目录
前言
1、该系列教程是基于stm32f103c8t6最小系统板的hal库开发，用最通俗易懂的方式手把手带你学会使用Pid算法的速度环、位置环以及速度位置串级pid。
2、出这一期Pid系列教程的想法是前段时间我参加了一个比赛，要用到串级Pid的功能，可是我发现网上的教程要么是零零散散的，没有集中一起讲解这三个功能的，要么就是写的内容不够简单直接，基础没那么好的同学学起来会很吃力。为了用最直观的步骤和最简单的代码带大家一起掌握使用pid控制电机的能力，我打算出一期完整的、通俗易懂的系列教程，同时也作为对我前段时间学习内容的总结。
3、Pid算法涉及到的内容很多，值得我们去深入地研究去发现它的美，pid算法的学习不仅仅是理论上的理解，要去实践，实现把速度、位置控制好的功能。移植好pid算法以后的调参也是一门学问呢！哈哈哈，所以掌握pid并不是一件容易的事情，不过我已经把串级pid实现了，请相信我会带着大家一起从头到尾一点一点实现！
本章节要实现的功能是使用编码器电机测速，并将测得的脉冲数和轮子的速度反映在oled显示屏中。所以要实现以下两个基本功能：
1.编码器电机测速
2.oled显示
一、需要用到的器材
1、stm32f103c8t6最小系统板
2、12V、5V、3.3V电源
3、0.96寸oled显示屏（iic接口）
4、tb6612模块
5、一个带编码器的直流减速电机，类似于这种的都可以
二、接线说明
编码器电机：M+接tb6612的AO1，M-接tb6612的AO2；A接PA6，B接PA7；
tb6612驱动：AIN1接PA15，AIN2接PB3；PWMA接PB6;
OLED显示屏：SDA接PB9，SCL接PB8。
三、cubmx配置
编码器电机需要3个定时器资源，这里使用TIM4输出PWM控制电机，TIM3用作编码器模式，TIM1用作定时器中断。
3.1 时钟树
3.2 输出PWM（TIM4）
选择定时器4通道1，将定时器4的周期配置为（720*100）/72000000=0.001s=1ms。
设置PB6参数
3.3 编码器模式（TIM3）
选择编码器模式，设置两个GPIO口参数
定时器3参数不用改
3.4 中断定时器配置（TIM1）
选择内部时钟为时钟源，将定时器1的周期配置为（720*1000）/72000000=0.01s=10ms。
勾选一下中断吧~
3.5 配置IIC
这里只需将I2C1设置成I2C模式，参数用默认值就行。
3.6 最终引脚图
四、程序代码
4.1 OLED部分
先把OLED显示屏驱动起来，方便后续显示数据；
4.1.1 main.c
/* USER CODE BEGIN Includes */
#include "oled.h"
#include "oledfont.h"
/* USER CODE END Includes */ /* USER CODE BEGIN 2 */
OLED_Init(); //OLED初始
OLED_Clear(); //清屏
//上面的初始化以及清屏的代码在一开始处一定要写
OLED_ShowString(0,0,"UNICORN_LI",16, 1); //反相显示8X16字符串
OLED_ShowString(0,2,"unicorn_li_123",12,0);//正相显示6X8字符串
OLED_ShowCHinese(0,4,0,1); //反相显示汉字“野”
OLED_ShowCHinese(16,4,1,1);//反相显示汉字“心”
OLED_ShowCHinese(32,4,2,1);//反相显示汉字“家”
OLED_ShowCHinese(0,6,0,0); //正相显示汉字“野”
OLED_ShowCHinese(16,6,1,0);//正相显示汉字“心”
OLED_ShowCHinese(32,6,2,0);//正相显示汉字“家”
OLED_ShowNum(48,4,6,1,16, 0);//正相显示1位8X16数字“6”
OLED_ShowNum(48,7,77,2,12, 1);//反相显示2位6X8数字“77”
OLED_DrawBMP(90,0,122, 4,BMP1,0);//正相显示图片BMP1
OLED_DrawBMP(90,4,122, 8,BMP1,1);//反相显示图片BMP1
OLED_HorizontalShift(0x26);//全屏水平向右滚动播放
//显示正负浮点数的代码
// float num1=-231.24;
// float num2=23.375;
//OLED_ShowString(0,0,"Show Decimal",12,0);
//OLED_Showdecimal(0,4,num1,3,2,12, 0);
//OLED_Showdecimal(0,6,num2,2,3,16, 1);
/* USER CODE END 2 */
4.1.2 oled.c
/*
* oled.c
*
* Created on: 2022年7月24日
* Author: Unicorn_Li
*/
#include "oled.h"
/**********************************************************
* 初始化命令,根据芯片手册书写，详细步骤见上图以及注意事项
***********************************************************/
uint8_t CMD_Data[]={
0xAE, 0xD5, 0x80, 0xA8, 0x3F, 0xD3, 0x00, 0x40,0xA1, 0xC8, 0xDA,
0x12, 0x81, 0xCF, 0xD9, 0xF1, 0xDB, 0x40, 0xA4, 0xA6,0x8D, 0x14,
0xAF};
/**
* @function: void OLED_Init(void)
* @description: OLED初始化
* @return {*}
*/
void OLED_Init(void)
{
HAL_Delay(200);
uint8_t i = 0;
for(i=0; i<23; i++)
{
OLED_WR_CMD(CMD_Data[i]);
}
}
/**
* @function: void OLED_WR_CMD(uint8_t cmd)
* @description: 向设备写控制命令
