开源！升级你的桌面宠物（接入语音模块）

业界资讯 2024-11-02 17:38:55 阅读次数: 0
原视频：好，升级你的桌面宠物！_哔哩哔哩_bilibili

必读：此开源文章为第一篇（开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_stm32桌宠-CSDN博客）的续作，第一篇所制作的桌面宠物仅能通过手机app进行蓝牙遥控，而升级版的桌面宠物已如视频中可以语音和蓝牙同时控制。因两版本大体结构和原理相似，故本文不再重复第一篇文章的内容。重在开源更新后的stm32代码和语音模块的程序设计，以及整体结构的简单介绍。

开源协议：严禁商用；以视频或其他形式发布到互联网上的（包括成果和资料等），必须署名作者“有出息的男孩_”。

 注意：语音模块我使用的是ASRPRO（核心板和开发板都可以，开发板更方便），利用自带的两个串口，实现和单片机、蓝牙模块的通信。使用这种ASRPRO核心板

的小伙伴需注意，请仔细看核心板原理图的电源设计部分是否有缺陷，5V口要额外需串接一个4.7欧姆的电阻防止浪涌和尖峰导致芯片烧毁。

这是官方公告： 

软件运行框图： 

STM32程序修改： 

原本不需要修改，但是我无论怎么试，语音模块都发不了正确的数据格式，那就干脆给让32多加点判断类型。

例如：

原程序判断为

if(move_mode == 8){//前进

加入语音模块的指令‘8’ ，修改为

if(move_mode == 8 || move_mode == '8'){//前进

修改后的整个main文件：

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include "oled.h"
#include "bmp.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint8_t move_mode = 0;
uint8_t flag = 0;
#define move_delay 150
#define move_speed 4
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void Rbt_Init(void);
uint16_t angle(uint8_t angle);
void Rbt_attention(void);
void move_forward(void);
void move_behind(void);
void move_right(void);
void move_left(void);
void move_swing(void);
void move_stretch(void);
void move_sleep(void);
void move_dance(void);
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

//void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin){//按键测试
//	if(GPIO_Pin==KEY0_Pin){
//		if(move_mode == 5) move_mode = 8;
//		else if(move_mode == 8) move_mode = 6;
//		else if(move_mode == 6) move_mode = 4;
//		else if(move_mode == 4) move_mode = 2;
//		else if(move_mode == 2) move_mode = 5;
//	}
//}

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	if(move_mode == 8 || move_mode == '8'){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP2);//前进脸
	}
	else if(move_mode == 2 || move_mode == '2'){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP2);//后退脸
	}
	else if(move_mode == 4 || move_mode == '4'){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP4);//左转脸
	}
	else if(move_mode == 6 || move_mode == '6'){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP3);//右转脸
	}
	else if(move_mode == 'A' || move_mode == '7'){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP2);//前进脸
	}

