基于STM32的简化版人形机器人外设控制示例_基于stm32的鸭子机器人-优快云博客

本文链接：https://blog.youkuaiyun.com/lbh73/article/details/146611898

以下是一个基于STM32的简化版人形机器人外设控制示例，使用C++面向对象方式实现。需要根据具体硬件修改引脚配置（基于STM32F4xx HAL库）：

#include "main.h"
#include "stm32f4xx_hal.h"

// PWM舵机控制器类
class ServoController {
private:
    TIM_HandleTypeDef* htim;
    uint32_t channel;
    float min_pulse;
    float max_pulse;

public:
    ServoController(TIM_HandleTypeDef* timer, uint32_t ch, float min, float max)
        : htim(timer), channel(ch), min_pulse(min), max_pulse(max) {}

    void SetAngle(float angle) {
        float pulse = min_pulse + (max_pulse - min_pulse) * (angle / 180.0f);
        uint32_t compare = static_cast<uint32_t>((pulse * htim->Instance->ARR) / 20000.0f); // 20ms周期
        __HAL_TIM_SET_COMPARE(htim, channel, compare);
    }
};

// 六轴传感器类
class IMUSensor {
private:
    I2C_HandleTypeDef* hi2c;
    uint8_t dev_addr;
    
public:
    IMUSensor(I2C_HandleTypeDef* i2c, uint8_t addr) : hi2c(i2c), dev_addr(addr) {}
    
    bool Initialize() {
        uint8_t data = 0x00;
        return HAL_I2C_Mem_Write(hi2c, dev_addr, 0x6B, 1, &data, 1, 10) == HAL_OK;
    }
    
    void ReadData(float& ax, float& ay, float& az) {
        uint8_t buffer[6];
        if(HAL_I2C_Mem_Read(hi2c, dev_addr, 0x3B, 1, buffer, 6, 100) == HAL_OK) {
            ax = *(int16_t*)(buffer) / 16384.0f;
            ay = *(int16_t*)(buffer+2) / 16384.0f;
            az = *(int16_t*)(buffer+4) / 16384.0f;
        }
    }
};

// 系统管理器
class RobotSystem {
private:
    ServoController* leg_servos[4];
    IMUSensor* imu;
    
public:
    void InitPeripherals() {
        // 初始化时钟系统和外设
        HAL_Init();
        SystemClock_Config();
        
        // 初始化PWM定时器
        TIM_HandleTypeDef htim;
        htim.Instance = TIM1;
        htim.Init.Prescaler = 83;
        htim.Init.CounterMode = TIM_COUNTERMODE_UP;
        htim.Init.Period = 19999; // 20ms周期
        HAL_TIM_PWM_Init(&htim);
        
        // 创建舵机实例
        leg_servos[0] = new ServoController(&htim, TIM_CHANNEL_1, 500, 2500);
        // 添加更多舵机...
        
        // 初始化IMU
        I2C_HandleTypeDef hi2c;
        hi2c.Instance = I2C1;
        // 配置I2C参数...
        imu = new IMUSensor(&hi2c, 0x68);
        imu->Initialize();
    }
    
    void BalanceControl() {
        float ax, ay, az;
        imu->ReadData(ax, ay, az);
        
        // 简单平衡控制算法
        float angle = ay * 15.0f; // 比例系数调整
        leg_servos[0]->SetAngle(90 + angle);
        // 控制其他关节...
    }
};

// 全局系统实例
RobotSystem robot;

int main(void) {
    robot.InitPeripherals();
    
    while (1) {
        robot.BalanceControl();
        HAL_Delay(10); // 100Hz控制频率
    }
}

// 必要的HAL库回调函数
extern "C" void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim) {
    if(htim->Instance == TIM1) {
        __HAL_RCC_TIM1_CLK_ENABLE();
        __HAL_RCC_GPIOA_CLK_ENABLE();
        GPIO_InitTypeDef gpio;
        gpio.Pin = GPIO_PIN_8;
        gpio.Mode = GPIO_MODE_AF_PP;
        gpio.Pull = GPIO_NOPULL;
        gpio.Speed = GPIO_SPEED_HIGH;
        gpio.Alternate = GPIO_AF1_TIM1;
        HAL_GPIO_Init(GPIOA, &gpio);
    }
}

// 系统时钟配置（根据实际硬件修改）
void SystemClock_Config(void) {
    RCC_OscInitTypeDef osc = {0};
    osc.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    osc.HSEState = RCC_HSE_ON;
    osc.PLL.PLLState = RCC_PLL_ON;
    osc.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    osc.PLL.PLLM = 8;
    osc.PLL.PLLN = 336;
    osc.PLL.PLLP = RCC_PLLP_DIV2;
    osc.PLL.PLLQ = 7;
    HAL_RCC_OscConfig(&osc);
    
    RCC_ClkInitTypeDef clk = {0};
    clk.ClockType = RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | 
                    RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    clk.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    clk.AHBCLKDivider = RCC_SYSCLK_DIV1;
    clk.APB1CLKDivider = RCC_HCLK_DIV4;  
    clk.APB2CLKDivider = RCC_HCLK_DIV2;
    HAL_RCC_ClockConfig(&clk, FLASH_LATENCY_5);
}