💤 🤙 👩🏾‍✈️ All stages of creating a robot to follow the line, or how to collect all the rakes with STM32 👩🏼‍🤝‍👨🏻 🐠 🤷🏽

Hello, Habr!

This publication will discuss my experience in creating a robot for competitions, namely following the line. I will try to tell all the stages from designing circuitry and ordering a printed circuit board to an algorithm and a program.

The race of robots along the line has long been a basic test for beginner robotics. Almost all regional and international competitions include this direction, so making one robot you can participate almost everywhere. In the first year of university, this was the next task after the first blinking of the LED.

Formulation of the problem

Any development begins with a technical assignment, in our case, the competition regulations of the Robofinist competitions are used as TK . We are interested in the requirements for dimensions (not more than 25x25x25 cm) and the weight of the robot (not more than 1 kg), as well as the shape of the track and its width 1.5 cm. Depending on the complexity of the track, a threshold is set for the minimum time it takes to pass (60 sec. )

The task is clear, we need a robot capable of detecting a line and driving along it from start to finish in a minimum amount of time.

Concept design

The core of the robot is the STM32F103C8T6 microcontroller, it reads track information using QRE1113 optical sensors and controls the engines through the A3906 driver. For clarity, the sensors are each assigned their own LED, as soon as the sensor "sees" the black line, the LED lights up, this greatly simplifies the debugging process. As a power source, a Li-po type 18650 battery with a voltage of 3.7 V and a charge chip LTC4054ES5 were chosen. But for the correct operation of the motors, at least 6 V is needed, therefore, I installed the LM2577 DC-DC step-up voltage converter, and the LM1117 linear 3.3 V to supply the logic part.

It's time to talk about the first mistakes. Inattentively, I mixed up one pair of microcontroller power pins and at startup I spent several hours looking for a problem, as a result I had to bite them. Then the problem arose that not all sensors reacted to the line, my first reaction was that I burned the microcontroller or the broken legs of the power supply at the last stage were not at all superfluous, or that I badly soldered the contacts.

Using an oscilloscope, I found that the problem was in the sensors themselves, out of 10 sensors 4 did not work, replacing them with new ones the following problem appeared - three indicator LEDs PB3, PB4 and PA15 did not work. After rewriting and looking through all my code, I could not find any differences in the initialization of non-working and working ports everywhere was Push Pull, 10 MHz and clock enabled. Having looked at the oscillogram, I noticed that one pin was attracted to the plus and even in debug mode it didn’t reset at all, I realized that the microcontroller was burned. Closing the datasheet, I noticed that by a strange coincidence, these pins are used for JTAG, and I use SWD, but having decided that it wouldn’t get worse, I started googling how to disable JTAG and it really helped (see below).

Mini conclusion, check the correct nutrition at all stages so that you don’t think something burned later or it doesn’t work for other reasons.

What needs to be improved in the scheme

I guessed to put the charge chip, but I forgot about the discharge, although it is no less important, plus in 2020 I put mini USB instead of type C. I would like to use the microcontroller to monitor the battery charge, but it did not have any ADC pins left. When choosing a driver, I relied on the characteristics of the 6 V and 700 mA engines, but did not take into account that its maximum voltage is 9 V, but I would like 12 V.

PCB design

First of all, it was decided to determine the size and shape of the PP and part-time platform of the robot. We recall that according to the regulations, the dimensions should not exceed 25x25 cm, but it is also worth considering that when ordering software at a factory (PCBWay) in China, boards over 10x10 cm increase significantly in price. I think the choice of dimensions is obvious.

Next, you should distribute the sensors symmetrically (on the bottom of the board), taking into account the line width, and then the heaviest elements, such as motors and the battery. LEDs are mounted on the same axis as the corresponding sensors, on the opposite side of the board. For convenience, we install a power switch and a battery charge connector in the back of the platform. The remaining elements are set closer to the center.

Having cut off the empty edges of the board instead of a square, a completely decent image of the robot platform is obtained.

The board turned out to be quite simple due to the small number of unique elements. Total 2 layers minimum track thickness 0.25 mm. Having saved the motherboard in the Gerber format, I sent it to the factory by selecting the white color of the mask, then I did not have any special problems.

And a 3D view of the board with the elements. Live photo will be at the end.

What needs to be finalized in the board

I installed some elements too close to the plastic case of the battery and it was difficult to solder them, and even more difficult to solder. I forgot to sign the pinout of the programming connector SWD, UART and engines, as a result, I have to look into the circuit.

