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利用stm32f103与openmv通讯的麦克纳姆轮颜色跟踪小车，oled显示uart传输数据（HAL库）_stm32f103 usart1 hal库

作者：羊村懒王 | 2024-04-10 15:21:59

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stm32f103 usart1 hal库

麦克纳姆轮颜色跟踪小车

1.简要逻辑

在这里插入图片描述
差不多就是这样了，有这样的逻辑写还是很简单的，无脑if

2.cubemx配置

首先配置打开编码器捕获的定时器
我这里打开了2，3，4，5定时器，做编码器捕获，中断优先级为0，最高
在这里插入图片描述
之后打开普通定时器6开启低于这4个编码器一级的中断，用于计算pid
在这里插入图片描述
还有开启定时器8打开4个pwm通道
在这里插入图片描述
接下来配置8个输出引脚给每个电机各两个，可自己设置，按我的来就不用改代码了
还有uart通讯口要打开
在这里插入图片描述
记得打开uart中断优先最高级0
还有oled的i2c
在这里插入图片描述
最后看所有的中断
在这里插入图片描述

3.uart通讯

openmvuar的引脚
在这里插入图片描述
接下来加入代码，为方便直接再main.c中插入

uint8_t USART1_RX_BUFF[USART1_REC_LENGTH];//接收缓冲,最大USART_REC_LEN个字节.
uint16_t USART1_RX_ST=0;//接收状态标记//bit15：接收完成标志，bit14~0：接收到的有效字节数目
uint8_t USART1_Data;//当前串口中断接收的1个字节数据的缓存
int cx,cy,cw,ch;
void  HAL_UART_RxCpltCallback(UART_HandleTypeDef  *huart)//串口中断回调函数
{
    if(huart ==&huart1)
    {
        if((USART1_RX_ST&0x8000)==0)//接收未完成
        {
            if(USART1_Data==0x5B)//接收到了0x5A
            {
                 USART1_RX_ST|=0x8000;   //接收完成了，将USART1_RX_STA中的bit15（15位）置1
            }
            else
            {
                   USART1_RX_BUFF[USART1_RX_ST&0X7FFF]=USART1_Data; //将收到的数据放入数组，
                   USART1_RX_ST++;  //数据长度计数加1
                   if(USART1_RX_ST>(USART1_REC_LENGTH-1))USART1_RX_ST=0;//接收数据错误,重新开始接收

            }
        }
        HAL_UART_Receive_IT(&huart1,(uint8_t *)&USART1_Data,1); //因为每执行完一次中断回调函数会将接收中断功能关闭，所以最后需要再开启接收中断


    }
}

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在main.h中插入

extern UART_HandleTypeDef huart1;//声明USART1的HAL库结构体

#define USART1_REC_LENGTH  200//定义USART1最大接收字节数
extern uint8_t  USART1_RX_BUFF[USART1_REC_LENGTH];//接收缓冲,最大USART_REC_LEN个字节.末字节为校验和
extern uint16_t USART1_RX_ST;//接收状态标记
extern uint8_t USART1_Data;//当前串口中断接收的1个字节数据的缓存
extern int cx;
extern int cy;
extern int cw;
extern int ch;
void  HAL_UART_RxCpltCallback(UART_HandleTypeDef  *huart);//串口中断回调函数声明

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4.底盘pid

这个我之前的博客有写过单个电机的pid，没懂得可以先参考
单个编码器电机pid
我使用的底盘驱动是tb6612，能插上四个编码器电机
代码如下
pid.c

#include "pid.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
#include "main.h"

