知名大厂扫地机代码方案：陀螺仪传感器与电源管理驱动，清晰的代码注释与专业软件驱动技术,知名大厂扫地机代码方案：陀螺仪传感器与电源管理，清晰的代码注释与规范，适合工程师学习项目与代码规范,知名扫地机代码
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知名大厂扫地机代码方案：陀螺仪传感器与电源管理驱动，清晰的代码注释与专业软件驱动技术,知名大厂扫地机代码方案：陀螺仪传感器与电源管理，清晰的代码注释与规范，适合工程师学习项目与代码规范,知名扫地机代码方案 某知名大厂扫地机代码 适合需要学习项目与代码规范的工程师硬件驱动包含 陀螺仪姿态传感器bmi160、电源管理bq24733等。软件驱动包括 IIC、PWM、SPI、多路ADC与DMA、编码器输入捕获、外部中断、通信协议、IAP升级、PID、freertos操作系统等。代码注释清晰、代码规范好、每个函数必有输入输出范围参数解释。,知名扫地机代码方案; 代码规范; 硬件驱动; 软件驱动; 清晰注释; 参数解释; IAP升级; PID控制; Freertos操作系统; 陀螺仪姿态传感器BMI160; 电源管理BQ24733,知名大厂扫地机代码方案：硬件驱动与软件驱动全解析 <link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/base.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90427812/2/raw.css" rel="stylesheet"/><div id="sidebar" style="display: none"><div id="outline"></div></div><div class="pf w0 h0" data-page-no="1" id="pf1"><div class="pc pc1 w0 h0"><img alt="" class="bi x0 y0 w1 h1" src="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90427812/bg1.jpg"/><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">扫地机器人代码方案解析</div><div class="t m0 x1 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0">一、前言</div><div class="t m0 x1 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0">本代码方案主要参考了某知名大厂扫地机器人的代码设计，<span class="_ _0"></span>适用于需要学习项目与代码规范</div><div class="t m0 x1 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0">的<span class="_ _1"></span>工<span class="_ _1"></span>程<span class="_ _1"></span>师<span class="_ _1"></span>。<span class="_ _1"></span>该<span class="_ _1"></span>方<span class="_ _1"></span>案<span class="_ _1"></span>不<span class="_ _1"></span>仅<span class="_ _1"></span>包<span class="_ _1"></span>括<span class="_ _1"></span>硬<span class="_ _1"></span>件<span class="_ _1"></span>驱<span class="_ _1"></span>动<span class="_ _1"></span>的<span class="_ _1"></span>实<span class="_ _1"></span>现<span class="_ _1"></span>，<span class="_ _1"></span>如<span class="_ _1"></span>陀<span class="_ _1"></span>螺<span class="_ _1"></span>仪<span class="_ _1"></span>姿<span class="_ _1"></span>态<span class="_ _1"></span>传<span class="_ _1"></span>感<span class="_ _1"></span>器<span class="_ _2"> </span><span class="ff2">BMI160<span class="_ _1"></span></span>、<span class="_ _1"></span>电<span class="_ _1"></span>源<span class="_ _1"></span>管<span class="_ _1"></span>理</div><div class="t m0 x1 h2 y5 ff2 fs0 fc0 sc0 ls0 ws0">BQ24733<span class="_"> </span><span class="ff1">等，还包括软<span class="_ _3"></span>件驱动的<span class="_ _3"></span>设计，<span class="_ _3"></span>如<span class="_ _4"> </span></span>IIC<span class="ff1">、</span>PWM<span class="ff1">、<span class="_ _3"></span></span>SPI<span class="ff1">、多<span class="_ _3"></span>路<span class="_ _4"> </span></span>ADC<span class="_"> </span><span class="ff1">与<span class="_ _4"> </span></span>DMA<span class="_ _4"> </span><span class="ff1">等，并使用</span></div><div class="t m0 x1 h2 y6 ff1 fs0 fc0 sc0 ls0 ws0">了<span class="_ _4"> </span><span class="ff2">freertos<span class="_ _4"> </span></span>操作系统等先进技术。