本文基于2023.09.10的文章（http://t.csdn.cn/wlIbF）上继续改进，增加了oled模块，光栅，还有三引脚红外对射模块，来测量小车的运行速度。
目录
一、新增硬件
| 名称 | 功能 | 图片 |
| 光栅 | 圆形光栅一共有20间隙，间隙与间隙之间有竖条。间隙可以透光，竖条可以挡光。 |  |
| 车轮 | 轮子的直径是6.5cm，那么轮子走一圈就是3.14*6.5，与光栅作为同心圆固定在一起，则光栅从一个间隙走到另一个间隙时，轮子应该走了3.14*6.5/20≈1cm |  |
| 三引脚红外对射模块 | 有遮挡，OUT引脚输出高电平；无遮挡，OUT引脚输出低电平，我们会利用这个特点触发单片机的外部中断0 |  |
| oled | 128*64为的oled显示屏，共8页，每页8行128列，我们用它来显示速度。oled的具体简绍可以看我的http://t.csdn.cn/meTUz这篇博客。 |  |
总的来说就是轮子走一圈，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个间隙，每经过一个间隙，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，统计下降沿脉冲数，一个下降沿脉冲就大约是1cm。（其实就看一秒内有几个下降沿脉冲，就代表走了多远）希望大家理解这段话，我们下面的编程就要用到这样的思想。
二、代码部分
main.c
#include "motor.h"
#include "uart.h"
#include "cesu.h"
#include "stdio.h"
#include "OLED.h"
sbit speedIO=P3^2;//外部中断INT0的引脚3.2
unsigned int speedcnt=0;//代表走过1cm的脉冲信号
extern unsigned int speed;
extern char signal;
char speedMes[24];
void EX0Init()//外部中断0的初始化
{
EX0=1;
EA=1;
IT0=1;//外部中断下降沿触发，对应测速模块有缝隙产生低电平，无缝隙产生高电平
}
void main()
{
Timer0Init();//定时器0初始化
UartInit();//串口初始化
EX0Init();//外部中断初始化
Oled_Init();//Oled初始化
Oled_Clear();Oled清屏
while(1)
{
if(signal==1)
{
sprintf(speedMes,"speed:%d cm/s",speed);//sprintf的作用，将speed的速度以整数的形式存入数组speedMes中
sendString(speedMes);//速度发出去
signal = 0;//清0speed,下次由定时器1s后的中断处理中再置一
}
Oled_Show_Str(2,2,speedMes);
}
}
void speed_Hangdler() interrupt 0//有不透光变透光，说明走过了一个间隔，触发了下降沿，来了一个脉冲信号，代表走过了1cm
{
speedcnt++;
}
motor.c
#include "motor.h"
void Go_Forward()//前进
{
RightConA=0;
RightConB=1;
LeftConA=0;
LeftConB=1;
}
void Go_Back()//后退
{
RightConA=1;
RightConB=0;
LeftConA=1;
LeftConB=0;
}
void Go_Left()//左转
{
RightConA=0;
RightConB=1;
LeftConA=0;
LeftConB=0;
}
void Go_Right()//右转
{
RightConA=0;
RightConB=0;
LeftConA=0;
LeftConB=1;
}
void STOP()//停止
{
RightConA=0;
RightConB=0;
LeftConA=0;
LeftConB=0;
}
motor.h
#ifndef _MOTOR_H
#define _MOTOR_H
#include <reg52.h>
sbit RightConA=P3^6;//上一篇小车是p3.2
sbit RightConB=P3^3;
sbit LeftConA=P3^4;
sbit LeftConB=P3^5;
void Go_Forward();//前进
void Go_Back();//后退
void Go_Left();//左转
void Go_Right();//右转
void STOP();//停止
#endif
uart.c
#include "uart.h"
#include "motor.h"
#include <string.h>
char buffer[5];
void UartInit(void) //9600bps@11.0592MHz
{
AUXR = 0x01;
SCON = 0x50; //配置串口工作方式1，REN使能接收
TMOD &= 0x0F;
TMOD |= 0x20; //设置定时器模式
TH1 = 0xFD;
TL1 = 0xFD;//9600波特率的初值
TR1 = 1;//启动定时器