#define Encoder_TIM_Handle2 htim2
#define Encoder_TIM_Handle3 htim3
#define Encoder_TIM_Handle4 htim4
#define Encoder_TIM_Handle5 htim5
#define Motor_MAX_Duty 2000
int a;

typedef struct __PID_Increment_Struct
{
    float Kp, Ki, Kd;  //系数
    float Error_Last1; //上次误差
    float Error_Last2; //上次误差
    float Out_Last;    //上次输出
} PID_Increment_Struct;
void motor11()//1正
{	
AIN1(1);
 AIN2(0);}
void motor10()//1反
{	
AIN1(0);
 AIN2(1);}
void motor21()//2正
{	
BIN1(0);
 BIN2(1);}
void motor20()//2反
{	
BIN1(1);
 BIN2(0);}
void motor31()//3正
{	
CIN1(0);
 CIN2(1);}
void motor30()//3反
{	
CIN1(1);
 CIN2(0);}
void motor40()//4正
{	
DIN1(0);
 DIN2(1);}
void motor41()//4反
{	
DIN1(1);
 DIN2(0);}
float Get_Speed1()
{
    int16_t zj;
    float Speed = 0;
    zj = __HAL_TIM_GetCounter(&Encoder_TIM_Handle2);
    __HAL_TIM_SetCounter(&Encoder_TIM_Handle2, 0);
    Speed = (float)zj / (4 * 11 * 30) * 100 * 60;
	a=Speed;
    return Speed;
//   printf("%f\n",Speed);//输出转速
   
}
float Get_Speed2()
{
    int16_t zj;
    float Speed = 0;
    zj = __HAL_TIM_GetCounter(&Encoder_TIM_Handle3);
    __HAL_TIM_SetCounter(&Encoder_TIM_Handle3, 0);
    Speed = (float)zj / (4 * 11 * 30) * 100 * 60;
    return Speed;
//   printf("%f\n",Speed);//输出转速
   
}
float Get_Speed3()
{
    int16_t zj;
    float Speed = 0;
    zj = __HAL_TIM_GetCounter(&Encoder_TIM_Handle4);
    __HAL_TIM_SetCounter(&Encoder_TIM_Handle4, 0);
    Speed = (float)zj / (4 * 11 * 30) * 100 * 60;
    return Speed;
//   printf("%f\n",Speed);//输出转速
   
}
float Get_Speed4()
{
    int16_t zj;
    float Speed = 0;
    zj = __HAL_TIM_GetCounter(&Encoder_TIM_Handle5);
    __HAL_TIM_SetCounter(&Encoder_TIM_Handle5, 0);
    Speed = (float)zj / (4 * 11 * 30) * 100 * 60;
    return Speed;
//   printf("%f\n",Speed);//输出转速
   
}
float PID_Increment(PID_Increment_Struct *PID, float Current, float Target)
{
    float err,                                                                                                       //误差
        out,                                                                                                         //输出
        proportion,                                                                                                  //比例
        differential;                                                                                                //微分
    err = (float)Target - (float)Current;    	//计算误差
    proportion = (float)err - (float)PID->Error_Last1;                                                               //计算比例项
    differential = (float)err - 2 * (float)PID->Error_Last1 + (float)PID->Error_Last2;                               //计算微分项
    if((err<=40&&err>=1)||(err<=-1&&err>=-40))
		out = (float)PID->Out_Last + (float)PID->Kp * proportion+(float)PID->Ki * err+ (float)PID->Kd * differential; //计算PID
else //如果不if  else，调试的时候如果单片机只是5v上电但电机没转，你接12v电源开电机，电机速度会拉满，这就不好了
		out = (float)PID->Out_Last + (float)PID->Kp * proportion+(float)PID->Kd * differential; //计算PID

	
//	out = (float)PID->Out_Last + (float)PID->Kp * proportion+(float)PID->Ki * err+ (float)PID->Ki * err + (float)PID->Kd * differential; //计算PID
    PID->Error_Last2 = PID->Error_Last1;                                                                             //更新上上次误差
    PID->Error_Last1 = err;                                                                                          //更新误差
    PID->Out_Last = out;                                                                                             //更新上此输出
    return out;
}
void motor1(int16_t Speed)
{
    if (Speed == 0)
    {
		
