[STM32F103C8T6]基于stm32的循迹，跟随，避障智能小车-Toy模板网

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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

stm32f103c8t6循迹小车,stm32,单片机,嵌入式硬件

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)

stm32f103c8t6循迹小车,stm32,单片机,嵌入式硬件

motor.c

#include "motor.h"
#include "gpio.h"

void GoForward(void)
{
	//右轮
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_SET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET);
	//左轮
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_2,GPIO_PIN_SET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_RESET);
}

void GoBack(void)
{
	//右轮
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_SET);
	//左轮
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_2,GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_SET);
}

void GoLeft(void)
{
	//右轮
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_SET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET);
	//左轮
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_2,GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_RESET);
}

void GoRight(void)
{
	//右轮
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET);
	//左轮
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_2,GPIO_PIN_SET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_RESET);
}

void Stop(void)
{
	//右轮
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET);
	//左轮
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_2,GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_RESET);
}

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

stm32f103c8t6循迹小车,stm32,单片机,嵌入式硬件

Uart.c

void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{

  if(uartHandle->Instance==USART1)
  {
  /* USER CODE BEGIN USART1_MspDeInit 0 */

  /* USER CODE END USART1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_USART1_CLK_DISABLE();

    /**USART1 GPIO Configuration
    PA9     ------> USART1_TX
    PA10     ------> USART1_RX
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);

    /* USART1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(USART1_IRQn);
  /* USER CODE BEGIN USART1_MspDeInit 1 */

  /* USER CODE END USART1_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
//串口接收缓存（1字节）
uint8_t buf=0;
//定义最大接收字节数 200，可根据需求调整
#define UART1_REC_LEN 200
#define SIZE 12
// 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
uint8_t UART1_RX_Buffer[UART1_REC_LEN];
// 接收状态
// bit15， 接收完成标志
// bit14， 接收到0x0d
// bit13~0， 接收到的有效字节数目
uint16_t UART1_RX_STA=0;

char buffer[SIZE];
// 接收完成回调函数，收到一个数据后，在这里处理
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
// 判断中断是由哪个串口触发的
if(huart->Instance == USART1)
{
// 判断接收是否完成（UART1_RX_STA bit15 位是否为1）
if((UART1_RX_STA & 0x8000) == 0)
{
// 如果已经收到了 0x0d （回车），
if(UART1_RX_STA & 0x4000)
{
// 则接着判断是否收到 0x0a （换行）
if(buf == 0x0a)
{
// 如果 0x0a 和 0x0d 都收到，则将 bit15 位置为1
	UART1_RX_STA |= 0x8000;
//	printf("1");
	
	// 车控指令
	if(!strcmp((const char*)UART1_RX_Buffer, "M1"))
	{	
		printf("Forwad......");
		GoForward();
	}
	else if(!strcmp((const char*)UART1_RX_Buffer, "M2"))
	{
		printf("Back......");
		GoBack();
	}
	else if(!strcmp((const char*)UART1_RX_Buffer, "M3"))
	{
		printf("Left......");
		GoLeft();
	}
	else if(!strcmp((const char*)UART1_RX_Buffer, "M4"))
	{
		printf("Right......");
		GoRight();
	}
	else if(!strcmp((const char*)UART1_RX_Buffer, "Stop"))
	{
		printf("Stop......");
		Stop();
	}
		memset(UART1_RX_Buffer, 0, UART1_REC_LEN);
		UART1_RX_STA = 0;
	}
	else
// 否则认为接收错误，重新开始
		UART1_RX_STA = 0;
}
	else // 如果没有收到了 0x0d （回车）
{
	//则先判断收到的这个字符是否是 0x0d （回车）
	if(buf == 0x0d)
{	
// 是的话则将 bit14 位置为1
		UART1_RX_STA |= 0x4000;
	}
else
{
// 否则将接收到的数据保存在缓存数组里
		UART1_RX_Buffer[UART1_RX_STA & 0X3FFF] = buf;
		UART1_RX_STA++;
// 如果接收数据大于UART1_REC_LEN（200字节），则重新开始接收
	if(UART1_RX_STA > UART1_REC_LEN - 1)
		UART1_RX_STA = 0;
		}
	}
}
// 重新开启中断
HAL_UART_Receive_IT(&huart1, &buf, 1);
	}
}

int fputc(int ch, FILE *f)
{
	unsigned char temp[1]={ch};
	HAL_UART_Transmit(&huart1,temp,1,0xffff);
	return ch;
}

main.c

extern uint8_t buf;

int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
	HAL_UART_Receive_IT(&huart1, &buf, 1);//开启串口接收
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

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

void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{

  if(uartHandle->Instance==USART1)
  {
  /* USER CODE BEGIN USART1_MspDeInit 0 */

  /* USER CODE END USART1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_USART1_CLK_DISABLE();

