论坛首页 › ST MCU › 【STM32U385RG 测评】+ 通讯与触觉控制

jinglixixi 发表于 2025-8-13 19:56

【STM32U385RG 测评】+ 通讯与触觉控制

本帖最后由 jinglixixi 于 2025-8-14 09:43 编辑

#申请原创#
对于听力障碍人群来说，在意外来临前将感知的危险信息传递给他们是件非常重要的事情。那么如何来解决这个问题呢？我们可以将采集到的危险信息以触觉的方式来传递给他们，如在火焰传感器感知到危险时，可以无线通讯的方式传递到配有触觉振动效果的手镯上来停止他们。为简化信息传递过程，这里先以串行通讯的方式来控制触觉马达的振动。1. 触觉马达控制1）触觉马达在泰坦触觉TITAN Core开发套件中，提供了一块基于ESP32的高度集成度触觉评估板和4个不同型号的触觉马达，见图1和图2所示。别看该开发套件不起眼，它可是能进行蓝牙播放音乐的。
图1 开发板


图2 触觉马达

其触觉评估板的引脚排列如图3所示，它支持以串口通讯的方式来控制触觉马达。
图3 引脚排列

对于4个触觉马达来讲，其特点如下：低频马达 (LF)：非常适用营造深沉的超低音震感中频马达 (MF)：适用于通用的触觉反馈高频马达 (HF)：专为呈现高频质感和发出提醒设计低频冲击马达 (LFi)：结合了低频响应与冲击式振动

2）控制测试利用STM32U385开发板的串行通讯功能，可以控制触觉马达的振动效果。为便于控制，可将不同振动效果的指令存放到数组中。以触觉指令"pulse 0.5 50 0.5;"为例，其字节内容为：70 75 6C 73 65 20 30 2E 35 20 35 30 20 30 2E 35 3B 对于触觉指令"tick 0.5 50 1.0;"，其字节内容为：74 69 63 6B 20 30 2E 35 20 35 30 20 31 2E 30 3B对于触觉指令"vibrate 250 1 10 0.5 1;"的字节内容则为：76 69 62 72 61 74 65 20 32 35 30 20 31 20 31 30 20 30 2E 35 20 31 3B相应的指令数组如下// "pulse 0.5 50 0.5;"uint8_t ：CJMD_1={0X70,0X75,0X6C,0X73,0X65,0X20,0X30,0X2E,0X35,0X20,0X35,0X30,0X20,0X30,0X2E,0X35,0X3B};// "tick 0.5 50 1.0;"uint8_t CJMD_2={0X74,0X69,0X63,0X6B,0X20,0X30,0X2E,0X35,0X20,0X35,0X30,0X20,0X31,0X2E,0X30,0X3B};// "vibrate 250 1 10 0.5 1;"uint8_t CJMD3={0X76,0X69,0X62,0X72,0X61,0X74,0X65,0X20,0X32,0X35,0X30,0X20,0X31,0X20,0X31,0X30,0X20,0X30,0X2E,0X35,0X20,0X31,0X3B};
此外，为进行字符串指令向为字节形式的转换，可先发送字符串指令，然后再以十六进制的方式来显示接收到的内容。见图4所示。
图4 指令形式转换

2. 触发信号源1）传感器触发以火患预防为例，可使用火焰传感器来感知周围环境的火患情况，当检测到数据变化异常后，就通过串口发送相应的触觉提示指令以告知服务对象。2）按键触发出使用传感器感知异常情况外，还可以通过按键将感知的异常情况告知服务对象，即按键触发提示指令的发出。实现按键触发的主程序为：int main(void)
{
HAL_Init();
SystemClock_Config();
BSP_LED_Init(LD2);
MX_GPIO_Init();
MX_USART1_UART_Init();
MX_ICACHE_Init();
KEY_Config();      
while (1)
{
         if(HAL_GPIO_ReadPin(GPIOC,GPIO_PIN_13)==GPIO_PIN_SET)
         {                                 
                  HAL_UART_Transmit(&huart1, (uint8_t *)&CJMD_2, 16, 0xFFFF);
         }
          BSP_LED_Toggle(LD2);
          HAL_Delay(500);
}
}


