首页 > 其他分享 >14.STM32F103C8T6+CUBEMX+循迹模块（定时器计数、测速）

14.STM32F103C8T6+CUBEMX+循迹模块（定时器计数、测速）

时间：2024-09-23 22:23:23浏览次数：13  
标签：0x08 循迹 0x04 0x20 0x00 0x40 0x80 CUBEMX STM32F103C8T6

        学习完b站keysking老师的视频后写了这篇笔记，主要是学习定时器外部时钟。

        用的是TIM2（有ETR,TIM3和TIM4都没有）

一、cubemx配置（没加无上限计数）

1、开TIM2

        选了外部时钟模式1，借助从模式ETR1；

        下面改数值15是输入滤波器，因为抖动会影响计数，设置一定的采样频率检验，能有效消除抖动；

        注意串口开的是PA0，连上即可。

2、开I2C，用于OLED显示，记得生成代码的时候要生成独立的.c.h文件

二、编写代码 

main.c

/* USER CODE BEGIN Includes */
#include "oled.h"
#include <stdio.h>
/* USER CODE END Includes */
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_TIM2_Init();
  /* USER CODE BEGIN 2 */
	HAL_Delay(20);
	OLED_Init();
	OLED_Clear();	

	HAL_TIM_Base_Start(&htim2);
	
	int count = 0;				//获取当前计数
	
	char message[20] = "";
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
		count = __HAL_TIM_GET_COUNTER(&htim2);		//获取计数器值的函数（宏定义）
		sprintf(message,"count: %d",count);
		OLED_ShowString(1,0,message,20);
		
		HAL_Delay(99);							//间隔100ms计数
		
    /* USER CODE END WHILE */

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

oled.c

#include "oled.h"
#include "i2c.h"
#include "oledfont.h"          //???

uint8_t CMD_Data[]={
0xAE, 0x00, 0x10, 0x40, 0xB0, 0x81, 0xFF, 0xA1, 0xA6, 0xA8, 0x3F,
					
0xC8, 0xD3, 0x00, 0xD5, 0x80, 0xD8, 0x05, 0xD9, 0xF1, 0xDA, 0x12,
					
0xD8, 0x30, 0x8D, 0x14, 0xAF};      //?????


void WriteCmd(void)
{
	uint8_t i = 0;
	for(i=0; i<27; i++)
	{
		HAL_I2C_Mem_Write(&hi2c1 ,0x78,0x00,I2C_MEMADD_SIZE_8BIT,CMD_Data+i,1,0x100);
	}
}
//????????
void OLED_WR_CMD(uint8_t cmd)
{
	HAL_I2C_Mem_Write(&hi2c1 ,0x78,0x00,I2C_MEMADD_SIZE_8BIT,&cmd,1,0x100);
}
//??????
void OLED_WR_DATA(uint8_t data)
{
	HAL_I2C_Mem_Write(&hi2c1 ,0x78,0x40,I2C_MEMADD_SIZE_8BIT,&data,1,0x100);
}
//???oled??
void OLED_Init(void)
{ 	
	HAL_Delay(200);
 
	WriteCmd();
}
//??
void OLED_Clear(void)
{
	uint8_t i,n;		    
	for(i=0;i<8;i++)  
	{  
		OLED_WR_CMD(0xb0+i);
		OLED_WR_CMD (0x00); 
		OLED_WR_CMD (0x10); 
		for(n=0;n<128;n++)
			OLED_WR_DATA(0);
	} 
}
//??OLED??    
void OLED_Display_On(void)
{
	OLED_WR_CMD(0X8D);  //SET DCDC??
	OLED_WR_CMD(0X14);  //DCDC ON
	OLED_WR_CMD(0XAF);  //DISPLAY ON
}
//??OLED??     
void OLED_Display_Off(void)
{
	OLED_WR_CMD(0X8D);  //SET DCDC??
	OLED_WR_CMD(0X10);  //DCDC OFF
	OLED_WR_CMD(0XAE);  //DISPLAY OFF
}		   			 
void OLED_Set_Pos(uint8_t x, uint8_t y) 
{ 	
	OLED_WR_CMD(0xb0+y);
	OLED_WR_CMD(((x&0xf0)>>4)|0x10);
	OLED_WR_CMD(x&0x0f);
} 
 
void OLED_On(void)  
{  
	uint8_t i,n;		    
	for(i=0;i<8;i++)  
	{  
		OLED_WR_CMD(0xb0+i);    //?????(0~7)
		OLED_WR_CMD(0x00);      //??????׿???
		OLED_WR_CMD(0x10);      //??????׿???   
		for(n=0;n<128;n++)
			OLED_WR_DATA(1); 
	} //????
}
unsigned int oled_pow(uint8_t m,uint8_t n)
{
	unsigned int result=1;	 
	while(n--)result*=m;    
	return result;
}
//??2???
//x,y :????	 
//len :?????
//size:????
//mode:??	0,????;1,????
//num:??(0~4294967295);	 		  
void OLED_ShowNum(uint8_t x,uint8_t y,unsigned int num,uint8_t len,uint8_t size2)
{         	
	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);
				continue;
			}else enshow=1; 
		 	 
