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MicroROS Self-balancing Robot Car📖
01.Introduction
  • 0.Unboxing and Reviewing
  • 1. Must read before use - learning route
  • 2. Introduction to LiDAR
  • 3. Balance car interface description
  • 4. Analysis of common problems
  • 5. Robot charging and battery precautions
02.Assembly tutorial
  • Robot assembly steps
03.Preparation
  • 0.Quick Start (Must Read)
  • 1.Write firmware
  • 2.How to install and use VM
  • 3.ESP32 communication board configuration parameters
  • 4.Connect to microROS agent
04.ROS-WiFi module configuration
  • 0.Serial port configuration WiFi instructions
  • 1.Use ROS-WiFi cam module(must read)
  • 2.Connect to ROS-WiFi cam module agent
  • 3.Camera image correction (optional)
05.Quick start control
  • 1.Keyboard remote control
  • 2.Handle remote control
06.ROS+OpenCV course
  • 1.OpenCV Getting started
  • 2.Geometric transformation
  • 3.Image processing and drawing text line segments
  • 4.Image beautification
07.Mediapipe course
  • 1. Hand detection
  • 2. Posture detection
  • 3. Overall inspection
  • 4. Face detection
  • 5. Face recognition
  • 6. Facial effects
  • 7. 3D object recognition
  • 8. Brush
  • 9. Finger control
  • 10. Gesture recognition
08.Robot basic course
  • 1.Robot information release
  • 2.Robot keyboard control
  • 3.Robot handle control
  • 4.Robot state estimation
  • 5.Line speed calibration
  • 6.Angular velocity calibration
  • 7.Robot URDF model
09.Lidar course
  • 1.Lidar avoid
  • 2.Lidar following
  • 3.Lidar guard
  • 5.Gmapping mapping
  • 6.Cartographer mapping
  • 7.Navigation2 navigation avoid
  • 8.Navigation2 fast relocation navigation
  • 9.ROS Robot APP mapping
  • 10.ROS Robot APP navigation
10.Robot visual interaction
  • 1.Color tracking
  • 2.Object recognition and tracking
  • 3.Face recognition tracking
  • 4.Autonomous driving line patrol
  • 5.QR code motion control
  • 6.Gesture control car movement
  • 7.Palm control car movement
  • 8.Gesture control car action group
  • 9.Palm recognition and tracking
  • 10.Human body posture recognition and tracking
11.Multi-machine course
  • 1.Multi-machine handle control
  • 2.Multi-machine keyboard control
  • 3.Multi-machine navigation
  • 4.Multi-machine rapid relocation navigation
12.STM32 balancing case
01.Environment construction and development
  • 13.Window Watchdog (WWDG)
  • 01.MDK-ARM installation
  • 02.STM32CubeIDE installation
  • 03.Common driver installation
  • 04.Download the program
  • 05.MDK-ARM project usage
  • 06.Program simulation
02.STM32 getting started course
  • 01.Project creation
  • 02.LED Control(GPIO)
  • 03.Buzzer control(GPIO)
  • 04.Button control(EXTI)
  • 05.Serial communication(USART)
  • 06.Voltage detection(ADC)
  • 07.Basic timer(TIM)
  • 08.Universal timer(TIM)
  • 09.Advanced Timer(TIM)
  • 10.I2C Communication(I2C)-OLED
  • 11.SPI communication(SPI)-2.4G handle
  • 12.Independent Watchdog (IWDG)
  • 14.DMA-USART
  • 15.DMA-I2C
03.STM32 expansion course
  • 01.Battery voltage detection (ADC)
  • 02.Ultrasonic module-measuring distance (TIM)
  • 03.Motor drive+encoder (TIM)
  • 04.OLED Data-Display(I2C)
  • 05.MPU6050-Data Read (I2C)
04.Robot car PID control course
  • 01.PID basic concept
  • 02.PID example analysis
  • 03.P, PI, PD controller theory
  • 04.Position PID
  • 05.Incremental PID
  • 06.Cascade PID
  • 07.Balance principle of car
  • 08.Car upright control (PD)
  • 09.Car speed ​​control (PI)
  • 10.Car steering control (PD)
  • 11.Got angle and angular velocity (DMP algorithm)
  • 12.Got angle and angular velocity (Kalman filter algorithm)
  • 13.Got angle and angular velocity(Complementary filter algorithm)
05.Robot car basic course
  • 01.Car parameter adjustment
  • 02.Ultrasonic obstacle avoidance
  • 03.Ultrasonic follow
  • 04.Bluetooth remote control
  • 05.Load balance
  • 06.Radar obstacle avoidance
  • 07.Radar guard
  • 08.Radar follow
  • 09.Radar patrol
  • 10.Radar wall following go in a straight line
  • 11.Radar tracking wall multiple walls
06.Robot car LQR control
  • Balance car LQR high-level control
07.Circuit design
  • 01.Overall circuit design
  • 02.STM32 minimum system
  • 03.Serial port circuit design
  • 04.Power circuit design
  • 05.MPU6050 Circuit Design
  • 06.Motor drive circuit design
08.Mathematical model
  • Balance car mathematical model
13.Linux basic course
  • 1.Introduction to Linux system
  • 2.Ubuntu file system
  • 3.Ubuntu common commands
  • 4.Ubuntu common editors
  • 5.Ubuntu software operation commands
  • 6.Virtual machine installation
  • 7.SSH remote control
  • 8.VNC remote control
  • 9.Transfer files remotely
  • 10.Driver library and communication
  • 11.Static IP and hotspot mode
  • 12.Bind device ID
  • 13.Capacity expansion and resource allocation
  • 14.Update system software sources
  • 15.Set root user password
  • 16.sudo free password
  • 17.Connect to WiFi network
  • 18.View system version
  • 19.Customized service management
  • 20.Back up system image
14.Docker course
  • 1. Overview and installation
  • 2. Common commands
  • 3. Docker images deeply understand and publish images
  • 4. Docker hardware interaction and data processing
  • 5. Enter the bot's docker container
15.ROS2 basic course
  • 1.Introduction to ROS2
  • 2.ROS2 install Humble
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 rqt toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
Download
  • RemoteCtrl_APP(Android)
  • Mapping_APP(iOS_Android)
  • Code
  • Hardware Information
  • software tools
  • 3D model file
  • Instruction manual
  • VM image file
  • ROS2_Basic_VM
Download ZIP