图5 触发测试

在使用串口通讯控制触觉马达时，使用的串口引脚为：Tx Pin----PA9Rx Pin----PA10

所用接口及引脚如图6所示，与触觉马达的连接如图7所示。
图6 所用接口及引脚

图7 连接及测试

实现传感器及按键触发提示的主程序为：int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_ADC1_Init();
MX_ICACHE_Init();
BSP_LED_Init(LD2);
MX_USART1_UART_Init();
KEY_Config();
if (HAL_ADCEx_Calibration_Start(&hadc1,ADC_SINGLE_ENDED) != HAL_OK)
{
    Error_Handler();
}
if (HAL_ADC_Start(&hadc1) != HAL_OK)
{
    Error_Handler();
}
if (HAL_ADC_PollForConversion(&hadc1, 10) != HAL_OK)
{
    Error_Handler();
}
I2C_CONFIG();
HAL_Delay(50);
while (1)
{
       uhADCxConvertedData = HAL_ADC_GetValue(&hadc1);
       uhADCxConvertedData_Voltage_mVolt = __LL_ADC_CALC_DATA_TO_VOLTAGE(VDDA_APPLI,               uhADCxConvertedData, LL_ADC_RESOLUTION_12B);
      if(HAL_GPIO_ReadPin(GPIOC,GPIO_PIN_13)==GPIO_PIN_SET)
      {                                 
                  HAL_UART_Transmit(&huart1, (uint8_t *)&CJMD_2, 16, 0xFFFF);
      }
      if(uhADCxConvertedData_Voltage_mVolt >xz )
      {                                 
                  HAL_UART_Transmit(&huart1, (uint8_t *)&CJMD_3, 23, 0xFFFF);
      }
      BSP_LED_On(LD2);
      HAL_Delay(LED_BLINK_SLOW);
      BSP_LED_Off(LD2);
      HAL_Delay(LED_BLINK_SLOW);
   }
}

在采用界面化管理的情况下，其界面如图图8所示。
图8 显示屏所用接口及引脚

图9 按键所用接口及引脚

图10 器件连接
在采用界面化管理的情况下，其界面如图图11所示。

图11 界面形式
软键盘所用引脚连接关系为：K1------PC10K2------PC11K3------PC12K4------PD2

软键盘所用引脚初始化函数为：void KEY_Config(void)
{
      static GPIO_InitTypeDefGPIO_InitStruct;      
      __HAL_RCC_GPIOC_CLK_ENABLE();
      GPIO_InitStruct.Mode= GPIO_MODE_INPUT;
      GPIO_InitStruct.Pull= GPIO_PULLUP;
      GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
      GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11|GPIO_PIN_12;
      HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);      
      __HAL_RCC_GPIOD_CLK_ENABLE();
      GPIO_InitStruct.Pin = GPIO_PIN_2;
      HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
}

实现多键值分析处理的主程序为：int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_ADC1_Init();
MX_ICACHE_Init();
BSP_LED_Init(LD2);
if (HAL_ADCEx_Calibration_Start(&hadc1,ADC_SINGLE_ENDED) != HAL_OK)
{
    Error_Handler();
}
if (HAL_ADC_Start(&hadc1) != HAL_OK)
{
    Error_Handler();
}
if (HAL_ADC_PollForConversion(&hadc1, 10) != HAL_OK)
{
    Error_Handler();
}
HAL_Delay(50);
SPI_CONFIG();
tft_Init();
LCD_Clear(RED);
BACK_COLOR=RED;
POINT_COLOR=WHITE;
LCD_ShowString(240,10," 8:30:00");
show_tbh(20,45,7);
show_tbh(97,45,0);
show_tbh(174,45,5);
show_tbh(250,45,6);      
show_tbh(20,145,1);
show_tbh(97,145,2);
show_tbh(174,145,4);
show_tbh(250,145,3);      
POINT_COLOR=YELLOW;
LCD_DrawLine(0, 32, 319,32);
showhanzi16h(90,10,0,0);
showhanzi16h(110,10,1,0);      
showhanzi16h(130,10,2,0);
showhanzi16h(150,10,3,0);
showhanzi16h(170,10,4,0);
showhanzi16h(190,10,5,0);
showhanzi16h(210,10,6,0);
showhanzi16h(255,110,7,0);
showhanzi16h(275,110,8,0);               
showhanzi16h(180,110,9,0);
showhanzi16h(200,110,10,0);               
showhanzi16h(102,110,11,0);
showhanzi16h(122,110,12,0);               
showhanzi16h(27,110,13,0);
showhanzi16h(47,110,14,0);
showhanzi16h(255,210,15,0);
showhanzi16h(275,210,16,0);               
showhanzi16h(180,210,17,0);
showhanzi16h(200,210,18,0);               
showhanzi16h(102,210,19,0);
showhanzi16h(122,210,17,0);               
showhanzi16h(27,210,20,0);
showhanzi16h(47,210,19,0);
KEY_Config();
MX_USART1_UART_Init();
HAL_UART_Transmit(&huart1, (uint8_t *)CJMD3, 23, 0xFFFF);      

