3
boojun · 2022年01月20日

【XR806开发板试用】基于XR806实现智能小车

IoT嵌入式系统”星辰“CPUxr806

一、实验功能：
1、 基于XR806实现WIFI连接路由器
2、 XR806设备创建TCP socket服务器，局域网内通过PC端TCP客服端连接XR806 TCP服务器进行指令控制小车运行（指令Ａ：前进、Ｂ：后退、Ｃ：左转、Ｄ：右转、Ｉ：停止）。
3、 小车行进由GPIO控制电机转动，行进速度通过XR806硬件定时器实现GPIO的PWM脉宽调制来控制小车行进速度。
4、 创建双线程实现智能小车，一个线程负责小车运行，一个线程主要用于TCP socket服务器完成与TCP客服端的指令收发。
实物图：
9.png
二、开发环境安装配置
开发环境安装配置参考https://aijishu.com/a/1060000...博文，实现基于优麒麟ubuntukylin-20.04，使用的OpenHarmony代码版本是1.0.1_release。

鸿蒙系统固件烧录参考了下面这个贴子：
https://aijishu.com/a/1060000...　全志 XR806 OpenHarmony 鸿蒙系统固件烧录。
tcp socket通信参考帖子：
https://aijishu.com/a/1060000...　【XR806开发板试用】xr806使用tcp socket与手机通信

三、硬件连接电路
小车驱动板电路图
电源电路：输入7.2V-12V电源，通过LM2596S稳压IC输出5V电源
1.png
车轮驱动电路，采用L293芯片驱动电机。EN使能默认悬空为高电平，只需控制电机的GPIO口输出高低电平即可实现车轮的转动，如车轮电机T1,控制GPIO口为PD
2.png
XR806开发板接口图如下：
4.png
电机控制信号与XR806开发板IO口定义：
１1.png
四、项目实现
参考了官方的点灯教程
创建工程
在device/xradio/xr806/ohosdemo中新建一个文件夹，并命令为smart_car。
在文件夹中新建文件
`~/share/XR806/openharmony/device/xradio/xr806/ohosdemo/smart_car$ tree -L 2
.
├── BUILD.gn
└── smart_car

├── BUILD.gn
└── main.c
├── motor.h
└── motor.c
├── tcp_net_socket.h
└── tcp_net_socket.c`

修改device/xradio/xr806/ohosdemo/smart_car/BUILD.gn
`import("//device/xradio/xr806/liteos_m/config.gni")

static_library("app_smart_car") {
configs = []

sources = [

  "src/main.c",
  "src/tcp_net_socket.c",
  "src/motor.c",

]

cflags = board_cflags

include_dirs = board_include_dirs
include_dirs += [

  "//kernel/liteos_m/kernel/arch/include",
  "//base/iot_hardware/peripheral/interfaces/kits",
  "//utils/native/lite/include",
  "//foundation/communication/wifi_lite/interfaces/wifiservice",
  "//third_party/lwip/src/include",
  "//third_party/cJSON",

]
}`
电机控制信号与XR806开发板IO口定义：

#define GPIO_ID_PA11 11
#define GPIO_ID_PA12 12
#define GPIO_ID_PA13 13
#define GPIO_ID_PA19 19
#define GPIO_ID_PA20 20
#define GPIO_ID_PA21 21
#define GPIO_ID_PA22 22
#define GPIO_ID_PA23 23

#define GPIO_ID_PB3 27
#define GPIO_ID_PB4 28
#define GPIO_ID_PB5 29
#define GPIO_ID_PB6 30
#define GPIO_ID_PB7 31
#define GPIO_ID_PB14 38
#define GPIO_ID_PB15 39

#define FRONT_LEFT_F_PIN        GPIO_ID_PA12 
#define FRONT_LEFT_F_SET        IoTGpioSetOutputVal(FRONT_LEFT_F_PIN,1);
#define FRONT_LEFT_F_RESET      IoTGpioSetOutputVal(FRONT_LEFT_F_PIN,0);
                                
#define FRONT_LEFT_B_PIN        GPIO_ID_PA13 
#define FRONT_LEFT_B_SET        IoTGpioSetOutputVal(FRONT_LEFT_B_PIN,1);
#define FRONT_LEFT_B_RESET      IoTGpioSetOutputVal(FRONT_LEFT_B_PIN,0);
                                
