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[STM32F103C8T6]基于stm32的循迹，跟随，避障智能小车_基于stm32c8t6的电磁循迹小车

作者：程序代码艺术家 | 2024-01-30 12:21:07

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基于stm32c8t6的电磁循迹小车

目录

1.小车驱动主要是通过L9110S模块来驱动电机

motor.c

2.我们可以加入串口控制电机驱动(重写串口接收回调函数，和重定向printf)

Uart.c

main.c 

3.点动功能

uart.c

main.c

为什么使用的是HAL_Delay()要设置滴答定时器的中断优先级呢？

4.小车PWM调速， 

6.跟随功能

7.避障功能

超声波测距流程

 CSB.c

SG90.c

main.c

1.小车驱动主要是通过L9110S模块来驱动电机

 本次STM32与L9110s的接线是：

B-1A -- PB0
B-1B -- PB1
A-1A -- PB2
A-1B -- PB10

通过对GPIO口的配置，可以写出电机的驱动程序(全速模式)

motor.c

  1. #include "motor.h"
  2. #include "gpio.h"
  3.  
  4. void GoForward(void)
  5. {
  6. 	//右轮
  7. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_SET);
  8. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET);
  9. 	//左轮
  10. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_2,GPIO_PIN_SET);
  11. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_RESET);
  12. }
  13.  
  14. void GoBack(void)
  15. {
  16. 	//右轮
  17. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_RESET);
  18. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_SET);
  19. 	//左轮
  20. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_2,GPIO_PIN_RESET);
  21. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_SET);
  22. }
  23.  
  24. void GoLeft(void)
  25. {
  26. 	//右轮
  27. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_SET);
  28. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET);
  29. 	//左轮
  30. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_2,GPIO_PIN_RESET);
  31. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_RESET);
  32. }
  33.  
  34. void GoRight(void)
  35. {
  36. 	//右轮
  37. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_RESET);
  38. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET);
  39. 	//左轮
  40. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_2,GPIO_PIN_SET);
  41. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_RESET);
  42. }
  43.  
  44. void Stop(void)
  45. {
  46. 	//右轮
  47. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_RESET);
  48. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET);
  49. 	//左轮
  50. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_2,GPIO_PIN_RESET);
  51. 	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_RESET);
  52. }

2.我们可以加入串口控制电机驱动(重写串口接收回调函数，和重定向printf)

加入串口控制，我们需要在cubeMX中开启串口中断用于接收串口发来的数据

Uart.c

  1. void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
  2. {
  3.  
  4.   if(uartHandle->Instance==USART1)
  5.   {
  6.   /* USER CODE BEGIN USART1_MspDeInit 0 */
  7.  
  8.   /* USER CODE END USART1_MspDeInit 0 */
  9.     /* Peripheral clock disable */
  10.     __HAL_RCC_USART1_CLK_DISABLE();
  11.  
  12.     /**USART1 GPIO Configuration
  13.     PA9     ------> USART1_TX
  14.     PA10     ------> USART1_RX
  15.     */
  16.     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
  17.  
  18.     /* USART1 interrupt Deinit */
  19.     HAL_NVIC_DisableIRQ(USART1_IRQn);
  20.   /* USER CODE BEGIN USART1_MspDeInit 1 */
  21.  
  22.   /* USER CODE END USART1_MspDeInit 1 */
  23.   }
  24. }
  25.  
  26. /* USER CODE BEGIN 1 */
  27. //串口接收缓存（1字节）
  28. uint8_t buf=0;
  29. //定义最大接收字节数 200，可根据需求调整
  30. #define UART1_REC_LEN 200
  31. #define SIZE 12
  32. // 接收缓冲, 串口接收到的数据放在这个数组里，最大UART1_REC_LEN个字节
  33. uint8_t UART1_RX_Buffer[UART1_REC_LEN];
  34. // 接收状态
  35. // bit15， 接收完成标志
  36. // bit14， 接收到0x0d
  37. // bit13~0， 接收到的有效字节数目
  38. uint16_t UART1_RX_STA=0;
  39.  
  40. char buffer[SIZE];
  41. // 接收完成回调函数，收到一个数据后，在这里处理
  42. void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
  43. {
  44. // 判断中断是由哪个串口触发的
  45. if(huart->Instance == USART1)
  46. {
  47. // 判断接收是否完成（UART1_RX_STA bit15 位是否为1）
  48. if((UART1_RX_STA & 0x8000) == 0)
  49. {
  50. // 如果已经收到了 0x0d （回车），
  51. if(UART1_RX_STA & 0x4000)
  52. {
  53. // 则接着判断是否收到 0x0a （换行）
  54. if(buf == 0x0a)
  55. {
  56. // 如果 0x0a 和 0x0d 都收到，则将 bit15 位置为1
  57. 	UART1_RX_STA |= 0x8000;
  58. //	printf("1");
  59. 	
  60. 	// 车控指令
  61. 	if(!strcmp((const char*)UART1_RX_Buffer, "M1"))
  62. 	{	
  63. 		printf("Forwad......");
  64. 		GoForward();
  65. 	}
  66. 	else if(!strcmp((const char*)UART1_RX_Buffer, "M2"))
  67. 	{
  68. 		printf("Back......");
  69. 		GoBack();
  70. 	}
  71. 	else if(!strcmp((const char*)UART1_RX_Buffer, "M3"))
  72. 	{
  73. 		printf("Left......");
  74. 		GoLeft();
  75. 	}
  76. 	else if(!strcmp((const char*)UART1_RX_Buffer, "M4"))
  77. 	{
  78. 		printf("Right......");
  79. 		GoRight();
  80. 	}
  81. 	else if(!strcmp((const char*)UART1_RX_Buffer, "Stop"))
  82. 	{
  83. 		printf("Stop......");
  84. 		Stop();
  85. 	}
  86. 		memset(UART1_RX_Buffer, 0, UART1_REC_LEN);
  87. 		UART1_RX_STA = 0;
  88. 	}
  89. 	else
  90. // 否则认为接收错误，重新开始
  91. 		UART1_RX_STA = 0;
  92. }
  93. 	else // 如果没有收到了 0x0d （回车）
  94. {
  95. 	//则先判断收到的这个字符是否是 0x0d （回车）
  96. 	if(buf == 0x0d)
  97. {	
  98. // 是的话则将 bit14 位置为1
  99. 		UART1_RX_STA |= 0x4000;
  100. 	}
  101. else
  102. {
  103. // 否则将接收到的数据保存在缓存数组里
  104. 		UART1_RX_Buffer[UART1_RX_STA & 0X3FFF] = buf;
  105. 		UART1_RX_STA++;
  106. // 如果接收数据大于UART1_REC_LEN（200字节），则重新开始接收
  107. 	if(UART1_RX_STA > UART1_REC_LEN - 1)
  108. 		UART1_RX_STA = 0;
  109. 		}
  110. 	}
  111. }
  112. // 重新开启中断
  113. HAL_UART_Receive_IT(&huart1, &buf, 1);
  114. 	}
  115. }
  116.  
  117. int fputc(int ch, FILE *f)
  118. {
  119. 	unsigned char temp[1]={ch};
  120. 	HAL_UART_Transmit(&huart1,temp,1,0xffff);
  121. 	return ch;
  122. }