Purchase of components

The development of everything new requires the highest relative costs per unit of goods, you can and should try to save, but within reasonable limits, so ordering line sensors for Aliexpress 4.5 times cheaper than in an electronics store, I paid for the fact that about 40% of them turned out to be not working, and this is the time to find and fix errors. On the other hand, I did not want to buy the LM2577 chip for 460 rubles, while the module with all the strapping costs 100 rubles. I ordered part of the parts to Ali, another part at a local store.

Here are my estimated component costs:

Engines and wheels - 800 rubles;
Battery and case - 400 rubles;
Charger - 300 rubles;
Microcontroller and driver - 200 rubles;
Stabilizers - 400 rubles;
Fees 10 units with delivery 2400/10 = 240 rubles per unit;
The rest of the harness - 150 rubles.

Total: 4650 rubles total costs for components, or 2490 if you subtract the price of the remaining nine unused boards.

UPD: I began to calculate the cost of boards and component installation and per batch of 10 units. the price increased to 16,000 rubles. There are ideas how to optimize but this is another time.

Algorithm

The algorithm implemented the simplest, if the line turned out to be, for example, on the right side, then the right engine will start to slow down and the closer the line to the edge, the slower the engine will work, until it stops completely, while the left engine will work at maximum speed trying to turn towards the line. A similar situation if the line is on the left side. Thus, the robot tries to stabilize, returning the line to the central sensors.

Algorithm in pictures

It is also necessary to provide for other situations, for example, if all the sensors have detected a line, then this most likely means that we are crossing the intersection and most likely we need to go further ahead. Or if only the extreme sensors detected the line, then we arrived at the finish line and we need to stop.

Programming

At this stage, you need to get a tambourine and beat into it.

Wrote in Atollic True Studio used only CMSIS and FreeRTOS. Spent half a week to launch FreeRTOS, did everything according to the instructions, but caught errors during the compilation process, fixed 1, 63 appeared, or there were no errors, but the controller crashed. At some point, I realized that the level of my hand ... reached unprecedented heights and it was time to think about what I was doing and what I was doing. Thanks to comrades from the community, I started digging in the right direction and from a lot of redrawn sources I found several that helped me (see below). As a result, I managed to defeat FreeRTOS and so far I have used it at 0%, because I stuffed everything into one task.

Here the video and article and this article helped me the most .

The timing system, here I'm still not sure if it works as it should. Having tuned the system frequency through the PLL to 48 MHz, I saw 24 MHz (/ 2) on the foot of the MCO, no, I saw a 22-25 MHz signal remotely resembling a sine. At the same time, I set 48 MHz in FreeRTOS config and set the delay to 500 ms and ran it, saw that my 500 ms turned into 300, went through all the possible settings, noticed that I get the target 500 ms only when clocked from the internal generator to 8 MHz, and the frequency value FreeRTOS config did not affect at all, set both 1 Hz and 48 GHz. I decided to return 48 MHz and work with 300 ms, after which I accidentally rebooted True Studio and it worked wonderfully as I thought, and from the very beginning I already indicated all the file paths.

The problem of JTAG and LEDs, described above, the solution was found hereand you just need to disable it, thereby freeing up access to the pins PB3, PB4 and PA15.

AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_JTAGDISABLE;

The structure of the project is approximately as follows:

A lot of code

1. ;


void RCC_Init(void) {						// Quartz 16 MHz

	RCC->CFGR |= RCC_CFGR_PLLXTPRE;	// PLLXTPRE set divider (/2) = 8 MHz

	RCC->CR |= RCC_CR_HSEON;			// On HSE
	while (!(RCC->CR & RCC_CR_HSERDY)) {
	};

	RCC->CFGR |= (RCC_CFGR_PLLMULL6);     // Setup PLLMULL set multiplier (x6) = 48 MHz

	RCC->CFGR |= RCC_CFGR_PLLSRC;		// PLLSRC set HSE

	RCC->CR |= RCC_CR_PLLON;			// ON PLL
	while (!(RCC->CR & RCC_CR_PLLRDY)) {
	};

	FLASH->ACR &= ~FLASH_ACR_LATENCY;	// Setup FLASH
	FLASH->ACR |= FLASH_ACR_LATENCY_1;

