89C52RC单片机学习-避障小车（OLED显示，测速，4G模块控制）

最新推荐文章于 2024-08-06 22:30:27 发布

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最新推荐文章于 2024-08-06 22:30:27 发布

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文章标签：单片机学习

本文链接：https://blog.csdn.net/BlitheY/article/details/131928309

版权

该文描述了一个单片机程序，涉及到定时器中断（包括PWM舵机控制）、串口通信、外部中断和超声测距。程序中存在冲突，外部中断的频繁触发影响了舵机的PWM占空比稳定性。主要功能包括接收WiFi模块数据控制小车移动、显示速度信息以及OLED屏幕显示。

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避障小车

这个小车用到2个定时器中断，1个串口中断，1个外部中断。
这个程序中如果加入舵机的PWM调制，测速度用的外部中断和舵机的中断有一些冲突，频繁的外部中断会是舵机PWM占空比不稳定，这个程序中为使用PWM调制。

#include "reg52.h"
#include "stdio.h"
#include "delay.h"//延时函数
#include "intrins.h"
#include "string.h"
#include "motor.h"//
#include "interruptInit.h"//
#include "UltraSound.h"//
#include "Usart_Init.h"//初始化函数
#include "I2C.h"
#include "OLED.h"
//管脚配置
#define bufferlen 12
char buffer[12];
char Time3cnt=0;
double SpeedCount=0;//计算码盘的孔数
unsigned long SpeedCount1=0;//用来设1S的变量
char speedMes[24];  //发送数据的字符串缓存
char OLED_speedMes[15];

void send_character(char datacharacter)//发送一个字符
{
SBUF=datacharacter;
}

void send_tring(char *datatring)//发送字符串
{
  while (*datatring!= '\0')//对是否发送完毕进行判断
	{
    send_character(*datatring);//发送当前地址的字符
    while (TI==0);//死等TI==1,需要加分号
    datatring++;//发送完毕之后地址才能加一
    TI=0;//软件复位}
  }
}

//超声动作有三个角度，中间一直走且测距，遇到障碍摇头测距判断方向。
void main ()
{
    //开启总中断
	  EA=1; 
	  EX2_init();
	  Timer2Init();
	  uart_Init();//串口的初始化设置
	 //1.led初始化
      OLED_init();
     // 2.设置页模式
	  I2C_Pagemode();
	 //模式设置好了可以进行清屏，清理上次的数据缓存
	  Oled_Clear();
	  Delay500ms();
 		while(1);
	}
	//计时器3，舵机PWM函数
void MS9g() interrupt 5 
{
	TF2=0;//需要手动复位TF2
	SpeedCount1++;
	//重新赋初值
  if(SpeedCount1==2000)//60S
	{
   //达到一秒就发送数据
		sprintf(speedMes,"%0.2f cm/S\r\n",SpeedCount);//对要发生的字符串进行缓存
	    sprintf(OLED_speedMes,"%0.2f cm/S",SpeedCount);//对要发生的字符串进行缓存
		send_tring(speedMes);
	    Oled_Show_Str(1,1,OLED_speedMes);
		SpeedCount=0;
		SpeedCount1=0;
		
  }
}
void SpeedCnt() interrupt 6       //使用外部中断3，用于小车码盘孔数计算
{
SpeedCount++;
}

//由模块Tx发出的有两种指令，1，AT功能设置指令的反馈 2，服务器串口发送的数据传到WiFi模块，再由模块发给单片机
void uart_Interrupt () interrupt 4   //中段函数。每次接收到WiFi模块发过来的数据进入中断
{
  static int i=0; //只在开始的时候执行一次
  if (RI)//当串口中断事件为接收到数据
		{
	  RI=0;
	  if(i==12)//不超过十二个字符
		{
			i=0;
		}
		buffer[i++]=SBUF;//全局变量接收WiFi模块Tx发送过来的数据
		
		if(buffer[i-1]=='M')//第一个数据M
		{
			buffer[0] =buffer[i-1];//buffer[i-1]才是刚才接收的数据
			i=1;
		}
		if (buffer[1]=='F')	//当接受的数据为“MF”
		{
		    ForWard();
			Delay500ms()	;
			memset(buffer, '\0', bufferlen);
		}
		if (buffer[1]=='B')//当接受的数据为“MB”
		{
			BackWard();
		    Delay500ms()	;
			memset(buffer, '\0', bufferlen);
		}
		if (buffer[1]=='L')//当接受的数据为“ML”
		{
	  	    LeftWard();
			Delay200ms();;
			memset(buffer, '\0', bufferlen);
		}
		if (buffer[1]=='R')//当接受的数据为“MR”
		{
	  	    RightWard();
		    Delay200ms();;
			memset(buffer, '\0', bufferlen);
		}	
		}	
}