main.c 

  1. extern uint8_t buf;
  2.  
  3. int main(void)
  4. {
  5.   /* USER CODE BEGIN 1 */
  6.  
  7.   /* USER CODE END 1 */
  8.  
  9.   /* MCU Configuration--------------------------------------------------------*/
  10.  
  11.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  12.   HAL_Init();
  13.  
  14.   /* USER CODE BEGIN Init */
  15.  
  16.   /* USER CODE END Init */
  17.  
  18.   /* Configure the system clock */
  19.   SystemClock_Config();
  20.  
  21.   /* USER CODE BEGIN SysInit */
  22.  
  23.   /* USER CODE END SysInit */
  24.  
  25.   /* Initialize all configured peripherals */
  26.   MX_GPIO_Init();
  27.   MX_USART1_UART_Init();
  28.   /* USER CODE BEGIN 2 */
  29. 	HAL_UART_Receive_IT(&huart1, &buf, 1);//开启串口接收
  30.   /* USER CODE END 2 */
  31.  
  32.   /* Infinite loop */
  33.   /* USER CODE BEGIN WHILE */
  34.   while (1)
  35.   {
  36.     /* USER CODE END WHILE */
  37.  
  38.     /* USER CODE BEGIN 3 */
  39.   }
  40.   /* USER CODE END 3 */
  41. }

