51单片机智能小车（循迹、跟随、避障、测速、蓝牙、wifie、4g、语音识别）总结-2-阿里云开发者社区

51单片机智能小车（循迹、跟随、避障、测速、蓝牙、wifie、4g、语音识别）总结-2

https://developer.aliyun.com/article/1506698

5.远程控制小车

5.1 蓝牙控制小车

使用蓝牙模块，串口透传
蓝牙模块，又叫做蓝牙串口模块

串口透传技术：

透传即透明传送，是指在数据的传输过程中，通过无线的方式这组数据不发生任何形式的改变，仿佛传输过程是透明的一样，同时保证传输的质量，原封不动地到了最终接收者手里。
以太网，蓝牙，Zigbee, GPRS 等模块玩法一样，对嵌入式程序员来说，不需要关心通讯模块内部数据及协议栈工作原理，只要通过串口编程获得数据即可

代码实现：

//main.c
#include "motor.h"
#include "delay.h"
#include "uart.h"
 
void main()
{
  UartInit();
  
  while(1){
    stop();
  }
}
 
//uart.c
#include "reg52.h"
#include "motor.h"
#include "string.h"
#include "delay.h"
sbit D5 = P3^7;
#define SIZE 12
 
sfr AUXR = 0x8E;
char buffer[SIZE];
 
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;//定时器1工作方式位8位自动重装
  
  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
}
 
//M1qian  M2 hou M3 zuo  M4 you
void Uart_Handler() interrupt 4
{
  static int i = 0;//静态变量，被初始化一次
  char tmp;
 
  if(RI)//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;
    
      //灯控指令
      if(buffer[0] == 'M'){
        switch(buffer[1]){
          case '1':
            goForward();
            Delay10ms();
            break;
          case '2':
            goBack();
            Delay10ms();
            break;
          case '3':
            goLeft();
            Delay10ms();
            break;
          case '4':
            goRight();
            Delay10ms();
            break;
          default:
            stop();
            break;
        }
      }
    
      if(i == 12) {
        memset(buffer, '\0', SIZE);
        i = 0;
      }
  }
    
}
 
//motor.c
#include "reg52.h"
 
sbit RightCon1A = P3^2;
sbit RightCon1B = P3^3;
 
sbit LeftCon1A = P3^4;
sbit LeftCon1B = P3^5;
 
void goForward()
{
  LeftCon1A = 0;
  LeftCon1B = 1;
  
  RightCon1A = 0;
  RightCon1B = 1;
}
 
void goRight()
{
  LeftCon1A = 0;
  LeftCon1B = 1;
  
  RightCon1A = 0;
  RightCon1B = 0;
}
 
 
void goLeft()
{
  LeftCon1A = 0;
  LeftCon1B = 0;
  
  RightCon1A = 0;
  RightCon1B = 1;
}
 
void goBack()
{
  LeftCon1A = 1;
  LeftCon1B = 0;
  
  RightCon1A = 1;
  RightCon1B = 0;
}
 
void stop()
{
  LeftCon1A = 0;
  LeftCon1B = 0;
  
  RightCon1A = 0;
  RightCon1B = 0;
}
 
//delay.c
 
#include "intrins.h"
 
void Delay10ms()    //@11.0592MHz
{
  unsigned char i, j;
 
  i = 18;
  j = 235;
  do
  {
    while (--j);
  } while (--i);
}
 
void Delay1000ms()    //@11.0592MHz
{
  unsigned char i, j, k;
 
  _nop_();
  i = 8;
  j = 1;
  k = 243;
  do
  {
    do
    {
      while (--k);
    } while (--j);
  } while (--i);
}

5.2 蓝牙控制并测速小车

原理：运用上面讲到的蓝牙模块和测速模块

代码实现：

//main.c
#include "motor.h"
#include "delay.h"
#include "uart.h"
#include "reg52.h"
#include "time.h"
#include "stdio.h"
#include "Oled.h"
 
sbit speedIO = P3^2;//外部中断0
unsigned int speedCnt = 0; //统计格子，脉冲次数
extern unsigned int speed;//速度
extern char signal; //主程序发速度数据的通知
char speedMes[24];  //主程序发送速度数据的字符串缓冲区
 
void Ex0Init()
{
  EX0 = 1;//允许中断
  //EA = 1;在串口初始化函数中已经打开了总中断
  IT0 = 1;//外部中断的下降沿触发
}
 
void main()
{
  Time0Init();//定时器0初始化
  UartInit();//串口相关初始化
  //外部中断初始化
  Ex0Init();
  Oled_Init();
  Oled_Clear();
  while(1){
    if(signal){//定时器1s到点，把signal置一，主程序发送速度
      sprintf(speedMes,"speed:%d cm/s",speed);//串口数据的字符串拼装，speed是格子，每个格子1cm
      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 speedHandler() interrupt 0 //外部中断处理函数
{
  speedCnt++;//码盘转动了一个格子
}
 
