开源！升级你的桌面宠物（接入语音模块）
必读：此开源文章为第一篇（开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_stm32桌宠-CSDN博客）的续作，第一篇所制作的桌面宠物仅能通过手机app进行蓝牙遥控，而升级版的桌面宠物已如视频中可以语音和蓝牙同时控制。因两版本大体结构和原理相似，故本文不再重复第一篇文章的内容。重在开源更新后的stm32代码和语音模块的程序设计，以及整体结构的简单介绍。
开源协议：严禁商用；以视频或其他形式发布到互联网上的（包括成果和资料等），必须署名作者“有出息的男孩_”。
注意：语音模块我使用的是ASRPRO（核心板和开发板都可以，开发板更方便），利用自带的两个串口，实现和单片机、蓝牙模块的通信。使用这种ASRPRO核心板
的小伙伴需注意，请仔细看核心板原理图的电源设计部分是否有缺陷，5V口要额外需串接一个4.7欧姆的电阻防止浪涌和尖峰导致芯片烧毁。
这是官方公告：
软件运行框图：
STM32程序修改：
原本不需要修改，但是我无论怎么试，语音模块都发不了正确的数据格式，那就干脆给让32多加点判断类型。
例如：
原程序判断为
if(move_mode == 8){//前进
加入语音模块的指令‘8’ ，修改为
if(move_mode == 8 || move_mode == '8'){//前进
修改后的整个main文件：
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
#include <stdio.h>
#include "oled.h"
#include "bmp.h"
uint8_t move_mode = 0;
uint8_t flag = 0;
#define move_delay 150
#define move_speed 4
void SystemClock_Config(void);
void Rbt_Init(void);
uint16_t angle(uint8_t angle);
void Rbt_attention(void);
void move_forward(void);
void move_behind(void);
void move_right(void);
void move_left(void);
void move_swing(void);
void move_stretch(void);
void move_sleep(void);
void move_dance(void);
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(move_mode == 8 || move_mode == '8'){
OLED_Clear();
OLED_DrawBMP(0,0,128,8,BMP2);
}
else if(move_mode == 2 || move_mode == '2'){
OLED_Clear();
OLED_DrawBMP(0,0,128,8,BMP2);
}
else if(move_mode == 4 || move_mode == '4'){
OLED_Clear();
OLED_DrawBMP(0,0,128,8,BMP4);
}
else if(move_mode == 6 || move_mode == '6'){
OLED_Clear();
OLED_DrawBMP(0,0,128,8,BMP3);
}
else if(move_mode == 'A' || move_mode == '7'){
OLED_Clear();
OLED_DrawBMP(0,0,128,8,BMP2);
}
HAL_UART_Receive_IT(&huart1, &move_mode, 1);
}
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_TIM2_Init();
MX_USART1_UART_Init();
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
Rbt_Init();
HAL_UART_Receive_IT(&huart1, &move_mode, 1);
HAL_Delay(500);
OLED_Init();
OLED_Clear();
OLED_DrawBMP(0,0,128,8,BMP6);
while (1)
{
if(move_mode == 8 || move_mode == '8'){
OLED_DrawBMP(0,0,128,8,BMP2);
move_forward();
printf("forwardrn");
HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
flag=0;
}
else if(move_mode == 2 || move_mode == '2'){
OLED_DrawBMP(0,0,128,8,BMP2);
move_behind();
printf("behindrn");
HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
flag=0;
}
else if(move_mode == 4 || move_mode == '4'){
move_left();
printf("leftrn");
HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
flag=0;
}
else if(move_mode == 6 || move_mode == '6'){
OLED_DrawBMP(0,0,128,8,BMP3);
move_right();
printf("rightrn");
HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
flag=0;
}
else if(move_mode == 5 || move_mode == 'C' || move_mode == '1'){
OLED_DrawBMP(0,0,128,8,BMP1);
Rbt_attention();
printf("stoprn");
HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
flag=0;
}
else if(move_mode == 'A' || move_mode == '7'){
OLED_DrawBMP(0,0,128,8,BMP2);
move_swing();
printf("swingrn");
HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
flag=0;
}
else if(move_mode == 'B' || move_mode == '9'){
if(flag==0){
OLED_DrawBMP(0,0,128,8,BMP2);
move_stretch();
printf("stretchrn");
OLED_DrawBMP(0,0,128,8,BMP5);
HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
flag=1;
}
}
else if(move_mode == 'D' || move_mode == '3'){
if(flag==0){
move_sleep();
printf("sleeprn");
OLED_DrawBMP(0,0,128,8,BMP6);
flag=0;
}
}
else if(move_mode == '0'){
move_dance();
printf("dancern");
HAL_Delay(200);
OLED_DrawBMP(0,0,128,8,BMP2);
HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
}
}
}
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
void Rbt_Init(void)
{
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(15));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(160));
HAL_Delay(100);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(167));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(20));
HAL_Delay(100);
}
uint16_t angle(uint8_t angle)
{
return angle*2000/180+500;
}
void Rbt_attention(void)
{
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
HAL_Delay(100);
}
void move_forward(void)
{
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(135));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(45));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(45));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(135));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