* @param {uint8_t} cmd 芯片手册规定的命令
* @return {*}
*/
void OLED_WR_CMD(uint8_t cmd)
{
HAL_I2C_Mem_Write(&hi2c1 ,0x78,0x00,I2C_MEMADD_SIZE_8BIT,&cmd,1,0x100);
}
/**
* @function: void OLED_WR_DATA(uint8_t data)
* @description: 向设备写控制数据
* @param {uint8_t} data 数据
* @return {*}
*/
void OLED_WR_DATA(uint8_t data)
{
HAL_I2C_Mem_Write(&hi2c1 ,0x78,0x40,I2C_MEMADD_SIZE_8BIT,&data,1,0x100);
}
/**
* @function: void OLED_On(void)
* @description: 更新显示
* @return {*}
*/
void OLED_On(void)
{
uint8_t i,n;
for(i=0;i<8;i++)
{
OLED_WR_CMD(0xb0+i); //设置页地址（0~7）
OLED_WR_CMD(0x00); //设置显示位置—列低地址
OLED_WR_CMD(0x10); //设置显示位置—列高地址
for(n=0;n<128;n++)
OLED_WR_DATA(1);
}
}
/**
* @function: OLED_Clear(void)
* @description: 清屏,整个屏幕是黑色的!和没点亮一样!!!
* @return {*}
*/
void OLED_Clear(void)
{
uint8_t i,n;
for(i=0;i<8;i++)
{
OLED_WR_CMD(0xb0+i); //设置页地址（0~7）
OLED_WR_CMD(0x00); //设置显示位置—列低地址
OLED_WR_CMD(0x10); //设置显示位置—列高地址
for(n=0;n<128;n++)
OLED_WR_DATA(0);
}
}
/**
* @function: void OLED_Display_On(void)
* @description: 开启OLED显示
* @return {*}
*/
void OLED_Display_On(void)
{
OLED_WR_CMD(0X8D); //SET DCDC命令
OLED_WR_CMD(0X14); //DCDC ON
OLED_WR_CMD(0XAF); //DISPLAY ON,打开显示
}
/**
* @function: void OLED_Display_Off(void)
* @description: 关闭OLED显示
* @return {*}
*/
void OLED_Display_Off(void)
{
OLED_WR_CMD(0X8D); //SET DCDC命令
OLED_WR_CMD(0X10); //DCDC OFF
OLED_WR_CMD(0XAE); //DISPLAY OFF，关闭显示
}
/**
* @function: void OLED_Set_Pos(uint8_t x, uint8_t y)
* @description: 坐标设置
* @param {uint8_t} x,y
* @return {*}
*/
void OLED_Set_Pos(uint8_t x, uint8_t y)
{
OLED_WR_CMD(0xb0+y); //设置页地址（0~7）
OLED_WR_CMD(((x&0xf0)>>4)|0x10); //设置显示位置—列高地址
OLED_WR_CMD(x&0x0f); //设置显示位置—列低地址
}
/**
* @function: unsigned int oled_pow(uint8_t m,uint8_t n)
* @description: m^n函数
* @param {uint8_t} m,n
* @return {unsigned int} result
*/
unsigned int oled_pow(uint8_t m,uint8_t n)
{
unsigned int result=1;
while(n--)result*=m;
return result;
}
/**
* @function: void OLED_ShowChar(uint8_t x, uint8_t y, uint8_t chr, uint8_t Char_Size,uint8_t Color_Turn)
* @description: 在OLED12864特定位置开始显示一个字符
* @param {uint8_t} x字符开始显示的横坐标
* @param {uint8_t} y字符开始显示的纵坐标
* @param {uint8_t} chr待显示的字符
* @param {uint8_t} Char_Size待显示字符的字体大小,选择字体 16/12
* @param {uint8_t} Color_Turn是否反相显示(1反相、0不反相)
* @return {*}
*/
void OLED_ShowChar(uint8_t x,uint8_t y,uint8_t chr,uint8_t Char_Size,uint8_t Color_Turn)
{
unsigned char c=0,i=0;
c=chr-' ';//得到偏移后的值
if(x>128-1){x=0;y=y+2;}
if(Char_Size ==16)
{
OLED_Set_Pos(x,y);
for(i=0;i<8;i++)
{
if(Color_Turn)
OLED_WR_DATA(~F8X16[c*16+i]);
else
OLED_WR_DATA(F8X16[c*16+i]);
}
OLED_Set_Pos(x,y+1);
for(i=0;i<8;i++)
{
if(Color_Turn)
OLED_WR_DATA(~F8X16[c*16+i+8]);
else
OLED_WR_DATA(F8X16[c*16+i+8]);
}
}
else
{
OLED_Set_Pos(x,y);
for(i=0;i<6;i++)
{
if(Color_Turn)
OLED_WR_DATA(~F6x8[c][i]);
