首页IT科技基于51单片机的智能小车设计报告（51单片机之智能小车（避障、跟随、循迹））

基于51单片机的智能小车设计报告（51单片机之智能小车（避障、跟随、循迹））

时间2025-05-05 16:37:50分类IT科技浏览4079
导读：目录...

目录

基本概述

硬件组成

功能

关键字

模块介绍

电机模块L9110S

循迹模块（TCRT5000传感器）

红外避障模块

测速模块 

小车 

移动小车（控制电机转动            ，使小车前进            、后退                  、左转     、右转 ）

遥控小车（ 使用蓝牙模块                 ，通过串口发送信息控制小车移动）

调速小车（利用PWM波对电机进行调速）

循迹小车 （利用循迹模块进行黑白色的检测）

跟随小车（利用红外避障模块完成跟随行为）

避障小车（利用超声波测距完成避障行为）

语音控制小车      ，循迹      、跟随                  、避障三种功能切换

基本概述

硬件组成

电机模块L9110S           、循迹模块      、红外避障模块                  、超声波模块           、测速模块、OLED屏                  、蓝牙模块                 、4G            ，模块、语音模块SU-03T

功能

蓝牙控制小车            、WiFi控制小车                 、4G控制小车     、小车的避障            、跟随                  、循迹

关键字

单片机中一般都有两块存储区域                 ，ROM和RAM      ，程序代码存储在ROM中      ，程序要用的变量存储在RAM中            。而“code            ”的作用就是将其修饰过的变量存储在ROM中而非RAM                 。 在单片机中                 ，RAM空间都比较小            ，是比较宝贵的      ，当存放在RAM中的数据过多时                 ，会导致编译不成功      。

exturn：使用exturn关键字修饰的全局变量或函数            ，作用域不再局限本文件，其他文件同样能访问到这些变量或函数                 ，跟static关键字恰恰相反            。 code：使用code关键字修饰的变量（一般是初始化后                 ，值保持不变的变量）后会被存放到ROM区，从而节省RAM的空间                 。

模块介绍

电机模块L9110S

L0110S模块的A     、B分别控制着两个电机            ，如果需要控制四个电机                 ，则需要两个L0110S模块

当B-1A为高电平      ，B-2A为低电平时            ，电机反转或正转 当B-1A为低电平                 ，B-2A为高电平时      ，电机正转反转 当B-1A为低电平      ，B-2A为低电平时                 ，电机不转 电机的正转和反转与跟电机的接线不同而不同            ，注意自己调试

循迹模块（TCRT5000传感器）

当发射出的红外线没有被反射回来或被反射回来但强度不够大时      ，DO输出高电平                 ，灯灭      。 黑色吸收红外线            ，DO输出高电平，灯亮 当发射出的红外线被反射回来或被反射回来且强度足够大                 ，DO输出低电平                 ，灯亮      。 白色反射红外线，DO输出低电平            ，灯亮 即黑色输出高电平                 ，灯灭      ，白色输出低电平            ，灯亮

红外避障模块

当发射出的红外线没有被反射回来或被反射回来但强度不够大时                 ，DO输出高电平      ，灯灭                 。没有障碍物 当发射出的红外线被反射回来      ，DO输出低电平                 ，灯亮            。有障碍物 即有障碍物输出低电平            ，灯亮      ，没有障碍物输出高电平                 ，灯灭

测速模块 

发射的红外线被物体遮挡时            ，输出高电平，发射的红外线没被物体遮挡时                 ，输出低电平 有物体高电平                 ，没物体低电平 当搭配小车测速盘，会形成下降沿（有遮挡高电平            ，没遮挡低电平）