//uart.c
#include "reg52.h"
#include "motor.h"
#include "string.h"
sbit D5 = P3^7;
#define SIZE 12
 
sfr AUXR = 0x8E;
char buffer[SIZE];
 
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;//定时器1工作方式位8位自动重装
  
  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 mydata)
{
  SBUF = mydata;
  while(!TI);
  TI = 0;
}
 
void SendString(char *str)
{
  while(*str != '\0'){
    SendByte(*str);
    str++;
  }
}
 
 
//M1qian  M2 hou M3 zuo  M4 you
void Uart_Handler() interrupt 4
{
  static int i = 0;//静态变量，被初始化一次
  char tmp;
 
  if(RI)//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;
    
      //灯控指令
      if(buffer[0] == 'M'){
        switch(buffer[1]){
          case '1':
            goForward();
            break;
          case '2':
            goBack();
            break;
          case '3':
            goLeft();
            break;
          case '4':
            goRight();
            break;
          default:
            stop();
            break;
        }
      }
    
      if(i == 12) {
        memset(buffer, '\0', SIZE);
        i = 0;
      }
  }
    
}
 
//motor.c
#include "reg52.h"
 
sbit RightCon1A = P3^7;
sbit RightCon1B = P3^3;
 
sbit LeftCon1A = P3^4;
sbit LeftCon1B = P3^5;
 
void goForward()
{
  LeftCon1A = 0;
  LeftCon1B = 1;
  
  RightCon1A = 0;
  RightCon1B = 1;
}
 
void goRight()
{
  LeftCon1A = 0;
  LeftCon1B = 1;
  
  RightCon1A = 0;
  RightCon1B = 0;
}
 
 
void goLeft()
{
  LeftCon1A = 0;
  LeftCon1B = 0;
  
  RightCon1A = 0;
  RightCon1B = 1;
}
 
void goBack()
{
  LeftCon1A = 1;
  LeftCon1B = 0;
  
  RightCon1A = 1;
  RightCon1B = 0;
}
 
void stop()
{
  LeftCon1A = 0;
  LeftCon1B = 0;
  
  RightCon1A = 0;
  RightCon1B = 0;
}
 
//time.c
#include "motor.h"
#include "reg52.h"
 
extern unsigned int speedCnt;
unsigned int speed;
char signal = 0;
unsigned int cnt = 0;
 
void Time0Init()
{
  //1. 配置定时器0工作模式位16位计时
  TMOD = 0x01;
  //2. 给初值，定一个0.5出来
  TL0=0x33;
  TH0=0xFE;
  //3. 开始计时
  TR0 = 1;
  TF0 = 0;
  //4. 打开定时器0中断
  ET0 = 1;
  //5. 打开总中断EA
  EA = 1;
}
 
void Time0Handler() interrupt 1
{
  cnt++;  //统计爆表的次数. cnt=1的时候，报表了1
  //重新给初值
  TL0=0x33;
  TH0=0xFE;
  
  if(cnt == 2000){//爆表2000次，经过了1s
    signal = 1;
    cnt = 0;  //当100次表示1s，重新让cnt从0开始，计算下一次的1s
    //计算小车的速度，也就是拿到speedCnt的值
    speed = speedCnt;
    speedCnt = 0;//1秒后拿到speedCnt个格子，就能算出这1s的速度，格子清零
  }
    