EA = 1;//开启总中断
ES = 1;//开启串口中断
}
void sendByte(char data_msg)//通过写SBUF输入一个字符
{
SBUF = data_msg;
while(!TI);
TI = 0;
}
void sendString(char* str)//输入字符串，并且每输入一个字符就会触发中断
{
while( *str != '\0'){
sendByte(*str);
str++;
}
}
void Uart_Hangdler() interrupt 4
{
static int i=0;//静态变量，被初始化一次
char tmp;
if(RI==1)//中断处理函数中，对于接收中断的响应
{
RI=0;//清除接收中断标志位
tmp = SBUF;
if(tmp == 'M')
{
i = 0;
}
buffer[i++] = tmp;
if(i==5)
{
i=0;
}
if(buffer[0] == 'M' )//将buffer的第一位设置为1
{
switch(buffer[1])
{
case '1':
Go_Forward();
break;
case '2':
Go_Back();
break;
case '3':
Go_Left();
break;
case '4':
Go_Right();
break;
case '5':
STOP();
break;
}
}
if(i==2)
{
memset(buffer,'\0',2);//记满了再清零
i=0;
}
}
uart.h
#ifndef _UART_H
#define _UART_H
#include <reg52.h>
sfr AUXR=0x8E;
void UartInit(void);
void sendByte(char data_msg);
void sendString(char* str);
#endif
cesu.c
#include "cesu.h"
extern unsigned int speedcnt;
unsigned int cnt=0;
unsigned int speed;
char signal=0;
void Timer0Init() //500微秒@11.0592MHz
{
TMOD = 0x01; //设置定时器模式
TL0 = 0x33; //设置定时初值
TH0 = 0xFE; //设置定时初值
TF0 = 0; //清除TF0标志
TR0 = 1; //定时器0开始计时
EA=1;
ET0=1;
}
void Time0Handler() interrupt 1
{
cnt++;
TL0 = 0x33; //设置定时初值
TH0 = 0xFE;
if(cnt==2000)//爆表一次0.5ms，2000次是一秒
{
signal=1;
cnt=0;
speed=speedcnt;
speedcnt=0;
}
}
cesu.h
#ifndef _CESU_H
#define _CESU_H
#include <reg52.h>
void Timer0Init();
#endif
OLED.c
#include "OLED.h"
#include "OLEDfind.h"
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
}
void IIC_Start()//启动IIC
{
scl=0;
sda=1;
scl=1;
_nop_();
sda=0;
_nop_();
}
void IIC_End()//终止IIC
{
scl=0;
sda=0;
scl=1;
_nop_();
sda=1;
_nop_();
}
char IIC_Ack()//IIC应答
{
char flag;
sda=1;//释放数据线
_nop_();
scl=1;
_nop_();
flag=sda;
_nop_();
scl=0;
_nop_();
return flag;
}
void send_Byte(char dataSend)//发送一个字节
{
int i;
for(i=0;i<8;i++)
{
scl=0;//scl拉低，sda可以数据变换
sda=dataSend & 0x80;//获得sda最高位
_nop_();//发送数据，建立时间
scl=1;//scl拉高，开始发送
_nop_();//数据发送时间
scl=0;//发送完毕，拉低
_nop_();
dataSend=dataSend << 1;//高位开始发送，左移一位，高位不断变换
}
}
void Oled_Write_Cmd(char dataCmd)
{
IIC_Start();//1.IICstart
send_Byte(0x78);//发送从机地址
IIC_Ack();//应答
send_Byte(0x00);//开启写入命令0x00或写入数据0x40
IIC_Ack();//应答
send_Byte(dataCmd);//写入具体的命令或者数据
IIC_Ack();
IIC_End();//IIC结束
}
void Oled_Write_Data(char dataData)
{
// 1. start()
IIC_Start();
//
// 2. 写入从机地址 b0111 1000 0x78
send_Byte(0x78);
// 3. ACK