#define FRONT_RIGHT_F_PIN       GPIO_ID_PB7
#define FRONT_RIGHT_F_SET       IoTGpioSetOutputVal(FRONT_RIGHT_F_PIN,1);
#define FRONT_RIGHT_F_RESET     IoTGpioSetOutputVal(FRONT_RIGHT_F_PIN,0);
                                
#define FRONT_RIGHT_B_PIN       GPIO_ID_PB5
#define FRONT_RIGHT_B_SET       IoTGpioSetOutputVal(FRONT_RIGHT_B_PIN,1);
#define FRONT_RIGHT_B_RESET     IoTGpioSetOutputVal(FRONT_RIGHT_B_PIN,0);
                                
#define BEHIND_LEFT_F_PIN       GPIO_ID_PA19
#define BEHIND_LEFT_F_SET       IoTGpioSetOutputVal(BEHIND_LEFT_F_PIN,1);
#define BEHIND_LEFT_F_RESET     IoTGpioSetOutputVal(BEHIND_LEFT_F_PIN,0);
                                
#define BEHIND_LEFT_B_PIN       GPIO_ID_PA20
#define BEHIND_LEFT_B_SET       IoTGpioSetOutputVal(BEHIND_LEFT_B_PIN,1);
#define BEHIND_LEFT_B_RESET     IoTGpioSetOutputVal(BEHIND_LEFT_B_PIN,0);
                                
#define BEHIND_RIGHT_F_PIN      GPIO_ID_PB6
#define BEHIND_RIGHT_F_SET      IoTGpioSetOutputVal(BEHIND_RIGHT_F_PIN,1);
#define BEHIND_RIGHT_F_RESET    IoTGpioSetOutputVal(BEHIND_RIGHT_F_PIN,0);
                                
#define BEHIND_RIGHT_B_PIN      GPIO_ID_PB4
#define BEHIND_RIGHT_B_SET      IoTGpioSetOutputVal(BEHIND_RIGHT_B_PIN,1);
#define BEHIND_RIGHT_B_RESET    IoTGpioSetOutputVal(BEHIND_RIGHT_B_PIN,0);

小车电机驱动配置


//左前
#define FRONT_LEFT_GO    FRONT_LEFT_F_SET; FRONT_LEFT_B_RESET//前进
#define FRONT_LEFT_BACK  FRONT_LEFT_F_RESET; FRONT_LEFT_B_SET//后退
#define FRONT_LEFT_STOP  FRONT_LEFT_F_RESET; FRONT_LEFT_B_RESET//停止

//右前
#define FRONT_RIGHT_GO     FRONT_RIGHT_F_SET;  FRONT_RIGHT_B_RESET
#define FRONT_RIGHT_BACK   FRONT_RIGHT_F_RESET;FRONT_RIGHT_B_SET
#define FRONT_RIGHT_STOP   FRONT_RIGHT_F_RESET;FRONT_RIGHT_B_RESET

//左后
#define BEHIND_LEFT_GO     BEHIND_LEFT_F_SET;BEHIND_LEFT_B_RESET
#define BEHIND_LEFT_BACK   BEHIND_LEFT_F_RESET;BEHIND_LEFT_B_SET
#define BEHIND_LEFT_STOP   BEHIND_LEFT_F_RESET;BEHIND_LEFT_B_RESET

//右后
#define BEHIND_RIGHT_GO    BEHIND_RIGHT_F_SET;BEHIND_RIGHT_B_RESET
#define BEHIND_RIGHT_BACK  BEHIND_RIGHT_F_RESET;BEHIND_RIGHT_B_SET
#define BEHIND_RIGHT_STOP  BEHIND_RIGHT_F_RESET;BEHIND_RIGHT_B_RESET


//全局变量定义
#define SPEED_DUTY 40//默认占空比 按1ms最小分辨率 周期50ms计算
unsigned int speed_count=0;//占空比计数器 50次一周期
char front_left_speed_duty=SPEED_DUTY;
char front_right_speed_duty=SPEED_DUTY;
char behind_left_speed_duty=SPEED_DUTY;
char behind_right_speed_duty=SPEED_DUTY;

