STM32循跡小車
第一天:硬件平臺介紹
硬件平臺:
控制模塊:正點原子STM32精英開發板
驅動模塊:L298N兩路電機驅動模塊,兩路pwm控制,正反轉控制
轉向控制:S3010舵機,由20ms脈寬pwm信號控制轉向
循跡模塊:5路光電對管循跡模塊RS016
藍牙模塊:待定
小車平臺:10年前飛思卡爾比賽車模
軟件設計平臺:
STM32程序開發:MDK5 Keil uVision5
Android APP開發:AndroidStudio2.2.2
預計實現功能:
1、遙控模式,通過紅外遙控控制前進後退停止轉向,連續調速
2、自動模式,通過循跡模塊自動檢測黑線並跟蹤行駛
3、手機控制,通過Android定製APP控制小車前進後退停止轉向,連續調速
已經實現功能:遙控模式,下附主要源代碼:
#define MIN_zou 1000 //向左
#define Z_qian 1200 //向前
#define MAX_you 1400 //向右
/*
循跡車引腳接線:
PG13/PG14引腳控制車前進(1,0)/倒退(0,1),接L298控制引腳IN4/IN3
定時器3通道2對應引腳PB5控制舵機轉向,由20ms脈寬920-2120高電平控制。黑線(接地),紅線(電源線),白色(控制線)
定時器3通道4對應引腳PB1控制車驅動電機轉速
*/
//pwm波輸出 開發板驗證
void TIM3_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStrcut;
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStrcut;
TIM_OCInitTypeDef TIM_OCInitStrcut;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); //複用端口需要使能AFIO時鐘
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE); //使能TIM3時鐘
GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3,ENABLE); //端口部分重映射
//設置該引腳爲複用輸出功能,輸出 TIM3 CH2 的 PWM 脈衝波形 GPIOB.5
GPIO_InitStrcut.GPIO_Mode = GPIO_Mode_AF_PP; //複用推輓輸出
GPIO_InitStrcut.GPIO_Pin = GPIO_Pin_5|GPIO_Pin_1; //
GPIO_InitStrcut.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_InitStrcut);
//定時器初始化
TIM_TimeBaseInitStrcut.TIM_CounterMode=TIM_CounterMode_Up;//計數模式
TIM_TimeBaseInitStrcut.TIM_Period=arr; //重裝值
TIM_TimeBaseInitStrcut.TIM_Prescaler=psc; //分頻值
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStrcut);
//PWM相關寄存器初始化
TIM_OCInitStrcut.TIM_OCMode = TIM_OCMode_PWM2; //選擇 PWM 模式 2
TIM_OCInitStrcut.TIM_OutputState = TIM_OutputState_Enable; //比較輸出使能
TIM_OCInitStrcut.TIM_OCPolarity = TIM_OCPolarity_Low; //輸出極性高
TIM_OC2Init(TIM3, &TIM_OCInitStrcut); //初始化外設 TIM3 OC2通道2
TIM_OC4Init(TIM3, &TIM_OCInitStrcut); //初始化外設 TIM3 OC2通道4
TIM_OC2PreloadConfig(TIM3,TIM_OCPreload_Enable); //裝載預裝值
TIM_Cmd(TIM3,ENABLE); //使能定時器3
}
void Init_GPIO1(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOG, ENABLE); //使能PB,PE端口時鐘
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14; //LED0-->PB.5 端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推輓輸出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度爲50MHz
GPIO_Init(GPIOG, &GPIO_InitStructure); //根據設定參數初始化GPIOB.5
}
int main(void)
{
u8 key; //鍵值
u16 led0pwmval=Z_qian,pwm_sudu=0;
u8 *str=0;
delay_init(); //延時函數初始化
Init_GPIO1();
LCD_Init(); //初始化LCD
W25QXX_Init(); //初始化W25Q128