	RCC->CFGR |= RCC_CFGR_HPRE_DIV1; 	// Set not divider (AHB) = 48 MHz
	RCC->CFGR |= RCC_CFGR_PPRE1_DIV2; 	// Set divider (/2) (APB1) = 24 MHz
	RCC->CFGR |= RCC_CFGR_PPRE2_DIV1; 	// Set not divider (APB2) = 48 MHz

	RCC->CFGR &= ~RCC_CFGR_SW; 		// Setup SW, select PLL
	RCC->CFGR |= RCC_CFGR_SW_PLL;

//	RCC->CFGR |= RCC_CFGR_MCO_SYSCLK;

}

2. , , , Push Pull;


void GPIO_Init(void) {

	RCC->APB2ENR |=	(RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN | RCC_APB2ENR_AFIOEN); // Enable clock portA, portB and Alternative function

	AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_JTAGDISABLE;	// Disable JTAG for pins B3,B4 and A15

	//---------------LED: (B3 to B9; A11, A12, A15); Output mode: Push Pull, max 10 MHz---------------//

	GPIOB->CRL &= ~(GPIO_CRL_CNF3 | GPIO_CRL_MODE3);	// Setup B3 pins PP, 10MHz
	GPIOB->CRL |= GPIO_CRL_MODE3_0;

	GPIOB->CRL &= ~(GPIO_CRL_CNF4 | GPIO_CRL_MODE4);	// Setup B3 pins PP, 10MHz
	GPIOB->CRL |= GPIO_CRL_MODE4_0;

	GPIOB->CRL &= ~(GPIO_CRL_CNF5 | GPIO_CRL_MODE5);	// Setup B4 pins PP, 10MHz
	GPIOB->CRL |= GPIO_CRL_MODE5_0;

	GPIOB->CRL &= ~(GPIO_CRL_CNF6 | GPIO_CRL_MODE6);	// Setup B5 pins PP, 10MHz
	GPIOB->CRL |= GPIO_CRL_MODE6_0;

	GPIOB->CRL &= ~(GPIO_CRL_CNF7 | GPIO_CRL_MODE7);	// Setup B6 pins PP, 10MHz
	GPIOB->CRL |= GPIO_CRL_MODE7_0;

	GPIOB->CRH &= ~(GPIO_CRH_CNF8 | GPIO_CRH_MODE8);	// Setup B7 pins PP, 10MHz
	GPIOB->CRH |= GPIO_CRH_MODE8_0;

	GPIOB->CRH &= ~(GPIO_CRH_CNF9 | GPIO_CRH_MODE9);	// Setup B8 pins PP, 10MHz
	GPIOB->CRH |= GPIO_CRH_MODE9_0;

	GPIOA->CRH &= ~(GPIO_CRH_CNF11 | GPIO_CRH_MODE11);	// Setup A11 pins PP, 10MHz
	GPIOA->CRH |= GPIO_CRH_MODE11_0;

	GPIOA->CRH &= ~(GPIO_CRH_CNF12 | GPIO_CRH_MODE12);	// Setup A12 pins PP, 10MHz
	GPIOA->CRH |= GPIO_CRH_MODE12_0;

	GPIOA->CRH &= ~(GPIO_CRH_CNF15 | GPIO_CRH_MODE15);	// Setup A15 pins PP, 10MHz
	GPIOA->CRH |= GPIO_CRH_MODE15_0;

	//--Motors: (A8 to A10; B12 to B15); Output and input (B12, B13) mode: Alternative function, PWM - Push Pull, max 10 MHz--//

	GPIOB->CRH &= ~(GPIO_CRH_CNF12 | GPIO_CRH_MODE12);		// Setup B12 pins analog input

	GPIOB->CRH &= ~(GPIO_CRH_CNF13 | GPIO_CRH_MODE13);		// Setup B13 pins analog input

	GPIOB->CRH &= ~(GPIO_CRH_CNF14   | GPIO_CRH_MODE14);	// Setup B14 pins PP, 10MHz
	GPIOB->CRH |=  GPIO_CRH_MODE14_0;

	GPIOB->CRH &= ~(GPIO_CRH_CNF15   | GPIO_CRH_MODE15);	// Setup B15 pins PP, AF, 10MHz
	GPIOB->CRH |=  (GPIO_CRH_CNF15_1 | GPIO_CRH_MODE15_0);

	GPIOA->CRH &= ~(GPIO_CRH_CNF8 | GPIO_CRH_MODE8);		// Setup A10 pins PP, 10MHz
	GPIOA->CRH |= GPIO_CRH_MODE8_0;