else
OLED_WR_DATA(F6x8[c][i]);
}
}
}
/**
* @function: void OLED_ShowString(uint8_t x, uint8_t y, uint8_t *chr, uint8_tChar_Size, uint8_t Color_Turn)
* @description: 在OLED12864特定位置开始显示字符串
* @param {uint8_t} x待显示字符串的开始横坐标x:0~127
* @param {uint8_t} y待显示字符串的开始纵坐标 y:0~7，若选择字体大小为16，则两行数字之间需要间隔2，若选择字体大小为12，间隔1
* @param {uint8_t} *chr待显示的字符串
* @param {uint8_t} Char_Size待显示字符串的字体大小,选择字体 16/12，16为8X16，12为6x8
* @param {uint8_t} Color_Turn是否反相显示(1反相、0不反相)
* @return {*}
*/
void OLED_ShowString(uint8_t x,uint8_t y,char*chr,uint8_t Char_Size, uint8_t Color_Turn)
{
uint8_t j=0;
while (chr[j]!='\0')
{ OLED_ShowChar(x,y,chr[j],Char_Size, Color_Turn);
if (Char_Size == 12) //6X8的字体列加6，显示下一个字符
x += 6;
else //8X16的字体列加8，显示下一个字符
x += 8;
if (x > 122 && Char_Size==12) //TextSize6x8如果一行不够显示了，从下一行继续显示
{
x = 0;
y++;
}
if (x > 120 && Char_Size== 16) //TextSize8x16如果一行不够显示了，从下一行继续显示
{
x = 0;
y++;
}
j++;
}
}
/**
* @function: void OLED_ShowNum(uint8_t x,uint8_t y,unsigned int num,uint8_t len,uint8_t size2, Color_Turn)
* @description: 显示数字
* @param {uint8_t} x待显示的数字起始横坐标,x:0~126
* @param {uint8_t} y待显示的数字起始纵坐标, y:0~7，若选择字体大小为16，则两行数字之间需要间隔2，若选择字体大小为12，间隔1
* @param {unsigned int} num:输入的数据
* @param {uint8_t } len:输入的数据位数
* @param {uint8_t} size2:输入的数据大小，选择 16/12，16为8X16，12为6x8
* @param {uint8_t} Color_Turn是否反相显示(1反相、0不反相)
* @return {*}
*/
void OLED_ShowNum(uint8_t x,uint8_t y,unsigned int num,uint8_t len,uint8_t size2, uint8_t Color_Turn)
{
uint8_t t,temp;
uint8_t enshow=0;
for(t=0;t<len;t++)
{
temp=(num/oled_pow(10,len-t-1))%10;
if(enshow==0&&t<(len-1))
{
if(temp==0)
{
OLED_ShowChar(x+(size2/2)*t,y,' ',size2, Color_Turn);
continue;
}else enshow=1;
}
OLED_ShowChar(x+(size2/2)*t,y,temp+'0',size2, Color_Turn);
}
}
/**
* @function: void OLED_Showdecimal(uint8_t x,uint8_t y,float num,uint8_t z_len,uint8_t f_len,uint8_t size2, uint8_t Color_Turn)
* @description: 显示正负浮点数
* @param {uint8_t} x待显示的数字起始横坐标,x:0~126
* @param {uint8_t} y待显示的数字起始纵坐标, y:0~7，若选择字体大小为16，则两行数字之间需要间隔2，若选择字体大小为12，间隔1
* @param {float} num:输入的浮点型数据
* @param {uint8_t } z_ len:整数部分的位数
* @param {uint8_t } f_len: 小数部分的位数
* @param {uint8_t} size2:输入的数据大小，选择 16/12，16为8X16，12为6x8
* @param {uint8_t} Color_Turn是否反相显示(1反相、0不反相)
* @return {*}
*/
void OLED_Showdecimal(uint8_t x,uint8_t y,float num,uint8_t z_len,uint8_t f_len,uint8_t size2, uint8_t Color_Turn)
{
uint8_t t,temp,i=0;//i为负数标志位
uint8_t enshow;
int z_temp,f_temp;
if(num<0)
{
z_len+=1;
i=1;
num=-num;
}
z_temp=(int)num;
//整数部分
for(t=0;t<z_len;t++)
{
temp=(z_temp/oled_pow(10,z_len-t-1))%10;
if(enshow==0 && t<(z_len-1))
{
if(temp==0)
{
OLED_ShowChar(x+(size2/2)*t,y,' ',size2, Color_Turn);
continue;
}
else
enshow=1;
}
OLED_ShowChar(x+(size2/2)*t,y,temp+'0',size2, Color_Turn);
}
//小数点
OLED_ShowChar(x+(size2/2)*(z_len),y,'.',size2, Color_Turn);
