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標題: 語音智能小車程序:語音識別模塊LD3320+STMF103 [打印本頁]

作者: rong666 時間: 2021-7-20 22:51
標題: 語音智能小車程序:語音識別模塊LD3320+STMF103
使用LD3320模塊,實現用戶說一句話,比如說一句"小車左轉",小車就會進行左轉,到后面會加SD卡模塊,實現語音交互等功能.

LD3320是非特定人（不用針對指定人）語音識別芯片，即語音聲控芯片。最多可以識別50條預先內置的指令。

工作模式：
LD3320（LDV7）語音模塊可以工作在以下三種模式：
普通模式：直接說話，模塊直接識別；
按鍵模式：按鍵觸發(fā)開始ASR進程；
口令模式：需要一級喚醒詞（口令）；

推薦使用口令模式，這樣避免嘈雜環(huán)境下誤動作。

小車與STMF103接線圖:

                  A輪  \\ ------ //  B輪 TIM2
                           \\ ------  //
                              ------
                           //  ------ \\
                  D輪  // ------ \\  C輪 TIM3


         控制ABCD四個輪子的PWM
         PC6--A輪 //左前 ---- 電機驅動1-ENA
         PC7--B輪 //右前 ---- 電機驅動1-ENB
         PC8--C輪 //右后 ---- 電機驅動2-ENA
         PC9--D輪 //左后 ---- 電機驅動2-ENB

         A輪：PC1 PC0 控制前后運動 PC1----IN2，PC0----IN1
         B輪：PC3 PC2 控制前后運動    PC3----IN4，PC2----IN3
         C輪：PC10，PC11控制前后運動 PC10 --- IN1，PC11---IN2
         D輪：PC12，PD2控制前后運動  PC12 --- IN3，PD2 ---IN4

制作出來的實物圖如下：

LD332模塊與單片機接線圖:
LD3320 5v-----單片機的電源5v,GND----GND;
LD3320 RST----PB15
LD3320  CS---PB13
LD3320 IRQ---PB12
LD3320 CS---PA4
LD3320  SCK---PA5
LD3320  MISO----PA6
LD3320 MOSI---PA7

主要STM32單片機代碼如下:

測試的時候可以串口助手進行調試.
#include "LD3320.h"
uint8 nAsrStatus = 0;
uint8 nLD_Mode = LD_MODE_IDLE;//用來記錄當前是在進行ASR識別還是在播放MP3
uint8 ucRegVal;

///用戶修改
void LD3320_main(void)
{
uint8 nAsrRes=0;
LD3320_init();
   printf("1、小車前進\r\n");
printf("2、小車后退\r\n");
printf("3、小車右轉\r\n");
printf("4、小車左轉\r\n");
printf("5、小車停止\r\n");
nAsrStatus = LD_ASR_NONE;//初始狀態(tài)：沒有在作ASR

while(1)
{
      switch(nAsrStatus)
      {
         case LD_ASR_RUNING:
         case LD_ASR_ERROR:
                  break;
         case LD_ASR_NONE:
                  nAsrStatus=LD_ASR_RUNING;
                  if (RunASR()==0)//啟動一次ASR識別流程：ASR初始化，ASR添加關鍵詞語，啟動ASR運算
                  {
                     nAsrStatus = LD_ASR_ERROR;
                  }
                  break;
         case LD_ASR_FOUNDOK:
                  nAsrRes = LD_GetResult( );//一次ASR識別流程結束，去取ASR識別結果
                  printf("\r\n識別碼:%d", nAsrRes);

                  switch(nAsrRes)                      //對結果執(zhí)行相關操作,客戶修改
                     {
                        case CODE_XCQJ:                   //命令“小車前進”
                              printf(" 小車前進指令識別成功\r\n");

                                                         break;
                        case CODE_XCHT:                      //命令“小車后退”
                              printf(" 小車后退指令識別成功\r\n");
                                                         break;
                        case CODE_XCYZ:                   //命令“小車右轉”
                              printf(" 小車右轉指令識別成功\r\n");
                                                         break;
                        case CODE_XCZZ:                      //命令“小車左轉”
                              printf(" 小車左轉指令識別成功\r\n");
                                                         break;
                        case CODE_XCTZ:                      //命令“小車停止”
                              printf(" 小車停止指令識別成功\r\n");