	GPIOA->CRH &= ~(GPIO_CRH_CNF9    | GPIO_CRH_MODE9);		// Setup A9 pins PP, AF, 10MHz
	GPIOA->CRH |=  (GPIO_CRH_CNF9_1  | GPIO_CRH_MODE9_0);

	GPIOA->CRH &= ~(GPIO_CRH_CNF10 | GPIO_CRH_MODE10);		// Setup A10 pins PP, 10MHz
	GPIOA->CRH |= GPIO_CRH_MODE10_0;

	//--UART3: (B10 - TX; B11 - RX); Output mode: Alternative function, UART - Push Pull, max 10 MHz--//

	GPIOB->CRH &= ~(GPIO_CRH_CNF10   | GPIO_CRH_MODE10);	// Setup B10 pins PP, AF, 10MHz
	GPIOB->CRH |=  (GPIO_CRH_CNF10_1 | GPIO_CRH_MODE10_0);

	GPIOB->CRH &= ~(GPIO_CRH_CNF11   | GPIO_CRH_MODE11);	// Setup B11 pins PP, AF, 10MHz
	GPIOB->CRH |=  (GPIO_CRH_CNF11_1 | GPIO_CRH_MODE11_0);

	//--Optical sensors: (B0, B1, A0 - A7); Input mode: Analog--//

	GPIOB->CRL &= ~(GPIO_CRL_CNF0 | GPIO_CRL_MODE0);	// Setup B0 pins analog input
	GPIOB->CRL &= ~(GPIO_CRL_CNF1 | GPIO_CRL_MODE1);	// Setup B1 pins analog input
	GPIOA->CRL &= ~(GPIO_CRL_CNF0 | GPIO_CRL_MODE0);	// Setup A0 pins analog input
	GPIOA->CRL &= ~(GPIO_CRL_CNF1 | GPIO_CRL_MODE1);	// Setup A1 pins analog input
	GPIOA->CRL &= ~(GPIO_CRL_CNF2 | GPIO_CRL_MODE2);	// Setup A2 pins analog input
	GPIOA->CRL &= ~(GPIO_CRL_CNF3 | GPIO_CRL_MODE3);	// Setup A3 pins analog input
	GPIOA->CRL &= ~(GPIO_CRL_CNF4 | GPIO_CRL_MODE4);	// Setup A4 pins analog input
	GPIOA->CRL &= ~(GPIO_CRL_CNF5 | GPIO_CRL_MODE5);	// Setup A5 pins analog input
	GPIOA->CRL &= ~(GPIO_CRL_CNF6 | GPIO_CRL_MODE6);	// Setup A6 pins analog input
	GPIOA->CRL &= ~(GPIO_CRL_CNF7 | GPIO_CRL_MODE7);	// Setup A7 pins analog input

}

3. DMA, ;


extern uint16_t adc_buf[10];

void ADC_Init(void) {

	 RCC->AHBENR |= RCC_AHBENR_DMA1EN;
	 DMA1_Channel1->CPAR = (uint32_t) &ADC1->DR;		//   
	 DMA1_Channel1->CMAR = (unsigned int) adc_buf;   	//    

	 DMA1_Channel1->CNDTR = 10;			  				//    
	 DMA1_Channel1->CCR &= ~DMA_CCR_EN;			   		//   
	 DMA1_Channel1->CCR |= DMA_CCR_MSIZE_0;		  		//   16 bit
	 DMA1_Channel1->CCR |= DMA_CCR_PSIZE_0;		 		//   16 bit
	 DMA1_Channel1->CCR |= DMA_CCR_MINC;			  	// memory increment mode
	 DMA1_Channel1->CCR |= DMA_CCR_CIRC;
	 DMA1_Channel1->CCR |= DMA_CCR_TCIE;				//    
	 DMA1_Channel1->CCR |= DMA_CCR_EN;				  	//  
	 NVIC_SetPriority(DMA1_Channel1_IRQn, 10);
	 NVIC_EnableIRQ(DMA1_Channel1_IRQn);

	 RCC->CFGR &= ~RCC_CFGR_ADCPRE;
	 RCC->CFGR |= RCC_CFGR_ADCPRE_DIV8;
	 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;