Welcome to MicroROS Self-balancing Robot Car repository

10.I2C Communication(I2C)-OLED

I2C Communication(I2C)-OLED

I2C Communication(I2C)-OLEDHardware connectionControl principleSoftware configurationPin definitionSoftware codeControl functionExperimental phenomenon

The tutorial demonstrates the hardware I2C driving 0.91-inch OLED display to display content.

The tutorial only introduces the standard library project code

Hardware connection

image-20240825203539408

Just install it to the corresponding interface:

PeripheralsDevelopment BoardDescription
OLED: VCC5VOLED power supply
OLED: GNDGNDOLED common ground
OLED: SCLPB8Serial clock line (SCL)
OLED: SDAPB9Serial data line (SDA)

Control principle

The I2C (Inter-Integrated Circuit) bus is a serial communication protocol consisting of a serial data line (SDA) and a serial clock line (SCL).

Serial Data Line (SDA): used to transmit data

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All devices use the same data line to communicate by transmitting data in binary form.

Serial Clock Line (SCL): used to synchronize data transmission

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The clock line generates pulses at a specific frequency to ensure that both the sending and receiving devices can transmit data at the same timing.

Multi-device communication: The I2C interface uses an address-based device identification mechanism to select a specific device to communicate with.

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Each I2C device has a unique address that identifies the device; the master device selects a specific device to communicate with by sending the device address
  • I2C communication

IIC bus timing diagram

image-20231024180945251

Idle state

SCL high level, SDA high level;

Start condition

SCL high level, SDA falling edge;

Stop condition

SCL high level, SDA rising edge;

Data transmission

SCL low level, SDA rising or falling edge;

Response signal

After receiving data from the device, it will send a low level to the master device to indicate successful reception;

Data validity

When the clock line is high, the data line must remain stable; when the clock line is low, the data line is allowed to change.

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SCL: high level → used for the start and end of communication
SCL: low level → used for data transmission and end

Software configuration

Pin definition

Main control chipPinMain function (after reset)Default multiplexing functionRedefine function
STM32F103RCT6PB8PB8TIM4_CH3I2C1_SCL/CAN_RX
STM32F103RCT6PB9PB9TIM4_CH4I2C1_SDA/CAN_TX

Software code

Since the default function of the pin is the ordinary IO pin function, we need to use the redefine function.

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Product supporting materials source code path: Attachment → Source code summary → 1.Base_Course → 10.I2C

Control function

The tutorial only briefly introduces the code, you can open the project source code to read the details.

OLED_I2C_Init

​x
void OLED_I2C_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    I2C_InitTypeDef I2C_InitStructure;

    RCC_APB1PeriphClockCmd(OLEDI2C_RCC, ENABLE);
    RCC_APB2PeriphClockCmd(OLED_RCC, ENABLE);

    // Enable the multiplexing function
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
    GPIO_PinRemapConfig(GPIO_Remap_I2C1, ENABLE);

    //PB8——SCL PB9——SDA
    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_OD;
    GPIO_InitStructure.GPIO_Pin   = OLED_SCL_Pin | OLED_SDA_Pin;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

    GPIO_Init(OLED_Port, &GPIO_InitStructure);

    I2C_DeInit(OLEDI2C);
    I2C_InitStructure.I2C_Ack                 = I2C_Ack_Enable;
    I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_InitStructure.I2C_ClockSpeed          = 400000;
    I2C_InitStructure.I2C_DutyCycle           = I2C_DutyCycle_2;
    I2C_InitStructure.I2C_Mode                = I2C_Mode_I2C;
    I2C_InitStructure.I2C_OwnAddress1         = 0x10;  // Fill in this address casually, do not do slave machine

    I2C_Init(OLEDI2C, &I2C_InitStructure);
    I2C_Cmd(OLEDI2C, ENABLE);

    OLED_Init(); //oled initialization
    OLED_Draw_Line("oled init success!" , 1, true, true);
}

OLED_Draw_String

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void OLED_Draw_String(char *data, uint8_t x, uint8_t y, bool clear, bool refresh)
{
    if (clear)
        OLED_Clear();
    SSD1306_GotoXY(x, y);
    SSD1306_Puts(data, &Font_7x10, SSD1306_COLOR_WHITE);
    if (refresh)
        OLED_Refresh();
}

OLED_Draw_Line

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void OLED_Draw_Line(char *data, uint8_t line, bool clear, bool refresh)
{
    if (line > 0 && line <= 3)
    {
        OLED_Draw_String(data, 0, 10 * (line - 1), clear, refresh);
    }
}

Experimental phenomenon

The I2c.hex file generated by the project compilation is located in the OBJ folder of the I2C project. Find the corresponding I2c.hex file of the project and use FlyMcu software to download the program into the development board.

After the program is downloaded successfully: OLED will display oled init success! And Hello wrold content.

Advanced Timer(TIM)
SPI communication(SPI)-2.4G handle

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