}
 
//oled.c
#include "reg52.h"
#include "intrins.h"
#include "Oledfont.h"
 
 
sbit scl = P1^2;
sbit sda = P1^3;
 
void IIC_Start()
{
  scl = 0;
  sda = 1;
  scl = 1;
  _nop_();
  sda = 0;
  _nop_();
}
 
void IIC_Stop()
{
  scl = 0;
  sda = 0;
  scl = 1;
  _nop_();
  sda = 1;
  _nop_();
}
 
char IIC_ACK()
{
  char flag;
  sda = 1;//就在时钟脉冲9期间释放数据线
  _nop_();
  scl = 1;
  _nop_();
  flag = sda;
  _nop_();
  scl = 0;
  _nop_();
  
  return flag;
}
 
void IIC_Send_Byte(char dataSend)
{
  int i;
  
  for(i = 0;i<8;i++){
    scl = 0;//scl拉低，让sda做好数据准备
    sda = dataSend & 0x80;//1000 0000获得dataSend的最高位，给sda
    _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;
  }
}
 
void Oled_Write_Cmd(char dataCmd)
{
  //  1. start()
  IIC_Start();
  //    
  //  2. 写入从机地址  b0111 1000 0x78
  IIC_Send_Byte(0x78);
  //  3. ACK
  IIC_ACK();
  //  4. cotrol byte: (0)(0)000000 写入命令   (0)(1)000000写入数据
  IIC_Send_Byte(0x00);
  //  5. ACK
  IIC_ACK();
  //6. 写入指令/数据
  IIC_Send_Byte(dataCmd);
  //7. ACK
  IIC_ACK();
  //8. STOP
  IIC_Stop();
}
 
void Oled_Write_Data(char dataData)
{
  //  1. start()
  IIC_Start();
  //    
  //  2. 写入从机地址  b0111 1000 0x78
  IIC_Send_Byte(0x78);
  //  3. ACK
  IIC_ACK();
  //  4. cotrol byte: (0)(0)000000 写入命令   (0)(1)000000写入数据
  IIC_Send_Byte(0x40);
  //  5. ACK
  IIC_ACK();
  ///6. 写入指令/数据
  IIC_Send_Byte(dataData);
  //7. ACK
  IIC_ACK();
  //8. STOP
  IIC_Stop();
}
 
 
void Oled_Init(void){
  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 Oled_Clear()
{
  unsigned char i,j; //-128 --- 127
  
  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
  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]);                            //写数据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]);                            //写数据oledTable1
  }   
}
 
 
/******************************************************************************/
// 函数名称：Oled_Show_Char 
// 输入参数：oledChar 
// 输出参数：无 
// 函数功能：OLED显示单个字符
/******************************************************************************/
void Oled_Show_Str(char row,char col,char *str){
  while(*str!=0){
    Oled_Show_Char(row,col,*str);
    str++;
    col += 8; 
  }   
}

5.3 wifi控制测速小车

Wifi模块-ESP-01s
蓝牙，ESP-01s，Zigbee, NB-Iot等通信模块都是基于AT指令的设计

AT指令介绍：

AT指令集是从终端设备（Terminal Equipment，TE)或数据终端设备（Data Terminal Equipment，DTE)向终端适配器(Terminal Adapter，TA)或数据电路终端设备(Data Circuit Terminal Equipment，DCE)发送的。
其对所传输的数据包大小有定义：即对于AT指令的发送，除AT两个字符外，最多可以接收1056个字符的长度（包括最后的空字符）。
每个AT命令行中只能包含一条AT指令；对于由终端设备主动向PC端报告的URC指示或者response 响应，也要求一行最多有一个，不允许上报的一行中有多条指示或者响应。AT指令以回车作为结尾，响应或上报以回车换行为结尾。

代码实现：

//main.c
#include "motor.h"
#include "delay.h"
#include "uart.h"
#include "reg52.h"
#include "time.h"
#include "stdio.h"
#include "Oled.h"
#include "esp8266.h"
 
sbit speedIO = P3^2;//外部中断0
unsigned int speedCnt = 0; //统计格子，脉冲次数
extern unsigned int speed;//速度
extern char signal; //主程序发速度数据的通知
char speedMes[24];  //主程序发送速度数据的字符串缓冲区
//发送数据
char FSSJ[] = "AT+CIPSEND=0,5\r\n";
 
void Ex0Init()
{
  EX0 = 1;//允许中断
  //EA = 1;在串口初始化函数中已经打开了总中断
  IT0 = 1;//外部中断的下降沿触发
}
 
void main()
{
  Time0Init();//定时器0初始化
  UartInit();//串口相关初始化
  Delay1000ms();//给espwifi模块上电时间
  
  initWifi_AP(); //初始化wifi工作在ap模式
  waitConnect(); //等待客户端的连接
  
  //外部中断初始化
  Ex0Init();
  Oled_Init();
  Oled_Clear();
  while(1){
    if(signal){//定时器1s到点，把signal置一，主程序发送速度
      SendString(FSSJ);
      Delay1000ms();
      sprintf(speedMes,"%dcms",speed);//串口数据的字符串拼装，speed是格子，每个格子1cm
      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 speedHandler() interrupt 0 //外部中断处理函数
{
  speedCnt++;//码盘转动了一个格子
}
 