	 ADC1->SQR3 = 0;			// 1
	 ADC1->SQR3 |= 1 << 5;		// 2     
	 ADC1->SQR3 |= 2 << 10;		// 3
	 ADC1->SQR3 |= 3 << 15;		// 4
	 ADC1->SQR3 |= 4 << 20;		// 5
	 ADC1->SQR3 |= 5 << 25;		// 6
	 ADC1->SQR2 = 6;			// 7
	 ADC1->SQR2 |= 7 << 5;		// 8
	 ADC1->SQR2 |= 8 << 10;		// 9
	 ADC1->SQR2 |= 9 << 15;		// 10

	 ADC1->CR2 = ADC_CR2_EXTSEL_0 | ADC_CR2_EXTSEL_1 | ADC_CR2_EXTSEL_2
	 | ADC_CR2_EXTTRIG;
	 ADC1->SMPR1 = 0;					 		//   
	 ADC1->SMPR2 = 0;					 		//
	 ADC1->SMPR2 |= (uint32_t) (6 << (0 * 3)); 	// 0,   6 
	 ADC1->SMPR2 |= (uint32_t) (6 << (1 * 3)); 	// 1,   6 
	 ADC1->SMPR2 |= (uint32_t) (6 << (2 * 3)); 	// 2,   6 
	 ADC1->SMPR2 |= (uint32_t) (6 << (3 * 3)); 	// 3,   6 
	 ADC1->SMPR2 |= (uint32_t) (6 << (4 * 3)); 	// 4,   6 
	 ADC1->SMPR2 |= (uint32_t) (6 << (5 * 3)); 	// 5,   6 
	 ADC1->SMPR2 |= (uint32_t) (6 << (6 * 3)); 	// 6,   6 
	 ADC1->SMPR2 |= (uint32_t) (6 << (7 * 3)); 	// 7,   6 
	 ADC1->SMPR2 |= (uint32_t) (6 << (8 * 3)); 	// 8,   6 
	 ADC1->SMPR2 |= (uint32_t) (6 << (9 * 3)); 	// 9,   6 
	 ADC1->SMPR1 |= (uint32_t) (6 << (0 * 3)); 	// 10,   6 

	 ADC1->CR2 |= ADC_CR2_ADON;

	 ADC1->CR2 |= ADC_CR2_RSTCAL;
	 while ((ADC1->CR2 & ADC_CR2_RSTCAL) == ADC_CR2_RSTCAL) {
	 }

	 ADC1->CR2 |= ADC_CR2_CAL;

	 while ((ADC1->CR2 & ADC_CR2_RSTCAL) == ADC_CR2_CAL) {
	 }

	 ADC1->SQR1 |= 9 << 20;						//  
	 ADC1->CR1 |= ADC_CR1_SCAN;					//  
	 ADC1->CR2 |= ADC_CR2_DMA;				  	// DMA on
	 // ADC1->CR2 |= ADC_CR2_CONT;

	 //  ADC1->CR2 |= ADC_CR2_SWSTART;
	 ADC1->CR2 |= ADC_CR2_ADON;

}

4. , ;

void TIM1_Init(void) {

	/*************** Enable TIM1 (CH1) ***************/
	RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
	TIM1->CCER = 0;										//  CCER ( )
	TIM1->ARR = 1000; 									//  ,     
	TIM1->PSC = 48 - 1;                					// 
	TIM1->BDTR |= TIM_BDTR_MOE;     					//     

	TIM1->CCR2 = 0; 									//       (  0  TIM1->ARR)
	TIM1->CCMR1 |= TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2; //     
	TIM1->CCER |= (TIM_CCER_CC2P |TIM_CCER_CC2E); 		//        
														//   -   3
	TIM1->CCR3 = 0; 									//       (  0  TIM1->ARR)
	TIM1->CCMR2 |= TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2; //     
	TIM1->CCER |= TIM_CCER_CC3NE; 						//        
	TIM1->CCER &= ~TIM_CCER_CC3NP;

	TIM1->CR1 |= TIM_CR1_CEN;
}

5. UART , ;

void UART3_Init(void) {

	RCC->APB1ENR |= RCC_APB1ENR_USART3EN;

	USART3->BRR = 0xD0;						// Speed = 115200; (24 000 000 + (115200 / 2)) / 115200 = 208 -> 0xD0

	USART3->CR1 |= USART_CR1_TE | USART_CR1_RE | USART_CR1_UE;

