# 2021年机械创新大赛仿生机器人
核心板的代码&原理图&pcb生产文件
[TOC]
# PCB
## 第一板pcb
1. type-c接口没有接地
2. 稳压芯片的电解电容封装错误
3. 稳压芯片的电解电容表示反了
4. xm1.25系类接口电源标识错误
5. logo太小不清晰
6. DC12V电源输入封装错误
7. 定位孔位置被元器件阻挡
8. 可适当缩小pcb尺寸
9. GPIOB有问题,应该事MCU的硬件问题
**2021/5/19 12:04 **
# Code
## BSP
### 1.pwm输出
**TIM3 4 5 8所有通道输出50Hz1000us脉宽测试通过**
**2021/5/24**
### 2.LED控制
**LED除LED3以外,其余都可以通过LED_CTR()控制,LED3上电常亮,可能是pcb或者单片机方面的问题**
**2021/5/24**
### 3.串口
**串口1重定向没问题,中断接收没问题。使用printf()中若包涵汉字会报警告**
**2021/5/25**
**串口DMA发送过一次后无法再次发送,printf()中包含汉字会出现乱码。DMA发送完成能进入中断,可能是Usart_send()或者Usart_Tx_Clear()函数出现问题。**
**2021/5/27**
**串口DMA发送的bug已经解决,汉字如果是使用utf-8的编码集的话就会出现乱码的情况,通过txt打开文件,内存为的时候将编码集改成ANCI就不会出现乱码的情况。Vofa+上位机不知道什么原因,无法获取串口的信息,都是Vofa+能检测到串口有信号。**
——已经查清楚了,是vofa+本身的优化导致字符的显示比较慢(大概),波形图的控制完全OK。使用utf-8只会导致正点原子的串口助手汉字乱码,vofa+支持utf-8的字符编码。
**2021/5/28**
**除了串口1DMA发送,其余串口的DMA发送暂时没有写。**
**2021/6/1**
**串口bsp全部完成,包括缓存区的push何clear,以及串口4,5的直接发送。**
```c
uint8_t*Read_Usart_Sbuffer(uint8_t USARTx);
uint8_t Usart_Send(uint8_t USARTx,uint8_t*dat,uint8_t len);
void Usart_Rx_Push(uint8_t USARTx,uint8_t len);
void Usart_Rx_Clear(uint8_t USARTx);
void Usart_Tx_Clear(uint8_t USARTx);
void Usart_Rx_Input(uint8_t USARTx,uint8_t dat);
```
串口1发送测试完成,其余功能尚为完成测试
**2021/6/2**
### 4.按键
**代码书写完成,等待调试**
**2021/5/31**
**整个GPIOB好像都有问题,如果复用成定时器的输出通道可以正常输出pwm波。复用成串口还没测。(硬件)**
**2021/6/1**
## DRIVER
### 1.舵机驱动
```c
#ifndef _STREET_MOTOR_DRIVER_H_
#define _STREET_MOTOR_DRIVER_H_
/*********************************************************
* PWM输出接口 PWM_Out_Port(Channel,Width)
* Channel: 通道标号 unsigned char
* Width: 脉宽(单位us) unsigned short int
* 无返回值
* 接口要求:能在规定通道输出50Hz的PWM波,脉宽参数Width
* 2021/5/28 庞碧璋
*********************************************************/
#define STREET_MOTOR_NUM 16
#define PWM_Out_Port(Channel,Width) PWM_Out(Channel,Width)
extern void PWM_Out_Port(unsigned char Channel,unsigned short int Width);
void StreetMotor_CTR(unsigned char num,double angle);
unsigned int AngleToWidth(double angle);
#endif
```
**2021/5/30**
### 2.OLED12864_SPI_7Pin驱动
**STM32F103VET6硬件问题,无法显示,无法操控OLED12864的RES管脚。**
**2021/6/3**
### 3.vofa+上位机驱动
**通道0输出恒定值测试通过**
**2021/5/30**
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