 切记主函数内需要调用开启串口接收函数！！！！！！

将HC08模块接入STM32，连接蓝牙就可以通过蓝牙APP控制

3.点动功能

如果用蓝牙app实现遥控车模式，我们会发现，点了前进按钮，小车会一直前进，按下左转会一直左转，而遥控车应该是点动功能，按一下向前就向前走一下，一直按一直走

我的思路是，主程序一直跑Stop(); 接收到来自蓝牙（串口）的数据后执行动作（几毫秒），从而实现点动

uart.c

  1. void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
  2. {
  3.  
  4.   if(uartHandle->Instance==USART1)
  5.   {
  6.   /* USER CODE BEGIN USART1_MspDeInit 0 */
  7.  
  8.   /* USER CODE END USART1_MspDeInit 0 */
  9.     /* Peripheral clock disable */
  10.     __HAL_RCC_USART1_CLK_DISABLE();
  11.  
  12.     /**USART1 GPIO Configuration
  13.     PA9     ------> USART1_TX
  14.     PA10     ------> USART1_RX
  15.     */
  16.     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
  17.  
  18.     /* USART1 interrupt Deinit */
  19.     HAL_NVIC_DisableIRQ(USART1_IRQn);
  20.   /* USER CODE BEGIN USART1_MspDeInit 1 */
  21.  
  22.   /* USER CODE END USART1_MspDeInit 1 */
  23.   }
  24. }
  25.  
  26. /* USER CODE BEGIN 1 */
  27. //串口接收缓存（1字节）
  28. uint8_t buf=0;
  29. //定义最大接收字节数 200，可根据需求调整
  30. #define UART1_REC_LEN 200
  31. #define SIZE 12
  32. // 接收缓冲, 串口接收到的数据放在这个数组里，最大UART1_REC_LEN个字节
  33. uint8_t UART1_RX_Buffer[UART1_REC_LEN];
  34. // 接收状态
  35. // bit15， 接收完成标志
  36. // bit14， 接收到0x0d
  37. // bit13~0， 接收到的有效字节数目
  38. uint16_t UART1_RX_STA=0;
  39.  
  40. char buffer[SIZE];
  41. // 接收完成回调函数，收到一个数据后，在这里处理
  42. void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
  43. {
  44. // 判断中断是由哪个串口触发的
  45. if(huart->Instance == USART1)
  46. {
  47. // 判断接收是否完成（UART1_RX_STA bit15 位是否为1）
  48. if((UART1_RX_STA & 0x8000) == 0)
  49. {
  50. // 如果已经收到了 0x0d （回车），
  51. if(UART1_RX_STA & 0x4000)
  52. {
  53. // 则接着判断是否收到 0x0a （换行）
  54. if(buf == 0x0a)
  55. {
  56. // 如果 0x0a 和 0x0d 都收到，则将 bit15 位置为1
  57. 	UART1_RX_STA |= 0x8000;
  58. //	printf("1");
  59. 	
  60. 	// 车控指令
  61. 	if(!strcmp((const char*)UART1_RX_Buffer, "M1"))
  62. 	{	
  63. 		printf("Forwad......");
  64. 		GoForward();
  65.         HAL_Delay(10);
  66. 	}
  67. 	else if(!strcmp((const char*)UART1_RX_Buffer, "M2"))
  68. 	{
  69. 		printf("Back......");
  70. 		GoBack();
  71.         HAL_Delay(10);
  72. 	}
  73. 	else if(!strcmp((const char*)UART1_RX_Buffer, "M3"))
  74. 	{
  75. 		printf("Left......");
  76. 		GoLeft();
  77.         HAL_Delay(10);
  78. 	}
  79. 	else if(!strcmp((const char*)UART1_RX_Buffer, "M4"))
  80. 	{
  81. 		printf("Right......");
  82. 		GoRight();
  83.         HAL_Delay(10);
  84. 	}
  85. 	else if(!strcmp((const char*)UART1_RX_Buffer, "Stop"))
  86. 	{
  87. 		printf("Stop......");
  88. 		Stop();
  89.         HAL_Delay(10);
  90. 	}
  91. 		memset(UART1_RX_Buffer, 0, UART1_REC_LEN);
  92. 		UART1_RX_STA = 0;
  93. 	}
  94. 	else
  95. // 否则认为接收错误，重新开始
  96. 		UART1_RX_STA = 0;
  97. }
  98. 	else // 如果没有收到了 0x0d （回车）
  99. {
  100. 	//则先判断收到的这个字符是否是 0x0d （回车）
  101. 	if(buf == 0x0d)
  102. {	
  103. // 是的话则将 bit14 位置为1
  104. 		UART1_RX_STA |= 0x4000;
  105. 	}
  106. else
  107. {
  108. // 否则将接收到的数据保存在缓存数组里
  109. 		UART1_RX_Buffer[UART1_RX_STA & 0X3FFF] = buf;
  110. 		UART1_RX_STA++;
  111. // 如果接收数据大于UART1_REC_LEN（200字节），则重新开始接收
  112. 	if(UART1_RX_STA > UART1_REC_LEN - 1)
  113. 		UART1_RX_STA = 0;
  114. 		}
  115. 	}
  116. }
  117. // 重新开启中断
  118. HAL_UART_Receive_IT(&huart1, &buf, 1);
  119. 	}
  120. }
  121.  
  122. int fputc(int ch, FILE *f)
  123. {
  124. 	unsigned char temp[1]={ch};
  125. 	HAL_UART_Transmit(&huart1,temp,1,0xffff);
  126. 	return ch;
  127. }

