#include "stm32f10x.h"
#include "Motor.h"
#include "Encoder.h"
#include "Kalman_filter.h"
#include "MPU6050.h"
#include "PID.h"
#include "serial.h" // 使用你提供的串口驱动头文件
#include "oled.h"
// === 全局变量定义 ===
KalmanFilter gyro_kf; // 陀螺仪卡尔曼滤波器
float filtered_gyro = 0; // 滤波后的Z轴数据
PID_TypeDef pid; // PID控制器
int16_t base_speed = 0; // 编码器基准速度
int16_t target_speed = 0; // 目标速度
float pid_output = 0; // PID输出值
// === 参数定义 ===
#define GYRO_THRESHOLD 5.0f // 陀螺仪触发阈值
#define SPEED_SCALE 0.5f // 转速叠加系数
#define PWM_MAX 999 // PWM最大值
#define PID_KP 0.1f // PID比例系数
#define PID_KI 0.01f // PID积分系数
#define PID_KD 0.05f // PID微分系数
// === 陀螺仪Z轴数据读取 ===
float Read_Gyro_Z(void) {
int16_t raw_data[3];
// 读取XYZ三轴陀螺仪数据,只获取Z轴
MPU6050_GetData(NULL, NULL, NULL, &raw_data[0], &raw_data[1], &raw_data[2]);
return (float)raw_data[2]; // 返回Z轴原始值
}
// === 控制逻辑函数 ===
void Control_Motor(void) {
// 1. 读取编码器基准速度(TIM3的计数值)
base_speed = Encoder_Get();
// 2. 读取并滤波陀螺仪Z轴数据
float raw_gyro = Read_Gyro_Z();
filtered_gyro = KalmanFilter_Update(&gyro_kf, raw_gyro);
// 3. 计算目标转速(叠加逻辑)
// - 正向倾斜:增加速度
// - 反向倾斜:减少速度
if (filtered_gyro > GYRO_THRESHOLD) {
target_speed = base_speed + (int16_t)(SPEED_SCALE * filtered_gyro);
} else if (filtered_gyro < -GYRO_THRESHOLD) {
target_speed = base_speed - (int16_t)(SPEED_SCALE * abs(filtered_gyro));
} else {
target_speed = base_speed;
}
// 4. 限制目标速度范围(防止越界)
if (target_speed > PWM_MAX) target_speed = PWM_MAX;
if (target_speed < 0) target_speed = 0;
// 5. 使用PID计算PWM输出
pid_output = PID_Calculate(&pid, (float)target_speed, (float)base_speed);
// 6. 设置电机方向和速度
if (pid_output > 0) { // 正转
GPIO_SetBits(GPIOA, GPIO_Pin_4); // PA4高电平
GPIO_ResetBits(GPIOA, GPIO_Pin_5); // PA5低电平
TIM_SetCompare1(TIM2, (uint16_t)pid_output); // PWM输出
} else { // 反转
GPIO_ResetBits(GPIOA, GPIO_Pin_4); // PA4低电平
GPIO_SetBits(GPIOA, GPIO_Pin_5); // PA5高电平
TIM_SetCompare1(TIM2, (uint16_t)(-pid_output)); // 反向PWM
}
// 7. OLED显示 - 目标速度、实际速度、PWM输出
OLED_ShowString(0, 0, "Target:"); // 第0行显示目标速度标题
OLED_ShowNum(8, 0, target_speed, 4); // 显示目标速度值(4位数)
OLED_ShowString(0, 1, "Actual:"); // 第1行显示实际速度标题
OLED_ShowNum(8, 1, base_speed, 4); // 显示实际速度值
OLED_ShowString(0, 2, "PWM Out:"); // 第2行显示PWM输出标题
OLED_ShowNum(9, 2, (int)pid_output, 4); // 显示PWM输出值
// 8. 串口输出陀螺仪数据(使用你提供的Serial驱动)
// 只输出原始陀螺仪数据和滤波后数据
Serial_Printf("Raw:%.2f, Filtered:%.2f\r\n", raw_gyro, filtered_gyro);
}
// === 主函数 ===
int main(void) {
// === 初始化外设 ===
Motor_Init(); // 初始化电机驱动
Encoder_Init(); // 初始化编码器(TIM3)
MPU6050_Init(); // 初始化陀螺仪
Serial_Init(); // 初始化串口(使用你提供的驱动)
OLED_Init(); // 初始化OLED显示屏
// === 初始化卡尔曼滤波器 ===
// 参数:初始状态=0, 过程噪声=0.001, 测量噪声=0.1
KalmanFilter_Init(&gyro_kf, 0, 0.001f, 0.1f);
// === 初始化PID控制器 ===
// 参数:Kp=0.1, Ki=0.01, Kd=0.05, 积分限幅=100
PID_Init(&pid, PID_KP, PID_KI, PID_KD, 100.0f);
// 欢迎信息(通过串口发送)
Serial_SendString("\r\n==== Motor Control System ====\r\n");
Serial_SendString("Board: STM32F103C8T6\r\n");
Serial_SendString("Debug Mode: Gyro Z-Axis Data\r\n");
while (1) {
Control_Motor(); // 执行控制逻辑
Delay_ms(100); // 延时100ms(控制周期)
}
}
这是我的主函数,
第三问
使用编码器电机,以任意编码器数值作为基准速度,并且用陀螺仪 (要求陀螺仪的数据进行卡尔曼滤波)的任意一轴(xyz 三轴选取一个)的数值控制叠加后转速(叠加速度逻辑任意但是要求可以让电机正反双向旋转)需要给出控制逻辑的解释与代码(25分),这是我的题目要求