定时器实现小车PWM控制
`void timer_callback(void *arg)
{

/*sec_count++;
printf(" timer irq: %d\n\r", sec_count);
IoTGpioSetOutputVal(11, sec_count%2);*/

tick_1ms++;
if(tick_1ms >= 10)
{
    tick_1ms = 0;
    speed_count++;
    tick_5ms++;
    if(speed_count >= 50)
    {
        speed_count = 0;
    }
    CarMove();
}

}
int timer_init(void)
{

HAL_Status status = HAL_ERROR;
TIMER_InitParam param;

param.arg = NULL;
param.callback = timer_callback;
param.cfg = HAL_TIMER_MakeInitCfg(TIMER_MODE_REPEAT,      /*timer mode*/
                                  TIMER_CLK_SRC_HFCLK,      /*HFCLOCK*/
                                  TIMER_CLK_PRESCALER_4); /*CLK_PRESCALER*/
param.isEnableIRQ = 1;
param.period = COUNT_TIME * (HFCLOCK / CLK_PRESCALER);

status = HAL_TIMER_Init(TIMERID, &param);
if (status != HAL_OK)
    printf("timer int error %d\n", status);

return status;

}`
小车前进函数，根据占空比驱动电机转动
`void CarMove(void)
{
//左前轮

if(front_left_speed_duty > 0)//向前
{
    if(speed_count < front_left_speed_duty)
    {
        FRONT_LEFT_GO;
    }else
    {
        FRONT_LEFT_STOP;
    }
}
else if(front_left_speed_duty < 0)//向后
{
    if(speed_count < (-1)*front_left_speed_duty)
    {
        FRONT_LEFT_BACK;
    }else
    {
        FRONT_LEFT_STOP;
    }
}
else                //停止
{
    FRONT_LEFT_STOP;
}

    //右前轮
if(front_right_speed_duty > 0)//向前
{
    if(speed_count < front_right_speed_duty)
    {
        FRONT_RIGHT_GO;
    }else                //停止
    {
        FRONT_RIGHT_STOP;
    }
}
else if(front_right_speed_duty < 0)//向后
{
    if(speed_count < (-1)*front_right_speed_duty)
    {
        FRONT_RIGHT_BACK;
    }else                //停止
    {
        FRONT_RIGHT_STOP;
    }
}
else                //停止
{
    FRONT_RIGHT_STOP;
}

//左后轮
if(behind_left_speed_duty > 0)//向前
{
    if(speed_count < behind_left_speed_duty)
    {
        BEHIND_LEFT_GO;
    }    else                //停止
    {
        BEHIND_LEFT_STOP;
    }
}
else if(behind_left_speed_duty < 0)//向后
{
    if(speed_count < (-1)*behind_left_speed_duty)
    {
        BEHIND_LEFT_BACK;
    }    else                //停止
    {
        BEHIND_LEFT_STOP;
    }
}
else                //停止
{
    BEHIND_LEFT_STOP;
}

    //右后轮
if(behind_right_speed_duty > 0)//向前
{
    if(speed_count < behind_right_speed_duty)
    {
        BEHIND_RIGHT_GO;
    }    else                //停止
    {
        BEHIND_RIGHT_STOP;
    }
}
else if(behind_right_speed_duty < 0)//向后
{
    if(speed_count < (-1)*behind_right_speed_duty)
    {
        BEHIND_RIGHT_BACK;
    }    else                //停止
    {
        BEHIND_RIGHT_STOP;
    }
}
else                //停止
{
    BEHIND_RIGHT_STOP;
}

}

//向前
void CarGo(void)
{

front_left_speed_duty=25;//SPEED_DUTY 50
front_right_speed_duty=25;
behind_left_speed_duty=25;
behind_right_speed_duty=25;

}

//后退
void CarBack(void)
{

front_left_speed_duty=-50;//SPEED_DUTY
front_right_speed_duty=-50;
behind_left_speed_duty=-50;
behind_right_speed_duty=-50;

}

//向左
void CarLeft(void)
{

front_left_speed_duty=-20;
front_right_speed_duty=SPEED_DUTY;
behind_left_speed_duty=-20;
behind_right_speed_duty=SPEED_DUTY+10;//增加后轮驱动力

}

//向右
void CarRight(void)
{

front_left_speed_duty=SPEED_DUTY;
front_right_speed_duty=-20;
behind_left_speed_duty=SPEED_DUTY+10;//增加后轮驱动力
behind_right_speed_duty=-20;