f_temp=(int)((num-z_temp)*(oled_pow(10,f_len)));
//小数部分
for(t=0;t<f_len;t++)
{
temp=(f_temp/oled_pow(10,f_len-t-1))%10;
OLED_ShowChar(x+(size2/2)*(t+z_len)+5,y,temp+'0',size2, Color_Turn);
}
if(i==1)//如果为负，就将最前的一位赋值‘-’
{
OLED_ShowChar(x,y,'-',size2, Color_Turn);
i=0;
}
}
/**
* @function: void OLED_ShowCHinese(uint8_t x,uint8_t y,uint8_t no, uint8_t Color_Turn)
* @description: 在OLED特定位置开始显示16X16汉字
* @param {uint8_t} x待显示的汉字起始横坐标x: 0~112，两列汉字之间需要间隔16
* @param {uint8_t} y待显示的汉字起始纵坐标 y: 0~6 , 两行汉字之间需要间隔2
* @param {uint8_t} no待显示的汉字编号
* @param {uint8_t} Color_Turn是否反相显示(1反相、0不反相)
* @return {*}
*/
void OLED_ShowCHinese(uint8_t x,uint8_t y,uint8_t no, uint8_t Color_Turn)
{
uint8_t t=0;
OLED_Set_Pos(x,y);
for(t=0;t<16;t++)
{
if (Color_Turn)
OLED_WR_DATA(~Hzk[2*no][t]); //显示汉字的上半部分
else
OLED_WR_DATA(Hzk[2*no][t]); //显示汉字的上半部分
}
OLED_Set_Pos(x,y+1);
for(t=0;t<16;t++)
{
if (Color_Turn)
OLED_WR_DATA(~Hzk[2*no+1][t]); //显示汉字的上半部分
else
OLED_WR_DATA(Hzk[2*no+1][t]);//显示汉字的上半部分
}
}
/**
* @function: void OLED_DrawBMP(uint8_t x0, uint8_t y0, uint8_t x1, uint8_t y1, uint8_t * BMP,uint8_t Color_Turn)
* @description: 在OLED特定区域显示BMP图片
* @param {uint8_t} x0图像开始显示横坐标 x0:0~127
* @param {uint8_t} y0图像开始显示纵坐标 y0:0~7
* @param {uint8_t} x1图像结束显示横坐标 x1:1~128
* @param {uint8_t} y1图像结束显示纵坐标 y1:1~8
* @param {uint8_t} *BMP待显示的图像数据
* @param {uint8_t} Color_Turn是否反相显示(1反相、0不反相)
* @return {*}
*/
void OLED_DrawBMP(uint8_t x0, uint8_t y0, uint8_t x1, uint8_t y1, uint8_t * BMP,uint8_t Color_Turn)
{
uint32_t j = 0;
uint8_t x = 0, y = 0;
if(y1%8==0)
y = y1/8;
else
y = y1/8 + 1;
for(y=y0;y<y1;y++)
{
OLED_Set_Pos(x0,y);
for(x=x0;x<x1;x++)
{
if (Color_Turn)
OLED_WR_DATA(~BMP[j++]);//显示反相图片
else
OLED_WR_DATA(BMP[j++]);//显示图片
}
}
}
/**
* @function: void OLED_HorizontalShift(uint8_t direction)
* @description: 屏幕内容水平全屏滚动播放
* @param {uint8_t} direction LEFT 0x27 RIGHT 0x26
* @return {*}
*/
void OLED_HorizontalShift(uint8_t direction)
{
OLED_WR_CMD(0x2e);//停止滚动
OLED_WR_CMD(direction);//设置滚动方向
OLED_WR_CMD(0x00);//虚拟字节设置，默认为0x00
OLED_WR_CMD(0x00);//设置开始页地址
OLED_WR_CMD(0x07);//设置每个滚动步骤之间的时间间隔的帧频
// 0x00-5帧， 0x01-64帧， 0x02-128帧， 0x03-256帧， 0x04-3帧， 0x05-4帧， 0x06-25帧， 0x07-2帧，
OLED_WR_CMD(0x07);//设置结束页地址
OLED_WR_CMD(0x00);//虚拟字节设置，默认为0x00
OLED_WR_CMD(0xff);//虚拟字节设置，默认为0xff
OLED_WR_CMD(0x2f);//开启滚动-0x2f，禁用滚动-0x2e，禁用需要重写数据
}
/**
* @function: void OLED_Some_HorizontalShift(uint8_t direction,uint8_t start,uint8_t end)
* @description: 屏幕部分内容水平滚动播放
* @param {uint8_t} direction LEFT 0x27 RIGHT 0x26
* @param {uint8_t} start 开始页地址 0x00~0x07
* @param {uint8_t} end 结束页地址 0x01~0x07
* @return {*}
*/
void OLED_Some_HorizontalShift(uint8_t direction,uint8_t start,uint8_t end)
{
OLED_WR_CMD(0x2e);//停止滚动
OLED_WR_CMD(direction);//设置滚动方向