IIC_Ack();
// 4. cotrol byte: (0)(0)000000 写入命令 (0)(1)000000写入数据
send_Byte(0x40);
// 5. ACK
IIC_Ack();
///6. 写入指令/数据
send_Byte(dataData);
//7. ACK
IIC_Ack();
//8. STOP
IIC_End();
}
void Oled_Clear()
{
unsigned char i,j; //char的范围-128 --- 127,使用unsign char
for(i=0;i<8;i++){
Oled_Write_Cmd(0xB0 + i);//page0--page7
//每个page从0列
Oled_Write_Cmd(0x00);
Oled_Write_Cmd(0x10);
//0到127列，依次写入0，每写入数据，列地址自动偏移
for(j = 0;j<128;j++){
Oled_Write_Data(0);
}
}
}
void Oled_Show_Char(char row,char col,char oledChar){ //row*2-2
unsigned int i;
Oled_Write_Cmd(0xb0+(row*2-2)); //page 0，2, 4，6可以选择
Oled_Write_Cmd(0x00+(col&0x0f)); //列的低四位
Oled_Write_Cmd(0x10+(col>>4)); //列的高四位
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 1，3,5,7可以选择
Oled_Write_Cmd(0x00+(col&0x0f)); //列的低四位
Oled_Write_Cmd(0x10+(col>>4)); //列的高四位
for(i=((oledChar-32)*16+8);i<((oledChar-32)*16+8+8);i++){
Oled_Write_Data(F8X16[i]); //写数据oledTable1
}
}
void Oled_Show_Str(char row,char col,char *str){
while(*str!=0){
Oled_Show_Char(row,col,*str);
str++;
col += 8;
}
}
OLED.h
#ifndef _OLED_H
#define _OLED_H
#include "reg52.h"
#include "intrins.h"
sbit scl = P0^1;
sbit sda = P0^3;
void Oled_Init();
void IIC_Start();//启动IIC
void IIC_End();//终止IIC
char IIC_Ack();//IIC应答
void send_Byte(char dataSend);//发送一个字节
void Oled_Write_Cmd(char dataCmd);
void Oled_Write_Data(char dataData);
void Oled_Clear();
void Oled_Show_Char(char row,char col,char oledChar);
void Oled_Show_Str(char row,char col,char *str);
#endif
OLEDfind.h
#ifndef _OLEDFIND_H
#define _OLEDFIND_H
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
};
#endif
三、代码分析
我只说一点新东西，上面的代码写的很详细了，有不会的可以看我以前的文章，在对应的章节里找
main.c里的
if(signal==1)，如果我们设置的标志位是1，那么就接受速度，保持一秒。，如果signal=0，那么oled不刷屏。
sprintf(speedMes,"speed:%3d cm/s",speed);这句话的意思就是将speed的速度以整数的形式存入数组speedMes中，将speed变成%3d对应的字符串，这样可以让OLED显示。还有就是我这里写的是%3d，而不是%d，这样写可以避免出现oled数字变化时单位出现cm/s/s之类的情况。
四、其它
还有就是大家在使用extern定义全局变量的时候要定义在.c文件中，并且不要赋值，只是声明。当你在别的.c文件中使用改全局变量时，你可以在开头不加extern声明或定义该全局变量，然后使用。
如我们在main.c中使用
extern unsigned int speed;
我们在cesu.c里使用
unsigned int speed;或unsigned int speed=0;都可以，这样可以帮助你避免重复定义。
第二件事就是，按照我的头文件写法
不要把OLEDfind.放到main.c，或者OLED.h里，否则又是重复定义。
蓝牙还是老规矩，依旧那样搞就行。
当然今天最傻逼的事情就是，我以为我的代码有问题，改了一天，结果到最后发现是新买的测速模块坏了，问同学借了一个安上就好了。所以希望大家以后如果发现自己的程序没问题，可以考虑一下硬件问题，即使天是新的。
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