//uart.c
#include "reg52.h"
#include "motor.h"
#include "string.h"
sbit D5 = P3^7;
#define SIZE 12
 
sfr AUXR = 0x8E;
char buffer[SIZE];
 
extern char AT_OK_Flag;       //OK返回值的标志位
extern char Client_Connect_Flag;
 
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;//定时器1工作方式位8位自动重装
  
  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 mydata)
{
  SBUF = mydata;
  while(!TI);
  TI = 0;
}
 
void SendString(char *str)
{
  while(*str != '\0'){
    SendByte(*str);
    str++;
  }
}
 
 
//M1qian  M2 hou M3 zuo  M4 you
void Uart_Handler() interrupt 4
{
  static int i = 0;//静态变量，被初始化一次
  char tmp;
 
  if(RI)//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' || tmp == 'O' || tmp == '0'){
        i = 0;
      }
      buffer[i++] = tmp;
    
      //连接服务器等OK返回值指令的判断
      if(buffer[0] == 'O' && buffer[1] == 'K'){
        AT_OK_Flag  = 1;
        memset(buffer, '\0', SIZE);
      }
      
      if(buffer[0] == '0' && buffer[2] == 'C'){
        Client_Connect_Flag = 1;
        memset(buffer, '\0', SIZE);
      }
      //灯控指令
      if(buffer[0] == 'M'){
        switch(buffer[1]){
          case '1':
            goForward();
            break;
          case '2':
            goBack();
            break;
          case '3':
            goLeft();
            break;
          case '4':
            goRight();
            break;
          default:
            stop();
            break;
        }
      }
    
      if(i == 12) {
        memset(buffer, '\0', SIZE);
        i = 0;
      }
  }
    
}
 
//motor.c
#include "reg52.h"
 
sbit RightCon1A = P3^7;
sbit RightCon1B = P3^3;
 
sbit LeftCon1A = P3^4;
sbit LeftCon1B = P3^5;
 
void goForward()
{
  LeftCon1A = 0;
  LeftCon1B = 1;
  
  RightCon1A = 0;
  RightCon1B = 1;
}
 
void goRight()
{
  LeftCon1A = 0;
  LeftCon1B = 1;
  
  RightCon1A = 0;
  RightCon1B = 0;
}
 
 
void goLeft()
{
  LeftCon1A = 0;
  LeftCon1B = 0;
  
  RightCon1A = 0;
  RightCon1B = 1;
}
 
void goBack()
{
  LeftCon1A = 1;
  LeftCon1B = 0;
  
  RightCon1A = 1;
  RightCon1B = 0;
}
 
void stop()
{
  LeftCon1A = 0;
  LeftCon1B = 0;
  
  RightCon1A = 0;
  RightCon1B = 0;
}
 
//time.c
#include "motor.h"
#include "reg52.h"
 
extern unsigned int speedCnt;
unsigned int speed;
char signal = 0;
unsigned int cnt = 0;
 
void Time0Init()
{
  //1. 配置定时器0工作模式位16位计时
  TMOD = 0x01;
  //2. 给初值，定一个0.5出来
  TL0=0x33;
  TH0=0xFE;
  //3. 开始计时
  TR0 = 1;
  TF0 = 0;
  //4. 打开定时器0中断
  ET0 = 1;
  //5. 打开总中断EA
  EA = 1;
}
 
void Time0Handler() interrupt 1
{
  cnt++;  //统计爆表的次数. cnt=1的时候，报表了1
  //重新给初值
  TL0=0x33;
  TH0=0xFE;
  
  if(cnt == 2000){//爆表2000次，经过了1s
    signal = 1;
    cnt = 0;  //当100次表示1s，重新让cnt从0开始，计算下一次的1s
    //计算小车的速度，也就是拿到speedCnt的值
    speed = speedCnt;
    speedCnt = 0;//1秒后拿到speedCnt个格子，就能算出这1s的速度，格子清零
  }
    
