**
菜鸟一只，错误之处请指出
**
前些天博主课程设计做了一个基于stm32的循迹避障小车，用的是在某宝上买的智能小车的套件，后来闲来无事想改造成一个语音控制的小车，于是又淘了一个LD3320的语音模块，通过语音命令能够控制小车前进、后退、转弯和停止。
这里附上LD3320的完整资料：http://www.waveshare.net/wiki/LD3320_Board
资料里面有stm32的例程，是用语音控制开发板的LED灯，看了资料后发现例程中使用的开发板芯片和我使用的正好相同，都是使用的stm32f103zet6芯片，所以语音模块的串口没有改动，只简单改动了一下LED灯的串口就能用了。
下面是LD3320的引脚图：
如果你的开发板上有对应的串口，可以直接按下图的引脚连接：
博主把代码烧录到板子后才发现自己的板子没有LED灯，是的，没有LED灯，博主都要哭了，于是一生气就把核心板撬掉了，换了一个指南者的板子，花费了两个小时把指南者板子上的引脚连到扩展板对应的引脚上，再烧录程序后发现程序可以正常运行。
下一步把板子装到小车上，下面是连接实物图：
接下来就是程序的问题了，把语音代码和红外避障的代码整合起来，虽然听起来简单，但实际遇到很多问题，比如中断冲突等，博主呕心沥血花了一周时间查阅数据手册和开发手册，终于解决了问题。
于是赶紧把小车放到地上调试，结果遇到了一个更麻烦的问题，LD3320自带的咪头引脚很短，而语音识别的距离很近，所以小车放在地上根本无法识别语音指令，于是博主不得不接着查阅数据手册，发现35寄存器可以修改语音识别的距离，历程中默认值是0x43，值越大识别距离越远，但同时识别的准确率会严重降低，官方推荐的值为40H—55H，重新调试程序后发现语音识别的距离还不是很理想（其实并没有多大改变），不得已，只能想其他的办法。
某天博主正在吃午饭的时候，突发奇想，能不能把咪头拆下来，再引两根线出来不就解决了吗（窃喜），幸亏博主在付诸实践之前先逛了逛论坛，里面有大牛说线太长会导致信号衰减，语音无法识别，于是博主放弃了这个念头，没敢用于实践。但这个问题怎么解决呢？博主盯着手中的筷子，突然有了一个大胆的想法，用筷子把语音模块架高，
最后，博主含泪牺牲了自己的筷子解决了这个问题。
做到这里语音控制小车基本上就完成了，但博主可不是就这样轻易满足的，博主开始想的是小车转弯的角度是90度然后停下，但实际小车会一直不停的旋转，原因是输入语音命令后，代码会把语音命令写到芯片中，然后main（）函数会一直循环扫描等待新的语音命令输入，在这个规程中，代码会一直执行上次输入的语音命令，于是修改了部分代码，使每次循环把语音命令清零，解决了这个问题。
#include "LD3320.h"
#include "motor.h"
#include "redvoid.h"
#include "stm32f10x_spi.h"
#include "interface.h"
uint8 nAsrStatus = 0;
uint8 nLD_Mode = LD_MODE_IDLE;
uint8 ucRegVal;
int f=1;
int key=1;
int key1=1;
extern uint8 nAsrRes=0;
///Óû§ÐÞ¸Ä
void LD3320_main(void)
{
LD3320_init();
nAsrStatus = LD_ASR_NONE;
}
static uint8 LD_AsrAddFixed(void)
{
uint8 k, flag;
uint8 nAsrAddLength;
#define DATE_A 11
#define DATE_B 20
uint8 sRecog[DATE_A][DATE_B] = {
"zhi xing",\
"qian jin",\
"hou tui",\
"zuo zhuan",\
"you zhuan",\
"bi zhang",\
"ting zhi" ,\
"ting",\
"bian dao",\
"zuopian",\
"youpian" \
};
uint8 pCode[DATE_A] = {
CODE_ZX,\
CODE_QJ,\
CODE_HT,\
CODE_ZZ,\
CODE_YZ,\
CODE_BZ,\
CODE_TZ ,\
CODE_TI ,\
CODE_BD ,\
CODE_ZP ,\
CODE_YP \
};
flag = 1;
for (k=0; k<DATE_A; k++)
{
if(LD_Check_ASRBusyFlag_b2() == 0)
{
flag = 0;
break;
}
LD_WriteReg(0xc1, pCode[k] );
LD_WriteReg(0xc3, 0);
LD_WriteReg(0x08, 0x04);
LD3320_delay(1);
LD_WriteReg(0x08, 0x00);
LD3320_delay(1);
for (nAsrAddLength=0; nAsrAddLength<DATE_B; nAsrAddLength++)
{
if (sRecog[k][nAsrAddLength] == 0)
break;
LD_WriteReg(0x5, sRecog[k][nAsrAddLength]);
}
LD_WriteReg(0xb9, nAsrAddLength);
LD_WriteReg(0xb2, 0xff);
LD_WriteReg(0x37, 0x04);
}
return flag;
}
void Board_text(uint8 Code_Val)
{
switch(Code_Val)
{
case CODE_ZX:
CarGo();
Key_LED();
break;
case CODE_QJ:
CarGo();