main.c

  1. extern uint8_t buf;
  2.  
  3. int main(void)
  4. {
  5.   /* USER CODE BEGIN 1 */
  6.  
  7.   /* USER CODE END 1 */
  8.  
  9.   /* MCU Configuration--------------------------------------------------------*/
  10.  
  11.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  12.   HAL_Init();
  13.  
  14.   /* USER CODE BEGIN Init */
  15.  
  16.   /* USER CODE END Init */
  17.  
  18.   /* Configure the system clock */
  19.   SystemClock_Config();
  20.  
  21.   /* USER CODE BEGIN SysInit */
  22.  
  23.   /* USER CODE END SysInit */
  24.  
  25.   /* Initialize all configured peripherals */
  26.   MX_GPIO_Init();
  27.   MX_USART1_UART_Init();
  28.   /* USER CODE BEGIN 2 */
  29. 	HAL_UART_Receive_IT(&huart1, &buf, 1);//开启串口接收
  30.     HAL_NVIC_SetPriority(SysTick_IRQn,0,0);//提高滴答定时器优先级
  31.   /* USER CODE END 2 */
  32.  
  33.   /* Infinite loop */
  34.   /* USER CODE BEGIN WHILE */
  35.   while (1)
  36.   {
  37.     /* USER CODE END WHILE */
  38.        Stop();
  39.     /* USER CODE BEGIN 3 */
  40.   }
  41.   /* USER CODE END 3 */
  42. }

提高滴答定时器优先级，这样的话在串口中断中使用HAL_Delay()不会出现卡死的bug

为什么使用的是HAL_Delay()要设置滴答定时器的中断优先级呢？

从英文解释中（别说看不懂哈），Systick被配置为系统时基，并且被配置为了1ms，做技术，要有刨根问底的精神，奥利给，继续跟进去看看

 

 

 关于滴答定时器可以看这篇文章，us级延时怎么实现

(77条消息) HAL库与Cubemx系列|Systick-系统滴答定时器详解_hal库 systick 中断_小飞哥玩嵌入式的博客-CSDN博客https://blog.csdn.net/qq_16519885/article/details/117756815?ops_request_misc=&request_id=&biz_id=102&utm_term=HAL_Delay%E6%98%AF%E6%BB%B4%E7%AD%94%E5%AE%9A%E6%97%B6%E5%99%A8%E5%90%97&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-2-117756815.142%5Ev83%5Epc_search_v2,239%5Ev2%5Einsert_chatgpt&spm=1018.2226.3001.4187

  1. //使用TIM2来做us级延时函数
  2. void TIM2_Delay_us(uint16_t n_us)
  3. {
  4. /* 使能定时器2计数 */
  5. 	__HAL_TIM_ENABLE(&htim2);
  6. 	__HAL_TIM_SetCounter(&htim2, 0);
  7. 	while(__HAL_TIM_GetCounter(&htim2) < ((1 * n_us)-1) );
  8. 	/* 关闭定时器2计数 */
  9. 	__HAL_TIM_DISABLE(&htim2);
  10. }

4.小车PWM调速， 

通过实验我们又发现了bug，如果是全速驱动的话，小车转弯，比如左转就会左边轮子不动右边动，理论上是这样的，但是实际上会出现小车转弯一卡一卡的bug，于是我想到了用PWM调速，转弯的时候左右轮分开调速，左转就左轮速度低于右轮，右转就右轮速度低于左轮

STM32与51单片机不同，STM32具有硬件PWM调速

根据查数据手册可知，我使用的是TIM2的CH1和CH2，CH1,CH2分别对应左右轮

更改后连线为

B-1A -- PA0
B-1B -- PB1
A-1A -- PA1
A-1B -- PB10

  

具体PWM可以参考之前写的PWM实现呼吸灯文章

(77条消息) [STM32F103C8T6]PWM呼吸灯_stm32f103c8t6呼吸灯_TX564的博客-CSDN博客https://blog.csdn.net/weixin_63303786/article/details/129047166?spm=1001.2014.3001.5502

 根据前面L9110s模块的运用可知，A-1A,A-1B,B-1A,B-2B是分别为一高一低电平才能驱动

当PWM调速时，PWM使用的TIM2对应端口PA0,PA1会出现占空比，占空比内为高电平，那么其他两个IO口就必须为低电平，才能驱动L9110s,所以PWM调速，必须将对应电机驱动的所有的IO口都拉低

 

 PWM主要用的两个函数 一个是PWM启动函数，一个是PWM比较函数

HAL_TIM_PWM_Start ( & htim2 , TIM_CHANNEL_1 );
HAL_TIM_PWM_Start ( & htim2 , TIM_CHANNEL_2 )；
__HAL_TIM_SetCompare ( & htim2 , TIM_CHANNEL_1 , 8 );//8是PWM_Val的值，小于8都是高电平，大于8是低电平，这个数的值要小于设定的 CCRx 
  1. void　main()
  2. {
  3.     HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1);
  4.     HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_2);
  5.     while(1)
  6.     {
  7.         __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,8);
  8.         __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,15);
  9.         HAL_Delay(1000);
  10.         __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,15);
  11.         __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,8);
  12.         HAL_Delay(1000);
  13.     }
  14. }

解决过弯一卡一卡的bug就可以将

         __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,8);
        __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,15);

替换motor.c中的GPIO_PIN_WritePin函数

5.小车循迹功能

小车循迹主要用到的模块是循迹模块

  