}

//停止
void CarStop(void)
{

front_left_speed_duty=0;
front_right_speed_duty=0;
behind_left_speed_duty=0;
behind_right_speed_duty=0;

}`

项目编译
5.png

下载固件
device\xradio\xr806\xr_skylark\out\xr_system.img
6.png

PC端TCP客服端边连接小车下发指令。
7.png
小车指令接收串口打印
8.png

五、碰到问题
编译报数据溢出错误：

[OHOS ERROR] chmod 777 ../../../../../tools/mkimage && ../../../../../tools/mkimage  -c .image.cfg -o xr_system.img
[OHOS ERROR] err: bin 1 and bin 2 were overlaped!
[OHOS ERROR] Overlapped size: 1024 Byte(1kB)
[OHOS ERROR] bin 1 name:app.bin    begin: 0x00008000    end: 0x00018000
[OHOS ERROR] bin 2 name:app_xip.bin    begin: 0x00017C00
[OHOS ERROR] 
[OHOS ERROR] We've rearranged bin files and generated new cfg file 'image_auto_cal.cfg', the new one is recommended.
[OHOS ERROR] Generate image file failed
[OHOS ERROR] cfg string:
[OHOS ERROR] /*
[OHOS ERROR]  *
[OHOS ERROR]  * Automatically generated file; DO NOT EDIT.
[OHOS ERROR]  * XR806 SDK Configuration
[OHOS ERROR]  *
[OHOS ERROR]  */
[OHOS ERROR] {
[OHOS ERROR]     "magic" : "AWIH",
[OHOS ERROR]     "version" : "0.5",
[OHOS ERROR]     "image" : {"max_size": "1532K"},
[OHOS ERROR]     "section" :[
[OHOS ERROR]   {"id": "0xa5ff5a00", "bin" :"boot_40M.bin", "cert": "null", "flash_offs": "0K", "sram_offs": "0x00230000", "ep": "0x00230101", "attr":"0x1"},
[OHOS ERROR]   {"id": "0xa5fe5a01", "bin" :"app.bin", "cert": "null", "flash_offs": "32K", "sram_offs": "0x00201000", "ep": "0x00201101", "attr":"0x1"},
[OHOS ERROR]   {"id": "0xa5fd5a02", "bin" :"app_xip.bin", "cert": "null", "flash_offs": "95K", "sram_offs": "0xffffffff", "ep": "0xffffffff", "attr":"0x2"},
[OHOS ERROR]   {"id": "0xa5fa5a05", "bin" :"wlan_bl.bin", "cert": "null", "flash_offs": "1166K", "sram_offs": "0xffffffff", "ep": "0xffffffff", "attr":"0x1"},
[OHOS ERROR]   {"id": "0xa5f95a06", "bin" :"wlan_fw.bin", "cert": "null", "flash_offs": "1169K", "sram_offs": "0xffffffff", "ep": "0xffffffff", "attr":"0x1"},
[OHOS ERROR]   {"id": "0xa5f85a07", "bin" :"sys_sdd_40M.bin", "cert": "null", "flash_offs": "1194K", "sram_offs": "0xffffffff", "ep": "0xffffffff", "attr":"0x1"},
[OHOS ERROR]   {}
[OHOS ERROR]  ]
[OHOS ERROR] }

查找出错点：
openharmony$ grep "1532K" device/xradio/xr806/xr_skylark/project -rn

device/xradio/xr806/xr_skylark/project/example/audio_play/image/xr806/image.cfg:6:    "image"   : {"max_size": "1532K", "xz_max_size": "1200K"},
device/xradio/xr806/xr_skylark/project/example/audio_play/image/xr806/image.cfg:8:    "image"   : {"max_size": "1532K"},
device/xradio/xr806/xr_skylark/project/demo/audio_demo/image/xr806/image.cfg:4:    "image" : {"max_size": "1532K"},
device/xradio/xr806/xr_skylark/project/demo/audio_demo/image/xr806/image_auto_cal.cfg:10:    "image" : {"max_size": "1532K"},
device/xradio/xr806/xr_skylark/project/demo/audio_demo/image/xr806/.image.cfg:10:    "image" : {"max_size": "1532K"},