//	USART3->CR1 |= USART_CR1_RXNEIE;
//	NVIC_EnableIRQ(USART3_IRQn);
}

void UART3_Send(char chr) {
	while (!(USART3->SR & USART_SR_TC))
		;
	USART3->DR = chr;
}

void UART3_Send_String(char* str) {
	uint8_t i = 0;

	while (str[i])
		UART3_Send(str[i++]);
}

void UART3_Send_Number_Float(float data){

	char str[100];

	char *tmpSign = (data < 0) ? "-" : "";
	float tmpVal = (data < 0) ? -data : data;

	int tmpInt1 = tmpVal;                  // Get the integer (678).
	float tmpFrac = tmpVal - tmpInt1;      // Get fraction (0.0123).
	int tmpInt2 = trunc(tmpFrac * 10);  // Turn into integer (123).	int tmpInt2 = trunc(tmpFrac * 10000)

	// Print as parts, note that you need 0-padding for fractional bit.

	sprintf (str, "%s%d.%01d", tmpSign, tmpInt1, tmpInt2);

	UART3_Send_String(str);
}

6. FreeRtos config

/*
 * FreeRTOS Kernel V10.3.1
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * http://www.FreeRTOS.org
 * http://aws.amazon.com/freertos
 *
 * 1 tab == 4 spaces!
 */

#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

/* Library includes. */
//#include "stm32f10x_lib.h"
/*-----------------------------------------------------------
 * Application specific definitions.
 *
 * These definitions should be adjusted for your particular hardware and
 * application requirements.
 *
 * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
 * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
 *
 * See http://www.freertos.org/a00110.html
 *----------------------------------------------------------*/

#define vPortSVCHandler SVC_Handler		// fix problem
#define xPortPendSVHandler PendSV_Handler
#define vPortSVCHandler SVC_Handler
#define xPortSysTickHandler SysTick_Handler


#define configUSE_PREEMPTION		1
#define configUSE_IDLE_HOOK			0
#define configUSE_TICK_HOOK			1
#define configCPU_CLOCK_HZ			( ( unsigned long ) 48000000 )
#define configTICK_RATE_HZ			( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES		( 5 )
#define configMINIMAL_STACK_SIZE	( ( unsigned short ) 32 )
#define configTOTAL_HEAP_SIZE		( ( size_t ) ( 17 * 1024 ) )
#define configMAX_TASK_NAME_LEN		( 16 )
#define configUSE_TRACE_FACILITY	0
#define configUSE_16_BIT_TICKS		0
#define configIDLE_SHOULD_YIELD		1
#define configUSE_MUTEXES			1

/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 		0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )

/* Set the following definitions to 1 to include the API function, or zero
 to exclude the API function. */

#define INCLUDE_vTaskPrioritySet		1
#define INCLUDE_uxTaskPriorityGet		1
#define INCLUDE_vTaskDelete				1
#define INCLUDE_vTaskCleanUpResources	0
#define INCLUDE_vTaskSuspend			1
#define INCLUDE_vTaskDelayUntil			1
#define INCLUDE_vTaskDelay				1

/* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
 (lowest) to 0 (1?) (highest). */
#define configKERNEL_INTERRUPT_PRIORITY 		255
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
 See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	191 /* equivalent to 0xb0, or priority 11. */

/* This is the value being used as per the ST library which permits 16
 priority values, 0 to 15.  This must correspond to the
 configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
 NVIC value of 255. */
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY	15

#endif /* FREERTOS_CONFIG_H */

7. main;

#include "main.h"

void vTaskUART2(void *argument);
void vTaskConvADC(void *argument);

uint32_t Motor(int32_t which, int32_t speed, int32_t turn);

void IndicatorLED(uint32_t number, uint32_t status);


//define      typedef enum :)
#define MotorLeft		1
#define MotorRight		0
#define MoveBack		0
#define MoveForward		1
#define MaxSpeedMotor	1000

uint16_t adc_buf[10];				// Buffer DMA ADC sensors
uint16_t SensWhiteOrBlack[10];		// Buffer sensors white or black

int main(void) {

	RCC_Init();
	GPIO_Init();
	TIM1_Init();
	UART3_Init();
	ADC_Init();

	xTaskCreate(vTaskUART2, "UART", 512, NULL, 1, NULL);
	xTaskCreate(vTaskConvADC, "ADC", 128, NULL, 1, NULL);

	UART3_Send_String("Start program\r\n");