</div><div class="t m0 x1 h2 y7 ff1 fs0 fc0 sc0 ls0 ws0">二、硬件驱动</div><div class="t m0 x1 h2 y8 ff2 fs0 fc0 sc0 ls0 ws0">1. <span class="_ _5"> </span><span class="ff1">陀螺仪姿态传感器<span class="_ _4"> </span></span>BMI160</div><div class="t m0 x1 h2 y9 ff2 fs0 fc0 sc0 ls0 ws0">BMI160<span class="_ _5"> </span><span class="ff1">是集成了<span class="_ _4"> </span></span>3<span class="_"> </span><span class="ff1">轴陀螺仪和<span class="_ _5"> </span></span>3<span class="_"> </span><span class="ff1">轴加速度计的传感器，用于实现扫地机器人的姿态控制和</span></div><div class="t m0 x1 h2 ya ff1 fs0 fc0 sc0 ls0 ws0">平衡调整。在代码中，我们通过<span class="_ _4"> </span><span class="ff2">IIC<span class="_ _5"> </span></span>接口与<span class="_ _4"> </span><span class="ff2">BMI160<span class="_"> </span></span>进行通信，读取其数据并进行处理。</div><div class="t m0 x1 h2 yb ff2 fs0 fc0 sc0 ls0 ws0">2. <span class="_ _5"> </span><span class="ff1">电源管理<span class="_ _4"> </span></span>BQ24733</div><div class="t m0 x1 h2 yc ff1 fs0 fc0 sc0 ls0 ws0">电<span class="_ _1"></span>源<span class="_ _1"></span>管<span class="_ _1"></span>理<span class="_ _1"></span>芯<span class="_ _1"></span>片<span class="_ _2"> </span><span class="ff2">BQ24733<span class="_ _2"> </span></span>负<span class="_ _6"></span>责<span class="_ _1"></span>为<span class="_ _1"></span>扫<span class="_ _1"></span>地<span class="_ _1"></span>机<span class="_ _1"></span>器<span class="_ _1"></span>人<span class="_ _1"></span>提<span class="_ _6"></span>供<span class="_ _1"></span>稳<span class="_ _1"></span>定<span class="_ _1"></span>的<span class="_ _1"></span>电<span class="_ _1"></span>源<span class="_ _1"></span>。<span class="_ _1"></span>在<span class="_ _1"></span>代<span class="_ _6"></span>码<span class="_ _1"></span>中<span class="_ _1"></span>，<span class="_ _1"></span>我<span class="_ _1"></span>们<span class="_ _1"></span>通<span class="_ _1"></span>过<span class="_ _1"></span>控<span class="_ _6"></span>制</div><div class="t m0 x1 h2 yd ff2 fs0 fc0 sc0 ls0 ws0">BQ24733<span class="_ _5"> </span><span class="ff1">的引脚来实现电源的开关、充电和放电等功能。</span></div><div class="t m0 x1 h2 ye ff1 fs0 fc0 sc0 ls0 ws0">三、软件驱动</div><div class="t m0 x1 h2 yf ff2 fs0 fc0 sc0 ls0 ws0">1. IIC<span class="ff1">、</span>PWM<span class="ff1">、</span>SPI<span class="_ _4"> </span><span class="ff1">等通信协议</span></div><div class="t m0 x1 h2 y10 ff2 fs0 fc0 sc0 ls0 ws0">IIC<span class="ff1">、<span class="_ _7"></span><span class="ff2">PWM<span class="ff1">、<span class="_ _7"></span><span class="ff2">SPI<span class="_ _4"> </span><span class="ff1">等通信协议在扫地机器人的控制中起着至关重要的作用。<span class="_ _7"></span>在代码中，<span class="_ _7"></span>我们通</span></span></span></span></span></div><div class="t m0 x1 h2 y11 ff1 fs0 fc0 sc0 ls0 ws0">过配<span class="_ _3"></span>置相<span class="_ _3"></span>应的<span class="_ _3"></span>引脚<span class="_ _3"></span>和寄<span class="_ _3"></span>存器<span class="_ _3"></span>来实<span class="_ _3"></span>现这<span class="_ _3"></span>些通<span class="_ _3"></span>信协<span class="_ _3"></span>议。