interruptInit.c

#include "reg52.h"
sfr T2MOD  = 0xC9;//定时器2的模式寄存器
sfr P4  = 0xE8;
sfr XICON      = 0xC0;//拓展外部中断寄存器，外部中断2
sbit Leftsensor =P3^2;//左传感器外部中断0
sbit Rightsensor =P3^3;//右传感器外部中断1
sbit SpeedSlice = P4^3;
sbit EX2   = XICON^2;
sbit IT2       = XICON^0;
//定时器0的初始化函数，用于超声计时
//前进
void EX0_init()//外部中断0的初始化
{
	IT0=0;
	EX0=1;
}

void EX1_init()//外部中断1的初始化
{
	IT1=0;
	EX1=1;
}

void EX2_init()//外部中断1的初始化
{
	IT2=1;
	EX2=1;
}


void Timer0Init()//定时器0用于超声测距
{
	TMOD &= 0xF0;		//定时器0设定重置
  TMOD |= 0x01;       //设置16位计时器
	TH0 = 0;
  TL0 = 0;

}


void Timer2Init()		//定时器2用于舵机PWM控制
{
	T2MOD = 0;		//初始化模式寄存器
	T2CON = 0;		//初始化控制寄存器
	TH2 = 0xFE;
  TL2 = 0x33;
	RCAP2H= 0xFE;		//设置定时重载值
	RCAP2L = 0x33;		//设置定时重载值
	ET2=1;
	TF2=0;
  TR2 = 1;		//定时器2开始计时
}
 

void Timer1Init()		
{
	TMOD &= 0x0F;		//设置定时器模式
	TMOD |= 0x10;		
	TL1 = 0x33;		//设置定时初值
	TH1 = 0xFE;		//设置定时初值
	ET1 = 1;//定时器0支路开关连接
	TF1 = 0;		//清除TF1标志
	TR1=1;
}

void uart_Init()//串口初始化
{
SCON=0X50;//设置串口的寄存器工作模式

TMOD &=0X0F;//定时器1的工作模式
TMOD |=0X2F;
TH1=0XFD;//设置波特率9600
TL1=TH1;
TR1=1;//定时器开始计时
ES=1;
}

motor.c

#include "reg52.h"
#include "delay.h"
//右轮
sbit RightA=P3^5;
sbit RightB=P3^4;
//左轮
sbit LeftA=P3^6;
sbit LeftB=P3^7;
void ForWard()
{

RightA=1;
RightB=0;
LeftA=1;
LeftB=0;

}
//后退
void BackWard()
{
RightA=0;
RightB=1;
LeftA=0;
LeftB=1;
}

//左转
void LeftWard()
{
RightA=1;
RightB=0;
LeftA=0;
LeftB=0;
}

//右转
void RightWard()
{
RightA=0;
RightB=0;
LeftA=1;
LeftB=0;

}

void Stop()
{
RightA=0;
RightB=0;
LeftA=0;
LeftB=0;
}

I2C.c

#include "reg52.h"
#include  "intrins.h"

sbit SCL=P0^1;
sbit SDA=P0^2;

//启动函数
void I2C_start ()
{   
	SCL =0;
	SCL =1;
	SDA=1;
	_nop_();
	SDA=0;
	_nop_();
	SCL=0;
}

//结束函数
void I2C_stop()
{
	SDA=0;
	SCL =0;
	SCL =1;
	_nop_();
	SDA=1;
	_nop_();
	
}
//应答函数
char  I2C_ack()
{
  char  num=0;
	SCL=0;
  SDA=1;

  SCL=1;
  _nop_();
  while (SDA)
  {
	if (++num>250)
    {
	     I2C_stop();
	     return 1;
	  } 
  }
   return 0;
}
//发送数据
void  I2C_sendbyte(char databyte)
{
	char i;
	for (i=0;i<8;i++)
	{
		SCL=0;
		SDA=databyte&0X80;
		_nop_();
		SCL=1;
		_nop_();
		SCL=0;
		_nop_();
		databyte=databyte << 1;
	}
}

OLED.c

#include "reg52.h"
#include "I2C.h"
#include "Oledfont.h"