小车 

移动小车（控制电机转动                 ，使小车前进      、后退                  、左转           、右转 ）

#include "reg52.h" #include <intrins.h> sbit left_con1A = P1^1; sbit left_con2A = P1^2; sbit right_con1A = P1^3; sbit right_con2A = P1^4; void Delay2000ms() //@11.0592MHz { unsigned char i, j, k; _nop_(); i = 15; j = 2; k = 235; do { do { while (--k); } while (--j); } while (--i); } //两个电机反转      ，前进 void goForward() { left_con1A = 1; left_con2A = 0; right_con1A = 1; right_con2A = 0; } //两个电机正转            ，后退 void goBack() { left_con1A = 0; left_con2A = 1; right_con1A = 0; right_con2A = 1; } //两个电机不转                 ，停止 void goStop() { left_con1A = 0; left_con2A = 0; right_con1A = 0; right_con2A = 0; } //左电机不转      ，右电机反转      ，左转 void goLeft() { left_con1A = 0; left_con2A = 0; right_con1A = 1; right_con2A = 0; } //左电机反转                 ，右电机不转            ，右转 void goRight() { left_con1A = 1; left_con2A = 0; right_con1A = 0; right_con2A = 0; } void main() { while(1){ goForward(); Delay2000ms(); goBack(); Delay2000ms(); goLeft(); Delay2000ms(); goRight(); Delay2000ms(); goStop(); Delay2000ms(); } }

遥控小车（ 使用蓝牙模块      ，通过串口发送信息控制小车移动）

#include "reg52.h" #include <intrins.h> #include <string.h> sfr AUXR = 0x8E; sbit left_con1A = P1^1; sbit left_con2A = P1^2; sbit right_con1A = P1^3; sbit right_con2A = P1^4; sbit led1 = P3^7; char mybuf[24] ; void Delay1000ms() //@11.0592MHz { unsigned char i, j, k; _nop_(); i = 8; j = 1; k = 243; do { do { while (--k); } while (--j); } while (--i); } void uartInit() { AUXR = 0x01; PCON &= 0x7F; //配置波特率正常 SCON = 0x50; //配置串口选择工作方式1,允许串口接收数据 //配置定时器1为8位自动重装模式 TMOD &= 0x0F; TMOD |= 0x20; //给定时器1,9600波特率初值 TH1 = 0xFD; //定时器1初值 TL1 = 0xFD; //定时器1重装值 ET1 = 0; //不允许定时器1产生中断 TR1 = 1; //开启定时器1 EA = 1; //开启总中断 ES = 1; //开启串口中断 } void sendByte(char mydata) { SBUF = mydata; //向串口发送一帧信息 while(!TI); //等待硬件置位 TI = 0; //TI软件清0 } void sendString(char *str) { while(*str != \0){ sendByte(*str); str++; } } //两个电机反转                 ，前进 void goForward() { left_con1A = 1; left_con2A = 0; right_con1A = 1; right_con2A = 0; } //两个电机正转            ，后退 void goBack() { left_con1A = 0; left_con2A = 1; right_con1A = 0; right_con2A = 1; } //两个电机不转，停止 void goStop() { left_con1A = 0; left_con2A = 0; right_con1A = 0; right_con2A = 0; } //左电机不转                 ，右电机反转                 ，左转 void goLeft() { left_con1A = 0; left_con2A = 0; right_con1A = 1; right_con2A = 0; } //左电机反转，右电机不转            ，右转 void goRight() { left_con1A = 1; left_con2A = 0; right_con1A = 0; right_con2A = 0; } void main() { uartInit(); while(1){ sendString("jiangxiaoya\r\n"); //发送心跳包                 ，确保串口通信没有中断 Delay1000ms(); } } void myUart() interrupt 4 { static int i = 0; char tmp; //接收数据后      ，RI硬件置位产生的中断 if(RI){ RI = 0; //RI软件清0 //获取从pc端接收到的数据 tmp = SBUF; if(tmp == f || tmp == b || tmp == l || tmp == r || tmp == s){ i = 0; } mybuf[i] = tmp; i++; //forward if(mybuf[0] == f && mybuf[1] == o){ goForward(); memset(mybuf,\0,24); } //forward if(mybuf[0] == b && mybuf[1] == a){ goBack(); memset(mybuf,\0,24); } //left if(mybuf[0] == l && mybuf[1] == e){ goLeft(); memset(mybuf,\0,24); } //right if(mybuf[0] == r && mybuf[1] == i){ goRight(); memset(mybuf,\0,24); } //stop if(mybuf[0] == s && mybuf[1] == t){ goStop(); memset(mybuf,\0,24); } if(i == 24){ i = 0; } } //发送数据后            ，TI硬件置位产生的中断 if(TI); }

