串口接收缓存（1字节）
  12. uint8_t buf=0;
  13.  
  14. //定义最大接收字节数 200，可根据需求调整
  15. #define UART1_REC_LEN 200
  16.  
  17. // 接收缓冲, 串口接收到的数据放在这个数组里，最大UART1_REC_LEN个字节
  18. uint8_t UART1_RX_Buffer[UART1_REC_LEN];
  19.  
  20. //  接收状态
  21. //  bit15，      接收完成标志
  22. //  bit14，      接收到0x0d
  23. //  bit13~0，    接收到的有效字节数目
  24. uint16_t UART1_RX_STA=0;
  25.  
  26. #define SIZE 12
  27.  
  28. char buffer[SIZE];
  29.  
  30. // 接收完成回调函数，收到一个数据后，在这里处理
  31. void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
  32. {
  33. 	// 判断中断是由哪个串口触发的
  34. 	if(huart->Instance == USART1)
  35. 	{
  36. 		// 判断接收是否完成（UART1_RX_STA bit15 位是否为1）
  37. 		if((UART1_RX_STA & 0x8000) == 0)
  38. 		{
  39. 			// 如果已经收到了 0x0d （回车），
  40. 			if(UART1_RX_STA & 0x4000)
  41. 			{
  42. 				// 则接着判断是否收到 0x0a （换行）
  43. 				if(buf == 0x0a)
  44. 				{
  45. 					// 如果 0x0a 和 0x0d 都收到，则将 bit15 位置为1
  46. 					UART1_RX_STA |= 0x8000;
  47. 					
  48. 					if(!strcmp(UART1_RX_Buffer,"WIFI GOT UP"))
  49. 						AT_Connect_Net_Flag=1;
  50. 					if(!strcmp(UART1_RX_Buffer,"OK"))
  51. 						AT_OK_Flag =1;
  52. 					if(!strcmp(UART1_RX_Buffer,"0,CONNECT"))
  53. 						AT_Connect_Net_Flag=1;
  54. 					
  55. 					// 控制指令
  56. 					if(!strcmp(UART1_RX_Buffer, "+IPD,0,4:M1"))
  57. 						goForward();
  58. 					else if(!strcmp(UART1_RX_Buffer, "+IPD,0,4:M2"))
  59. 						goBack();
  60. 					else if(!strcmp(UART1_RX_Buffer, "+IPD,0,4:M3"))
  61. 						goLeft();
  62. 					else if(!strcmp(UART1_RX_Buffer, "+IPD,0,4:M4"))
  63. 						goRight();
  64. 					else if((!strcmp(UART1_RX_Buffer, "+IPD,0,4:M0")))
  65. 						stop();
  66. 					
  67. 					memset(UART1_RX_Buffer, 0, UART1_REC_LEN);
  68. 					UART1_RX_STA = 0;
  69. 				}
  70. 				else
  71. 					// 否则认为接收错误，重新开始
  72. 					UART1_RX_STA = 0;
  73. 			}
  74. 			else	// 如果没有收到了 0x0d （回车）
  75. 			{
  76. 				//则先判断收到的这个字符是否是 0x0d （回车）
  77. 				if(buf == 0x0d)
  78. 				{
  79. 					// 是的话则将 bit14 位置为1
  80. 					UART1_RX_STA |= 0x4000;
  81. 				}
  82. 				else
  83. 				{
  84. 					// 否则将接收到的数据保存在缓存数组里
  85. 					UART1_RX_Buffer[UART1_RX_STA & 0X3FFF] = buf;
  86. 					UART1_RX_STA++;
  87. 					
  88. 					// 如果接收数据大于UART1_REC_LEN（200字节），则重新开始接收
  89. 					if(UART1_RX_STA > UART1_REC_LEN - 1)
  90. 						UART1_RX_STA = 0;
  91. 				}
  92. 			}
  93. 		}
  94. 		// 重新开启中断
  95. 		HAL_UART_Receive_IT(&huart1, &buf, 1);
  96. 	}
  97. }
  98.  
  99. int fputc(int ch, FILE *f)
  100. {      
  101. 	unsigned char temp[1]={ch};
  102. 	HAL_UART_Transmit(&huart1,temp,1,0xffff);  
  103. 	return ch;
  104. }

main.c

  1. #include "motor.h"
  2. #include "stdio.h"
  3. #include "oled.h"
  4. #include "esp8266.h"
  5. extern char FSSJ[];
  6. extern uint8_t buf;
  7.  
  8. unsigned int speedCnt=0;
  9. char speedMes[24];
  10.  
  11. void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
  12. {
  13. if (GPIO_Pin == GPIO_PIN_14)
  14. 	if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_14) == GPIO_PIN_RESET)
  15. 		speedCnt++;
  16. }
  17. void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
  18. {
  19. 	
  20. 	printf(FSSJ);
  21. 	HAL_Delay(50);
  22. 	sprintf(speedMes,"%2d cm/s",speedCnt);
  23. 	printf(speedMes);
  24. 	Oled_Show_Str(2,2,speedMes);
  25. 	speedCnt = 0;
  26. }
  27.  
  28. main函数：
  29.  
  30. HAL_UART_Receive_IT(&huart1,&buf,1);
  31. HAL_TIM_Base_Start_IT(&htim2);//开启定时器
  32. Oled_Init();
  33. Oled_Screen_Clear();
  34. HAL_Delay(1000);
  35. initWifi_AP();
  36. waitConnect();

