目录
1. 蓝牙控制小车
2. 蓝牙控制并测速小车
3. wifi控制测速小车
4. 4g控制小车
5. 语音控制小车
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 12sfr 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);
}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1cmSendString(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 12sfr 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EAEA = 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1ssignal = 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 0x78IIC_Send_Byte(0x78);// 3. ACKIIC_ACK();// 4. cotrol byte: (0)(0)000000 写入命令 (0)(1)000000写入数据IIC_Send_Byte(0x00);// 5. ACKIIC_ACK();//6. 写入指令/数据IIC_Send_Byte(dataCmd);//7. ACKIIC_ACK();//8. STOPIIC_Stop();
}void Oled_Write_Data(char dataData)
{// 1. start()IIC_Start();// // 2. 写入从机地址 b0111 1000 0x78IIC_Send_Byte(0x78);// 3. ACKIIC_ACK();// 4. cotrol byte: (0)(0)000000 写入命令 (0)(1)000000写入数据IIC_Send_Byte(0x40);// 5. ACKIIC_ACK();///6. 写入指令/数据IIC_Send_Byte(dataData);//7. ACKIIC_ACK();//8. STOPIIC_Stop();
}void Oled_Init(void){Oled_Write_Cmd(0xAE);//--display offOled_Write_Cmd(0x00);//---set low column addressOled_Write_Cmd(0x10);//---set high column addressOled_Write_Cmd(0x40);//--set start line address Oled_Write_Cmd(0xB0);//--set page addressOled_Write_Cmd(0x81); // contract controlOled_Write_Cmd(0xFF);//--128 Oled_Write_Cmd(0xA1);//set segment remap Oled_Write_Cmd(0xA6);//--normal / reverseOled_Write_Cmd(0xA8);//--set multiplex ratio(1 to 64)Oled_Write_Cmd(0x3F);//--1/32 dutyOled_Write_Cmd(0xC8);//Com scan directionOled_Write_Cmd(0xD3);//-set display offsetOled_Write_Cmd(0x00);//Oled_Write_Cmd(0xD5);//set osc divisionOled_Write_Cmd(0x80);//Oled_Write_Cmd(0xD8);//set area color mode offOled_Write_Cmd(0x05);//Oled_Write_Cmd(0xD9);//Set Pre-Charge PeriodOled_Write_Cmd(0xF1);//Oled_Write_Cmd(0xDA);//set com pin configuartionOled_Write_Cmd(0x12);//Oled_Write_Cmd(0xDB);//set VcomhOled_Write_Cmd(0x30);//Oled_Write_Cmd(0x8D);//set charge pump enableOled_Write_Cmd(0x14);//Oled_Write_Cmd(0xAF);//--turn on oled panel
}void Oled_Clear()
{unsigned char i,j; //-128 --- 127for(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*2-2unsigned int i;Oled_Write_Cmd(0xb0+(row*2-2)); //page 0Oled_Write_Cmd(0x00+(col&0x0f)); //lowOled_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 1Oled_Write_Cmd(0x00+(col&0x0f)); //lowOled_Write_Cmd(0x10+(col>>4)); //highfor(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; }
}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1cmSendString(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 12sfr 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EAEA = 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1ssignal = 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 0x78IIC_Send_Byte(0x78);// 3. ACKIIC_ACK();// 4. cotrol byte: (0)(0)000000 写入命令 (0)(1)000000写入数据IIC_Send_Byte(0x00);// 5. ACKIIC_ACK();//6. 写入指令/数据IIC_Send_Byte(dataCmd);//7. ACKIIC_ACK();//8. STOPIIC_Stop();
}void Oled_Write_Data(char dataData)
{// 1. start()IIC_Start();// // 2. 写入从机地址 b0111 1000 0x78IIC_Send_Byte(0x78);// 3. ACKIIC_ACK();// 4. cotrol byte: (0)(0)000000 写入命令 (0)(1)000000写入数据IIC_Send_Byte(0x40);// 5. ACKIIC_ACK();///6. 写入指令/数据IIC_Send_Byte(dataData);//7. ACKIIC_ACK();//8. STOPIIC_Stop();