}
 
//oled.c
#include "reg52.h"
#include "intrins.h"
#include "Oledfont.h"
 
 
sbit scl = P1^2;
sbit sda = P1^3;
 
void IIC_Start()
{
  scl = 0;
  sda = 1;
  scl = 1;
  _nop_();
  sda = 0;
  _nop_();
}
 
void IIC_Stop()
{
  scl = 0;
  sda = 0;
  scl = 1;
  _nop_();
  sda = 1;
  _nop_();
}
 
char IIC_ACK()
{
  char flag;
  sda = 1;//就在时钟脉冲9期间释放数据线
  _nop_();
  scl = 1;
  _nop_();
  flag = sda;
  _nop_();
  scl = 0;
  _nop_();
  
  return flag;
}
 
void IIC_Send_Byte(char dataSend)
{
  int i;
  
  for(i = 0;i<8;i++){
    scl = 0;//scl拉低，让sda做好数据准备
    sda = dataSend & 0x80;//1000 0000获得dataSend的最高位，给sda
    _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;
  }
}
 
void Oled_Write_Cmd(char dataCmd)
{
  //  1. start()
  IIC_Start();
  //    
  //  2. 写入从机地址  b0111 1000 0x78
  IIC_Send_Byte(0x78);
  //  3. ACK
  IIC_ACK();
  //  4. cotrol byte: (0)(0)000000 写入命令   (0)(1)000000写入数据
  IIC_Send_Byte(0x00);
  //  5. ACK
  IIC_ACK();
  //6. 写入指令/数据
  IIC_Send_Byte(dataCmd);
  //7. ACK
  IIC_ACK();
  //8. STOP
  IIC_Stop();
}
 
void Oled_Write_Data(char dataData)
{
  //  1. start()
  IIC_Start();
  //    
  //  2. 写入从机地址  b0111 1000 0x78
  IIC_Send_Byte(0x78);
  //  3. ACK
  IIC_ACK();
  //  4. cotrol byte: (0)(0)000000 写入命令   (0)(1)000000写入数据
  IIC_Send_Byte(0x40);
  //  5. ACK
  IIC_ACK();
  ///6. 写入指令/数据
  IIC_Send_Byte(dataData);
  //7. ACK
  IIC_ACK();
  //8. STOP
  IIC_Stop();
}
 
 
void Oled_Init(void){
  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 Oled_Clear()
{
  unsigned char i,j; //-128 --- 127
  
  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
  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]);                            //写数据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]);                            //写数据oledTable1
  }   
}
 
 
/******************************************************************************/
// 函数名称：Oled_Show_Char 
// 输入参数：oledChar 
// 输出参数：无 
// 函数功能：OLED显示单个字符
/******************************************************************************/
void Oled_Show_Str(char row,char col,char *str){
  while(*str!=0){
    Oled_Show_Char(row,col,*str);
    str++;
    col += 8; 
  }   
}
 
 
//esp8266.c
#include "uart.h"
 
//1 工作在路由模式
code char LYMO[] = "AT+CWMODE=2\r\n";
//2 使能多链接
code char DLJ[] = "AT+CIPMUX=1\r\n"; 
//3 建立TCPServer
code char JLFW[] = "AT+CIPSERVER=1\r\n"; // default port = 333 
 
 
 
char AT_OK_Flag = 0;        //OK返回值的标志位
char Client_Connect_Flag = 0;
 
void initWifi_AP()
{
  SendString(LYMO);
  while(!AT_OK_Flag);
  AT_OK_Flag = 0;
  SendString(DLJ);
  while(!AT_OK_Flag);
  AT_OK_Flag = 0;
}
 
void waitConnect()
{
  SendString(JLFW);
  while(!Client_Connect_Flag);
  AT_OK_Flag = 0; 
}
 
//delay.c
#include "intrins.h"
 
void Delay1000ms()    //@11.0592MHz
{
  unsigned char i, j, k;
 
  _nop_();
  i = 8;
  j = 1;
  k = 243;
  do
  {
    do
    {
      while (--k);
    } while (--j);
  } while (--i);
}