	GPIOA->BSRR |= GPIO_BSRR_BS10;	// Motor enable

	vTaskStartScheduler();

	while (1) {

	}
}
/*************************************Tasks***************************************/

void vTaskUART2(void *argument) {

	while (1) {

//-------------------Read sensors from buff DMA ADC, and print to UART3-------------//

		for (uint32_t i = 0; i <= 9; i++)
		{

			if (adc_buf[i] <= 300)		// value sens is white
			{
				IndicatorLED(i, 0);
				SensWhiteOrBlack[i] = 0;
			} else						// else value sens is black
			{
				IndicatorLED(i, 1);
				SensWhiteOrBlack[i] = 1;
			}

//			UART3_Send_Number_Float(SensWhiteOrBlack[i]);
//			UART3_Send_String("\t");
		}
///		UART3_Send_String("\r\n");

//-----------------------------------------Move-----------------------------------------//


		//----Normal mode----//
		float devMotorLeft  = 1;
		float devMotorRight = 1;
		uint32_t flagSizeBuf = 0;

		for (int32_t i = 6; i <= 9; i++)
		{
			if (SensWhiteOrBlack[i])
			{
				flagSizeBuf = 1;

				if(i == 6 && SensWhiteOrBlack[i] == 1)
				{
					devMotorRight = 0.75;
				}
				else if(i == 7 && SensWhiteOrBlack[i] == 1)
				{
					devMotorRight = 0.5;
				}
				else if(i == 8 && SensWhiteOrBlack[i] == 1)
				{
					devMotorRight = 0.25;
				}
				else if(i == 9 && SensWhiteOrBlack[i] == 1)
				{
					devMotorRight = 0.0;
				}
			}
		}

		for(int32_t i = 5; i >= 0; i--)
		{
			if(SensWhiteOrBlack[i])
			{
				flagSizeBuf = 1;

				if(i == 3 && SensWhiteOrBlack[i] == 1)
				{
					devMotorLeft = 0.75;
				}
				else if(i == 2 && SensWhiteOrBlack[i] == 1)
				{
					devMotorLeft = 0.5;
				}
				else if(i == 1 && SensWhiteOrBlack[i] == 1)
				{
					devMotorLeft = 0.25;
				}
				else if(i == 0 && SensWhiteOrBlack[i] == 1)
				{
					devMotorLeft = 0.0;
				}
			}
		}

		if(!flagSizeBuf)
		{
			devMotorLeft  = 0;
			devMotorRight = 0;
		}

		Motor(MotorRight, (int32_t)(MaxSpeedMotor * (float)devMotorRight), MoveForward);
		Motor(MotorLeft,  (int32_t)(MaxSpeedMotor * (float)devMotorLeft),  MoveForward);


/*
		if (adc_buf[0] > 1000)
		{
			Motor(MotorLeft, 500, MoveBack);
		}
		else if (adc_buf[0] <= 1000)
		{
			Motor(MotorLeft, 0, MoveForward);
		}

		if (adc_buf[9] > 1000)
		{
			Motor(MotorRight, 500, MoveBack);//Motor(0, 500, 1);	MotorRight	MoveBack
		}
		else if (adc_buf[9] <= 1000)
		{
			Motor(MotorRight, 0, MoveForward);
		}
*/

		vTaskDelay(50);
	}
}
void vTaskConvADC(void *argument) {

	while (1) {

		// just void :)

		vTaskDelay(5000);
	}

}
/**********************************Function*************************************/