调速小车（利用PWM波对电机进行调速）

利用定时器0软件模拟PWM波控制小车左轮速度                 ，定时器1软件模拟PWM波控制小车右轮速度      ，通过控制轮子的速度来达到前进      、停止                  、左转           、右转 在20ms的过程中      ，部分时间让电机正转                 ，剩下时间让电机停止不动就能改变电机获得的功率            ，从而改变电机速度      。 #include "reg52.h" #include <intrins.h> #include <string.h> sfr AUXR = 0x8E; sbit left_con1A = P1^1; sbit left_con2A = P1^2; sbit right_con1A = P1^3; sbit right_con2A = P1^4; sbit led1 = P3^7; char mybuf[24] ; char leftSpeed; char rightSpeed; int cntLeft = 0; int cntRight = 0; void Delay1000ms() //@11.0592MHz { unsigned char i, j, k; _nop_(); i = 8; j = 1; k = 243; do { do { while (--k); } while (--j); } while (--i); } //左电机反转 void goLeftForward() { left_con1A = 1; left_con2A = 0; } //左电机不转 void goLeftStop() { left_con1A = 0; left_con2A = 0; } //右电机反转 void goRightForward() { right_con1A = 1; right_con2A = 0; } //右电机不转 void goRightStop() { right_con1A = 0; right_con2A = 0; } //前进 void goForward() { leftSpeed = 18; rightSpeed = 20; } //停止 void goStop() { leftSpeed = 0; rightSpeed = 0; } //左转 void goLeft() { leftSpeed = 10; rightSpeed = 20; } //右转 void goRight() { leftSpeed = 20; rightSpeed = 10; } void Timer0Init(void) //1毫秒@11.0592MHz { AUXR &= 0x7F; //定时器时钟12T模式 TMOD &= 0xF0; //设置定时器模式 TMOD |= 0x01; //设置定时器模式 //定时器初值为1ms TL0 = 0x66; TH0 = 0xFC; TF0 = 0; //清除TF0标志 TR0 = 1; //定时器0开始计时 ET0 = 1; EA = 1; } void Timer1Init(void) //1毫秒@11.0592MHz { AUXR |= 0x40; //定时器时钟1T模式 TMOD &= 0x0F; //设置定时器模式 TMOD |= 0x10; //设置定时器模式 //定时器初值为1ms TL1 = 0xCD; TH1 = 0xD4; TF1 = 0; //清除TF1标志 TR1 = 1; //定时器1开始计时 ET1 = 1; EA = 1; } void main() { Timer0Init(); Timer1Init(); while(1){ Delay1000ms(); goForward(); Delay1000ms(); goLeft(); Delay1000ms(); goRight(); } } //定时器0的中断函数 void Time0Handler() interrupt 1 { cntLeft++; TL0 = 0x66; TH0 = 0xFC; if(cntLeft < leftSpeed) { goLeftForward(); }else{ goLeftStop(); } if(cntLeft == 20){ cntLeft = 0; } } void Time1Handler() interrupt 3 { cntRight++; TL1 = 0x66; TH1 = 0xFC; if(cntRight < rightSpeed) { goRightForward(); }else{ goRightStop(); } if(cntRight == 20){ cntRight = 0; } }