//写入一个指令
void Oled_Write_Cmd(char CMD_data)
{
//1，start
	I2C_start ();
//2，oled子地址和选择读写
	I2C_sendbyte(0x78);
//3，ack
	I2C_ack();
//4，指令还是数据，指令00000000数据01000000
	I2C_sendbyte(0x00);
//5，ack
	I2C_ack();
//6，写入指令
	I2C_sendbyte(CMD_data);
//7，ack
	I2C_ack();
//8，stop
	I2C_stop();
}
//star 和stop 不需要ACK。


//写入一个数据
void Oled_Write_Data(char DATA_data)
{
//1，start
	I2C_start ();
//2，oled子地址和选择读写
	I2C_sendbyte(0x78);
//3，ack
	I2C_ack();
//4，指令还是数据，指令00000000数据01000000
	I2C_sendbyte(0x40);
//5，ack
	I2C_ack();
//6，写入数据
	I2C_sendbyte(DATA_data);
//7，ack
	I2C_ack();
//8，stop
	I2C_stop();
}

//OLED初始化
void OLED_Init()
{
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
}

//oled设置为页模式
void I2C_Pagemode()
{
  Oled_Write_Cmd(0x20); 
	Oled_Write_Cmd(0x02); 
}
//OLED清屏
void Oled_Clear()
{
		unsigned char i;
		unsigned char j;
		for (i=0;i<8;i++)
		{
			  Oled_Write_Cmd(0xB0+i); 
				Oled_Write_Cmd(0x00); 
				Oled_Write_Cmd(0x10); 
      //写页
			//写列
				for(j=0;j<128;j++)
				{
				Oled_Write_Data(0);
				}
			

		}
}


//转换显示函数   宽*长=8*16(two page)
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]);                            //???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]);                            //???oledTable1
	}		
}


/******************************************************************************/
// 函数名称:Oled_Show_Char 
// 功能:以8*16的像素在OLED显示
/******************************************************************************/
void Oled_Show_Str(char row,char col,char *str){
	while(*str!=0){
		Oled_Show_Char(row,col,*str);
		str++;
		col += 8;	
	}		
}

delay.c

# include "intrins.h"
void Delay50ms()		//@11.0592MHz
{
	unsigned char i, j;

	i = 90;
	j = 163;
	do
	{
		while (--j);
	} while (--i);
}

void Delay500ms()	//500ms延时
{
	unsigned char i, j, k;

	_nop_();
	i = 4;
	j = 129;
	k = 119;
	do
	{
		do
		{
			while (--k);
		} while (--j);
	} while (--i);
}


void Delay100ms()		//@11.0592MHz
{
	unsigned char i, j;

	i = 180;
	j = 73;
	do
	{
		while (--j);
	} while (--i);
}


void Delay200ms()		//@11.0592MHz
{
	unsigned char i, j, k;

	_nop_();
	i = 2;
	j = 103;
	k = 147;
	do
	{
		do
		{
			while (--k);
		} while (--j);
	} while (--i);
}

下面是头文件，其中Oledfont.h是新知识点，数据是厂家给出，接受到的数据转化为OLED显示的图案的作用
Oledfont.h

//这是一个宽高8*16的页模式字符库
const unsigned char code 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
};

motor.h

void ForWard();
void BackWard();
void LeftWard();
void RightWard();
void Stop();

interruptInit.h


void EX0_init();//外部中断0初始化
void EX1_init();//外部中断1初始化
void EX2_init();//外部中断2初始化
void Timer0Init();//定时器1中断初始化
void Timer1Init();//定时器2中断初始化
void Timer2Init();//定时器3中断初始化
void uart_Init();//串口初始化

I2C.h

void I2C_start ();
void I2C_stop();
char  I2C_ack();
void  I2C_sendbyte(char databyte);

OLED.h

void Oled_Write_Cmd(char CMD_data);
void Oled_Write_Data(char DATA_data);
void Oled_Clear();
void OLED_Init();
void I2C_Pagemode();
void Oled_Show_Char(char row,char col,char oledChar);
void Oled_Show_Str(char row,char col,char *str);

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89C52RC单片机学习-避障小车（OLED显示，测速，4G模块控制）

这个程序中如果加入舵机的PWM调制，测速度用的外部中断和舵机的中断有一些冲突，频繁的外部中断会是舵机PWM占空比不稳定，这个程序中为使用PWM调制。下面是头文件，其中Oledfont.h是新知识点，数据是厂家给出，接受到的数据转化为OLED显示的图案的作用。这个小车用到2个定时器中断，1个串口中断，1个外部中断。
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