小车循迹主要是通过循迹模块，黑色会续收红外线，当红外线被吸收，就没法返回，于是模块输出高电平，灯灭，如果是白色区域，红外线会返回，灯亮，输出低电平

本次接线是将两个循迹模块的DO接入PB5,PB6

于是循迹的逻辑就是，左右两边各安一个循迹模块，当两个模块都返回红外线输出低电平灯亮的时候，小车向前进，如果左边模块没有返回红外线高电平灯灭，右边模块返回红外线低电平灯亮，那么就说明遇到左转弯道，左转，相反就右转----->哪边高电平往哪边转

  1. #define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3)
  2. #define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4)
  3.  
  4. void xunji(void)
  5. {
  6.  if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET)
  7.  {
  8.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,19);
  9.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,19);
  10.  }
  11. if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET)
  12.  {
  13.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,15);
  14.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,8);
  15.  }
  16. if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET)
  17.  {
  18.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,8);
  19.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,15);
  20.  }
  21. if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET)
  22.  {
  23.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,0);
  24.     __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,0);
  25.  }
  26. }
  27.  
  28. // main函数里
  29. while (1)
  30. {
  31.     xunji();
  32. }

6.跟随功能

跟随功能的实现主要是跟随模块

 

 哪边低电平，往哪边转（因为跟随模块是有物体挡着才会返回红外线，返回为低电平）

  1. #define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_5)
  2. #define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_6)
  3.  
  4. void gensui(void)
  5. {
  6.      if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET)
  7.     goForward();
  8.    if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET)
  9.     goRight();
  10.    if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET)
  11.     goLeft();
  12.    if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET)
  13.     stop();
  14.  
  15. }
  16.  
  17.  
  18. // main函数里
  19. while (1)
  20. {
  21.   gensui();
  22. }

7.避障功能

避障功能主要是依靠SG90舵机和超声波实现的，当超声波测距小于一个值，比如35cm，SG90舵机开始转动角度，实现超声波摇头，摇头：显示中间位，然后左转，然后右转

超声波测距流程

1.Trig至少10us的高电平

2.发送波，定时器启动，开始计时

启动定时器的函数：HAL_TIM_Base_Start(&htim2);//启动定时器2

开始计算时间函数：__HAL_TIM_SetCounter(&htim2,0);//计算时间

2.1怎么判断是否发送波了呢？：当波发送出去echo会由低电平变为高电平 while(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_7) == GPIO_PIN_RESET);//卡低电平

3.接收到波，定时器关闭停止计时

停止定时器的函数：HAL_TIM_Base_Stop(&htim2);//停止定时器

3.1怎么判断接收到波了呢？：当接收到波echo会由高电平变为低电平

while(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_7) == GPIO_PIN_SET);//卡高电平

4.读取定时器计时时间

获取时间的函数：cnt = __HAL_TIM_GetCounter(&htim2);

5.distance = （340m/s * 时间)/2（注意换算单位 100cm/1000000us） 

 CSB.c

  1.  
  2. //使用TIM2来做us级延时函数
  3. void TIM2_Delay_us(uint16_t n_us)
  4. {
  5. /* 使能定时器2计数 */
  6. 	__HAL_TIM_ENABLE(&htim2);
  7. 	__HAL_TIM_SetCounter(&htim2, 0);
  8. 	while(__HAL_TIM_GetCounter(&htim2) < ((1 * n_us)-1) );
  9. 	/* 关闭定时器2计数 */
  10. 	__HAL_TIM_DISABLE(&htim2);
  11. }
  12. double get_distance(void)
  13. {
  14. 	int cnt=0;
  15. //1. Trig ，给Trig端口至少10us的高电平
  16. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_SET);//拉高
  17. 	TIM2_Delay_us(20);
  18. 	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_RESET);//拉低
  19. //2. echo由低电平跳转到高电平，表示开始发送波
  20. //波发出去的那一下，开始启动定时器
  21. 	while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_8) == GPIO_PIN_RESET);//等待输入电平拉高
  22. 	HAL_TIM_Base_Start(&htim2);//启动定时器2
  23. 	__HAL_TIM_SetCounter(&htim2,0);//计算时间
  24. //3. 由高电平跳转回低电平，表示波回来了
  25. 	while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_8) == GPIO_PIN_SET);//等待输入电平变低
  26. //波回来的那一下，我们开始停止定时器
  27. 	HAL_TIM_Base_Stop(&htim2);//停止定时器
  28. //4. 计算出中间经过多少时间
  29. 	cnt = __HAL_TIM_GetCounter(&htim2);//获取时间
  30. //5. 距离 = 速度 （340m/s）* 时间/2（计数1次表示1us）
  31. 	return (cnt*340/2*0.000001*100); //单位：cm
  32. }