这是我的 oled 驱动
#ifndef __OLED_FONT_H
#define __OLED_FONT_H
/*OLED字模库,宽8像素,高16像素*/
const uint8_t OLED_F8x16[][16]=
{
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
};
#endif
#ifndef __OLED_H
#define __OLED_H
void OLED_Init(void);
void OLED_Clear(void);
void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char);
void OLED_ShowString(uint8_t Line, uint8_t Column, char *String);
void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);
void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length);
void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);
void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);
#endif
#include "stm32f10x.h"
#include "OLED_Font.h"
/*引脚配置*/
#define OLED_W_SCL(x) GPIO_WriteBit(GPIOB, GPIO_Pin_8, (BitAction)(x))
#define OLED_W_SDA(x) GPIO_WriteBit(GPIOB, GPIO_Pin_9, (BitAction)(x))
/*引脚初始化*/
void OLED_I2C_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_Init(GPIOB, &GPIO_InitStructure);
OLED_W_SCL(1);
OLED_W_SDA(1);
}
/**
* @brief I2C开始
* @param 无
* @retval 无
*/
void OLED_I2C_Start(void)
{
OLED_W_SDA(1);
OLED_W_SCL(1);
OLED_W_SDA(0);
OLED_W_SCL(0);
}
/**
* @brief I2C停止
* @param 无
* @retval 无
*/
void OLED_I2C_Stop(void)
{
OLED_W_SDA(0);
OLED_W_SCL(1);
OLED_W_SDA(1);
}
/**
* @brief I2C发送一个字节
* @param Byte 要发送的一个字节
* @retval 无
*/
void OLED_I2C_SendByte(uint8_t Byte)
{
uint8_t i;
for (i = 0; i < 8; i++)
{
OLED_W_SDA(!!(Byte & (0x80 >> i)));
OLED_W_SCL(1);
OLED_W_SCL(0);
}
OLED_W_SCL(1); //额外的一个时钟,不处理应答信号
OLED_W_SCL(0);
}
/**
* @brief OLED写命令
* @param Command 要写入的命令
* @retval 无
*/
void OLED_WriteCommand(uint8_t Command)
{
OLED_I2C_Start();
OLED_I2C_SendByte(0x78); //从机地址
OLED_I2C_SendByte(0x00); //写命令
OLED_I2C_SendByte(Command);
OLED_I2C_Stop();
}
/**
* @brief OLED写数据
* @param Data 要写入的数据
* @retval 无
*/
void OLED_WriteData(uint8_t Data)
{
OLED_I2C_Start();
OLED_I2C_SendByte(0x78); //从机地址
OLED_I2C_SendByte(0x40); //写数据
OLED_I2C_SendByte(Data);
OLED_I2C_Stop();
}
/**
* @brief OLED设置光标位置
* @param Y 以左上角为原点,向下方向的坐标,范围:0~7
* @param X 以左上角为原点,向右方向的坐标,范围:0~127
* @retval 无
*/
void OLED_SetCursor(uint8_t Y, uint8_t X)
{
OLED_WriteCommand(0xB0 | Y); //设置Y位置
OLED_WriteCommand(0x10 | ((X & 0xF0) >> 4)); //设置X位置高4位
OLED_WriteCommand(0x00 | (X & 0x0F)); //设置X位置低4位
}
/**
* @brief OLED清屏
* @param 无
* @retval 无
*/
void OLED_Clear(void)
{
uint8_t i, j;
for (j = 0; j < 8; j++)
{
OLED_SetCursor(j, 0);
for(i = 0; i < 128; i++)
{
OLED_WriteData(0x00);
}
}
}
/**
* @brief OLED显示一个字符
* @param Line 行位置,范围:1~4
* @param Column 列位置,范围:1~16
* @param Char 要显示的一个字符,范围:ASCII可见字符
* @retval 无
*/
void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char)
{
uint8_t i;
OLED_SetCursor((Line - 1) * 2, (Column - 1) * 8); //设置光标位置在上半部分
for (i = 0; i < 8; i++)
{
OLED_WriteData(OLED_F8x16[Char - ' '][i]); //显示上半部分内容
}
OLED_SetCursor((Line - 1) * 2 + 1, (Column - 1) * 8); //设置光标位置在下半部分
for (i = 0; i < 8; i++)
{
OLED_WriteData(OLED_F8x16[Char - ' '][i + 8]); //显示下半部分内容
}
}
/**
* @brief OLED显示字符串
* @param Line 起始行位置,范围:1~4
* @param Column 起始列位置,范围:1~16
* @param String 要显示的字符串,范围:ASCII可见字符
* @retval 无
*/
