【手把手带你用pid算法控制电机】——（1）编码器电机和0.96寸OLED显示屏的使用
目录
前言
一、需要用到的器材
二、接线说明
三、cubmx配置
3.1 时钟树
3.2 输出PWM（TIM4）
3.3 编码器模式（TIM3）
3.4 中断定时器配置（TIM1）
3.5 配置IIC
3.6 最终引脚图
四、程序代码
4.1 OLED部分
4.1.1 main.c
4.1.2 oled.c
4.1.3 oled.h
4.1.4 oledfont.c
4.1.5 oledfont.h
4.1.6 小结
4.2 编码器测速部分
4.2.1 main.c
4.2.2 pwm.c
4.2.3 pwm.h
4.2.4 小结
前言
1、该系列教程是基于stm32f103c8t6最小系统板的hal库开发，用最通俗易懂的方式手把手带你学会使用Pid算法的速度环、位置环以及速度位置串级pid。
2、出这一期Pid系列教程的想法是前段时间我参加了一个比赛，要用到串级Pid的功能，可是我发现网上的教程要么是零零散散的，没有集中一起讲解这三个功能的，要么就是写的内容不够简单直接，基础没那么好的同学学起来会很吃力。为了用最直观的步骤和最简单的代码带大家一起掌握使用pid控制电机的能力，我打算出一期完整的、通俗易懂的系列教程，同时也作为对我前段时间学习内容的总结。
3、Pid算法涉及到的内容很多，值得我们去深入地研究去发现它的美，pid算法的学习不仅仅是理论上的理解，要去实践，实现把速度、位置控制好的功能。移植好pid算法以后的调参也是一门学问呢！哈哈哈，所以掌握pid并不是一件容易的事情，不过我已经把串级pid实现了，请相信我会带着大家一起从头到尾一点一点实现！
本章节要实现的功能是使用编码器电机测速，并将测得的脉冲数和轮子的速度反映在oled显示屏中。所以要实现以下两个基本功能：
1.编码器电机测速
2.oled显示
一、需要用到的器材
1、stm32f103c8t6最小系统板
2、12V、5V、3.3V电源
3、0.96寸oled显示屏（iic接口）
4、tb6612模块
5、一个带编码器的直流减速电机，类似于这种的都可以
二、接线说明
编码器电机：M+接tb6612的AO1，M-接tb6612的AO2；A接PA6，B接PA7；
tb6612驱动：AIN1接PA15，AIN2接PB3；PWMA接PB6;
OLED显示屏：SDA接PB9，SCL接PB8。
三、cubmx配置
编码器电机需要3个定时器资源，这里使用TIM4输出PWM控制电机，TIM3用作编码器模式，TIM1用作定时器中断。
3.1 时钟树
3.2 输出PWM（TIM4）
选择定时器4通道1，将定时器4的周期配置为（720*100）/72000000=0.001s=1ms。
设置PB6参数
3.3 编码器模式（TIM3）
选择编码器模式，设置两个GPIO口参数
定时器3参数不用改
3.4 中断定时器配置（TIM1）
选择内部时钟为时钟源，将定时器1的周期配置为（720*1000）/72000000=0.01s=10ms。
勾选一下中断吧~
3.5 配置IIC
这里只需将I2C1设置成I2C模式，参数用默认值就行。
3.6 最终引脚图
四、程序代码
4.1 OLED部分
先把OLED显示屏驱动起来，方便后续显示数据；
4.1.1 main.c
/* USER CODE BEGIN Includes */
#include "oled.h"
#include "oledfont.h"
/* USER CODE END Includes */ /* USER CODE BEGIN 2 */
OLED_Init(); //OLED初始
OLED_Clear(); //清屏
//上面的初始化以及清屏的代码在一开始处一定要写
OLED_ShowString(0,0,"UNICORN_LI",16, 1); //反相显示8X16字符串
OLED_ShowString(0,2,"unicorn_li_123",12,0);//正相显示6X8字符串
OLED_ShowCHinese(0,4,0,1); //反相显示汉字“野”
OLED_ShowCHinese(16,4,1,1);//反相显示汉字“心”
OLED_ShowCHinese(32,4,2,1);//反相显示汉字“家”
OLED_ShowCHinese(0,6,0,0); //正相显示汉字“野”
OLED_ShowCHinese(16,6,1,0);//正相显示汉字“心”
OLED_ShowCHinese(32,6,2,0);//正相显示汉字“家”
OLED_ShowNum(48,4,6,1,16, 0);//正相显示1位8X16数字“6”
OLED_ShowNum(48,7,77,2,12, 1);//反相显示2位6X8数字“77”
OLED_DrawBMP(90,0,122, 4,BMP1,0);//正相显示图片BMP1
OLED_DrawBMP(90,4,122, 8,BMP1,1);//反相显示图片BMP1
OLED_HorizontalShift(0x26);//全屏水平向右滚动播放
//显示正负浮点数的代码
// float num1=-231.24;
// float num2=23.375;
//OLED_ShowString(0,0,"Show Decimal",12,0);
//OLED_Showdecimal(0,4,num1,3,2,12, 0);
//OLED_Showdecimal(0,6,num2,2,3,16, 1);
/* USER CODE END 2 */
4.1.2 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;t4.1.3 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);
#endif /* OLED_OLED_H_ */
4.1.4 oledfont.c
/*
* 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]=
{
{0x00,0xFE,0x92,0x92,0xFE,0x92,0x92,0xFE,0x00,0x42,0x4A,0xD2,0x6A,0x46,0xC0,0x00},
{0x40,0xC4,0x44,0x44,0x3F,0x24,0x24,0x24,0x00,0x40,0x80,0x7F,0x00,0x01,0x00,0x00},/*"野",0*/
{0x00,0x00,0x80,0x00,0x00,0xE0,0x02,0x04,0x18,0x00,0x00,0x00,0x40,0x80,0x00,0x00},
{0x10,0x0C,0x03,0x00,0x00,0x3F,0x40,0x40,0x40,0x40,0x40,0x78,0x00,0x01,0x0E,0x00},/*"心",1*/