        __HAL_TIM_SET_COMPARE(&htim8,TIM_CHANNEL_1,Motor_MAX_Duty+1 );
    }
    else if (Speed > 0)
    {
		motor10();
		
        __HAL_TIM_SET_COMPARE(&htim8,TIM_CHANNEL_1,Speed);
        
    }
    else if (Speed < 0)
    {
        Speed *= -1;
		motor11();
         __HAL_TIM_SET_COMPARE(&htim8,TIM_CHANNEL_1,Speed);
    }
}
void motor2(int16_t Speed)
{
    if (Speed == 0)
    {
		
        __HAL_TIM_SET_COMPARE(&htim8,TIM_CHANNEL_2,Motor_MAX_Duty+1 );
    }
    else if (Speed > 0)
    {
		motor20();
		
        __HAL_TIM_SET_COMPARE(&htim8,TIM_CHANNEL_2,Speed);
        
    }
    else if (Speed < 0)
    {
        Speed *= -1;
		motor21();
         __HAL_TIM_SET_COMPARE(&htim8,TIM_CHANNEL_2,Speed);
    }
}
void motor3(int16_t Speed)
{
    if (Speed == 0)
    {
		
        __HAL_TIM_SET_COMPARE(&htim8,TIM_CHANNEL_3,Motor_MAX_Duty+1 );
    }
    else if (Speed > 0)
    {
		motor30();
		
        __HAL_TIM_SET_COMPARE(&htim8,TIM_CHANNEL_3,Speed);
        
    }
    else if (Speed < 0)
    {
        Speed *= -1;
		motor31();
         __HAL_TIM_SET_COMPARE(&htim8,TIM_CHANNEL_3,Speed);
    }
}
void motor4(int16_t Speed)
{
    if (Speed == 0)
    {
		
        __HAL_TIM_SET_COMPARE(&htim8,TIM_CHANNEL_4,Motor_MAX_Duty+1 );
    }
    else if (Speed > 0)
    {
		motor40();
		
        __HAL_TIM_SET_COMPARE(&htim8,TIM_CHANNEL_4,Speed);
        
    }
    else if (Speed < 0)
    {
        Speed *= -1;
		motor41();
         __HAL_TIM_SET_COMPARE(&htim8,TIM_CHANNEL_4,Speed);
    }
}
PID_Increment_Struct PID_Speed = {5, 0, 0};
float Speed[4]={0,0,0,0};
float mb_speed_last;
float set_speed[4];
float mb_speed[4];
int i;
float mb_speed[4];
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
//    float Speed = 0;
//    float set_speed = 0;
	
	float s=cw*ch;
	if (htim == &htim2)
    {
    }
	else if (htim == &htim3)
    {
    }
	else if (htim == &htim4)
    {
    }
	else if (htim == &htim5)
    {
    }
    else if (htim == &htim6)
    {
       
        Speed[0] = Get_Speed1();
		Speed[1] = Get_Speed2();
		Speed[2] = Get_Speed3();
		Speed[3] = Get_Speed4();
//        mb_speed = (int16_t)PID_Increment(&PID_Speed, Speed , aa);
		if(cw>=10&&ch>=10)
		{mb_speed[0] = 0.012*(9000-s)-(162-cx);
		mb_speed[1] = 0.012*(9000-s)+(162-cx);
		mb_speed[2] = 0.012*(9000-s)+(162-cx);
		mb_speed[3] = 0.012*(9000-s)-(162-cx);}
		else
		{mb_speed[0] = 50;
		mb_speed[1] = -50;
		mb_speed[2] = -50;
		mb_speed[3] = 50;}
		for(i=0;i<4;i++)
        {set_speed[i] = PID_Increment(&PID_Speed, Speed[i], mb_speed[i]);
        if (set_speed[i]> 2000)
            set_speed[i] = 2000;
        else if (set_speed[i] < -2000)
            set_speed[i] = -2000;
		}
			motor1(set_speed[0]);
			motor2(set_speed[1]);
			motor3(set_speed[2]);
			motor4(set_speed[3]);
        // printf("%f,%f\r\n", Speed, mb_speed);
//        a=set_speed;
		 