Key_LED();
break;
case CODE_HT:
CarBack();
Flicker_LED();
break;
case CODE_ZZ:
// if(key1==1){key=1;}
CarLeft();
Jt_LED();
Delayms(1000);
CarStop();
// Code_Val=7;
break;
case CODE_YZ:
CarRight();
On_LED();
break;
case CODE_BZ:
VoidRun();
Off_LED();
break;
case CODE_TZ:
CarStop();
break;
case CODE_TI:
CarStop();
break;
case CODE_BD:
CarChange();
break;
case CODE_ZP:
CarStop();
break;
case CODE_YP:
CarStop();
break;
default:
break;
}
}
/*
*/
//static void Delay_ms(uint16 i)
//{
// unsigned char a,b;
// for(;i>0;i--)
// for(b=4;b>0;b--)
// for(a=113;a>0;a--);
//}
void Flicker_LED(void)
{
LED1_ON();
LED2_OFF();
LED3_OFF();
Delayms(1000);
LED1_OFF();
LED2_OFF();
LED3_OFF();
Delayms(1000);
}
void Key_LED(void)
{
LED2_ON();
LED1_OFF();
LED3_OFF();
}
void Off_LED(void)
{
LED1_OFF();
LED2_OFF();
LED3_OFF();
}
void On_LED(void)
{
LED1_ON();
LED2_ON();
LED3_ON();
}
void Jt_LED(void)
{
LED3_ON();
LED1_OFF();
LED2_OFF();
Delayms(1000);
LED3_OFF();
LED1_OFF();
LED2_OFF();
Delayms(1000);
}
static void LD3320_init(void)
{
LD3320_GPIO_Cfg();
LD3320_EXTI_Cfg();
LD3320_SPI_cfg();
LED_GPIO_cfg();
LD_reset();
}
static void LD3320_GPIO_Cfg(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(LD3320RST_GPIO_CLK | LD3320CS_GPIO_CLK,ENABLE);
//LD_CS /RSET
GPIO_InitStructure.GPIO_Pin =LD3320CS_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(LD3320CS_GPIO_PORT,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin =LD3320RST_PIN;
GPIO_Init(LD3320RST_GPIO_PORT,&GPIO_InitStructure);
}
static void LD3320_EXTI_Cfg(void)
{
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
RCC_APB2PeriphClockCmd(LD3320IRQ_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin =LD3320IRQ_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(LD3320IRQ_GPIO_PORT, &GPIO_InitStructure);
GPIO_EXTILineConfig(LD3320IRQEXIT_PORTSOURCE, LD3320IRQPINSOURCE);
EXTI_InitStructure.EXTI_Line = LD3320IRQEXITLINE;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger =EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = LD3320IRQN;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
static void LD3320_SPI_cfg(void)
{
SPI_InitTypeDef SPI_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(LD3320SPI_CLK,ENABLE);
RCC_APB2PeriphClockCmd(LD3320WR_GPIO_CLK | LD3320SPIMISO_GPIO_CLK | LD3320SPIMOSI_GPIO_CLK | LD3320SPISCK_GPIO_CLK,ENABLE);
GPIO_InitStructure.GPIO_Pin = LD3320SPIMISO_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(LD3320SPIMISO_GPIO_PORT,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = LD3320SPIMOSI_PIN;
