基于C51的语音智能车（含循迹/跟随/避障/测速屏显/蓝牙WIFI4G控制等功能）

#include "reg52.h" #include <intrins.h> #include "oledfont.h" sbit SCL = P0^1; sbit SDA = P0^3; //开始信号 void IIC_START() { SCL = 0;//防止雪花 SDA = 1; SCL = 1; _nop_(); SDA = 0; _nop_(); } //结束信号 void IIC_END() { SCL = 0;//防止雪花 SDA = 0; SCL = 1; _nop_(); SDA = 1; _nop_(); } //应答信号 char IIC_ACK() { char flag; SDA = 1; _nop_(); SCL = 1; _nop_(); flag = SDA; _nop_(); SCL = 0; _nop_(); return flag; } //传输一个字节 void IIC_Send_Byte(char dataSend) { int i; for(i = 0;i<8;i++) { SCL = 0; SDA = dataSend & 0x80;//1000 0000 获得dataSend最高位给SDA _nop_();//数据建立时间 SCL = 1;//SCL拉高开始发送 _nop_();//数据发送时间 SCL = 0;//发送完拉低 _nop_(); dataSend <<= 1; } } //写入指令 void Oled_Write_Cmd(char OLED_cmd) { // 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 IIC_Send_Byte(OLED_cmd); //7. ACK IIC_ACK(); //8. STOP IIC_END(); } //写入数据 void Oled_Write_Data(char OLED_data) { // 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. 写入数据 IIC_Send_Byte(OLED_data); //7. ACK IIC_ACK(); //8. STOP IIC_END(); } //OLED初始化代码，直接复制粘贴 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 } //清屏 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); } } } //在屏幕上显示 //===============================官方提供的代码============================================ 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; } }