开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）

原视频：好，自制一个桌面宠物！_哔哩哔哩_bilibili

基础所需：基础电路认识，C语言，STM32开发，STM32CUBEIDE或CUBEMX和Keil使用（重要），一点点艺术细胞、一点点耐心。

CAUTION:本文重点在代码部分的开源，是基于HAL库。硬件手工部分不出教程（没必要）可以直接看视频P2，文末附步态参考出处，接线图，舵机安排。

硬件配置：

主控：STM32F103C8T6 粉色沉金板（也可以用C6T6,价格便宜一半）

舵机：SG90 *4

屏幕：1.3寸OLED （IIC驱动）

供电：锂电池 (3.7V 30mm*40mm 800mah，建议购买尺寸合适的飞控专用锂电池或两块普通锂电池并联，输出功率大，不需要后续拆保护板) + 锂电池充放电模块（不会自动断电、适配3.7V锂电池、输出5V、充放电同口）

蓝牙：低功耗蓝牙（BLE,串口透传，便宜又好用)

软件配置：

手机app开发：appinventor制作（这里不附教程，因为我也不熟，唯一有用的建议是我的蓝牙模组要用BLE而不是普通蓝牙,需另外下载并配置，建议另寻他佬教程

单片机开发：

平台：STM32CUBEIDE（等效STM32CUBEMX+Keil）

软件开源：  

提纲：

1.定时器pwm波输出

2.串口信息交互

3.OLED显示  

CUBEMX配置：

（这里没有配置驱动屏幕的IIC,选择直接软件模拟，文末会附驱动代码。

1.RCC时钟配置：

(无脑选择外部时钟，无脑拉最高频。

2.定时器配置PWM输出模式：

（一个定时器直接开四个PWM通道即可，并关注输出引脚是否正确。根据舵机参数，配置PWM频率为50Hz。通道一为前右脚，通道二为后右脚，通道三为前左脚，通道四为后左脚，脚的位置和角度见文末图，是参考文末大佬的视频的

注意引脚为PA0,PA1,PA2,PA3。

3.配置串口

（也很无脑，但要根据蓝牙模块的参数配置传输速率（Baud Rate)，我是115200。

并且开中断NVIC,优先级按经验来填2就可。

考虑到单片机引脚位置，需要把串口引脚重定向到PB6和PB7。 

4.IIC引脚配置（软件模拟IIC，引脚任意两个IO就可以，要命名成这个是因为和驱动代码匹配)

小Tip:

经验所得，把系统滴答时钟的优先级拉最高可以防止卡死在HAL_Delay里面。

5.最后生成工程，用keil的这里改成MDK_ARM

推荐打勾这个，为每个外设建.c和.h文件，使工程结构更清晰。

最后直接ctrl+s即可生成工程（用STM32CUBEMX+Keil的点Generate code建立工程）

代码部分：（最后会附完整代码，其中LED的控制可有可无

（即“HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);”）。

1.PWM波输出（姿态

uint16_t angle(uint8_t angle) //角度CCR值转换
{
	return angle*2000/180+500;
}
void Rbt_Init(void) //立正
{
	__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) //前进
{
	__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) //后退
{
	__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) //右转
{
	__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) //左转
{
	__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) //摇摆
{
	__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(250);
	__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(250);
}
void move_stretch(void){ //伸懒腰+坐下招手
	__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->CCR1CCR3>angle(25)){
		for(uint8_t i=0;iangle(25)){
		for(uint8_t i=0;i