Intelligent car based on Liangshan School

The 4-wheel smart car chassis based on the Liangshan School
uses two LM2596 module adjustable power supplies to supply 3.3V and 5V respectively.
The onboard 4-way TC1508S motor drive can be controlled by PWM respectively (each motor is controlled separately with 4 IOs) , forward rotation (IO hight, value) reverse rotation (IO low, PWM_VALUE_MAX - value))
Serial port 0 is used for debugging output
serial port 1 for Bluetooth module, mobile phone remote control
serial port 2 is used for 360 radar sensor, scanning of surrounding environment (serial port DMA processes the data and uses spi LCD to display the location of surrounding obstacles)
Serial port 3 is connected to the ATGM332D Beidou module for positioning (serial port DMA is processed with the nmea library)
Serial port 4 is used for 2.4G RF module and remote control communication (including remote control and voice remote control) )
(The original plan was for the speech recognition module to be on the car body, but the movement of the car was very noisy, resulting in a very low recognition rate. Later, the speech recognition was changed to the remote control)
Serial port 5 is used for the AIR724 module to connect to the ONENET platform for GPS positioning display. and remote control
(the original plan was to use AMG8833 for infrared tracking on the front of the car, but later the recognition effect was not satisfactory, so it was removed. A 5.8G image transmission camera was added to the front of the car to display with the remote control)
4 LED lights in the front, rear, left and right directions (yellow on the front, left, and right) lights, rear left and right red lights, simulated turn signals and reversing lights)
SPI0 reserves
 
an official demo about the use of the program. The transplanted RT_THREAD system uses external SDRAM as the system memory pool.