    /**USART1 GPIO Configuration
    PA9     ------> USART1_TX
    PA10     ------> USART1_RX
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);

    /* USART1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(USART1_IRQn);
  /* USER CODE BEGIN USART1_MspDeInit 1 */

  /* USER CODE END USART1_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
//串口接收缓存（1字节）
uint8_t buf=0;
//定义最大接收字节数 200，可根据需求调整
#define UART1_REC_LEN 200
#define SIZE 12
// 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
uint8_t UART1_RX_Buffer[UART1_REC_LEN];
// 接收状态
// bit15， 接收完成标志
// bit14， 接收到0x0d
// bit13~0， 接收到的有效字节数目
uint16_t UART1_RX_STA=0;

char buffer[SIZE];
// 接收完成回调函数，收到一个数据后，在这里处理
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
// 判断中断是由哪个串口触发的
if(huart->Instance == USART1)
{
// 判断接收是否完成（UART1_RX_STA bit15 位是否为1）
if((UART1_RX_STA & 0x8000) == 0)
{
// 如果已经收到了 0x0d （回车），
if(UART1_RX_STA & 0x4000)
{
// 则接着判断是否收到 0x0a （换行）
if(buf == 0x0a)
{
// 如果 0x0a 和 0x0d 都收到，则将 bit15 位置为1
	UART1_RX_STA |= 0x8000;
//	printf("1");
	
	// 车控指令
	if(!strcmp((const char*)UART1_RX_Buffer, "M1"))
	{	
		printf("Forwad......");
		GoForward();
        HAL_Delay(10);
	}
	else if(!strcmp((const char*)UART1_RX_Buffer, "M2"))
	{
		printf("Back......");
		GoBack();
        HAL_Delay(10);
	}
	else if(!strcmp((const char*)UART1_RX_Buffer, "M3"))
	{
		printf("Left......");
		GoLeft();
        HAL_Delay(10);
	}
	else if(!strcmp((const char*)UART1_RX_Buffer, "M4"))
	{
		printf("Right......");
		GoRight();
        HAL_Delay(10);
	}
	else if(!strcmp((const char*)UART1_RX_Buffer, "Stop"))
	{
		printf("Stop......");
		Stop();
        HAL_Delay(10);
	}
		memset(UART1_RX_Buffer, 0, UART1_REC_LEN);
		UART1_RX_STA = 0;
	}
	else
// 否则认为接收错误，重新开始
		UART1_RX_STA = 0;
}
	else // 如果没有收到了 0x0d （回车）
{
	//则先判断收到的这个字符是否是 0x0d （回车）
	if(buf == 0x0d)
{	
// 是的话则将 bit14 位置为1
		UART1_RX_STA |= 0x4000;
	}
else
{
// 否则将接收到的数据保存在缓存数组里
		UART1_RX_Buffer[UART1_RX_STA & 0X3FFF] = buf;
		UART1_RX_STA++;
// 如果接收数据大于UART1_REC_LEN（200字节），则重新开始接收
	if(UART1_RX_STA > UART1_REC_LEN - 1)
		UART1_RX_STA = 0;
		}
	}
}
// 重新开启中断
HAL_UART_Receive_IT(&huart1, &buf, 1);
	}
}

int fputc(int ch, FILE *f)
{
	unsigned char temp[1]={ch};
	HAL_UART_Transmit(&huart1,temp,1,0xffff);
	return ch;
}

main.c

extern uint8_t buf;

int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
	HAL_UART_Receive_IT(&huart1, &buf, 1);//开启串口接收
    HAL_NVIC_SetPriority(SysTick_IRQn,0,0);//提高滴答定时器优先级
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
       Stop();
    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

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

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

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

stm32f103c8t6循迹小车,stm32,单片机,嵌入式硬件

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

stm32f103c8t6循迹小车,stm32,单片机,嵌入式硬件

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

void　main()
{
    HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_2);
    while(1)
    {
        __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,8);
        __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,15);
        HAL_Delay(1000);
        __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,15);
        __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,8);
        HAL_Delay(1000);
    }
}

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

stm32f103c8t6循迹小车,stm32,单片机,嵌入式硬件

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

#define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_3)
#define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4)

void xunji(void)
{
 if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET)
 {
    __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,19);
    __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,19);
 }
if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET)
 {
    __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,15);
    __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,8);
 }
if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET)
 {
    __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,8);
    __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,15);
 }
if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET)
 {
    __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,0);
    __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,0);
 }
}