//        printf("%f,%f\r\n", angle, Speed);
    }
}

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pid.h

#ifndef __PID_H
#define __PID_H


#define AIN1(state) HAL_GPIO_WritePin(GPIOA,GPIO_PIN_2,(GPIO_PinState)(state))    //IN1
#define AIN2(state) HAL_GPIO_WritePin(GPIOA,GPIO_PIN_3,(GPIO_PinState)(state))    //IN2
#define BIN1(state) HAL_GPIO_WritePin(GPIOA,GPIO_PIN_4,(GPIO_PinState)(state))    //IN1
#define BIN2(state) HAL_GPIO_WritePin(GPIOA,GPIO_PIN_5,(GPIO_PinState)(state))    //IN2
#define CIN1(state) HAL_GPIO_WritePin(GPIOC,GPIO_PIN_4,(GPIO_PinState)(state))    //IN1
#define CIN2(state) HAL_GPIO_WritePin(GPIOC,GPIO_PIN_5,(GPIO_PinState)(state))    //IN2
#define DIN1(state) HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,(GPIO_PinState)(state))    //IN1
#define DIN2(state) HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,(GPIO_PinState)(state))    //IN2

extern int a;
#endif


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5.oled

具体学习可以参考链接: link
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);
}

/*
 * 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]=
{
		{0x40,0x22,0x14,0x08,0xF4,0x02,0x00,0xF8,0x08,0x08,0xFF,0x08,0x08,0xF8,0x00,0x00},
		{0x08,0x44,0x82,0x41,0x3F,0x00,0x20,0x63,0x21,0x21,0x3F,0x21,0x29,0x33,0x60,0x00},/*"独",0*/
		{0x20,0x10,0xE8,0x24,0x27,0x24,0x24,0xE4,0x24,0x34,0x2C,0x20,0xE0,0x00,0x00,0x00},
		{0x80,0x60,0x1F,0x09,0x09,0x09,0x09,0x7F,0x09,0x09,0x49,0x89,0x7F,0x00,0x00,0x00},/*"角",1*/
		{0x00,0x00,0x7C,0x54,0x55,0x56,0x54,0x7C,0x54,0x56,0x55,0x54,0x7C,0x00,0x00,0x00},
		{0x01,0x01,0x01,0xFD,0x45,0x45,0x45,0x45,0x45,0x45,0x45,0xFD,0x01,0x01,0x01,0x00},/*"兽",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*/


};




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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);

extern const unsigned char F6x8[][6];
extern const unsigned char F8X16[];
extern const unsigned char Hzk[][32];
extern unsigned char BMP1[];

#endif /* OLED_OLED_H_ */



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6.openmv

参考链接: link

import sensor, image, time,math,pyb
from pyb import UART,LED
import json
import ustruct

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
red_threshold_01=(0, 89, 125, 13, -34, 84)
clock = time.clock()

uart = UART(3,115200)   #定义串口3变量
uart.init(115200, bits=8, parity=None, stop=1) # init with given parameters

def find_max(blobs):    #定义寻找色块面积最大的函数
    max_size=0
    for blob in blobs:
        if blob.pixels() > max_size:
            max_blob=blob
            max_size = blob.pixels()
    return max_blob


def sending_data(cx,cy,cw,ch):
    global uart;
    #frame=[0x2C,18,cx%0xff,int(cx/0xff),cy%0xff,int(cy/0xff),0x5B];
    #data = bytearray(frame)
    data = ustruct.pack("<bbhhhhb",      #格式为俩个字符俩个短整型(2字节)
                   0x2C,                      #帧头1
                   0x12,                      #帧头2
                   int(cx), # up sample by 4   #数据1
                   int(cy), # up sample by 4    #数据2
                   int(cw), # up sample by 4    #数据1
                   int(ch), # up sample by 4    #数据2
                   0x5B)
    uart.write(data);   #必须要传入一个字节数组