OLED_WR_CMD(0x00);//虚拟字节设置，默认为0x00
OLED_WR_CMD(start);//设置开始页地址
OLED_WR_CMD(0x07);//设置每个滚动步骤之间的时间间隔的帧频,0x07即滚动速度2帧
OLED_WR_CMD(end);//设置结束页地址
OLED_WR_CMD(0x00);//虚拟字节设置，默认为0x00
OLED_WR_CMD(0xff);//虚拟字节设置，默认为0xff
OLED_WR_CMD(0x2f);//开启滚动-0x2f，禁用滚动-0x2e，禁用需要重写数据
}
/**
* @function: void OLED_VerticalAndHorizontalShift(uint8_t direction)
* @description: 屏幕内容垂直水平全屏滚动播放
* @param {uint8_t} direction 右上滚动 0x29
* 左上滚动 0x2A
* @return {*}
*/
void OLED_VerticalAndHorizontalShift(uint8_t direction)
{
OLED_WR_CMD(0x2e);//停止滚动
OLED_WR_CMD(direction);//设置滚动方向
OLED_WR_CMD(0x01);//虚拟字节设置
OLED_WR_CMD(0x00);//设置开始页地址
OLED_WR_CMD(0x07);//设置每个滚动步骤之间的时间间隔的帧频，即滚动速度
OLED_WR_CMD(0x07);//设置结束页地址
OLED_WR_CMD(0x01);//垂直滚动偏移量
OLED_WR_CMD(0x00);//虚拟字节设置，默认为0x00
OLED_WR_CMD(0xff);//虚拟字节设置，默认为0xff
OLED_WR_CMD(0x2f);//开启滚动-0x2f，禁用滚动-0x2e，禁用需要重写数据
}
/**
* @function: void OLED_DisplayMode(uint8_t mode)
* @description: 屏幕内容取反显示
* @param {uint8_t} direction ON 0xA7 ，
* OFF 0xA6 默认此模式，设置像素点亮
* @return {*}
*/
void OLED_DisplayMode(uint8_t mode)
{
OLED_WR_CMD(mode);
}
/**
* @function: void OLED_IntensityControl(uint8_t intensity)
* @description: 屏幕亮度调节
* @param {uint8_t} intensity 0x00~0xFF,RESET=0x7F
* @return {*}
*/
void OLED_IntensityControl(uint8_t intensity)
{
OLED_WR_CMD(0x81);
OLED_WR_CMD(intensity);
}
4.1.3 oled.h
#ifndef OLED_OLED_H_
#define OLED_OLED_H_
#include "stm32f1xx_hal.h"
#include "oledfont.h"
extern I2C_HandleTypeDef hi2c1;
void OLED_WR_CMD(uint8_t cmd);
void OLED_WR_DATA(uint8_t data);
void OLED_Init(void);
void OLED_Clear(void);
void OLED_Display_On(void);
void OLED_Display_Off(void);
void OLED_Set_Pos(uint8_t x, uint8_t y);
void OLED_On(void);
void OLED_ShowNum(uint8_t x,uint8_t y,unsigned int num,uint8_t len,uint8_t size2,uint8_t Color_Turn);
void OLED_Showdecimal(uint8_t x,uint8_t y,float num,uint8_t z_len,uint8_t f_len,uint8_t size2, uint8_t Color_Turn);
void OLED_ShowChar(uint8_t x,uint8_t y,uint8_t chr,uint8_t Char_Size,uint8_t Color_Turn);
void OLED_ShowString(uint8_t x,uint8_t y,char*chr,uint8_t Char_Size,uint8_t Color_Turn);
void OLED_ShowCHinese(uint8_t x,uint8_t y,uint8_t no,uint8_t Color_Turn);
void OLED_DrawBMP(uint8_t x0, uint8_t y0, uint8_t x1, uint8_t y1, uint8_t * BMP,uint8_t Color_Turn);
void OLED_HorizontalShift(uint8_t direction);
void OLED_Some_HorizontalShift(uint8_t direction,uint8_t start,uint8_t end);
void OLED_VerticalAndHorizontalShift(uint8_t direction);
void OLED_DisplayMode(uint8_t mode);
void OLED_IntensityControl(uint8_t intensity);
#endif /* OLED_OLED_H_ */
4.1.4 oledfont.c
/*
* oledfont.c
*
* Created on: Jul 24, 2022
* Author: Unicorn_Li
*/
#include "oledfont.h"
//8*6 ASCII字符集点阵
const unsigned char F6x8[][6] =
{
0x00, 0x00, 0x00, 0x00, 0x00, 0x00,// sp
0x00, 0x00, 0x00, 0x2f, 0x00, 0x00,// !