// main函数里
while (1)
{
    xunji();
}

6.跟随功能

跟随功能的实现主要是跟随模块

stm32f103c8t6循迹小车,stm32,单片机,嵌入式硬件

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）

#define LeftWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_5)
#define RightWheel_Value HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_6)

void gensui(void)
{
     if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_RESET)
    goForward();
   if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_RESET)
    goRight();
   if(LeftWheel_Value == GPIO_PIN_RESET && RightWheel_Value == GPIO_PIN_SET)
    goLeft();
   if(LeftWheel_Value == GPIO_PIN_SET && RightWheel_Value == GPIO_PIN_SET)
    stop();

}


// main函数里
while (1)
{
  gensui();
}

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


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

SG90.c

void initSG90(void)
{
	HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_4); //启动定时器4,启动PWM
	__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 9); //将舵机置为90度
}
void sgMiddle(void)
{
	__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 9); //将舵机置为75度
}
void sgRight(void)
{
	__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 5); //将舵机置为0度
}
void sgLeft(void)
{
	__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 14); //将舵机置为135度
}

main.c

#define MIDDLE 0
#define RIGHT 2
#define LEFT  1

int main(void)
{
  /* USER CODE BEGIN 1 */
	char dir;
	double disMiddle;
	double disLeft;
	double disRight;
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM4_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
	initSG90();//一开始先让超声波在中间位
	HAL_Delay(1000);
  /* USER CODE END 2 */
    void csb(void)
     {
          /*为了不歪头卡死，每次必须测完回到中间位*/
		if(dir != MIDDLE){
		sgMiddle();
		dir = MIDDLE;
		HAL_Delay(300);
		}
        /*为了不歪头卡死，每次必须测完回到中间位*/
			disMiddle = get_distance();
			if(disMiddle > 35){
			//前进
			GoForward();
		}else if(disMiddle < 10){
			GoBack();
		}else
		{
			//停止
			Stop();
			//测左边距离
			sgLeft();
			HAL_Delay(300);
			
            disLeft = get_distance();
			sgMiddle();
			HAL_Delay(300);
			
            sgRight();
			dir = RIGHT;
			HAL_Delay(300);
			disRight = get_distance();
		if(disLeft < disRight){
			GoRight();
			HAL_Delay(150);
			Stop();
		}
			if(disRight < disLeft){
			GoLeft();
			HAL_Delay(150);
			Stop();
		}
	 }
   }
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
       csb();
       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
    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

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

#define Key_On 0
#define Key_Off 1

unsigned char Scanf_Key(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin)
{
    unsigned int status;
    status = HAL_GPIO_ReadPin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin);
    if(status == GPIO_PIN_RESET)
    return 0;
    else if(status == GPIO_PIN_SET)
    return 1;
}

void main()
{
  while(1)
  {
    if(Scanf_Key(GPIOA,GPIO_PIN_0) == Key_On)
    {
        csb();
    }

    if(Scanf_Key(GPIOA,GPIO_PIN_1) == Key_On)
    {
        gensui();
    }
    
    if(Scanf_Key(GPIOA,GPIO_PIN_3) == Key_On)
    {
        xunji();
    }
 }
}

测速功能

测速功能主要是用测速模块配合码盘实现

stm32f103c8t6循迹小车,stm32,单片机,嵌入式硬件

配置cubeMX stm32f103c8t6循迹小车,stm32,单片机,嵌入式硬件

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

stm32f103c8t6循迹小车,stm32,单片机,嵌入式硬件定时器公式：

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 stm32f103c8t6循迹小车,stm32,单片机,嵌入式硬件

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


void HAL_GPIO_EXIT_Callback(uint_t GPIO_pin)
{
	if(GPIO_pin == GPIO_PIN_14)//判断是不是PB14产生的中断
		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
			SpeedCnt++;// dis = SpeedCnt * time 定时器1s产生中断所以dis = SpeedCnt
}

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
	printf("speed:%d\r\n",SpeedCnt);//重定向printf，打印到串口
	SpeedCnt = 0;
}






int main(void)
{
  
  HAL_Init();


  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000); //1ms
 

  SystemClock_Config();

  
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  MX_TIM2_Init();
 
  HAL_UART_Receive_IT(&huart1, &buf, 1);//开启串口接收中断
  HAL_TIM_Base_Start_IT(&htim2);//开启定时器中断
 
  while (1)
  {
   }
}

通过oled显示实时的车速

stm32f103c8t6循迹小车,stm32,单片机,嵌入式硬件

oled.c

#include "oled.h"
#include "i2c.h"
#include "oledfont.h"