}void Oled_Init(void){Oled_Write_Cmd(0xAE);//--display offOled_Write_Cmd(0x00);//---set low column addressOled_Write_Cmd(0x10);//---set high column addressOled_Write_Cmd(0x40);//--set start line address Oled_Write_Cmd(0xB0);//--set page addressOled_Write_Cmd(0x81); // contract controlOled_Write_Cmd(0xFF);//--128 Oled_Write_Cmd(0xA1);//set segment remap Oled_Write_Cmd(0xA6);//--normal / reverseOled_Write_Cmd(0xA8);//--set multiplex ratio(1 to 64)Oled_Write_Cmd(0x3F);//--1/32 dutyOled_Write_Cmd(0xC8);//Com scan directionOled_Write_Cmd(0xD3);//-set display offsetOled_Write_Cmd(0x00);//Oled_Write_Cmd(0xD5);//set osc divisionOled_Write_Cmd(0x80);//Oled_Write_Cmd(0xD8);//set area color mode offOled_Write_Cmd(0x05);//Oled_Write_Cmd(0xD9);//Set Pre-Charge PeriodOled_Write_Cmd(0xF1);//Oled_Write_Cmd(0xDA);//set com pin configuartionOled_Write_Cmd(0x12);//Oled_Write_Cmd(0xDB);//set VcomhOled_Write_Cmd(0x30);//Oled_Write_Cmd(0x8D);//set charge pump enableOled_Write_Cmd(0x14);//Oled_Write_Cmd(0xAF);//--turn on oled panel
}void Oled_Clear()
{unsigned char i,j; //-128 --- 127for(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*2-2unsigned int i;Oled_Write_Cmd(0xb0+(row*2-2)); //page 0Oled_Write_Cmd(0x00+(col&0x0f)); //lowOled_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 1Oled_Write_Cmd(0x00+(col&0x0f)); //lowOled_Write_Cmd(0x10+(col>>4)); //highfor(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);
}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
5. 语音控制小车
语音模块配置：
使用SU-03T / LD3320
具体介绍看我之前写过的博客：https://blog.csdn.net/m0_74712453/article/details/13171085
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 3sbit 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/2return (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EAEA = 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20mscnt = 0; //当100次表示1s，重新让cnt从0开始，计算下一次的1ssg90_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 0x78IIC_Send_Byte(0x78);// 3. ACKIIC_ACK();// 4. cotrol byte: (0)(0)000000 写入命令 (0)(1)000000写入数据IIC_Send_Byte(0x00);// 5. ACKIIC_ACK();//6. 写入指令/数据IIC_Send_Byte(dataCmd);//7. ACKIIC_ACK();//8. STOPIIC_Stop();
}void Oled_Write_Data(char dataData)
{// 1. start()IIC_Start();// // 2. 写入从机地址 b0111 1000 0x78IIC_Send_Byte(0x78);// 3. ACKIIC_ACK();// 4. cotrol byte: (0)(0)000000 写入命令 (0)(1)000000写入数据IIC_Send_Byte(0x40);// 5. ACKIIC_ACK();///6. 写入指令/数据IIC_Send_Byte(dataData);//7. ACKIIC_ACK();//8. STOPIIC_Stop();
}void Oled_Init(void){Oled_Write_Cmd(0xAE);//--display offOled_Write_Cmd(0x00);//---set low column addressOled_Write_Cmd(0x10);//---set high column addressOled_Write_Cmd(0x40);//--set start line address Oled_Write_Cmd(0xB0);//--set page addressOled_Write_Cmd(0x81); // contract controlOled_Write_Cmd(0xFF);//--128 Oled_Write_Cmd(0xA1);//set segment remap Oled_Write_Cmd(0xA6);//--normal / reverseOled_Write_Cmd(0xA8);//--set multiplex ratio(1 to 64)Oled_Write_Cmd(0x3F);//--1/32 dutyOled_Write_Cmd(0xC8);//Com scan directionOled_Write_Cmd(0xD3);//-set display offsetOled_Write_Cmd(0x00);//Oled_Write_Cmd(0xD5);//set osc divisionOled_Write_Cmd(0x80);//Oled_Write_Cmd(0xD8);//set area color mode offOled_Write_Cmd(0x05);//Oled_Write_Cmd(0xD9);//Set Pre-Charge PeriodOled_Write_Cmd(0xF1);//Oled_Write_Cmd(0xDA);//set com pin configuartionOled_Write_Cmd(0x12);//Oled_Write_Cmd(0xDB);//set VcomhOled_Write_Cmd(0x30);//Oled_Write_Cmd(0x8D);//set charge pump enableOled_Write_Cmd(0x14);//Oled_Write_Cmd(0xAF);//--turn on oled panel
}void Oled_Clear()
{unsigned char i,j; //-128 --- 127for(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*2-2unsigned int i;Oled_Write_Cmd(0xb0+(row*2-2)); //page 0Oled_Write_Cmd(0x00+(col&0x0f)); //lowOled_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 1Oled_Write_Cmd(0x00+(col&0x0f)); //lowOled_Write_Cmd(0x10+(col>>4)); //highfor(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; }
}