SG90.c

  1. void initSG90(void)
  2. {
  3. 	HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_4); //启动定时器4,启动PWM
  4. 	__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 9); //将舵机置为90度
  5. }
  6. void sgMiddle(void)
  7. {
  8. 	__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 9); //将舵机置为75度
  9. }
  10. void sgRight(void)
  11. {
  12. 	__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 5); //将舵机置为0度
  13. }
  14. void sgLeft(void)
  15. {
  16. 	__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 14); //将舵机置为135度
  17. }

main.c

  1. #define MIDDLE 0
  2. #define RIGHT 2
  3. #define LEFT  1
  4.  
  5. int main(void)
  6. {
  7.   /* USER CODE BEGIN 1 */
  8. 	char dir;
  9. 	double disMiddle;
  10. 	double disLeft;
  11. 	double disRight;
  12.   /* USER CODE END 1 */
  13.  
  14.   /* MCU Configuration--------------------------------------------------------*/
  15.  
  16.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  17.   HAL_Init();
  18.  
  19.   /* USER CODE BEGIN Init */
  20.  
  21.   /* USER CODE END Init */
  22.  
  23.   /* Configure the system clock */
  24.   SystemClock_Config();
  25.  
  26.   /* USER CODE BEGIN SysInit */
  27.  
  28.   /* USER CODE END SysInit */
  29.  
  30.   /* Initialize all configured peripherals */
  31.   MX_GPIO_Init();
  32.   MX_TIM4_Init();
  33.   MX_TIM2_Init();
  34.   /* USER CODE BEGIN 2 */
  35. 	initSG90();//一开始先让超声波在中间位
  36. 	HAL_Delay(1000);
  37.   /* USER CODE END 2 */
  38.     void csb(void)
  39.      {
  40.           /*为了不歪头卡死，每次必须测完回到中间位*/
  41. 		if(dir != MIDDLE){
  42. 		sgMiddle();
  43. 		dir = MIDDLE;
  44. 		HAL_Delay(300);
  45. 		}
  46.         /*为了不歪头卡死，每次必须测完回到中间位*/
  47. 			disMiddle = get_distance();
  48. 			if(disMiddle > 35){
  49. 			//前进
  50. 			GoForward();
  51. 		}else if(disMiddle < 10){
  52. 			GoBack();
  53. 		}else
  54. 		{
  55. 			//停止
  56. 			Stop();
  57. 			//测左边距离
  58. 			sgLeft();
  59. 			HAL_Delay(300);
  60. 			
  61.             disLeft = get_distance();
  62. 			sgMiddle();
  63. 			HAL_Delay(300);
  64. 			
  65.             sgRight();
  66. 			dir = RIGHT;
  67. 			HAL_Delay(300);
  68. 			disRight = get_distance();
  69. 		if(disLeft < disRight){
  70. 			GoRight();
  71. 			HAL_Delay(150);
  72. 			Stop();
  73. 		}
  74. 			if(disRight < disLeft){
  75. 			GoLeft();
  76. 			HAL_Delay(150);
  77. 			Stop();
  78. 		}
  79. 	 }
  80.    }
  81.   /* Infinite loop */
  82.   /* USER CODE BEGIN WHILE */
  83.   while (1)
  84.   {
  85.     /* USER CODE END WHILE */
  86.        csb();
  87.        HAL_Delay(50);//必须要延时，不然执行代码速度太快就会一直前进或者后退，不会摇头
  88.     /* USER CODE BEGIN 3 */
  89.   }
  90.   /* USER CODE END 3 */
  91. }

将所有模块的函数封装好后，可以通过按键或者其他方式切换循迹，跟随，避障模式

  1. #define Key_On 0
  2. #define Key_Off 1
  3.  
  4. unsigned char Scanf_Key(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin)
  5. {
  6.     unsigned int status;
  7.     status = HAL_GPIO_ReadPin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin);
  8.     if(status == GPIO_PIN_RESET)
  9.     return 0;
  10.     else if(status == GPIO_PIN_SET)
  11.     return 1;
  12. }
  13.  
  14. void main()
  15. {
  16.   while(1)
  17.   {
  18.     if(Scanf_Key(GPIOA,GPIO_PIN_0) == Key_On)
  19.     {
  20.         csb();
  21.     }
  22.  
  23.     if(Scanf_Key(GPIOA,GPIO_PIN_1) == Key_On)
  24.     {
  25.         gensui();
  26.     }
  27.     
  28.     if(Scanf_Key(GPIOA,GPIO_PIN_3) == Key_On)
  29.     {
  30.         xunji();
  31.     }
  32.  }
  33. }

测速功能

测速功能主要是用测速模块配合码盘实现

 

配置cubeMX

使用定时器计时1s，获取码盘每1s转了多少圈，通过计算可获得速度

 定时器公式：

T = {(PSC+1)*(Counter Period + 1)}/72000000HZ

轮子走一圈，经过一个周长， C = 2x3.14x 半径 = 3.14 x 直径（ 6.5cm ）
对应的码盘也转了一圈，码盘有 20 个格子，每经过一个格子，会遮挡（高电平）和不遮挡（低电平），
那么一个脉冲就是走了 3.14 * 6.5 cm /20 = 1.0205CM
定时器可以设计成一秒，统计脉冲数，一个脉冲就是 1cm
假设一秒有 80 脉冲，那么就是 80cm/s