{0x10,0x2C,0x24,0x24,0xA4,0xA4,0x65,0xA6,0x24,0x24,0x24,0x24,0xA4,0x34,0x0C,0x00},
{0x40,0x49,0x49,0x29,0x24,0x14,0x52,0x89,0x7F,0x04,0x0A,0x11,0x10,0x20,0x20,0x00},/*"家",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*/
};
4.1.5 oledfont.h
#ifndef OLED_OLEDFONT_H_
#define OLED_OLEDFONT_H_
extern const unsigned char F6x8[][6];
extern const unsigned char F8X16[];
extern const unsigned char Hzk[][32];
extern unsigned char BMP1[];
//extern unsigned char BMP2[].........
#endif /* OLED_OLEDFONT_H_ */
4.1.6 小结
以上就是0.96寸OLED的HAL库版本的代码，全部按我这个操作100%一次点亮OLED屏。
4.2 编码器测速部分
在学习后面内容前建议大家要把前面的功能实现好。以下是在前面代码的基础上编写
的。
4.2.1 main.c
/* USER CODE BEGIN Includes */
#include "oled.h"
#include "oledfont.h"
#include "pwm.h"
#include "stdio.h"
/* USER CODE END Includes */定义速度speed和脉冲数encoder_counter两个变量。
/* USER CODE BEGIN PV */
int16_t speed=0,encoder_counter=0;
/* USER CODE END PV */我习惯把中断回调函数写到main.c文件里。
/* USER CODE BEGIN 0 */
/**
* @function: void GET_NUM(void)
* @description: 使用STM32编码器模式，读取编码器产生的脉冲值
* @param {*}
* @return {*}
*/
void GET_NUM(void)
{
encoder_counter=(short) __HAL_TIM_GET_COUNTER(&htim3);
__HAL_TIM_SET_COUNTER(&htim3,0);
}
/**
* @function:void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
* @description: 定时器中断回调函数，0.1S中断一次并计算转速，将电机转速以及编码器产生的脉冲数显示在OLED屏上
* @param {TIM_HandleTypeDef *htim}
* @return {*}
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if(htim==&htim1)
{
GET_NUM();//得到所记录的脉冲数
speed=(float)encoder_counter/2040/0.1;//转速为n，r/s 脉冲数转化为速度
}
}
/* USER CODE END 0 */ /* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1); //开启TIM4 PWMA模式
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);//开启TIM3编码器模式
HAL_UART_Receive_IT(&huart2,(uint8_t *)&USART2_NewData,1); //开启串口二的接收中断，用于蓝牙改变电机转速
HAL_TIM_Base_Start_IT(&htim1);//开启TIM1的定时器中断
OLED_Init(); //OLED初始
OLED_Clear(); //清屏
OLED_ShowString(0,0,"Rotational Speed:",12,0);
OLED_ShowString(50,4,"rad/s",12,0);
PWM_SetCompare1(300);
/* USER CODE END 2 */
显示屏的显示函数尽量不要放到定时器中断回调函数中去，因为显示屏的显示是需要时间的，而定时器中断函数每各一定时间会触发一次，中断函数里有延时类函数可能会对我们功能的实现有影响。
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
OLED_Showdecimal(0,6,encoder_counter,5,2,12,0);//在特定位置显示5位整数+2位小数的脉冲数
OLED_Showdecimal(0,4,speed,2,2,12,0);//在特定位置显示2位整数+2位小数的电机转速
MOTOR_GO;
}
/* USER CODE END 3 */4.2.2 pwm.c
#include "pwm.h"
#include "tim.h"
void PWM_SetCompare1(uint16_t Compare)
{
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1,Compare);
}
4.2.3 pwm.h
#ifndef __PWM_H
#define __PWM_H
#include "stm32f1xx_hal.h"
#define MOTOR_GO HAL_GPIO_WritePin(GPIOA, AIN1_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(GPIOB, AIN2_Pin, GPIO_PIN_RESET)
#define MOTOR_BACK HAL_GPIO_WritePin(GPIOA, AIN1_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOB, AIN2_Pin, GPIO_PIN_SET)
void PWM_SetCompare1(uint16_t Compare);
#endif4.2.4 小结
最终结果电机转动，在oled显示屏上会显示速度和脉冲数，测量的还是比较精准。
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