void OLED_ShowString(uint8_t Line, uint8_t Column, char *String)
{
uint8_t i;
for (i = 0; String[i] != '\0'; i++)
{
OLED_ShowChar(Line, Column + i, String[i]);
}
}
/**
* @brief OLED次方函数
* @retval 返回值等于X的Y次方
*/
uint32_t OLED_Pow(uint32_t X, uint32_t Y)
{
uint32_t Result = 1;
while (Y--)
{
Result *= X;
}
return Result;
}
/**
* @brief OLED显示数字(十进制,正数)
* @param Line 起始行位置,范围:1~4
* @param Column 起始列位置,范围:1~16
* @param Number 要显示的数字,范围:0~4294967295
* @param Length 要显示数字的长度,范围:1~10
* @retval 无
*/
void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
uint8_t i;
for (i = 0; i < Length; i++)
{
OLED_ShowChar(Line, Column + i, Number / OLED_Pow(10, Length - i - 1) % 10 + '0');
}
}
/**
* @brief OLED显示数字(十进制,带符号数)
* @param Line 起始行位置,范围:1~4
* @param Column 起始列位置,范围:1~16
* @param Number 要显示的数字,范围:-2147483648~2147483647
* @param Length 要显示数字的长度,范围:1~10
* @retval 无
*/
void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length)
{
uint8_t i;
uint32_t Number1;
if (Number >= 0)
{
OLED_ShowChar(Line, Column, '+');
Number1 = Number;
}
else
{
OLED_ShowChar(Line, Column, '-');
Number1 = -Number;
}
for (i = 0; i < Length; i++)
{
OLED_ShowChar(Line, Column + i + 1, Number1 / OLED_Pow(10, Length - i - 1) % 10 + '0');
}
}
/**
* @brief OLED显示数字(十六进制,正数)
* @param Line 起始行位置,范围:1~4
* @param Column 起始列位置,范围:1~16
* @param Number 要显示的数字,范围:0~0xFFFFFFFF
* @param Length 要显示数字的长度,范围:1~8
* @retval 无
*/
void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
uint8_t i, SingleNumber;
for (i = 0; i < Length; i++)
{
SingleNumber = Number / OLED_Pow(16, Length - i - 1) % 16;
if (SingleNumber < 10)
{
OLED_ShowChar(Line, Column + i, SingleNumber + '0');
}
else
{
OLED_ShowChar(Line, Column + i, SingleNumber - 10 + 'A');
}
}
}
/**
* @brief OLED显示数字(二进制,正数)
* @param Line 起始行位置,范围:1~4
* @param Column 起始列位置,范围:1~16
* @param Number 要显示的数字,范围:0~1111 1111 1111 1111
* @param Length 要显示数字的长度,范围:1~16
* @retval 无
*/
void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
uint8_t i;
for (i = 0; i < Length; i++)
{
OLED_ShowChar(Line, Column + i, Number / OLED_Pow(2, Length - i - 1) % 2 + '0');
}
}
/**
* @brief OLED初始化
* @param 无
* @retval 无
*/
void OLED_Init(void)
{
uint32_t i, j;
for (i = 0; i < 1000; i++) //上电延时
{
for (j = 0; j < 1000; j++);
}
OLED_I2C_Init(); //端口初始化
OLED_WriteCommand(0xAE); //关闭显示
OLED_WriteCommand(0xD5); //设置显示时钟分频比/振荡器频率
OLED_WriteCommand(0x80);
OLED_WriteCommand(0xA8); //设置多路复用率
OLED_WriteCommand(0x3F);
OLED_WriteCommand(0xD3); //设置显示偏移
OLED_WriteCommand(0x00);
OLED_WriteCommand(0x40); //设置显示开始行
OLED_WriteCommand(0xA1); //设置左右方向,0xA1正常 0xA0左右反置
OLED_WriteCommand(0xC8); //设置上下方向,0xC8正常 0xC0上下反置
OLED_WriteCommand(0xDA); //设置COM引脚硬件配置
OLED_WriteCommand(0x12);
OLED_WriteCommand(0x81); //设置对比度控制
OLED_WriteCommand(0xCF);
OLED_WriteCommand(0xD9); //设置预充电周期
OLED_WriteCommand(0xF1);
OLED_WriteCommand(0xDB); //设置VCOMH取消选择级别
OLED_WriteCommand(0x30);
OLED_WriteCommand(0xA4); //设置整个显示打开/关闭
OLED_WriteCommand(0xA6); //设置正常/倒转显示
OLED_WriteCommand(0x8D); //设置充电泵
OLED_WriteCommand(0x14);
OLED_WriteCommand(0xAF); //开启显示
OLED_Clear(); //OLED清屏
}
我想把里面的 oled 删掉,换成自己的 oled 驱动去写与 oled 相关的代码,请你帮我写一下