		}
	 	OLED_ShowChar(x+(size2/2)*t,y,temp+'0',size2); 
	}
} 
//???????????,??????
//x:0~127
//y:0~63
//mode:0,????;1,????				 
//size:???? 16/12 
void OLED_ShowChar(uint8_t x,uint8_t y,uint8_t chr,uint8_t Char_Size)
{      	
	unsigned char c=0,i=0;	
		c=chr-' ';//???????			
		if(x>128-1){x=0;y=y+2;}
		if(Char_Size ==16)
			{
			OLED_Set_Pos(x,y);	
			for(i=0;i<8;i++)
			OLED_WR_DATA(F8X16[c*16+i]);
			OLED_Set_Pos(x,y+1);
			for(i=0;i<8;i++)
			OLED_WR_DATA(F8X16[c*16+i+8]);
			}
			else {	
				OLED_Set_Pos(x,y);
				for(i=0;i<6;i++)
				OLED_WR_DATA(F6x8[c][i]);
				
			}
}
 
//????????
void OLED_ShowString(uint8_t x,uint8_t y,uint8_t *chr,uint8_t Char_Size)
{
	unsigned char j=0;
	while (chr[j]!='\0')
	{		OLED_ShowChar(x,y,chr[j],Char_Size);
			x+=8;
		if(x>120){x=0;y+=2;}
			j++;
	}
}
//????
//hzk ??????????
void OLED_ShowCHinese(uint8_t x,uint8_t y,uint8_t no)
{      			    
	uint8_t t,adder=0;
	OLED_Set_Pos(x,y);	
    for(t=0;t<16;t++)
		{
				OLED_WR_DATA(Hzk[2*no][t]);
				adder+=1;
     }	
		OLED_Set_Pos(x,y+1);	
    for(t=0;t<16;t++)
			{	
				OLED_WR_DATA(Hzk[2*no+1][t]);
				adder+=1;
      }					
}

oled.h

#ifndef __OLED_H__
#define __OLED_H__

#include "stm32f1xx_hal.h"

///
#define   OLED_GPIO_CLK_ENABLE()         __HAL_RCC_GPIOA_CLK_ENABLE()

#define   GPIOx_OLED_PORT               GPIOB
#define   OLED_SCK_PIN                  GPIO_PIN_6
#define   OLED_SCK_ON()                 HAL_GPIO_WritePin(GPIOx_OLED_PORT, OLED_SCK_PIN, GPIO_PIN_SET)
#define   OLED_SCK_OFF()                HAL_GPIO_WritePin(GPIOx_OLED_PORT, OLED_SCK_PIN, GPIO_PIN_RESET)
#define   OLED_SCK_TOGGLE()             HAL_GPIO_TogglePin(GPIOx_OLED_PORT, OLED_SCK_PIN)
#define   OLED_SDA_PIN                  GPIO_PIN_7
#define   OLED_SDA_ON()                 HAL_GPIO_WritePin(GPIOx_OLED_PORT, OLED_SDA_PIN, GPIO_PIN_SET)
#define   OLED_SDA_OFF()                HAL_GPIO_WritePin(GPIOx_OLED_PORT, OLED_SDA_PIN, GPIO_PIN_RESET)
#define   OLED_SDA_TOGGLE()             HAL_GPIO_TogglePin(GPIOx_OLED_PORT, OLED_SDA_PIN)
///

void WriteCmd(void);
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);
void OLED_ShowChar(uint8_t x,uint8_t y,uint8_t chr,uint8_t Char_Size);
void OLED_ShowString(uint8_t x,uint8_t y,uint8_t *chr,uint8_t Char_Size);
void OLED_ShowCHinese(uint8_t x,uint8_t y,uint8_t no);


#endif

oledfont.h

#ifndef __OLEDFONT_H__
#define __OLEDFONT_H__
 
#include "stm32f1xx_hal.h"

//8*6 ASCII?????
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?????
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