循迹小车 （利用循迹模块进行黑白色的检测）

#include "reg52.h" #include <intrins.h> #include <string.h> sfr AUXR = 0x8E; sbit left_con1A = P1^1; sbit left_con2A = P1^2; sbit right_con1A = P1^3; sbit right_con2A = P1^4; sbit tracingLeft = P1^5; sbit tracingRight = P1^6; char leftSpeed; char rightSpeed; int cntLeft = 0; int cntRight = 0; //左电机反转 void goLeftForward() { left_con1A = 1; left_con2A = 0; } //左电机不转 void goLeftStop() { left_con1A = 0; left_con2A = 0; } //右电机反转 void goRightForward() { right_con1A = 1; right_con2A = 0; } //右电机不转 void goRightStop() { right_con1A = 0; right_con2A = 0; } //前进 void goForward() { leftSpeed = 17; rightSpeed = 20; } //停止 void goStop() { leftSpeed = 0; rightSpeed = 0; } //左转 void goLeft() { leftSpeed = 5; rightSpeed = 20; } //右转 void goRight() { leftSpeed = 20; rightSpeed = 5; } void Timer0Init(void) //1毫秒@11.0592MHz { AUXR &= 0x7F; //定时器时钟12T模式 TMOD &= 0xF0; //设置定时器模式 TMOD |= 0x01; //设置定时器模式 //定时器初值为1ms TL0 = 0x66; TH0 = 0xFC; TF0 = 0; //清除TF0标志 TR0 = 1; //定时器0开始计时 ET0 = 1; EA = 1; } void Timer1Init(void) //1毫秒@11.0592MHz { AUXR |= 0x40; //定时器时钟1T模式 TMOD &= 0x0F; //设置定时器模式 TMOD |= 0x10; //设置定时器模式 //定时器初值为1ms TL1 = 0xCD; TH1 = 0xD4; TF1 = 0; //清除TF1标志 TR1 = 1; //定时器1开始计时 ET1 = 1; EA = 1; } void tracingMode() { if(tracingLeft == 0 && tracingRight == 0){ // goForward(); } if(tracingLeft == 0 && tracingRight == 1){ goRight(); } if(tracingLeft == 1 && tracingRight == 0){ goLeft(); } if(tracingLeft == 1 && tracingRight == 1){ goStop(); } } void main() { Timer0Init(); Timer1Init(); while(1){ tracingMode(); } } //定时器0的中断函数 void Time0Handler() interrupt 1 { cntLeft++; TL0 = 0x66; TH0 = 0xFC; if(cntLeft < leftSpeed) { goLeftForward(); }else{ goLeftStop(); } if(cntLeft == 20){ cntLeft = 0; } } void Time1Handler() interrupt 3 { cntRight++; TL1 = 0x66; TH1 = 0xFC; if(cntRight < rightSpeed) { goRightForward(); }else{ goRightStop(); } if(cntRight == 20){ cntRight = 0; } }

跟随小车（利用红外避障模块完成跟随行为）

#include "reg52.h" #include <intrins.h> #include <string.h> sfr AUXR = 0x8E; sbit left_con1A = P1^1; sbit left_con2A = P1^2; sbit right_con1A = P1^3; sbit right_con2A = P1^4; sbit followLeft = P2^1; sbit followRight = P2^2; char leftSpeed; char rightSpeed; int cntLeft = 0; int cntRight = 0; //左电机反转 void goLeftForward() { left_con1A = 1; left_con2A = 0; } //左电机不转 void goLeftStop() { left_con1A = 0; left_con2A = 0; } //右电机反转 void goRightForward() { right_con1A = 1; right_con2A = 0; } //右电机不转 void goRightStop() { right_con1A = 0; right_con2A = 0; } //前进 void goForward() { leftSpeed = 17; rightSpeed = 20; } //停止 void goStop() { leftSpeed = 0; rightSpeed = 0; } //左转 void goLeft() { leftSpeed = 8; rightSpeed = 20; } //右转 void goRight() { leftSpeed = 20; rightSpeed = 10; } void Timer0Init(void) //1毫秒@11.0592MHz { AUXR &= 0x7F; //定时器时钟12T模式 TMOD &= 0xF0; //设置定时器模式 TMOD |= 0x01; //设置定时器模式 //定时器初值为1ms TL0 = 0x66; TH0 = 0xFC; TF0 = 0; //清除TF0标志 TR0 = 1; //定时器0开始计时 ET0 = 1; EA = 1; } void Timer1Init(void) //1毫秒@11.0592MHz { AUXR |= 0x40; //定时器时钟1T模式 TMOD &= 0x0F; //设置定时器模式 TMOD |= 0x10; //设置定时器模式 //定时器初值为1ms TL1 = 0xCD; TH1 = 0xD4; TF1 = 0; //清除TF1标志 TR1 = 1; //定时器1开始计时 ET1 = 1; EA = 1; } void followMode() { if(followLeft == 0 && followRight == 0){ // goForward(); } if(followLeft == 0 && followRight == 1){ goRight(); } if(followLeft == 1 && followRight == 0){ goLeft(); } if(followLeft == 1 && followRight == 1){ goStop(); } } void main() { Timer0Init(); Timer1Init(); while(1){ followMode(); } } //定时器0的中断函数 void Time0Handler() interrupt 1 { cntLeft++; TL0 = 0x66; TH0 = 0xFC; if(cntLeft < leftSpeed) { goLeftForward(); }else{ goLeftStop(); } if(cntLeft == 20){ cntLeft = 0; } } void Time1Handler() interrupt 3 { cntRight++; TL1 = 0x66; TH1 = 0xFC; if(cntRight < rightSpeed) { goRightForward(); }else{ goRightStop(); } if(cntRight == 20){ cntRight = 0; } }