void IndicatorLED(uint32_t number, uint32_t status) {

	if (number == 0 && status == 0) {
		GPIOB->BSRR |= GPIO_BSRR_BS9;
	}

	else if (number == 0 && status == 1) {
		GPIOB->BSRR |= GPIO_BSRR_BR9;
	}

	if (number == 1 && status == 0) {
		GPIOB->BSRR |= GPIO_BSRR_BS8;
	}

	else if (number == 1 && status == 1) {
		GPIOB->BSRR |= GPIO_BSRR_BR8;
	}

	if (number == 2 && status == 0) {
		GPIOB->BSRR |= GPIO_BSRR_BS7;
	}

	else if (number == 2 && status == 1) {
		GPIOB->BSRR |= GPIO_BSRR_BR7;
	}

	if (number == 3 && status == 0) {
		GPIOB->BSRR |= GPIO_BSRR_BS6;
	}

	else if (number == 3 && status == 1) {
		GPIOB->BSRR |= GPIO_BSRR_BR6;
	}

	if (number == 4 && status == 0) {
		GPIOB->BSRR |= GPIO_BSRR_BS5;
	}

	else if (number == 4 && status == 1) {
		GPIOB->BSRR |= GPIO_BSRR_BR5;
	}

	if (number == 5 && status == 0) {
		GPIOB->BSRR |= GPIO_BSRR_BS4;
	}

	else if (number == 5 && status == 1) {
		GPIOB->BSRR |= GPIO_BSRR_BR4;
	}

	if (number == 6 && status == 0) {
		GPIOB->BSRR |= GPIO_BSRR_BS3;
	}

	else if (number == 6 && status == 1) {
		GPIOB->BSRR |= GPIO_BSRR_BR3;
	}

	if (number == 7 && status == 0) {
		GPIOA->BSRR |= GPIO_BSRR_BS15;
	}

	else if (number == 7 && status == 1) {
		GPIOA->BSRR |= GPIO_BSRR_BR15;
	}

	if (number == 8 && status == 0) {
		GPIOA->BSRR |= GPIO_BSRR_BS12;
	}

	else if (number == 8 && status == 1) {
		GPIOA->BSRR |= GPIO_BSRR_BR12;
	}

	if (number == 9 && status == 0) {
		GPIOA->BSRR |= GPIO_BSRR_BS11;
	}

	else if (number == 9 && status == 1) {
		GPIOA->BSRR |= GPIO_BSRR_BR11;
	}

}

uint32_t Motor(int32_t which, int32_t speed, int32_t turn) {

	if (which == 0)	//Right motor
	{
		UART3_Send_Number_Float(speed);
		UART3_Send_String("\t");

		if (speed > 0 && speed <= 1000)
		{
			TIM1->CCR3 = speed;
			if (turn == 0) 	// back
			{
				GPIOB->BSRR |= GPIO_BSRR_BS14;
			}
			else			//forward
			{
				GPIOB->BSRR |= GPIO_BSRR_BR14;
			}
		}
		else		//disable motor
		{
			TIM1->CCR3 = 0;
			GPIOB->BSRR |= GPIO_BSRR_BR14;

		}

	}

	else if (which == 1)	//left motor
	{
		UART3_Send_Number_Float(speed);
		UART3_Send_String("\r\n");

		if (speed > 0 && speed <= 1000)
		{
			TIM1->CCR2 = speed;
			if (turn == 1) 	// back
			{
				GPIOA->BSRR |= GPIO_BSRR_BS8;
			}
			else			//forward
			{
				GPIOA->BSRR |= GPIO_BSRR_BR8;
			}
		}
		else		//disable motor
		{
			TIM1->CCR2 = 0;
			GPIOA->BSRR |= GPIO_BSRR_BS8;

		}

	}



	return 0;
}

/*************************************IRQ***************************************/
/*
 void USART2_IRQHandler(void) {

 if (USART2->SR & USART_CR1_RXNEIE) {

 USART2->SR &= ~USART_CR1_RXNEIE;

 if (USART2->DR == '0') {
 UART2_Send_String("OFF\r\n");
 GPIOC->BSRR = GPIO_BSRR_BS13;
 } else if (USART2->DR == '1') {
 UART2_Send_String("ON\r\n");
 GPIOC->BSRR = GPIO_BSRR_BR13;
 } else if (USART2->DR == '2') {
 uint16_t d0 = ADC1->DR;
 float Vdd = 1.2 * 4069 / d0;
 UART2_Send(Vdd);
 GPIOC->BSRR = GPIO_BSRR_BR13;
 }
 }
 }
 */
void DMA1_Channel1_IRQHandler(void) {

	DMA1->IFCR = DMA_IFCR_CGIF1 | DMA_IFCR_CTCIF1;	// clear DMA interrupt flags
	DMA1_Channel1->CCR &= ~DMA_CCR_EN;					//  
	/*
	 * Code
	 */
	DMA1_Channel1->CCR |= DMA_CCR_EN;			   //  
	ADC1->CR2 |= ADC_CR2_ADON;
}

Talk a little bit

This project has been hanging on my plans for several years and has been put off all the time, but now it really comes to its logical conclusion, which I’m very happy to finish, I would like to make it partially open and sell it as another platform / constructor, if possible, then the sumoist’s robot is not far away, and there others will go.
There were no plans to write an article, but participation in the competition requires it.

I almost forgot about the photo, some components have not yet arrived, and the deadline of the competition is tomorrow so I had to use DIY not in its best performance.

Robot photo

And here’s a mini test video

All stages of creating a robot to follow the line, or how to collect all the rakes with STM32