<span class="_ _3"></span>例如<span class="_ _3"></span>，<span class="_ _3"></span><span class="ff2">IIC<span class="_"> </span></span>协议用<span class="_ _3"></span>于与<span class="_ _4"> </span><span class="ff2">BMI160<span class="_"> </span></span>进行<span class="_ _3"></span>数据</div><div class="t m0 x1 h2 y12 ff1 fs0 fc0 sc0 ls0 ws0">通信，<span class="ff2">PWM<span class="_ _4"> </span></span>协议用于控制电机的转速等。</div><div class="t m0 x1 h2 y13 ff2 fs0 fc0 sc0 ls0 ws0">2. <span class="_ _5"> </span><span class="ff1">多路<span class="_ _4"> </span></span>ADC<span class="_ _5"> </span><span class="ff1">与<span class="_ _4"> </span></span>DMA</div><div class="t m0 x1 h2 y14 ff1 fs0 fc0 sc0 ls0 ws0">多路<span class="_ _4"> </span><span class="ff2">ADC</span>（模数转换器）<span class="_ _8"></span>用于将模拟信号转换为数字信号，<span class="_ _8"></span>而<span class="_ _4"> </span><span class="ff2">DMA</span>（直接内存存取）<span class="_ _8"></span>则用</div><div class="t m0 x1 h2 y15 ff1 fs0 fc0 sc0 ls0 ws0">于实<span class="_ _3"></span>现高<span class="_ _3"></span>速的数<span class="_ _3"></span>据传<span class="_ _3"></span>输。<span class="_ _3"></span>在代<span class="_ _3"></span>码中<span class="_ _3"></span>，我<span class="_ _3"></span>们配<span class="_ _3"></span>置<span class="_ _4"> </span><span class="ff2">ADC<span class="_"> </span></span>和<span class="_ _4"> </span><span class="ff2">DMA<span class="_"> </span></span>的引脚<span class="_ _3"></span>和参<span class="_ _3"></span>数，<span class="_ _3"></span>实现<span class="_ _3"></span>数据<span class="_ _3"></span>的采</div><div class="t m0 x1 h2 y16 ff1 fs0 fc0 sc0 ls0 ws0">集和传输。</div><div class="t m0 x1 h2 y17 ff2 fs0 fc0 sc0 ls0 ws0">3. <span class="_ _5"> </span><span class="ff1">编码器输入捕获、外部中断</span></div><div class="t m0 x1 h2 y18 ff1 fs0 fc0 sc0 ls0 ws0">编码器用于测量电机的转速和方向，<span class="_ _0"></span>而外部中断则用于实现扫地机器人的避障和碰撞检测等</div><div class="t m0 x1 h2 y19 ff1 fs0 fc0 sc0 ls0 ws0">功能。<span class="_ _9"></span>在代码中，<span class="_ _9"></span>我们通过配置相应的中断引脚和寄存器，<span class="_ _9"></span>实现编码器输入捕获和外部中断</div><div class="t m0 x1 h2 y1a ff1 fs0 fc0 sc0 ls0 ws0">的功能。</div><div class="t m0 x1 h2 y1b ff2 fs0 fc0 sc0 ls0 ws0">4. <span class="_ _5"> </span><span class="ff1">通信协议与<span class="_ _4"> </span></span>IAP<span class="_ _5"> </span><span class="ff1">升级</span></div><div class="t m0 x1 h2 y1c ff1 fs0 fc0 sc0 ls0 ws0">扫地机<span class="_ _3"></span>器人需<span class="_ _3"></span>要与其<span class="_ _3"></span>他设备<span class="_ _3"></span>进行通<span class="_ _3"></span>信，如<span class="_ _3"></span>与手<span class="_ _3"></span>机<span class="_ _4"> </span><span class="ff2">APP<span class="_"> </span></span>进行数据交<span class="_ _3"></span>互、接<span class="_ _3"></span>收远程<span class="_ _3"></span>指令等<span class="_ _3"></span>。此</div></div><div class="pi" data-data='{"ctm":[1.611830,0.000000,0.000000,1.611830,0.000000,0.000000]}'></div></div>