while(True):
    clock.tick()
    img = sensor.snapshot()
    blobs = img.find_blobs([red_threshold_01])
    cx=0;cy=0;
    if blobs:
        max_b = find_max(blobs)
        #如果找到了目标颜色
        cx=max_b[5]
        cy=max_b[6]
        cw=max_b[2]
        ch=max_b[3]
        img.draw_rectangle(max_b[0:4]) # rect
        img.draw_cross(max_b[5], max_b[6]) # cx, cy

        #sending_data(cx,cy,cw,ch)
    else:
        cx=0
        cy=0
        cw=0
        ch=0
    FH = bytearray([0x2C,0x12,cx,cy,cw,ch,0x5B])
    uart.write(FH)
    print(cx,cy,cw,ch)

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7.main函数代码

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_I2C1_Init();
  MX_USART1_UART_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_TIM5_Init();
  MX_TIM6_Init();
  MX_TIM8_Init();
  /* USER CODE BEGIN 2 */
	HAL_UART_Receive_IT(&huart1,(uint8_t *)&USART1_Data,1); //开启串口1的接收中断
	HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL); //开启编码器模式
	HAL_TIM_Base_Start_IT(&htim2);
	HAL_TIM_Base_Start(&htim2);
	HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL); //开启编码器模式
	HAL_TIM_Base_Start_IT(&htim3);
	HAL_TIM_Base_Start(&htim3);
	HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL); //开启编码器模式
	HAL_TIM_Base_Start_IT(&htim4);
	HAL_TIM_Base_Start(&htim4);
	HAL_TIM_Encoder_Start(&htim5, TIM_CHANNEL_ALL); //开启编码器模式
	HAL_TIM_Base_Start_IT(&htim5);
	HAL_TIM_Base_Start(&htim5);
	HAL_TIM_Base_Start_IT(&htim6);                  //开启定时器的中断
	HAL_TIM_Base_Start(&htim6);  
	HAL_TIM_Base_Start_IT(&htim8);
	HAL_TIM_Base_Start(&htim8);
	HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_1);
	HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_2);
	HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_3);
	HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_4);
	OLED_Init();                           //OLED初始
    OLED_Clear(); //清屏
	OLED_ShowString(0,0,"uart",16,0);//正相显示8X16字符串	
	OLED_ShowString(1,3,"cx",16,0);//正相显示8X16字符串
	OLED_ShowString(32,3,"cy",16,0);//正相显示8X16字符串
	OLED_ShowString(64,3,"cw",16,0);//正相显示8X16字符串
	OLED_ShowString(96,3,"ch",16,0);//正相显示8X16字符串
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
//	  if(a<0)
//		  a=-a;
//	  OLED_ShowNum(0,0,a,4,16, 0);//正相显示5位8X16数字“6”
	  
	  if(USART1_RX_ST&0x8000)
	  {
		if(USART1_RX_BUFF[0]==0x2c&& USART1_RX_BUFF[1]==0x12)
		{
			cx=USART1_RX_BUFF[2];
			cy=USART1_RX_BUFF[3];
			cw=USART1_RX_BUFF[4];
			ch=USART1_RX_BUFF[5];
		}
		OLED_ShowNum(0,6,cx,4,16, 0);//正相显示5位8X16数字“6”
		OLED_ShowNum(32,6,cy,4,16, 0);//正相显示5位8X16数字“6”
		OLED_ShowNum(64,6,cw,4,16, 0);//正相显示5位8X16数字“6”
		OLED_ShowNum(96,6,ch,4,16, 0);//正相显示5位8X16数字“6”
		USART1_RX_ST=0;//标志位清0，准备下次接收
	  }	
	  
    /* USER CODE END WHILE */

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

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8.最后效果（pid还有运动方程的参数不同效果不同）

颜色追踪小车

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