HAL_Delay(move_delay);
}
void move_behind(void)
{
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(135));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(45));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(45));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(135));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
HAL_Delay(move_delay);
}
void move_right(void)
{
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
HAL_Delay(move_delay);
}
void move_left(void)
{
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
HAL_Delay(move_delay);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
HAL_Delay(move_delay);
}
void move_swing(void)
{
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(130));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(130));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(50));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(50));
HAL_Delay(200);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(50));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(50));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(130));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(130));
HAL_Delay(200);
}
void move_stretch(void){
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
if(TIM2->CCR1<angle(155) && TIM2->CCR3>angle(25)){
for(uint8_t i=0;i<70;i++){
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90+i));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90-i));
HAL_Delay(move_speed);
}
HAL_Delay(1000);
for(uint8_t i=0;i<70;i++){
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(160-i));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(20+i));
HAL_Delay(move_speed);
}
for(uint8_t i=0;i<65;i++){
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90+i));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90-i));
HAL_Delay(move_speed);
}
for(uint8_t i=0;i<20;i++){
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90-i));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90+i));
HAL_Delay(move_speed);
}
HAL_Delay(1000);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140));
HAL_Delay(1000);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(178));
HAL_Delay(500);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140));
HAL_Delay(500);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(178));
HAL_Delay(500);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140));
HAL_Delay(500);
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(70));
}
}
void move_sleep(void){
if(TIM2->CCR3<angle(160) && TIM2->CCR1>angle(20)){
for(uint8_t i=0;i<75;i++){
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90-i));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90+i));
HAL_Delay(move_speed);
}
}
if(TIM2->CCR2<angle(160) && TIM2->CCR4>angle(20)){
for(uint8_t i=0;i<75;i++){
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90+i));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90-i));
HAL_Delay(move_speed);
}
}
}
void move_dance(void)
{
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
if(TIM2->CCR1<angle(160) && TIM2->CCR2<angle(160)){
for(uint8_t i=0;i<75;i++){
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90+i));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90+i));
HAL_Delay(move_speed);
}
for(uint8_t i=0;i<75;i++){
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(165-i));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(165-i));
HAL_Delay(move_speed);
}
}
if(TIM2->CCR3>angle(20) && TIM2->CCR4>angle(20)){
for(uint8_t i=0;i<75;i++){
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90-i));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90-i));
HAL_Delay(move_speed);
}
for(uint8_t i=0;i<75;i++){
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(15+i));
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(15+i));
HAL_Delay(move_speed);
}
}
}
void Error_Handler(void)
{
__disable_irq();
while (1)
{
}
}
#ifdef USE_FULL_ASSERT
void assert_failed(uint8_t *file, uint32_t line)
{
}
#endif /* USE_FULL_ASSERT */
语音模块程序设计 ：
使用天问block进行开发，积木编程。
1.设置一个全局变量，用于运动指令的存储
2. 配置语音
3.配置系统初始化，打开两个串口，打开定时器
4.配置语音指令对应的操作
5.配置定时器任务，用于蓝牙模块数据的接收和运动指令的发送
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