0x00, 0x00, 0x07, 0x00, 0x07, 0x00,// "
0x00, 0x14, 0x7f, 0x14, 0x7f, 0x14,// #
0x00, 0x24, 0x2a, 0x7f, 0x2a, 0x12,// $
0x00, 0x62, 0x64, 0x08, 0x13, 0x23,// %
0x00, 0x36, 0x49, 0x55, 0x22, 0x50,// &
0x00, 0x00, 0x05, 0x03, 0x00, 0x00,// '
0x00, 0x00, 0x1c, 0x22, 0x41, 0x00,// (
0x00, 0x00, 0x41, 0x22, 0x1c, 0x00,// )
0x00, 0x14, 0x08, 0x3E, 0x08, 0x14,// *
0x00, 0x08, 0x08, 0x3E, 0x08, 0x08,// +
0x00, 0x00, 0x00, 0xA0, 0x60, 0x00,// ,
0x00, 0x08, 0x08, 0x08, 0x08, 0x08,// -
0x00, 0x00, 0x60, 0x60, 0x00, 0x00,// .
0x00, 0x20, 0x10, 0x08, 0x04, 0x02,// /
0x00, 0x3E, 0x51, 0x49, 0x45, 0x3E,// 0
0x00, 0x00, 0x42, 0x7F, 0x40, 0x00,// 1
0x00, 0x42, 0x61, 0x51, 0x49, 0x46,// 2
0x00, 0x21, 0x41, 0x45, 0x4B, 0x31,// 3
0x00, 0x18, 0x14, 0x12, 0x7F, 0x10,// 4
0x00, 0x27, 0x45, 0x45, 0x45, 0x39,// 5
0x00, 0x3C, 0x4A, 0x49, 0x49, 0x30,// 6
0x00, 0x01, 0x71, 0x09, 0x05, 0x03,// 7
0x00, 0x36, 0x49, 0x49, 0x49, 0x36,// 8
0x00, 0x06, 0x49, 0x49, 0x29, 0x1E,// 9
0x00, 0x00, 0x36, 0x36, 0x00, 0x00,// :
0x00, 0x00, 0x56, 0x36, 0x00, 0x00,// ;
0x00, 0x08, 0x14, 0x22, 0x41, 0x00,// <
0x00, 0x14, 0x14, 0x14, 0x14, 0x14,// =
0x00, 0x00, 0x41, 0x22, 0x14, 0x08,// >
0x00, 0x02, 0x01, 0x51, 0x09, 0x06,// ?
0x00, 0x32, 0x49, 0x59, 0x51, 0x3E,// @
0x00, 0x7C, 0x12, 0x11, 0x12, 0x7C,// A
0x00, 0x7F, 0x49, 0x49, 0x49, 0x36,// B
0x00, 0x3E, 0x41, 0x41, 0x41, 0x22,// C
0x00, 0x7F, 0x41, 0x41, 0x22, 0x1C,// D
0x00, 0x7F, 0x49, 0x49, 0x49, 0x41,// E
0x00, 0x7F, 0x09, 0x09, 0x09, 0x01,// F
0x00, 0x3E, 0x41, 0x49, 0x49, 0x7A,// G
0x00, 0x7F, 0x08, 0x08, 0x08, 0x7F,// H
0x00, 0x00, 0x41, 0x7F, 0x41, 0x00,// I
0x00, 0x20, 0x40, 0x41, 0x3F, 0x01,// J
0x00, 0x7F, 0x08, 0x14, 0x22, 0x41,// K
0x00, 0x7F, 0x40, 0x40, 0x40, 0x40,// L
0x00, 0x7F, 0x02, 0x0C, 0x02, 0x7F,// M
0x00, 0x7F, 0x04, 0x08, 0x10, 0x7F,// N
0x00, 0x3E, 0x41, 0x41, 0x41, 0x3E,// O
0x00, 0x7F, 0x09, 0x09, 0x09, 0x06,// P
0x00, 0x3E, 0x41, 0x51, 0x21, 0x5E,// Q
0x00, 0x7F, 0x09, 0x19, 0x29, 0x46,// R
0x00, 0x46, 0x49, 0x49, 0x49, 0x31,// S
0x00, 0x01, 0x01, 0x7F, 0x01, 0x01,// T
0x00, 0x3F, 0x40, 0x40, 0x40, 0x3F,// U
0x00, 0x1F, 0x20, 0x40, 0x20, 0x1F,// V
0x00, 0x3F, 0x40, 0x38, 0x40, 0x3F,// W
0x00, 0x63, 0x14, 0x08, 0x14, 0x63,// X
0x00, 0x07, 0x08, 0x70, 0x08, 0x07,// Y
0x00, 0x61, 0x51, 0x49, 0x45, 0x43,// Z
0x00, 0x00, 0x7F, 0x41, 0x41, 0x00,// [
0x00, 0x55, 0x2A, 0x55, 0x2A, 0x55,// 55
0x00, 0x00, 0x41, 0x41, 0x7F, 0x00,// ]
0x00, 0x04, 0x02, 0x01, 0x02, 0x04,// ^
0x00, 0x40, 0x40, 0x40, 0x40, 0x40,// _
0x00, 0x00, 0x01, 0x02, 0x04, 0x00,// '
0x00, 0x20, 0x54, 0x54, 0x54, 0x78,// a
0x00, 0x7F, 0x48, 0x44, 0x44, 0x38,// b
0x00, 0x38, 0x44, 0x44, 0x44, 0x20,// c
0x00, 0x38, 0x44, 0x44, 0x48, 0x7F,// d
0x00, 0x38, 0x54, 0x54, 0x54, 0x18,// e
0x00, 0x08, 0x7E, 0x09, 0x01, 0x02,// f
0x00, 0x18, 0xA4, 0xA4, 0xA4, 0x7C,// g
0x00, 0x7F, 0x08, 0x04, 0x04, 0x78,// h
0x00, 0x00, 0x44, 0x7D, 0x40, 0x00,// i
0x00, 0x40, 0x80, 0x84, 0x7D, 0x00,// j
0x00, 0x7F, 0x10, 0x28, 0x44, 0x00,// k
0x00, 0x00, 0x41, 0x7F, 0x40, 0x00,// l
0x00, 0x7C, 0x04, 0x18, 0x04, 0x78,// m
0x00, 0x7C, 0x08, 0x04, 0x04, 0x78,// n
0x00, 0x38, 0x44, 0x44, 0x44, 0x38,// o
0x00, 0xFC, 0x24, 0x24, 0x24, 0x18,// p
0x00, 0x18, 0x24, 0x24, 0x18, 0xFC,// q
0x00, 0x7C, 0x08, 0x04, 0x04, 0x08,// r
0x00, 0x48, 0x54, 0x54, 0x54, 0x20,// s
0x00, 0x04, 0x3F, 0x44, 0x40, 0x20,// t
0x00, 0x3C, 0x40, 0x40, 0x20, 0x7C,// u
0x00, 0x1C, 0x20, 0x40, 0x20, 0x1C,// v
0x00, 0x3C, 0x40, 0x30, 0x40, 0x3C,// w
0x00, 0x44, 0x28, 0x10, 0x28, 0x44,// x
0x00, 0x1C, 0xA0, 0xA0, 0xA0, 0x7C,// y
0x00, 0x44, 0x64, 0x54, 0x4C, 0x44,// z
0x14, 0x14, 0x14, 0x14, 0x14, 0x14,// horiz lines
};
//16*8 ASCII字符集点阵
const unsigned char F8X16[]=
{
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//sp /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,0x03,0x00,//W /55