5.4 4g控制小车

原理：运用EC03-DNC4G通信模块

模块介绍：

基于串口AT指令的开发方式
有两种工作模式，默认是透传模式，通过其他方式进入AT指令模式
注意插卡不要出错，下图红色位置为SIM卡状态灯，亮才是正常

代码不做修改，直接基于蓝牙小车整合， 4g模块只要做好外网透传就可以了

6.语音控制小车

6.1语音模块配置：

使用SU-03T / LD3320

具体介绍看我之前写过的博客：SU-03T语音模块的使用_罗小白的干爹的博客-CSDN博客

6.2 语音控制小车开发和调试代码

代码示例：

//main.c
#include "reg52.h"
#include "hc04.h"
#include "delay.h"
#include "sg90.h"
#include "Oled.h"
#include "motor.h"
 
#define MIDDLE 0
#define LEFT 1
#define RIGHT 2
 
#define BZ 1
#define XJ 2
#define GS 3
 
 
sbit A25 = P1^5;
sbit A26 = P1^6;
sbit A27 = P1^7;
 
sbit leftSensorX = P2^7;
sbit rightSensorX = P2^6;
 
sbit leftSensorG = P2^5;
sbit rightSensorG = P2^4;
 
char dir;
  
double disMiddle;
double disLeft;
double disRight;
 
void xunjiMode()
{
    if(leftSensorX == 0 && rightSensorX == 0){
      goForward();
    }
    if(leftSensorX == 1 && rightSensorX == 0){
      goLeft();
    }
    
    if(leftSensorX == 0 && rightSensorX == 1){
      goRight();
    }
    
    if(leftSensorX == 1 && rightSensorX == 1){
      //停
      stop();
    }
}
 
void gensuiMode()
{
    if(leftSensorG == 0 && rightSensorG == 0){
      goForward();
    }
    if(leftSensorG == 1 && rightSensorG == 0){
      goRight();
    }
    
    if(leftSensorG == 0 && rightSensorG == 1){
      
      goLeft();
    }
    
    if(leftSensorG == 1 && rightSensorG == 1){
      //停
      stop();
    }
}
 
void bizhangMode()
{
  if(dir != MIDDLE){
      sgMiddle();
      dir = MIDDLE;
      Delay300ms();
    }
    disMiddle = get_distance();
    
    if(disMiddle > 35){
      //前进
      goForward();
    }else if(disMiddle < 10){
      goBack();
      
    }else
    {
      //停止
      stop();
      //测左边距离
      sgLeft();
      Delay300ms();
      disLeft = get_distance();
      
      sgMiddle();
      Delay300ms();
      
      sgRight();
      dir = RIGHT;
      Delay300ms();
      disRight = get_distance();
      
      if(disLeft < disRight){
        goRight();
        Delay150ms();
        stop();
      }
      if(disRight < disLeft){
        goLeft();
        Delay150ms();
        stop();
      }
    }
 
}
 
void main()
{
 
  int mark = 0;
  
  Time0Init();
  Time1Init();
  //舵机的初始位置
 
  sgMiddle();
  Delay300ms();
  Delay300ms();
  dir = MIDDLE;
  
  Oled_Init();
  Oled_Clear();
  Oled_Show_Str(2,2,"-----Ready----");
  
  while(1){
    //满足寻迹模式的条件
    if(A25 == 0 && A26 == 1 && A27 == 1){
      if(mark != XJ){
        Oled_Clear();
        Oled_Show_Str(2,2,"-----XunJi----");
      }
      mark = XJ;
      xunjiMode();
    }
    //满足跟随模式的条件
    if(A25 == 1 && A26 == 0 && A27 == 1){
      if(mark != GS){
        Oled_Clear();
        Oled_Show_Str(2,2,"-----GenSui----");
      }
      mark = GS;
      gensuiMode();
    }
    //满足避障模式的条件
    if(A25 == 1 && A26 == 1 && A27 == 0){
      if(mark != BZ){
        Oled_Clear();
        Oled_Show_Str(2,2,"-----BiZhang----");
      }
      mark = BZ;
      bizhangMode();
    }
  