避障小车（利用超声波测距完成避障行为）

利用定时器0软件模拟PWM波控制sg90舵机转动方向 利用定时器1和超声波不断测量前方距离 #include "reg52.h" #include <intrins.h> sbit left_con1A = P1^1; sbit left_con2A = P1^2; sbit right_con1A = P1^3; sbit right_con2A = P1^4; sbit Trig = P2^3; sbit Echo = P2^4; sbit sg90 = P2^5; int angle; int angleBack; int cnt = 0; void Delay100ms() //@11.0592MHz { unsigned char i, j; i = 180; j = 73; do { while (--j); } while (--i); } void Delay300ms() //@11.0592MHz { unsigned char i, j, k; _nop_(); i = 3; j = 26; k = 223; do { do { while (--k); } while (--j); } while (--i); } void Delay500ms() //@11.0592MHz { unsigned char i, j, k; _nop_(); i = 4; j = 129; k = 119; do { do { while (--k); } while (--j); } while (--i); } void Delay10us() //@11.0592MHz { unsigned char i; i = 2; while (--i); } //两个电机反转      ，前进 void goForward() { left_con1A = 1; left_con2A = 0; right_con1A = 1; right_con2A = 0; } //两个电机正转                 ，后退 void goBack() { left_con1A = 0; left_con2A = 1; right_con1A = 0; right_con2A = 1; } //两个电机不转            ，停止 void goStop() { left_con1A = 0; left_con2A = 0; right_con1A = 0; right_con2A = 0; } //左电机不转，右电机反转                 ，左转 void goLeft() { left_con1A = 0; left_con2A = 0; right_con1A = 1; right_con2A = 0; } //左电机反转                 ，右电机不转，右转 void goRight() { left_con1A = 1; left_con2A = 0; right_con1A = 0; right_con2A = 0; } void timer0Init() { //设置定时器0为16为计时模式 TMOD &=0xF0; TMOD |=0x01; //设置定时器0定时时间为0.5ms TH0 = 0xFE; TL0 = 0x33; TR0 = 1; //定时器0开始计时 TF0 = 0; //不执行定时器0爆表时导致的中断 ET0 = 1; //定时器0中断开关 EA = 1; //总中断开关 } void timer1Init() { //设置定时器1为16为计时模式 TMOD &= 0x0F; TMOD |= 0x10; TH1 = 0x00; TL1 = 0x00; } void ultrasonicStart() { Trig = 0; Trig = 1; Delay10us(); Trig = 0; } double getDistance() { double time = 0; //定时器1清0 TH1 = 0x00; TL1 = 0x00; ultrasonicStart(); while(Echo == 0); //当Echo引脚从低电平跳到高电平时开启定时器1 TR1 = 1; while(Echo == 1); //当Echo引脚从高电平跳到低电平时关闭定时器1 TR1 = 0; time = (TH1*256 + TL1) * 1.085; //微秒 return (time * 0.017); } void sg90Left() { angle = 5; //180° if(angleBack != angle){ cnt = 0; } angleBack = angle; Delay100ms(); } void sg90Middle() { angle = 3; //90° if(angleBack != angle){ cnt = 0; } angleBack = angle; Delay100ms(); } void sg90Right() { angle = 1; //0° if(angleBack != angle){ cnt = 0; } angleBack = angle; Delay100ms(); } void main() { double leftDistance; double rightDistance; double middleDistance; timer0Init(); timer1Init(); sg90Middle(); Delay500ms(); while(1){ sg90Middle(); Delay300ms(); middleDistance = getDistance(); if(middleDistance > 35){ goForward(); }else{ goStop(); sg90Left(); Delay300ms(); leftDistance = getDistance(); sg90Middle(); Delay300ms(); sg90Right(); Delay300ms(); rightDistance = getDistance(); if(leftDistance < 15 && rightDistance < 15){ goBack(); Delay500ms(); goStop(); }else{ if(leftDistance > rightDistance){ goLeft(); Delay500ms(); goStop(); } if(rightDistance > leftDistance){ goRight(); Delay500ms(); goStop(); } } } } } //定时器0的中断函数 void Time0Handler() interrupt 1 { TH0 = 0xFE; TL0 = 0x33; cnt++; //控制占空比 if(cnt < angle){ sg90 = 1; }else{ sg90 = 0; } if(cnt == 40){ //每个周期为20ms cnt = 0; sg90 = 1; } }