13. 语音控制小车

 硬件接线 循迹小车： 循迹模块（左） -- PB3         循迹模块（右） -- PB4

                跟随小车： 跟随模块（左） -- PA8         跟随模块（右） -- PA9

                避障小车： sg90：PB9         Trig：PA10         Echo：PA11

                OLED模块： SCL -- PB6         SDA -- PB7

                语音模块： A25 -- PA15 （跟随）         A26 -- PA13 （避障）     A27 -- PA14 （循迹）

CUBEMX配置：

 SU-03配置：

  1. #include "sg90.h"
  2. #include "sr04.h"
  3. #include "motor.h"
  4. #include "oled.h"
  5. #include "string.h"
  6. #define MIDDLE 0
  7. #define LEFT 1
  8. #define RIGHT 2
  9. #define BZ 1
  10. #define XJ 2
  11. #define GS 3
  12. #define LeftWheel_Value_XJ HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3)
  13. #define RightWheel_Value_XJ HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4)
  14. #define LeftWheel_Value_GS HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_8)
  15. #define RightWheel_Value_GS HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_9)
  16. #define XJ_VALUE HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_14)
  17. #define GS_VALUE HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_15)
  18. #define BZ_VALUE HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_13)
  19. char dir;
  20. void xunjiMode()
  21. {
  22. if(LeftWheel_Value_XJ == GPIO_PIN_RESET && RightWheel_Value_XJ == GPIO_PIN_RESET)
  23. goForward();
  24. if(LeftWheel_Value_XJ == GPIO_PIN_SET && RightWheel_Value_XJ == GPIO_PIN_RESET)
  25. goLeft();
  26. if(LeftWheel_Value_XJ == GPIO_PIN_RESET && RightWheel_Value_XJ == GPIO_PIN_SET)
  27. goRight();
  28. if(LeftWheel_Value_XJ == GPIO_PIN_SET && RightWheel_Value_XJ == GPIO_PIN_SET)
  29. stop();
  30. }
  31. void gensuiMode()
  32. {
  33. if(LeftWheel_Value_GS == GPIO_PIN_RESET && RightWheel_Value_GS == GPIO_PIN_RESET)
  34. goForward();
  35. if(LeftWheel_Value_GS == GPIO_PIN_SET && RightWheel_Value_GS == GPIO_PIN_RESET)
  36. goRight();
  37. if(LeftWheel_Value_GS == GPIO_PIN_RESET && RightWheel_Value_GS == GPIO_PIN_SET)
  38. goLeft();
  39. if(LeftWheel_Value_GS == GPIO_PIN_SET && RightWheel_Value_GS == GPIO_PIN_SET)
  40. stop();
  41. }
  42. void bizhangMode()
  43. {
  44. double disMiddle;
  45. double disLeft;
  46. double disRight;
  47. if(dir != MIDDLE){
  48. sgMiddle();
  49. dir = MIDDLE;
  50. HAL_Delay(300);
  51. }
  52. disMiddle = get_distance();
  53. if(disMiddle > 35){
  54. //前进
  55. goForward();
  56. }else if(disMiddle < 10){
  57. goBack();
  58. }else
  59. {
  60. //停止
  61. stop();
  62. //测左边距离
  63. sgLeft();
  64. HAL_Delay(300);
  65. disLeft = get_distance();
  66. sgMiddle();
  67. HAL_Delay(300);
  68. sgRight();
  69. dir = RIGHT;
  70. HAL_Delay(300);
  71. disRight = get_distance();
  72. if(disLeft < disRight){
  73. goRight();
  74. HAL_Delay(150);
  75. stop();
  76. }
  77. if(disRight < disLeft){
  78. goLeft();
  79. HAL_Delay(150);
  80. stop();
  81. }
  82. }
  83. HAL_Delay(50);
  84. }
  85. int main(void)
  86. {
  87. int mark = 0;
  88. HAL_Init();
  89. SystemClock_Config();
  90. MX_GPIO_Init();
  91. MX_TIM4_Init();
  92. MX_TIM2_Init();
  93. MX_I2C1_Init();
  94. /* USER CODE BEGIN 2 */
  95. initSG90();
  96. HAL_Delay(1000);
  97. dir = MIDDLE;
  98. Oled_Init();
  99. Oled_Screen_Clear();
  100. Oled_Show_Str(2,2,"-----Ready----");
  101. /* USER CODE END 2 */
  102. /* Infinite loop */
  103. /* USER CODE BEGIN WHILE */
  104. while (1)
  105. {
  106. /* USER CODE END WHILE */
  107. /* USER CODE BEGIN 3 */
  108. //满足循迹模式的条件
  109. if(XJ_VALUE == GPIO_PIN_RESET && GS_VALUE == GPIO_PIN_SET && BZ_VALUE ==
  110. GPIO_PIN_SET)
  111. {
  112. if(mark != XJ)
  113. {
  114. Oled_Screen_Clear();
  115. Oled_Show_Str(2,2,"-----XunJi----");
  116. }
  117. mark = XJ;
  118. xunjiMode();
  119. }
  120. //满足跟随模式的条件
  121. if(XJ_VALUE == GPIO_PIN_SET && GS_VALUE == GPIO_PIN_RESET && BZ_VALUE ==
  122. GPIO_PIN_SET)
  123. {
  124. if(mark != GS)
  125. {
  126. Oled_Screen_Clear();
  127. Oled_Show_Str(2,2,"-----GenSui----");
  128. }
  129. mark = GS;
  130. gensuiMode();
  131. }
  132. //满足避障模式的条件
  133. if(XJ_VALUE == GPIO_PIN_SET && GS_VALUE == GPIO_PIN_SET && BZ_VALUE ==
  134. GPIO_PIN_RESET)
  135. {
  136. if(mark != BZ)
  137. {
  138. Oled_Screen_Clear();
  139. Oled_Show_Str(2,2,"-----BiZhang----");
  140. }
  141. mark = BZ;
  142. bizhangMode();
  143. }
  144. HAL_Delay(50);
  145. }
  146. /* USER CODE END 3 */
  147. }

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