GPIO_Init(LD3320SPIMOSI_GPIO_PORT,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = LD3320SPISCK_PIN;
GPIO_Init(LD3320SPISCK_GPIO_PORT,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = LD3320WR_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(LD3320WR_GPIO_PORT, &GPIO_InitStructure);
LD_CS_H();
SPI_Cmd(LD3320SPI, DISABLE);
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64; SYSCLK/128
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_Init(LD3320SPI, &SPI_InitStructure);
SPI_Cmd(LD3320SPI, ENABLE);
}
static void LED_GPIO_cfg(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(LED1_GPIO_CLK | LED2_GPIO_CLK | LED3_GPIO_CLK,ENABLE);
GPIO_InitStructure.GPIO_Pin = LED1_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(LED1_GPIO_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = LED2_PIN;
GPIO_Init(LED2_GPIO_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = LED3_PIN;
GPIO_Init(LED3_GPIO_PORT, &GPIO_InitStructure);
LED1_OFF();
LED2_OFF();
LED3_OFF();
}
void EXTI15_10_IRQHandler(void)
{
if(EXTI_GetITStatus(LD3320IRQEXITLINE)!= RESET )
{
ProcessInt();
EXTI_ClearFlag(LD3320IRQEXITLINE);
}
}
static void LD3320_delay(unsigned long uldata)
{
unsigned int i = 0;
unsigned int j = 0;
unsigned int k = 0;
for (i=0;i<5;i++)
{
for (j=0;j<uldata;j++)
{
k = 200;
while(k--);
}
}
}
uint8 RunASR(void)
{
uint8 i=0;
uint8 asrflag=0;
for (i=0; i<5; i++)
{
LD_AsrStart();
LD3320_delay(100);
if (LD_AsrAddFixed()==0)
{
LD_reset();
LD3320_delay(50);
continue;
}
LD3320_delay(10);
if (LD_AsrRun() == 0)
{
LD_reset();
LD3320_delay(50);
continue;
}
asrflag=1;
break;
}
return asrflag;
}
static void LD_reset(void)
{
LD_RST_H();
LD3320_delay(100);
LD_RST_L();
LD3320_delay(100);
LD_RST_H();
LD3320_delay(100);
LD_CS_L();
LD3320_delay(100);
LD_CS_H();
LD3320_delay(100);
}
static void LD_AsrStart(void)
{
LD_Init_ASR();
}
uint8 LD_Check_ASRBusyFlag_b2(void)
{
uint8 j;
uint8 flag = 0;
for (j=0; j<10; j++)
{
if (LD_ReadReg(0xb2) == 0x21)
{
flag = 1;
break;
}
LD3320_delay(10);
}
return flag;
}
///Öмä²ãend
///¼Ä´æÆ÷²Ù×÷
static uint8 spi_send_byte(uint8 byte)
{
while (SPI_I2S_GetFlagStatus(LD3320SPI, SPI_I2S_FLAG_TXE) == RESET);
SPI_I2S_SendData(LD3320SPI,byte);
while (SPI_I2S_GetFlagStatus(LD3320SPI,SPI_I2S_FLAG_RXNE) == RESET);
return SPI_I2S_ReceiveData(LD3320SPI);
}
static void LD_WriteReg(uint8 data1,uint8 data2)
{
LD_CS_L();
LD_SPIS_L();
spi_send_byte(0x04);
spi_send_byte(data1);