while (1)
{      
               if(HAL_GPIO_ReadPin(GPIOC,GPIO_PIN_10)==GPIO_PIN_RESET)
                {
                        showhanzi16h(255,210,15,1);
                        showhanzi16h(275,210,16,1);
                     HAL_UART_Transmit(&huart1, (uint8_t *)&CJMD_1, 16, 0xFFFF);
                }
                else
                {
                        showhanzi16h(255,210,15,0);
                        showhanzi16h(275,210,16,0);
                }
                                                               
                if(HAL_GPIO_ReadPin(GPIOC,GPIO_PIN_11)==GPIO_PIN_RESET)
                {
                        showhanzi16h(180,210,17,1);
                        showhanzi16h(200,210,18,1);
                        HAL_UART_Transmit(&huart1, (uint8_t *)&CJMD_2, 16, 0xFFFF);

                }
                else
                {
                        showhanzi16h(180,210,17,0);
                        showhanzi16h(200,210,18,0);
                }
                              
                if(HAL_GPIO_ReadPin(GPIOC,GPIO_PIN_12)==GPIO_PIN_RESET)
                {
                        showhanzi16h(102,210,19,1);
                        showhanzi16h(122,210,17,1);
                        HAL_UART_Transmit(&huart1, (uint8_t *)&CJMD_3, 16, 0xFFFF);
                }
                else
                {
                        showhanzi16h(102,210,19,0);
                        showhanzi16h(122,210,17,0);
                }

                if(HAL_GPIO_ReadPin(GPIOD,GPIO_PIN_2)==GPIO_PIN_RESET)
                {
                              showhanzi16h(27,210,20,1);
                        showhanzi16h(47,210,19,1);
                        HAL_UART_Transmit(&huart1, (uint8_t *)&CJMD_4, 16, 0xFFFF);
                }
                else
                {
                        showhanzi16h(27,210,20,0);
                        showhanzi16h(47,210,19,0);
                }
                uhADCxConvertedData = HAL_ADC_GetValue(&hadc1);
               uhADCxConvertedData_Voltage_mVolt = __LL_ADC_CALC_DATA_TO_VOLTAGE(VDDA_APPLI, uhADCxConvertedData, LL_ADC_RESOLUTION_12B);
                if(uhADCxConvertedData_Voltage_mVolt > xz)
                {                                 
                         HAL_UART_Transmit(&huart1, (uint8_t *)&CJMD_5, 23, 0xFFFF);
                }
                HAL_Delay(LED_BLINK_SLOW);                              
   }
}

经程序的编译及下载，使用按键操作的效果如图12所示，即在按下按键时所选的功能会呈反白显示效果。data:image/png;base64,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图12 操作测试
由于时间的原因，目前暂未完成以无线通讯的方式来发送提示指令。若完成该功能，则可摆脱线路连接的制约，从而达到佩戴式的应用。

查看完整版本: 【STM32U385RG 测评】+ 通讯与触觉控制