void Oled_Write_Cmd(uint8_t dataCmd)
{
    HAL_I2C_Mem_Write(&hi2c1, 0x78, 0x00, I2C_MEMADD_SIZE_8BIT,
    &dataCmd, 1, 0xff);
}
void Oled_Write_Data(uint8_t dataData)
{
    HAL_I2C_Mem_Write(&hi2c1, 0x78, 0x40, I2C_MEMADD_SIZE_8BIT,
    &dataData, 1, 0xff);
}
void Oled_Init(void)
{
    Oled_Write_Cmd(0xAE);//--display off
    Oled_Write_Cmd(0x00);//---set low column address
    Oled_Write_Cmd(0x10);//---set high column address
    Oled_Write_Cmd(0x40);//--set start line address
    Oled_Write_Cmd(0xB0);//--set page address
    Oled_Write_Cmd(0x81); // contract control
    Oled_Write_Cmd(0xFF);//--128
    Oled_Write_Cmd(0xA1);//set segment remap
    Oled_Write_Cmd(0xA6);//--normal / reverse
    Oled_Write_Cmd(0xA8);//--set multiplex ratio(1 to 64)
    Oled_Write_Cmd(0x3F);//--1/32 duty
    Oled_Write_Cmd(0xC8);//Com scan direction
    Oled_Write_Cmd(0xD3);//-set display offset
    Oled_Write_Cmd(0x00);//
    Oled_Write_Cmd(0xD5);//set osc division
    Oled_Write_Cmd(0x80);//
    Oled_Write_Cmd(0xD8);//set area color mode off
    Oled_Write_Cmd(0x05);//
    Oled_Write_Cmd(0xD9);//Set Pre-Charge Period
    Oled_Write_Cmd(0xF1);//
    Oled_Write_Cmd(0xDA);//set com pin configuartion
    Oled_Write_Cmd(0x12);//
    Oled_Write_Cmd(0xDB);//set Vcomh
    Oled_Write_Cmd(0x30);//
    Oled_Write_Cmd(0x8D);//set charge pump enable
    Oled_Write_Cmd(0x14);//
    Oled_Write_Cmd(0xAF);//--turn on oled panel
}
void Oled_Screen_Clear(void)
{
    int i,n;
    Oled_Write_Cmd (0x20); //set memory addressing mode
    Oled_Write_Cmd (0x02); //page addressing mode
    for(i=0;i<8;i++){
    Oled_Write_Cmd(0xb0+i); //PAGE0 - PAGE7
    Oled_Write_Cmd(0x00); //每个page从第0列开始
    Oled_Write_Cmd(0x10); //每个page从第0列开始
    for(n=0;n<128;n++)Oled_Write_Data(0x00);//每个page的127列全写0
    }
}

/*移植源代码*/

/显示单个字符/
void Oled_Show_Char(char row,char col,char oledChar){ //row*2-2
	unsigned int  i;
	Oled_Write_Cmd(0xb0+(row*2-2));                           //page 0
	Oled_Write_Cmd(0x00+(col&0x0f));                          //low
	Oled_Write_Cmd(0x10+(col>>4));                            //high	
	for(i=((oledChar-32)*16);i<((oledChar-32)*16+8);i++){
		Oled_Write_Data(F8X16[i]);                            //写数据oledTable1
	}

	Oled_Write_Cmd(0xb0+(row*2-1));                           //page 1
	Oled_Write_Cmd(0x00+(col&0x0f));                          //low
	Oled_Write_Cmd(0x10+(col>>4));                            //high
	for(i=((oledChar-32)*16+8);i<((oledChar-32)*16+8+8);i++){
		Oled_Write_Data(F8X16[i]);                            //写数据oledTable1
	}		
}

/显示字符串/
void Oled_Show_Str(char row,char col,char *str){
	while(*str!=0){
		Oled_Show_Char(row,col,*str);
		str++;
		col += 8;	
	}		
}

oledfont.h文章来源地址https://www.toymoban.com/news/detail-533808.html

const unsigned char F8X16[]=	  
{
  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,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
  0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
  0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
  0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
};

#include "oled.h"
#include "main.h"
#include "i2c.h"
#include "tim.h"
#include "gpio.h"


char speedMES[24];

void HAL_GPIO_EXIT_Callback(uint_t GPIO_pin)
{
	if(GPIO_pin == GPIO_PIN_14)//判断是不是PB14产生的中断
		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
			SpeedCnt++;// dis = SpeedCnt * time 定时器1s产生中断所以dis = SpeedCnt
}

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
    sprintf(speedMES,"speed:%dcm/s",SpeedCnt);//将数据以speed：xx的形式传给speedMES数组
    Oled_Show_Str(2,2,speedMES);
	printf("speed:%d\r\n",SpeedCnt);//重定向printf，打印到串口
	SpeedCnt = 0;
}






int main(void)
{
  
  HAL_Init();


  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000); //1ms
 

  SystemClock_Config();

  
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  MX_TIM2_Init();
 
  HAL_UART_Receive_IT(&huart1, &buf, 1);//开启串口接收中断
  HAL_TIM_Base_Start_IT(&htim2);//开启定时器中断
  Oled_Init();
  Oled_Screen_Clear();//实时显示其实就是不断刷屏显示新的数据

  while (1)
  {
   }
}

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