 开启定时器中断和外部中断

 代码实现

先找到定时器中断服务函数，外部中断服务函数，再重写回调函数

  1.  
  2. void HAL_GPIO_EXIT_Callback(uint_t GPIO_pin)
  3. {
  4. 	if(GPIO_pin == GPIO_PIN_14)//判断是不是PB14产生的中断
  5. 		if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_14) == GPIO_PIN_RESET)//判断PB14是否为低电平，从而判断是否产生下降沿
  6. 			SpeedCnt++;// dis = SpeedCnt * time 定时器1s产生中断所以dis = SpeedCnt
  7. }
  8.  
  9. void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
  10. {
  11. 	printf("speed:%d\r\n",SpeedCnt);//重定向printf，打印到串口
  12. 	SpeedCnt = 0;
  13. }
  14.  
  15.  
  16.  
  17.  
  18.  
  19.  
  20. int main(void)
  21. {
  22.   
  23.   HAL_Init();
  24.  
  25.  
  26.   HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000); //1ms
  27.  
  28.  
  29.   SystemClock_Config();
  30.  
  31.   
  32.   MX_GPIO_Init();
  33.   MX_USART1_UART_Init();
  34.   MX_TIM2_Init();
  35.  
  36.   HAL_UART_Receive_IT(&huart1, &buf, 1);//开启串口接收中断
  37.   HAL_TIM_Base_Start_IT(&htim2);//开启定时器中断
  38.  
  39.   while (1)
  40.   {
  41.    }
  42. }

通过oled显示实时的车速

oled.c

  1. #include "oled.h"
  2. #include "i2c.h"
  3. #include "oledfont.h"
  4.  
  5. void Oled_Write_Cmd(uint8_t dataCmd)
  6. {
  7.     HAL_I2C_Mem_Write(&hi2c1, 0x78, 0x00, I2C_MEMADD_SIZE_8BIT,
  8.     &dataCmd, 1, 0xff);
  9. }
  10. void Oled_Write_Data(uint8_t dataData)
  11. {
  12.     HAL_I2C_Mem_Write(&hi2c1, 0x78, 0x40, I2C_MEMADD_SIZE_8BIT,
  13.     &dataData, 1, 0xff);
  14. }
  15. void Oled_Init(void)
  16. {
  17.     Oled_Write_Cmd(0xAE);//--display off
  18.     Oled_Write_Cmd(0x00);//---set low column address
  19.     Oled_Write_Cmd(0x10);//---set high column address
  20.     Oled_Write_Cmd(0x40);//--set start line address
  21.     Oled_Write_Cmd(0xB0);//--set page address
  22.     Oled_Write_Cmd(0x81); // contract control
  23.     Oled_Write_Cmd(0xFF);//--128
  24.     Oled_Write_Cmd(0xA1);//set segment remap
  25.     Oled_Write_Cmd(0xA6);//--normal / reverse
  26.     Oled_Write_Cmd(0xA8);//--set multiplex ratio(1 to 64)
  27.     Oled_Write_Cmd(0x3F);//--1/32 duty
  28.     Oled_Write_Cmd(0xC8);//Com scan direction
  29.     Oled_Write_Cmd(0xD3);//-set display offset
  30.     Oled_Write_Cmd(0x00);//
  31.     Oled_Write_Cmd(0xD5);//set osc division
  32.     Oled_Write_Cmd(0x80);//
  33.     Oled_Write_Cmd(0xD8);//set area color mode off
  34.     Oled_Write_Cmd(0x05);//
  35.     Oled_Write_Cmd(0xD9);//Set Pre-Charge Period
  36.     Oled_Write_Cmd(0xF1);//
  37.     Oled_Write_Cmd(0xDA);//set com pin configuartion
  38.     Oled_Write_Cmd(0x12);//
  39.     Oled_Write_Cmd(0xDB);//set Vcomh
  40.     Oled_Write_Cmd(0x30);//
  41.     Oled_Write_Cmd(0x8D);//set charge pump enable
  42.     Oled_Write_Cmd(0x14);//
  43.     Oled_Write_Cmd(0xAF);//--turn on oled panel
  44. }
  45. void Oled_Screen_Clear(void)
  46. {
  47.     int i,n;
  48.     Oled_Write_Cmd (0x20); //set memory addressing mode
  49.     Oled_Write_Cmd (0x02); //page addressing mode
  50.     for(i=0;i<8;i++){
  51.     Oled_Write_Cmd(0xb0+i); //PAGE0 - PAGE7
  52.     Oled_Write_Cmd(0x00); //每个page从第0列开始
  53.     Oled_Write_Cmd(0x10); //每个page从第0列开始
  54.     for(n=0;n<128;n++)Oled_Write_Data(0x00);//每个page的127列全写0
  55.     }
  56. }
  57.  
  58. /*移植源代码*/
  59.  
  60. /显示单个字符/
  61. void Oled_Show_Char(char row,char col,char oledChar){ //row*2-2
  62. 	unsigned int  i;
  63. 	Oled_Write_Cmd(0xb0+(row*2-2));                           //page 0
  64. 	Oled_Write_Cmd(0x00+(col&0x0f));                          //low
  65. 	Oled_Write_Cmd(0x10+(col>>4));                            //high	
  66. 	for(i=((oledChar-32)*16);i<((oledChar-32)*16+8);i++){
  67. 		Oled_Write_Data(F8X16[i]);                            //写数据oledTable1
  68. 	}
  69.  
  70. 	Oled_Write_Cmd(0xb0+(row*2-1));                           //page 1
  71. 	Oled_Write_Cmd(0x00+(col&0x0f));                          //low
  72. 	Oled_Write_Cmd(0x10+(col>>4));                            //high
  73. 	for(i=((oledChar-32)*16+8);i<((oledChar-32)*16+8+8);i++){
  74. 		Oled_Write_Data(F8X16[i]);                            //写数据oledTable1
  75. 	}		
  76. }
  77.  
  78. /显示字符串/
  79. void Oled_Show_Str(char row,char col,char *str){
  80. 	while(*str!=0){
  81. 		Oled_Show_Char(row,col,*str);
  82. 		str++;
  83. 		col += 8;	
  84. 	}		
  85. }