测速小车            ，使用OLED屏显示小车速度

轮子走一圈                 ，经过一个周长      ，C = 2x3.14x半径= 3.14 x 直径（6.5cm）            ，对应的转速码盘也转了一圈 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）      ，即产生下降沿                 ，一个下降沿就是走了 3.14 * 6.5 cm /20 = 1.0205CM 定时器可以设计成一秒            ，统计下降沿      ，一个下降沿就是1cm                 ，假设一秒有80脉冲            ，那么就是80cm/s #include "reg52.h" #include <intrins.h> #include <string.h> #include <stdio.h> sfr AUXR = 0x8E; sbit left_con1A = P1^1; sbit left_con2A = P1^2; sbit right_con1A = P1^3; sbit right_con2A = P1^4; sbit Tachometer = P3^2; //测速模块产生下降沿，让外部中断0产生中断 sbit scl = P2^6; sbit sda = P2^7; char mybuf[24]; int signal; unsigned int cnt; unsigned int speedCnt = 0; unsigned int speed; char speedMsg[24]; void Delay5us() //@11.0592MHz { } //两个电机反转                 ，前进 void goForward() { left_con1A = 1; left_con2A = 0; right_con1A = 1; right_con2A = 0; } //两个电机正转                 ，后退 void goBack() { left_con1A = 0; left_con2A = 1; right_con1A = 0; right_con2A = 1; } //两个电机不转，停止 void goStop() { left_con1A = 0; left_con2A = 0; right_con1A = 0; right_con2A = 0; } //左电机不转            ，右电机反转                 ，左转 void goLeft() { left_con1A = 0; left_con2A = 0; right_con1A = 1; right_con2A = 0; } //左电机反转      ，右电机不转            ，右转 void goRight() { left_con1A = 1; left_con2A = 0; right_con1A = 0; right_con2A = 0; } //串口初始化 void uartInit() { AUXR = 0x01; PCON &= 0x7F; //配置波特率正常 SCON = 0x50; //配置串口选择工作方式1,允许串口接收数据 //配置定时器1为8位自动重装模式 TMOD &= 0x0F; TMOD |= 0x20; //给定时器1,9600波特率初值 TH1 = 0xFD; //定时器1初值 TL1 = 0xFD; //定时器1重装值 ET1 = 0; //不允许定时器1产生中断 TR1 = 1; //开启定时器1 EA = 1; //开启总中断 ES = 1; //开启串口中断 } //定时器0初始化                 ，初值为1ms void Time0Init() { TMOD &=0xF0; TMOD |=0x01; //1ms TL0 = 0x66; TH0 = 0xFC; TR0 = 1; ET0 = 1; EA =1; } //外部中断0初始化 void int0Init() { EX0 = 1; EA = 1; IT0 = 1; //下降沿触发外部中断0 } //IIC起始信号 void IIC_start() { sda = 0; scl = 1; sda = 1; Delay5us(); sda = 0; Delay5us(); scl = 0; } //IIC终止信号 void IIC_stop() { scl = 0; sda = 0; scl = 1; Delay5us(); sda = 1; Delay5us(); sda = 0; } //IIC的ACK应答信号 char IIC_ack() { char flag; scl = 0; sda = 1; //在时钟脉冲9期间释放数据线 Delay5us(); //延时5微秒后      ，为读取sda数据做准备 scl = 1; Delay5us(); flag = sda; //读取数据线,0为应答 Delay5us(); scl = 0; Delay5us(); return flag; } //IIC发送一个字节 void IIC_sendByte(char myData) { int i; for ( i = 0; i < 8; i++){ //发生数据翻转      ，选择即将发送的是0还是1 scl = 0; sda = myData & 0x80; //获取需要发送字节的最高位到SDA Delay5us(); //数据建立时间 //开始发送数据 scl = 1; Delay5us(); //数据发送时间 scl = 0; //发送完毕拉低                 ，等待下1bit数据的传输 Delay5us(); myData = myData << 1; } } //OLED写入一条指令 void oledWriteCmd(char writeCmd) { IIC_start(); IIC_sendByte(0x78); //选择一个OLED屏            ，写模式 IIC_ack(); IIC_sendByte(0x00); //写入命令      ，D/C位为0 IIC_ack(); IIC_sendByte(writeCmd); IIC_ack(); IIC_stop(); } //OLED写入一个数据 void oledWriteData(char writeData) { IIC_start(); IIC_sendByte(0x78); //选择一个OLED屏                 ，写模式 IIC_ack(); IIC_sendByte(0x40); //写入命令            ，D/C位为0 IIC_ack(); IIC_sendByte(writeData); IIC_ack(); IIC_stop(); } //OLCD初始化 void oledInit() { oledWriteCmd(0xAE); oledWriteCmd(0x00); oledWriteCmd(0x10); oledWriteCmd(0x40); oledWriteCmd(0xB0); oledWriteCmd(0x81); oledWriteCmd(0xFF); oledWriteCmd(0xA1); oledWriteCmd(0xA6); oledWriteCmd(0xA8); oledWriteCmd(0x3F); oledWriteCmd(0xC8); oledWriteCmd(0xD3); oledWriteCmd(0x00); oledWriteCmd(0xD5); oledWriteCmd(0x80); oledWriteCmd(0xD8); oledWriteCmd(0x05); oledWriteCmd(0xD9); oledWriteCmd(0xF1); oledWriteCmd(0xDA); oledWriteCmd(0x12); oledWriteCmd(0xDB); oledWriteCmd(0x30); oledWriteCmd(0x8D); oledWriteCmd(0x14); oledWriteCmd(0xAF); } void olceClean() { int i,j; for(i=0;i<8;i++){ oledWriteCmd(0xB0 + i); //选择PAGE //选择PAGE的第0列开始显示 oledWriteCmd(0x00); oledWriteCmd(0x10); for(j = 0;j < 128; j++){ oledWriteData(0); //写入字符0 } } } //OLED的字符构造点阵 const unsigned char code oledFont[]= { 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0 0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1 0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2 0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3 0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4 0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5 0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6 0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 7 0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8 0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9 0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10 0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14 0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15 0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16 0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17 0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18 0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19 0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20 0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21 0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22 0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23 0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24 0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25 0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26 0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27 0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28 0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29 0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30 0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31 0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32 0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33 0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34 0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35 0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36 0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37 0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38 0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39 0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40 0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41 0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42 0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43 0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44 0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45 0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46 0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47 0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48 0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49 0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50 0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51 0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52 0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53 0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54 0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,

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