	HAL_UART_Receive_IT(&huart1, &move_mode, 1);
}

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM2_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
  Rbt_Init();
  HAL_UART_Receive_IT(&huart1, &move_mode, 1);
  HAL_Delay(500);
  OLED_Init();
  OLED_Clear();
  OLED_DrawBMP(0,0,128,8,BMP6);
  while (1)
  {
	  /*__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(120));
	 HAL_Delay(1);*/
	  if(move_mode == 8 || move_mode == '8'){//前进
		  OLED_DrawBMP(0,0,128,8,BMP2);
		  move_forward();
		  printf("forward\r\n");
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 2 || move_mode == '2'){//后退
		  OLED_DrawBMP(0,0,128,8,BMP2);
		  move_behind();
		  printf("behind\r\n");
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 4 || move_mode == '4'){//左转
		  move_left();
		  printf("left\r\n");
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 6 || move_mode == '6'){//右转
		  OLED_DrawBMP(0,0,128,8,BMP3);
		  move_right();
		  printf("right\r\n");
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 5 || move_mode == 'C' || move_mode == '1'){//立正
		  OLED_DrawBMP(0,0,128,8,BMP1);
          Rbt_attention();
		  printf("stop\r\n");
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 'A' || move_mode == '7'){//摇摆
		  OLED_DrawBMP(0,0,128,8,BMP2);
		  move_swing();
		  printf("swing\r\n");
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 'B' || move_mode == '9'){//坐下招手
		  if(flag==0){
			  OLED_DrawBMP(0,0,128,8,BMP2);
			  move_stretch();
			  printf("stretch\r\n");
			  OLED_DrawBMP(0,0,128,8,BMP5);
			  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
			  flag=1;
		  }
	  }
	  else if(move_mode == 'D' || move_mode == '3'){//休眠
		  if(flag==0){
              move_sleep();
			  printf("sleep\r\n");
			  OLED_DrawBMP(0,0,128,8,BMP6);
			  //HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
			  flag=0;
		  }
	  }
      else if(move_mode == '0'){//唱歌跳舞//语音模块特有指令
              move_dance();
              printf("dance\r\n");
              HAL_Delay(200);
              OLED_DrawBMP(0,0,128,8,BMP2);
              HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
      }
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void Rbt_Init(void)
{
    __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(15));
    __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(160));
    HAL_Delay(100);
    __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(167));
    __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(20));
	HAL_Delay(100);
}
uint16_t angle(uint8_t angle)
{
	return angle*2000/180+500;
}
void Rbt_attention(void)
{
    __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)
{
	__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)
{
	__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)
{
	__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)
{
	__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)
{
	__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(200);
	__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(200);
}

void move_stretch(void){
	__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->CCR1<angle(155) && TIM2->CCR3>angle(25)){
		for(uint8_t i=0;i<70;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90+i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90-i));
			HAL_Delay(move_speed);
		}
		HAL_Delay(1000);
		for(uint8_t i=0;i<70;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(160-i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(20+i));
			HAL_Delay(move_speed);
		}
		for(uint8_t i=0;i<65;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90+i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90-i));
			HAL_Delay(move_speed);
		}
		for(uint8_t i=0;i<20;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90-i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90+i));
			HAL_Delay(move_speed);
		}
		HAL_Delay(1000);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140));
		HAL_Delay(1000);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(178));
		HAL_Delay(500);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140));
		HAL_Delay(500);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(178));
		HAL_Delay(500);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140));
		HAL_Delay(500);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(70));
	}
}

void move_sleep(void){
	if(TIM2->CCR3<angle(160) && TIM2->CCR1>angle(20)){
		for(uint8_t i=0;i<75;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90-i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90+i));
			HAL_Delay(move_speed);
		}
	}
	if(TIM2->CCR2<angle(160) && TIM2->CCR4>angle(20)){
		for(uint8_t i=0;i<75;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90+i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90-i));
			HAL_Delay(move_speed);
		}
	}

}
void move_dance(void)
{
    __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->CCR1<angle(160) && TIM2->CCR2<angle(160)){//当在目标位置之外，则执行
        for(uint8_t i=0;i<75;i++){
            __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90+i));
            __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90+i));
            HAL_Delay(move_speed);
        }
        for(uint8_t i=0;i<75;i++){
            __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(165-i));
            __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(165-i));
            HAL_Delay(move_speed);
        }
    }
    if(TIM2->CCR3>angle(20) && TIM2->CCR4>angle(20)){
        for(uint8_t i=0;i<75;i++){
            __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90-i));
            __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90-i));
            HAL_Delay(move_speed);
        }
        for(uint8_t i=0;i<75;i++){
            __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(15+i));
            __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(15+i));
            HAL_Delay(move_speed);
        }
    }
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

语音模块程序设计 ：

使用天问block进行开发，积木编程。

1.设置一个全局变量，用于运动指令的存储

 2. 配置语音

3.配置系统初始化，打开两个串口，打开定时器

4.配置语音指令对应的操作

 5.配置定时器任务，用于蓝牙模块数据的接收和运动指令的发送

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