//????
const unsigned char Hzk[][32]=
{
	{0x00,0x00,0x04,0x14,0x64,0x04,0x0C,0xB4,0x02,0x02,0x42,0x33,0x02,0x00,0x00,0x00},
	{0x40,0x41,0x21,0x11,0x09,0x05,0x03,0xFF,0x03,0x05,0x09,0x11,0x21,0x41,0x40,0x00},/*"?",0*/
	/* (16 X 16 , ?? )*/

	{0x10,0x10,0xD0,0xFF,0x90,0x00,0x10,0x91,0x96,0x90,0xF0,0x90,0x94,0x93,0x10,0x00},
	{0x04,0x03,0x00,0xFF,0x00,0x01,0x04,0x04,0x04,0x04,0xFF,0x04,0x04,0x04,0x04,0x00},/*"?",1*/
	/* (16 X 16 , ?? )*/

	{0x00,0x80,0x60,0xF8,0x07,0x04,0xE4,0xA4,0xA4,0xBF,0xA4,0xA4,0xE4,0x04,0x00,0x00},
	{0x01,0x00,0x00,0xFF,0x40,0x40,0x7F,0x4A,0x4A,0x4A,0x4A,0x4A,0x7F,0x40,0x40,0x00},/*"?",2*/
	/* (16 X 16 , ?? )*/

	{0x00,0x00,0xF8,0x88,0x88,0x88,0x88,0xFF,0x88,0x88,0x88,0x88,0xF8,0x00,0x00,0x00},
	{0x00,0x00,0x1F,0x08,0x08,0x08,0x08,0x7F,0x88,0x88,0x88,0x88,0x9F,0x80,0xF0,0x00},/*"?",3*/
	/* (16 X 16 , ?? )*/

	{0x00,0x00,0xFE,0x02,0x82,0x82,0x82,0x82,0xFA,0x82,0x82,0x82,0x82,0x82,0x02,0x00},
	{0x80,0x60,0x1F,0x40,0x40,0x40,0x40,0x40,0x7F,0x40,0x40,0x44,0x58,0x40,0x40,0x00},/*"?",4*/
	/* (16 X 16 , ?? )*/

	{0x00,0x80,0x60,0xF8,0x07,0x04,0xE4,0xA4,0xA4,0xBF,0xA4,0xA4,0xE4,0x04,0x00,0x00},
	{0x01,0x00,0x00,0xFF,0x40,0x40,0x7F,0x4A,0x4A,0x4A,0x4A,0x4A,0x7F,0x40,0x40,0x00},/*"?",5*/
	/* (16 X 16 , ?? )*/

	{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
	{0x00,0x00,0x36,0x36,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*":",6*/
/* (16 X 16 , ?? )*/
};

#endif

三、加无上限计数的cubemx配置

1、TIM2开中断（注意启动函数要加_IT后缀！！！）

2、把上限从65535改为10（方便观察）

Counter Period10

四、代码改写

/* USER CODE BEGIN Includes */
#include "oled.h"
#include <stdio.h>
/* USER CODE END Includes */


/* USER CODE BEGIN PM */
#define Period 10				//在cubemx里设置的值（原本为65535）
#define Width 1.5				//黑白条纹宽度
/* USER CODE END PM */


/* USER CODE BEGIN PV */
int loop = -1;							//初始化为-1，抵消掉这次中断
/* USER CODE END PV */

/* USER CODE BEGIN 0 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){
	if(htim == &htim2){
			loop += 1;				//每次重新计数则loop+1
	}
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
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_TIM2_Init();
  /* USER CODE BEGIN 2 */
	HAL_Delay(20);
	OLED_Init();
	OLED_Clear();	

	HAL_TIM_Base_Start_IT(&htim2);					//开了中断要改后缀！！！
	
	int count = 0;					//获取当前计数
	int lastcount = 0;			//用于存储上次的计数值
	float speed = 0;				//计算得出的速度
	
	char message[20] = "";
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
		count = loop*Period + __HAL_TIM_GET_COUNTER(&htim2);
//		count = __HAL_TIM_GET_COUNTER(&htim2);
		sprintf(message,"count: %d",count);
		OLED_ShowString(0,0,message,20);
		
		speed = ((count - lastcount) * Width)/0.1;					//时间0.1来自HAL_Delay，间隔100ms计算一次
		lastcount = count;
		sprintf(message,"speed: %lfcm/s",speed);
		OLED_ShowString(0,10,message,20);
		

		HAL_Delay(99);
		
    /* USER CODE END WHILE */

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

五、总体运行效果

好奇怪我传不上来视频，和程序一起放在压缩包里了

标签：0x08,循迹,0x04,0x20,0x00,0x40,0x80,CUBEMX,STM32F103C8T6
From： https://blog.csdn.net/2301_80727672/article/details/142469841

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