Remote_Init();
TIM3_PWM_Init(14399,99);
TIM_SetCompare2(TIM3,led0pwmval);
TIM_SetCompare4(TIM3,pwm_sudu);
POINT_COLOR=RED;
while(font_init()) //檢查字庫
{
LCD_ShowString(30,50,16,"Font Error!",0);
delay_ms(200);
LCD_Fill(30,50,240,66,WHITE);//清除顯示
delay_ms(200);
}
Show_Str(30,30,200,16,"循跡小車調試界面",16,0);
Show_Str(30,70,200,16,"PWM捕獲寄存器值:",16,0);
Show_Str(30,100,200,16,"遙控接收值:",16,0);
Show_Str(30,130,200,16,"按鍵連按次數:",16,0);
Show_Str(30,160,200,16,"按鍵鍵值:",16,0);
Show_Str(30,190,200,16,"速度PWM值:",16,0);
POINT_COLOR=BLUE;
Show_Str(30,210,200,64,"|<< :向左 2 :前進",16,0);
Show_Str(30,230,200,64,">>| :向右 8 :倒退",16,0);
Show_Str(30,250,200,64,">|| :向前 5 :停止",16,0);
Show_Str(30,270,200,64,"VOL+/- :快/慢",16,0);
Show_Str(30,300,200,64,"上/下 :左/右",16,0);
// Show_Str(30,350,200,64,"2 :前進",16,0);
// Show_Str(30,370,200,64,"8 :倒退",16,0);
// Show_Str(30,390,200,64,"5 :停止",16,0);
while(1)
{
key=Remote_Scan();
if(key)
{
switch(key)
{
case 98:
{
str="UP";
led0pwmval += 20;
if(led0pwmval >= MAX_you)led0pwmval=MAX_you;
TIM_SetCompare2(TIM3,led0pwmval);
}break;
case 194:
{
str="RIGHT";
led0pwmval = MIN_zou;
TIM_SetCompare2(TIM3,led0pwmval);
}break;
case 34:
{
str="LEFT";
led0pwmval = MAX_you;
TIM_SetCompare2(TIM3,led0pwmval);
}break;
case 168:
{
str="DOWN";
if(led0pwmval >= (MIN_zou+20))led0pwmval -= 20;
else led0pwmval = MIN_zou;
TIM_SetCompare2(TIM3,led0pwmval);
}break;
case 2:
{
str="PLAY";
led0pwmval=Z_qian;
TIM_SetCompare2(TIM3,led0pwmval);
}break;
case 224:
{
str="VOL-";
if(pwm_sudu >=100)pwm_sudu-=100;
else pwm_sudu=0;
TIM_SetCompare4(TIM3,pwm_sudu);
}break;
case 144:
{
str="VOL+";
if(pwm_sudu <= 8000)pwm_sudu+=100;
else pwm_sudu=8000;
TIM_SetCompare4(TIM3,pwm_sudu);
}break;
case 56:
{
str="8";
TIM_SetCompare4(TIM3,pwm_sudu);
delay_ms(100);
PGout(13) = 0;
PGout(14) = 1;
}break;
case 152:
{
str="2";
TIM_SetCompare4(TIM3,pwm_sudu);
delay_ms(100);
PGout(13) = 1;
PGout(14) = 0;
}break;
case 24:
{
str="5";
if(pwm_sudu>=3000){
TIM_SetCompare4(TIM3,pwm_sudu/2);
delay_ms(200);
}
PGout(13) = 0;
PGout(14) = 0;
delay_ms(20);
}break;
}
LCD_ShowNum(30+8*16,70,led0pwmval,5,16);
LCD_ShowNum(30+8*10,100,key,4,16);
LCD_ShowNum(30+8*14,130,RmtCnt,3,16);
LCD_ShowString(30+8*10,160,16," ",0);
LCD_ShowString(30+8*10,160,16,str,0);
LCD_ShowNum(30+8*14,190,pwm_sudu,5,16);
}
delay_ms(150);
}
}
後續功能開發待續,不定時更新,業餘作品,預計一個月左右更新完成。
源碼開發過程中隨時會修正更改,暫時不提供完整代碼。