0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X /56
0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y /57
0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z /58
0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ /59
0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ /60
0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] /61
0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ /62
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ /63
0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` /64
0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a /65
0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b /66
0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c /67
0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d /68
0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e /69
0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f /70
0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g /71
0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h /72
0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i /73
0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j /74
0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k /75
0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l /76
0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m /77
0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n /78
0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o /79
0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p /80
0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q /81
0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r /82
0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s /83
0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t /84
0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u /85
0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v /86
0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w /87
0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x /88
0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y /89
0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z /90
0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ /91
0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} /92
0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00};//| /93
//部分汉字 阴码，列行式，逆向
const unsigned char Hzk[][32]=
{
{0x00,0xFE,0x92,0x92,0xFE,0x92,0x92,0xFE,0x00,0x42,0x4A,0xD2,0x6A,0x46,0xC0,0x00},
{0x40,0xC4,0x44,0x44,0x3F,0x24,0x24,0x24,0x00,0x40,0x80,0x7F,0x00,0x01,0x00,0x00},/*"野",0*/
{0x00,0x00,0x80,0x00,0x00,0xE0,0x02,0x04,0x18,0x00,0x00,0x00,0x40,0x80,0x00,0x00},
{0x10,0x0C,0x03,0x00,0x00,0x3F,0x40,0x40,0x40,0x40,0x40,0x78,0x00,0x01,0x0E,0x00},/*"心",1*/
{0x10,0x2C,0x24,0x24,0xA4,0xA4,0x65,0xA6,0x24,0x24,0x24,0x24,0xA4,0x34,0x0C,0x00},
{0x40,0x49,0x49,0x29,0x24,0x14,0x52,0x89,0x7F,0x04,0x0A,0x11,0x10,0x20,0x20,0x00},/*"家",2*/
};
//128*64图片
unsigned char BMP1[]={
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x00,0x40,0xE0,0xE0,0x60,
0x00,0x40,0x80,0x00,0x00,0x00,0x80,0x80,0x60,0x60,0x10,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x90,0xB2,0x66,0x6E,0xEC,0xC9,0x83,0x02,0x00,0x40,0x80,
0x00,0x0C,0x0C,0x01,0x03,0x07,0x0F,0x11,0x20,0x40,0x80,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x08,0x18,0x3B,0x37,0x66,0xEE,0xEE,0xCC,0x88,0x80,0x00,0x00,
0x01,0x02,0x04,0x08,0x10,0x10,0x10,0x10,0x10,0x10,0x0F,0x00,0x00,0x00,0x00,0x00,
0x00,0x3E,0x40,0x40,0x40,0x3E,0x00,0x7E,0x04,0x08,0x10,0x7E,0x00,0x7E,0x00,0x3C,
0x42,0x42,0x42,0x42,0x00,0x7E,0x42,0x42,0x42,0x7E,0x00,0x7E,0x04,0x08,0x10,0x7E,/*"C:\Users\HP\Desktop\UNICORN.BMP",0*/
};
4.1.5 oledfont.h
#ifndef OLED_OLEDFONT_H_
#define OLED_OLEDFONT_H_
extern const unsigned char F6x8[][6];
extern const unsigned char F8X16[];
extern const unsigned char Hzk[][32];
extern unsigned char BMP1[];
//extern unsigned char BMP2[].........