                        default:break;
                     }
                  nAsrStatus = LD_ASR_NONE;
                  break;
         case LD_ASR_FOUNDZERO:
         default:
                  nAsrStatus = LD_ASR_NONE;
                  break;
         }//switch
      //開發(fā)板測試
      Board_text(nAsrRes );
}// while
}

static uint8 LD_AsrAddFixed(void)
{
uint8 k, flag;
uint8 nAsrAddLength;
#define DATE_A 5 //數組二維數值
#define DATE_B 20       //數組一維數值
//添加關鍵詞
uint8  sRecog[DATE_A][DATE_B] = {
               "xiao che qian jian",\
            "xiao che hou tui",\
            "xiao che you zhuan",\
            "xiao che zuo zhuan",\
            "xiao che ting zhi"\

                                                                  };
uint8  pCode[DATE_A] = {
                                                               CODE_XCQJ, \
                                                            CODE_XCHT, \
                                                            CODE_XCYZ,\
                                                            CODE_XCZZ, \
                                                            CODE_XCTZ       \
                                                         }; //添加識別碼
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;
}

static void Board_text(uint8 Code_Val)
{
switch(Code_Val)  //對結果執(zhí)行相關操作
{
      case CODE_XCQJ:  //命令“小車前進”
         car_go();
      break;
      case CODE_XCHT:    //命令“小車后退”
         car_back();
      break;
      case CODE_XCYZ: //命令“小車右轉”
         car_right();
      break;
      case CODE_XCZZ:       //命令“小車左轉”
      car_left();
      break;
      case CODE_XCTZ:       //命令“小車停止”
         car_stop();
      break;
      default:break;
}
}

static void Delayms(uint16 i)
{
unsigned char a,b;
for(;i>0;i--)
         for(b=4;b>0;b--)
            for(a=113;a>0;a--);
}

static void car_go(void)
{

M1_OFF();M3_OFF();M6_OFF();M7_OFF();
M2_ON();M4_ON();M5_ON();M8_ON();

E1_ON();E2_ON();E3_ON();E4_ON();
}

static void car_back(void)
{

M2_OFF();M4_OFF();M5_OFF();M8_OFF();
M1_ON();M3_ON();M6_ON();M7_ON();

E1_ON();E2_ON();E3_ON();E4_ON();
}

static void car_right(void)
{
M3_OFF();M7_OFF();
M4_ON();M8_ON();
E2_ON();E4_ON();
}

static void car_left(void)
{
M1_OFF();M6_OFF();
M2_ON();M5_ON();;

E1_ON();E3_ON();
}

static void car_stop(void)
{
E1_OFF();E2_OFF();E3_OFF();E4_OFF();

}

///相關初始化
static void LD3320_init(void)
{
LD3320_GPIO_Cfg();
LD3320_EXTI_Cfg();
LD3320_SPI_cfg();
car_Init();
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);
//外部中斷線配置
  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);
//中斷嵌套配置
  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;
  //spi端口配置
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;    //全雙工
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;                                                 //主模式
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;                                        //8位
SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;                                                    //時鐘極性空閑狀態(tài)時，SCK保持低電平
SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;                                                 //時鐘相位數據采樣從第一個時鐘邊沿開始
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;                                                          //軟件產生NSS
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64; //波特率控制 SYSCLK/128
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;                                     //數據高位在前
SPI_InitStructure.SPI_CRCPolynomial = 7;                                                          //CRC多項式寄存器初始值為7
SPI_Init(LD3320SPI, &SPI_InitStructure);

SPI_Cmd(LD3320SPI, ENABLE);
}

static void car_Init(void)
{
      GPIO_InitTypeDef GPIO_InitStructure;

      RCC_APB2PeriphClockCmd(M1_GPIO_CLK | M2_GPIO_CLK | M3_GPIO_CLK | M4_GPIO_CLK|M5_GPIO_CLK | M6_GPIO_CLK | M7_GPIO_CLK | M8_GPIO_CLK| E1_GPIO_CLK| E2_GPIO_CLK| E3_GPIO_CLK| E4_GPIO_CLK,ENABLE);

      GPIO_InitStructure.GPIO_Pin = M1_PIN;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
      GPIO_Init(M1_GPIO_PORT, &GPIO_InitStructure);
      GPIO_InitStructure.GPIO_Pin = M2_PIN;
      GPIO_Init(M2_GPIO_PORT, &GPIO_InitStructure);
      GPIO_InitStructure.GPIO_Pin = M3_PIN;
      GPIO_Init(M3_GPIO_PORT, &GPIO_InitStructure);
      GPIO_InitStructure.GPIO_Pin = M4_PIN;
      GPIO_Init(M4_GPIO_PORT, &GPIO_InitStructure);
   GPIO_InitStructure.GPIO_Pin = M5_PIN;
      GPIO_Init(M5_GPIO_PORT, &GPIO_InitStructure);
      GPIO_InitStructure.GPIO_Pin = M6_PIN;
      GPIO_Init(M6_GPIO_PORT, &GPIO_InitStructure);
      GPIO_InitStructure.GPIO_Pin = M7_PIN;
      GPIO_Init(M7_GPIO_PORT, &GPIO_InitStructure);
      GPIO_InitStructure.GPIO_Pin = M8_PIN;
      GPIO_Init(M8_GPIO_PORT, &GPIO_InitStructure);