  }
}
 
 
//hc04.c
#include "reg52.h"
#include "delay.h"
 
sbit Trig     = P2^3;
sbit Echo     = P2^2;
 
void Time1Init()
{ 
  TMOD &= 0x0F;   //设置定时器模式
  TMOD |= 0x10;
  TH1 = 0;
  TL1 = 0;
  //设置定时器0工作模式1，初始值设定0开始数数，不着急启动定时器
}
 
void startHC()
{
  Trig = 0;
  Trig = 1;
  Delay10us();
  Trig = 0;
}
 
double get_distance()
{
    double time;
    //定时器数据清零，以便下一次测距
    TH1 = 0;
    TL1 = 0;
  //1. Trig ，给Trig端口至少10us的高电平
    startHC();
    //2. echo由低电平跳转到高电平，表示开始发送波
    while(Echo == 0);
    //波发出去的那一下，开始启动定时器
    TR1 = 1;
    //3. 由高电平跳转回低电平，表示波回来了
    while(Echo == 1);
    //波回来的那一下，我们开始停止定时器
    TR1 = 0;
    //4. 计算出中间经过多少时间
    time = (TH1 * 256 + TL1)*1.085;//us为单位
    //5. 距离 = 速度 （340m/s）* 时间/2
    return  (time * 0.017);
}
 
 
//delay.c
#include "intrins.h"
 
void Delay2000ms()    //@11.0592MHz
{
  unsigned char i, j, k;
 
  i = 15;
  j = 2;
  k = 235;
  do
  {
    do
    {
      while (--k);
    } while (--j);
  } while (--i);
}
 
 
void Delay10us()    //@11.0592MHz
{
  unsigned char i;
 
  i = 2;
  while (--i);
}
 
void Delay300ms()   //@11.0592MHz
{
  unsigned char i, j, k;
 
  _nop_();
  i = 3;
  j = 26;
  k = 223;
  do
  {
    do
    {
      while (--k);
    } while (--j);
  } while (--i);
}
 
 
void Delay150ms()   //@11.0592MHz
{
  unsigned char i, j, k;
 
  i = 2;
  j = 13;
  k = 237;
  do
  {
    do
    {
      while (--k);
    } while (--j);
  } while (--i);
}
 
void Delay450ms()   //@11.0592MHz
{
  unsigned char i, j, k;
 
  _nop_();
  i = 4;
  j = 39;
  k = 209;
  do
  {
    do
    {
      while (--k);
    } while (--j);
  } while (--i);
}
 
 
//sg90.c
#include "reg52.h"
#include "delay.h"
 
sbit sg90_con = P1^1;
 
int jd;
int cnt = 0;
 
void Time0Init()
{
  //1. 配置定时器0工作模式位16位计时
  TMOD &= 0xF0;   //设置定时器模式
  TMOD |= 0x01;
  //2. 给初值，定一个0.5出来
  TL0=0x33;
  TH0=0xFE;
  //3. 开始计时
  TR0 = 1;
  TF0 = 0;
  //4. 打开定时器0中断
  ET0 = 1;
  //5. 打开总中断EA
  EA = 1;
}
 
void sgMiddle()
{
  //中间位置
  jd = 3; //90度 1.5ms高电平
  cnt = 0;
}
 
void sgLeft()
{
  //左边位置
  jd = 5; //135度 1.5ms高电平
  cnt = 0;
}
 
void sgRight()
{
  //右边位置
  jd = 1; //0度
  cnt = 0;
}
 
 
void Time0Handler() interrupt 1
{
  cnt++;  //统计爆表的次数. cnt=1的时候，报表了1
  //重新给初值
  TL0=0x33;
  TH0=0xFE;
  
  //控制PWM波
  if(cnt < jd){
    sg90_con = 1;
  }else{
    sg90_con = 0;
  }
  
  if(cnt == 40){//爆表40次，经过了20ms
    cnt = 0;  //当100次表示1s，重新让cnt从0开始，计算下一次的1s
    sg90_con = 1;
  }
    
}
 
//motor.c
#include "reg52.h"
 
sbit RightCon1A = P3^7;
sbit RightCon1B = P3^3;
 
sbit LeftCon1A = P3^4;
sbit LeftCon1B = P3^5;
 
void goForward()
{
  LeftCon1A = 0;
  LeftCon1B = 1;
  
  RightCon1A = 0;
  RightCon1B = 1;
}
 
void goRight()
{
  LeftCon1A = 0;
  LeftCon1B = 1;
  
  RightCon1A = 0;
  RightCon1B = 0;
}
 
 
void goLeft()
{
  LeftCon1A = 0;
  LeftCon1B = 0;
  