XR806/openharmony/device/xradio/xr806/xr_skylark/project/demo/audio_demo/image/xr806$ ls -l

总用量 2404
-rwxrwxr-x 1 boarmy boarmy   64456 1月  17 20:01 app.bin
-rwxrwxr-x 1 boarmy boarmy 1095680 1月  17 20:01 app_xip.bin
-rwxrwxr-x 1 boarmy boarmy   25024 1月  17 20:01 boot_40M.bin
-rw-rw-r-- 1 boarmy boarmy    1067 1月  17 20:01 image_auto_cal.cfg
-rwxrwxr-x 1 boarmy boarmy     982 1月   9 12:51 image.cfg
-rwxrwxr-x 1 boarmy boarmy     792 1月  17 20:01 sys_sdd_40M.bin
-rwxrwxr-x 1 boarmy boarmy    2320 1月  17 20:01 wlan_bl.bin
-rwxrwxr-x 1 boarmy boarmy   25492 1月  17 20:01 wlan_fw.bin
-rw-rw-r-- 1 boarmy boarmy 1223512 1月  17 19:51 xr_system.img

可找到image.cf

{
    "magic" : "AWIH",
    "version" : "0.5",
    "image" : {"max_size": "1532K"},
    "section" :[
        {"id": "0xa5ff5a00", "bin" :"boot_40M.bin",    "cert": "null",    "flash_offs": "0K",    "sram_offs": "0x00230000", "ep": "0x00230101", "attr":"0x1"},
        {"id": "0xa5fe5a01", "bin" :"app.bin",    "cert": "null",    "flash_offs": "32K",    "sram_offs": "0x00201000", "ep": "0x00201101", "attr":"0x1"},
        {"id": "0xa5fd5a02", "bin" :"app_xip.bin",    "cert": "null",    "flash_offs": "95K",    "sram_offs": "0xffffffff", "ep": "0xffffffff", "attr":"0x2"},
        {"id": "0xa5fa5a05", "bin" :"wlan_bl.bin",    "cert": "null",    "flash_offs": "1166K",    "sram_offs": "0xffffffff", "ep": "0xffffffff", "attr":"0x1"},
        {"id": "0xa5f95a06", "bin" :"wlan_fw.bin",    "cert": "null",    "flash_offs": "1169K",    "sram_offs": "0xffffffff", "ep": "0xffffffff", "attr":"0x1"},
        {"id": "0xa5f85a07", "bin" :"sys_sdd_40M.bin",    "cert": "null",    "flash_offs": "1194K",    "sram_offs": "0xffffffff", "ep": "0xffffffff", "attr":"0x1"},
        {}
    ]
}

将image.cfg修改为：

{
    "magic" : "AWIH",
    "version" : "0.5",
    "image" : {"max_size": "1532K"},
    "section" :[
        {"id": "0xa5ff5a00", "bin" :"boot_40M.bin",    "cert": "null",    "flash_offs": "0K",    "sram_offs": "0x00230000", "ep": "0x00230101", "attr":"0x1"},
        {"id": "0xa5fe5a01", "bin" :"app.bin",    "cert": "null",    "flash_offs": "32K",    "sram_offs": "0x00201000", "ep": "0x00201101", "attr":"0x1"},
        {"id": "0xa5fd5a02", "bin" :"app_xip.bin",    "cert": "null",    "flash_offs": "",    "sram_offs": "0xffffffff", "ep": "0xffffffff", "attr":"0x2"},
        {"id": "0xa5fa5a05", "bin" :"wlan_bl.bin",    "cert": "null",    "flash_offs": "",    "sram_offs": "0xffffffff", "ep": "0xffffffff", "attr":"0x1"},
        {"id": "0xa5f95a06", "bin" :"wlan_fw.bin",    "cert": "null",    "flash_offs": "",    "sram_offs": "0xffffffff", "ep": "0xffffffff", "attr":"0x1"},
        {"id": "0xa5f85a07", "bin" :"sys_sdd_40M.bin",    "cert": "null",    "flash_offs": "",    "sram_offs": "0xffffffff", "ep": "0xffffffff", "attr":"0x1"},
        {}
    ]
}

flash_offs - 该段bin文件存放在 FLASH 中的位置偏移，若不填写，则软件自动放在上一个文件结束的位置，以1024 byte对齐。问题解决。

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