oledfont.h

  1. const unsigned char F8X16[]=	  
  2. {
  3.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0
  4.   0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
  5.   0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
  6.   0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
  7.   0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
  8.   0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
  9.   0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
  10.   0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
  11.   0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
  12.   0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
  13.   0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
  14.   0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
  15.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
  16.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
  17.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
  18.   0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
  19.   0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
  20.   0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
  21.   0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
  22.   0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
  23.   0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
  24.   0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
  25.   0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
  26.   0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
  27.   0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
  28.   0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
  29.   0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
  30.   0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
  31.   0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
  32.   0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
  33.   0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
  34.   0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
  35.   0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
  36.   0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
  37.   0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
  38.   0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
  39.   0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
  40.   0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
  41.   0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
  42.   0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
  43.   0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
  44.   0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
  45.   0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
  46.   0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
  47.   0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
  48.   0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
  49.   0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
  50.   0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
  51.   0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
  52.   0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
  53.   0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
  54.   0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
  55.   0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
  56.   0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
  57.   0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
  58.   0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
  59.   0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
  60.   0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
  61.   0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
  62.   0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
  63.   0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
  64.   0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
  65.   0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
  66.   0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
  67.   0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
  68.   0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
  69.   0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
  70.   0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
  71.   0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
  72.   0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
  73.   0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
  74.   0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
  75.   0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
  76.   0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
  77.   0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
  78.   0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
  79.   0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
  80.   0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
  81.   0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
  82.   0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
  83.   0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
  84.   0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
  85.   0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
  86.   0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
  87.   0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
  88.   0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
  89.   0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
  90.   0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
  91.   0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
  92.   0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
  93.   0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
  94.   0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
  95.   0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
  96.   0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
  97.   0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
  98. };
  1. #include "oled.h"
  2. #include "main.h"
  3. #include "i2c.h"
  4. #include "tim.h"
  5. #include "gpio.h"
  6.  
  7.  
  8. char speedMES[24];
  9.  
  10. void HAL_GPIO_EXIT_Callback(uint_t GPIO_pin)
  11. {
  12. 	if(GPIO_pin == GPIO_PIN_14)//判断是不是PB14产生的中断
  13. 		if(HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_14) == GPIO_PIN_RESET)//判断PB14是否为低电平，从而判断是否产生下降沿
  14. 			SpeedCnt++;// dis = SpeedCnt * time 定时器1s产生中断所以dis = SpeedCnt
  15. }
  16.  
  17. void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
  18. {
  19.     sprintf(speedMES,"speed:%dcm/s",SpeedCnt);//将数据以speed：xx的形式传给speedMES数组
  20.     Oled_Show_Str(2,2,speedMES);
  21. 	printf("speed:%d\r\n",SpeedCnt);//重定向printf，打印到串口
  22. 	SpeedCnt = 0;
  23. }
  24.  
  25.  
  26.  
  27.  
  28.  
  29.  
  30. int main(void)
  31. {
  32.   
  33.   HAL_Init();
  34.  
  35.  
  36.   HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000); //1ms
  37.  
  38.  
  39.   SystemClock_Config();
  40.  
  41.   
  42.   MX_GPIO_Init();
  43.   MX_USART1_UART_Init();
  44.   MX_TIM2_Init();
  45.  
  46.   HAL_UART_Receive_IT(&huart1, &buf, 1);//开启串口接收中断
  47.   HAL_TIM_Base_Start_IT(&htim2);//开启定时器中断
  48.   Oled_Init();
  49.   Oled_Screen_Clear();//实时显示其实就是不断刷屏显示新的数据
  50.  
  51.   while (1)
  52.   {
  53.    }
  54. }

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