#endif /* OLED_OLEDFONT_H_ */
4.1.6 小结
以上就是0.96寸OLED的HAL库版本的代码，全部按我这个操作100%一次点亮OLED屏。
4.2 编码器测速部分
在学习后面内容前建议大家要把前面的功能实现好。以下是在前面代码的基础上编写
的。
4.2.1 main.c
/* USER CODE BEGIN Includes */
#include "oled.h"
#include "oledfont.h"
#include "pwm.h"
#include "stdio.h"
/* USER CODE END Includes */定义速度speed和脉冲数encoder_counter两个变量。
/* USER CODE BEGIN PV */
int16_t speed=0,encoder_counter=0;
/* USER CODE END PV */我习惯把中断回调函数写到main.c文件里。
/* USER CODE BEGIN 0 */
/**
* @function: void GET_NUM(void)
* @description: 使用STM32编码器模式，读取编码器产生的脉冲值
* @param {*}
* @return {*}
*/
void GET_NUM(void)
{
encoder_counter=(short) __HAL_TIM_GET_COUNTER(&htim3);
__HAL_TIM_SET_COUNTER(&htim3,0);
}
/**
* @function:void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
* @description: 定时器中断回调函数，0.1S中断一次并计算转速，将电机转速以及编码器产生的脉冲数显示在OLED屏上
* @param {TIM_HandleTypeDef *htim}
* @return {*}
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if(htim==&htim1)
{
GET_NUM();//得到所记录的脉冲数
speed=(float)encoder_counter/2040/0.1;//转速为n，r/s 脉冲数转化为速度
}
}
/* USER CODE END 0 */ /* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1); //开启TIM4 PWMA模式
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);//开启TIM3编码器模式
HAL_UART_Receive_IT(&huart2,(uint8_t *)&USART2_NewData,1); //开启串口二的接收中断，用于蓝牙改变电机转速
HAL_TIM_Base_Start_IT(&htim1);//开启TIM1的定时器中断
OLED_Init(); //OLED初始
OLED_Clear(); //清屏
OLED_ShowString(0,0,"Rotational Speed:",12,0);
OLED_ShowString(50,4,"rad/s",12,0);
PWM_SetCompare1(300);
/* USER CODE END 2 */
显示屏的显示函数尽量不要放到定时器中断回调函数中去，因为显示屏的显示是需要时间的，而定时器中断函数每各一定时间会触发一次，中断函数里有延时类函数可能会对我们功能的实现有影响。
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
OLED_Showdecimal(0,6,encoder_counter,5,2,12,0);//在特定位置显示5位整数+2位小数的脉冲数
OLED_Showdecimal(0,4,speed,2,2,12,0);//在特定位置显示2位整数+2位小数的电机转速
MOTOR_GO;
}
/* USER CODE END 3 */4.2.2 pwm.c
#include "pwm.h"
#include "tim.h"
void PWM_SetCompare1(uint16_t Compare)
{
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1,Compare);
}
4.2.3 pwm.h
#ifndef __PWM_H
#define __PWM_H
#include "stm32f1xx_hal.h"
#define MOTOR_GO HAL_GPIO_WritePin(GPIOA, AIN1_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(GPIOB, AIN2_Pin, GPIO_PIN_RESET)
#define MOTOR_BACK HAL_GPIO_WritePin(GPIOA, AIN1_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOB, AIN2_Pin, GPIO_PIN_SET)
void PWM_SetCompare1(uint16_t Compare);
#endif4.2.4 小结
最终结果电机转动，在oled显示屏上会显示速度和脉冲数，测量的还是比较精准。
码字不易，希望喜欢的小伙伴别忘了点赞+收藏+关注，你们的肯定就是我创作的动力。
欢迎大家积极交流，本文未经允许谢绝转载！！！