   GPIO_InitStructure.GPIO_Pin = E1_PIN;
      GPIO_Init(E1_GPIO_PORT, &GPIO_InitStructure);
   GPIO_InitStructure.GPIO_Pin = E2_PIN;
      GPIO_Init(E2_GPIO_PORT, &GPIO_InitStructure);
      GPIO_InitStructure.GPIO_Pin = E3_PIN;
      GPIO_Init(E3_GPIO_PORT, &GPIO_InitStructure);
   GPIO_InitStructure.GPIO_Pin = E4_PIN;
      GPIO_Init(E4_GPIO_PORT, &GPIO_InitStructure);

}
///相關初始化 end

///中間層
void EXTI15_10_IRQHandler(void)
{
if(EXTI_GetITStatus(LD3320IRQEXITLINE)!= RESET )
{
      ProcessInt();
      printf("進入中斷12\r\n");
      EXTI_ClearFlag(LD3320IRQEXITLINE);
      EXTI_ClearITPendingBit(LD3320IRQEXITLINE);//清除LINE上的中斷標志位
}
}

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--);
      }
}
}

static uint8 RunASR(void)
{
uint8 i=0;
uint8 asrflag=0;
for (i=0; i<5; i++)       //防止由于硬件原因導致LD3320芯片工作不正常，所以一共嘗試5次啟動ASR識別流程
{
      LD_AsrStart();          //初始化ASR
      LD3320_delay(100);
      if (LD_AsrAddFixed()==0) //添加關鍵詞語到LD3320芯片中
      {
         LD_reset();             //LD3320芯片內部出現不正常，立即重啟LD3320芯片
         LD3320_delay(50); //并從初始化開始重新ASR識別流程
         continue;
      }
      LD3320_delay(10);
      if (LD_AsrRun() == 0)
      {
         LD_reset();          //LD3320芯片內部出現不正常，立即重啟LD3320芯片
         LD3320_delay(50);//并從初始化開始重新ASR識別流程
         continue;
      }
      asrflag=1;
      break;                      //ASR流程啟動成功，退出當前for循環(huán)。開始等待LD3320送出的中斷信號
}
return asrflag;
}

static void LD_reset(void)
{
uint8 i;
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);

i=LD_ReadReg(0x6);
LD_WriteReg(0x35, 0x33);
LD_WriteReg(0x1b, 0x55);
LD_WriteReg(0xb3, 0xaa);
i=LD_ReadReg(0x35);
i=LD_ReadReg(0x1b);
i=LD_ReadReg(0xb3);
i=i;
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();
i=LD_ReadReg(0x6);
LD3320_delay(100);
i=LD_ReadReg(0x35);
i=LD_ReadReg(0x1b);
i=LD_ReadReg(0xb3);
i=i;
}

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;
}
///中間層end

///寄存器操作
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);
}

static 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);

// 語音識別產生的中斷
//（有聲音輸入，不論識別成功或失敗都有中斷）
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;//執(zhí)行沒有識別
}

LD_WriteReg(0x2b,0);
LD_WriteReg(0x1C,0);//寫0:ADC不可用
LD_WriteReg(0x29,0);
LD_WriteReg(0x02,0);
LD_WriteReg(0x2B,0);
LD_WriteReg(0xBA,0);
LD_WriteReg(0xBC,0);
LD_WriteReg(0x08,1);//清除FIFO_DATA
LD_WriteReg(0x08,0);//清除FIFO_DATA后再次寫0
}

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 );
}
///寄存器操作 end

全部代碼51hei附件下載：

UNV-LD3320 基本識別工程-STM32F103ZET6.7z (192.05 KB, 下載次數: 77)

作者: isyido 時間: 2021-7-25 10:15
在小車上響應速度如何？是否需要降低車速？

作者: rong666 時間: 2021-7-25 16:08

isyido 發(fā)表于 2021-7-25 10:15
在小車上響應速度如何？是否需要降低車速？

可以降速的，調pwn就可以了，用了time8的四個通道控制四個輪子，這個四個輪子可以控制的

作者: dxjjcp 時間: 2024-4-22 11:53

isyido 發(fā)表于 2021-7-25 10:15
在小車上響應速度如何？是否需要降低車速？

速度通過PWM波調整就好了

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