  RightCon1A = 0;
  RightCon1B = 1;
}
 
void goBack()
{
  LeftCon1A = 1;
  LeftCon1B = 0;
  
  RightCon1A = 1;
  RightCon1B = 0;
}
 
void stop()
{
  LeftCon1A = 0;
  LeftCon1B = 0;
  
  RightCon1A = 0;
  RightCon1B = 0;
}
 
 
//oled.c
#include "reg52.h"
#include "intrins.h"
#include "Oledfont.h"
 
 
sbit scl = P1^2;
sbit sda = P1^3;
 
void IIC_Start()
{
  scl = 0;
  sda = 1;
  scl = 1;
  _nop_();
  sda = 0;
  _nop_();
}
 
void IIC_Stop()
{
  scl = 0;
  sda = 0;
  scl = 1;
  _nop_();
  sda = 1;
  _nop_();
}
 
char IIC_ACK()
{
  char flag;
  sda = 1;//就在时钟脉冲9期间释放数据线
  _nop_();
  scl = 1;
  _nop_();
  flag = sda;
  _nop_();
  scl = 0;
  _nop_();
  
  return flag;
}
 
void IIC_Send_Byte(char dataSend)
{
  int i;
  
  for(i = 0;i<8;i++){
    scl = 0;//scl拉低，让sda做好数据准备
    sda = dataSend & 0x80;//1000 0000获得dataSend的最高位，给sda
    _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;
  }
}
 
void Oled_Write_Cmd(char dataCmd)
{
  //  1. start()
  IIC_Start();
  //    
  //  2. 写入从机地址  b0111 1000 0x78
  IIC_Send_Byte(0x78);
  //  3. ACK
  IIC_ACK();
  //  4. cotrol byte: (0)(0)000000 写入命令   (0)(1)000000写入数据
  IIC_Send_Byte(0x00);
  //  5. ACK
  IIC_ACK();
  //6. 写入指令/数据
  IIC_Send_Byte(dataCmd);
  //7. ACK
  IIC_ACK();
  //8. STOP
  IIC_Stop();
}
 
void Oled_Write_Data(char dataData)
{
  //  1. start()
  IIC_Start();
  //    
  //  2. 写入从机地址  b0111 1000 0x78
  IIC_Send_Byte(0x78);
  //  3. ACK
  IIC_ACK();
  //  4. cotrol byte: (0)(0)000000 写入命令   (0)(1)000000写入数据
  IIC_Send_Byte(0x40);
  //  5. ACK
  IIC_ACK();
  ///6. 写入指令/数据
  IIC_Send_Byte(dataData);
  //7. ACK
  IIC_ACK();
  //8. STOP
  IIC_Stop();
}
 
 
void Oled_Init(void){
  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 Oled_Clear()
{
  unsigned char i,j; //-128 --- 127
  
  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
  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]);                            //写数据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]);                            //写数据oledTable1
  }   
}
 
 
/******************************************************************************/
// 函数名称：Oled_Show_Char 
// 输入参数：oledChar 
// 输出参数：无 
// 函数功能：OLED显示单个字符
/******************************************************************************/
void Oled_Show_Str(char row,char col,char *str){
  while(*str!=0){
    Oled_Show_Char(row,col,*str);
    str++;
    col += 8; 
  }   
}

51单片机智能小车（循迹、跟随、避障、测速、蓝牙、wifie、4g、语音识别）总结-2

5.远程控制小车

5.1 蓝牙控制小车

5.2 蓝牙控制并测速小车

5.3 wifi控制测速小车

5.4 4g控制小车

6.语音控制小车

6.1语音模块配置：

6.2 语音控制小车开发和调试代码

热门文章

最新文章

相关课程

相关电子书

热门

活动广场

任务中心

开发者评测

高校计划

乘风者计划

训练营

阿里云MVP

话题

直播

下载

镜像站

技术资料

插件

51单片机智能小车（循迹、跟随、避障、测速、蓝牙、wifie、4g、语音识别）总结-2

5.远程控制小车

5.1 蓝牙控制小车

5.2 蓝牙控制并测速小车

5.3 wifi控制测速小车

5.4 4g控制小车

6.语音控制小车

6.1语音模块配置：

6.2 语音控制小车开发和调试代码

热门文章

最新文章

相关课程

相关电子书