spi_send_byte(data2);
LD_CS_H();
}
static uint8 LD_ReadReg(uint8 reg_add)
{
uint8 i;
LD_CS_L();
LD_SPIS_L();
spi_send_byte(0x05);
spi_send_byte(reg_add);
i=spi_send_byte(0x00);
LD_CS_H();
return(i);
}
uint8 LD_GetResult(void)
{
return LD_ReadReg(0xc5);
}
static uint8 LD_AsrRun(void)
{
LD_WriteReg(0x35, MIC_VOL);
LD_WriteReg(0x1C, 0x09);
LD_WriteReg(0xBD, 0x20);
LD_WriteReg(0x08, 0x01);
LD3320_delay( 5 );
LD_WriteReg(0x08, 0x00);
LD3320_delay( 5);
if(LD_Check_ASRBusyFlag_b2() == 0)
{
return 0;
}
LD_WriteReg(0xB2, 0xff);
LD_WriteReg(0x37, 0x06);
LD_WriteReg(0x37, 0x06);
LD3320_delay(5);
LD_WriteReg(0x1C, 0x0b);
LD_WriteReg(0x29, 0x10);
LD_WriteReg(0xBD, 0x00);
return 1;
}
static void ProcessInt(void)
{
uint8 nAsrResCount=0;
ucRegVal = LD_ReadReg(0x2B);
LD_WriteReg(0x29,0) ;
LD_WriteReg(0x02,0) ;
if((ucRegVal & 0x10) && LD_ReadReg(0xb2)==0x21 && LD_ReadReg(0xbf)==0x35)
{
nAsrResCount = LD_ReadReg(0xba);
if(nAsrResCount>0 && nAsrResCount<=4)
{
nAsrStatus=LD_ASR_FOUNDOK;
}
else
{
nAsrStatus=LD_ASR_FOUNDZERO;
}
}
else
{
nAsrStatus=LD_ASR_FOUNDZERO;//Ö´ÐÐûÓÐʶ±ð
}
LD_WriteReg(0x2b,0);
LD_WriteReg(0x1C,0);//д0:ADC²»¿ÉÓÃ
LD_WriteReg(0x29,0);
LD_WriteReg(0x02,0);
LD_WriteReg(0x2B,0);
LD_WriteReg(0xBA,0);
LD_WriteReg(0xBC,0);
LD_WriteReg(0x08,1);//Çå³ýFIFO_DATA
LD_WriteReg(0x08,0);//Çå³ýFIFO_DATAºó ÔÙ´Îд0
}
static void LD_Init_Common(void)
{
LD_ReadReg(0x06);
LD_WriteReg(0x17, 0x35);
LD3320_delay(5);
LD_ReadReg(0x06);
LD_WriteReg(0x89, 0x03);
LD3320_delay(5);
LD_WriteReg(0xCF, 0x43);
LD3320_delay(5);
LD_WriteReg(0xCB, 0x02);
/*PLL setting*/
LD_WriteReg(0x11, LD_PLL_11);
if (nLD_Mode == LD_MODE_MP3)
{
LD_WriteReg(0x1E, 0x00);
LD_WriteReg(0x19, LD_PLL_MP3_19);
LD_WriteReg(0x1B, LD_PLL_MP3_1B);
LD_WriteReg(0x1D, LD_PLL_MP3_1D);
}
else
{
LD_WriteReg(0x1E,0x00);
LD_WriteReg(0x19, LD_PLL_ASR_19);
LD_WriteReg(0x1B, LD_PLL_ASR_1B);
LD_WriteReg(0x1D, LD_PLL_ASR_1D);
}
LD3320_delay(5);
LD_WriteReg(0xCD, 0x04);
LD_WriteReg(0x17, 0x4c);
LD3320_delay(1);
LD_WriteReg(0xB9, 0x00);
LD_WriteReg(0xCF, 0x4F);
LD_WriteReg(0x6F, 0xFF);
}
static void LD_Init_ASR(void)
{
nLD_Mode=LD_MODE_ASR_RUN;
LD_Init_Common();
LD_WriteReg(0xBD, 0x00);
LD_WriteReg(0x17, 0x48);
LD3320_delay(5);
LD_WriteReg(0x3C, 0x80);
LD_WriteReg(0x3E, 0x07);
LD_WriteReg(0x38, 0xff);
LD_WriteReg(0x3A, 0x07);
LD_WriteReg(0x40, 0);
LD_WriteReg(0x42, 8);
LD_WriteReg(0x44, 0);
LD_WriteReg(0x46, 8);
LD3320_delay( 1 );
}
/*********************************************END OF FILE**********************/