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Self-balancing Robot Car📖
00.Get started quickly
  • 01.Balance car manual
  • 02.Balancing car assembly
  • 03.Get started quickly
  • 04.Balance car interface description
  • 05.Common Problem Analysis
  • 06.Balance Car V2 Library Function Development Manual
01.Environment development
  • 01.MDK-ARM installation
  • 02.STM32CubeIDE installation
  • 03.Common driver installation
  • 04.Download the program
  • 05.MDK-ARM project usage
  • 06.Program simulation
  • 07. VSCode Installation
02.STM32 getting started course
  • 01.Project creation
  • 02.LED Control(GPIO)
  • 03.Buzzer control(GPIO)
  • 04.Button control(EXTI)
  • 05.Serial communication(USART)
  • 06.Voltage detection(ADC)
  • 07.Basic timer(TIM)
  • 08.Universal timer(TIM)
  • 09.Advanced Timer(TIM)
  • 10.I2C Communication(I2C)-OLED
  • 11.SPI communication(SPI)-2.4G handle
  • 12.Independent Watchdog (IWDG)
  • 13.Window Watchdog (WWDG)
  • 14.DMA-USART
  • 15.DMA-I2C
03.STM32 expansion course
  • 01.Battery voltage detection (ADC)
  • 02.Ultrasonic module-measuring distance (TIM)
  • 03.Motor drive+encoder (TIM)
  • 04.OLED Data-Display(I2C)
  • 05.MPU6050-Data Read (I2C)
  • 06.Bluetooth module-Data reading (USART)
  • 07.2.4G handle-Data reading (SPI)
  • 08.Tracking module-Read status (GPIO)
  • 09.CCD module-Reading data (ADC)
  • 10.Electromagnetic module-Reading data (ADC)
  • 11.K210 module-Serial communication (USART)
  • 12.Tmini-Plus lidar-Reading data (USART)
04.Robot car PID control course
  • 01.PID basic concept
  • 02.PID example analysis
  • 03.P, PI, PD controller theory
  • 04.Position PID
  • 05.Incremental PID
  • 06.Cascade PID
  • 07.Balance principle of car
  • 08.Car upright control (PD)
  • 09.Car speed ​​control (PI)
  • 10.Car steering control (PD)
  • 11.Got angle and angular velocity (DMP algorithm)
  • 12.Got angle and angular velocity (Kalman filter algorithm)
  • 13.Got angle and angular velocity(Complementary filter algorithm)
05.Robot car basic course
  • 01.Car parameter adjustment
  • 02.Ultrasonic obstacle avoidance
  • 03.Ultrasonic follow
  • 04.Bluetooth remote control
  • 05.Load balance
06.Robot car advanced course
  • 01.4-channel tracking
  • 02.4-channel tracking avoid
  • 03.2.4G handle control
  • 04.CCD tracking
  • 05.CCD tracking avoid
  • 06.Electromagnetic tracking
  • 07.K210-QR code recognition
  • 08.K210-Color line tracking
  • 09.K210-Color follow
  • 10.K210-Self learning
  • 11.K210-Number recognition
  • 12.Lidar avoid
  • 13.Lidar guard
  • 14.Lidar follow
  • 15.Lidar patrol
  • 16.Lidar wall tracking-straight line
  • 17.Lidar wall tracking-multiple walls
  • 18. DIY Automatic driving car
07.Robot car LQR control
  • Robot car LQR control
08.Circuit design
  • 01.Overall circuit design
  • 02.STM32 minimum system
  • 03.Serial port circuit design
  • 04.Power circuit design
  • 05.MPU6050 Circuit Design
  • 06.Motor drive circuit design
09.Mathematical model
  • Mathematical model
10.Expand course
  • Autonomous Driving
Download
  • APP(Android)
  • Codes
  • Hardware-Info
  • SCH
  • Software Tools
  • STM32_Chip_DataSheet
  • 3D_Model_File
  • Video_PPT
Download ZIP

Welcome to Self-balancing Robot Car repository

04.OLED Data-Display(I2C)

OLED Data:Display (I2C)

OLED Data:Display (I2C)Hardware connectionControl principleSoftware configurationPin definitionSoftware codeControl functionExperimental phenomenon

The tutorial demonstrates the use of hardware I2C to drive OLED to display characters.

Hardware connection

image-20240825203539408

Just install it to the corresponding interface:

PeripheralsDevelopment boardDescription
OLED: VCC5VOLED power supply
OLED: GNDGNDOLED common ground
OLED: SCLPB8Serial clock line (SCL)
OLED: SDAPB9Serial data line (SDA)

Control principle

Use the I2C1 peripheral interface to communicate with the 0.91-inch OLED display.

  • OLED

Product0.91 inch OLED display
Resolution128*32
Control chipSSD1306
Communication methodI2C (IIC)
Working voltage3.3~5V (5V recommended)
I2C interfaceVCC: positive power supply (5V)
GND: power ground
SCL: I2C bus clock signal
SDA: I2C bus data signal

I2C (Inter-Integrated Circuit) bus is a serial communication protocol consisting of a serial data line (SDA) and a serial clock line (SCL).

Serial data line (SDA): used to transmit data

All devices use the same data line to communicate by transmitting data in binary form.

Serial Clock Line (SCL): Used to synchronize data transfer

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The clock line generates pulses at a specific frequency to ensure that both the sending and receiving devices can transmit data at the same timing.

Multi-device communication: The I2C interface uses an address-based device identification mechanism to select a specific device to communicate with.

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Each I2C device has a unique address that identifies the device; the master device selects a specific device to communicate with by sending the device address
  • I2C communication

IIC bus timing diagram

image-20231024180945251

Idle state

SCL high level, SDA high level;

Start condition

SCL high level, SDA falling edge;

Stop condition

SCL high level, SDA rising edge;

Data transmission

SCL low level, SDA rising or falling edge;

Response signal

After receiving data from the device, it will send a low level to the master device to indicate successful reception;

Data validity

When the clock line is high, the data line must remain stable; when the clock line is low, the data line is allowed to change.

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SCL: high level → used for the start and end of communication
SCL: low level → used for data transmission and end

Software configuration

Pin definition

Main control chipPinMain function (after reset)Default multiplexing functionRedefine function
STM32F103RCT6PB8PB8TIM4_CH3I2C1_SCL/CAN_RX
STM32F103RCT6PB9PB9TIM4_CH4I2C1_SDA/CAN_TX

Software code

Since the default function of the pin is the ordinary IO pin function, we need to use the redefine function.

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Product supporting materials source code path: Attachment → Source code summary → 2. Extended_Course → 4. OLED

Control function

The tutorial only briefly introduces the code, you can open the project source code to read the details.

OLED_I2C_Init

​x
void OLED_I2C_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    I2C_InitTypeDef I2C_InitStructure;

    RCC_APB1PeriphClockCmd(OLEDI2C_RCC, ENABLE);
    RCC_APB2PeriphClockCmd(OLED_RCC, ENABLE);

    // Enable the multiplexing function
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
    GPIO_PinRemapConfig(GPIO_Remap_I2C1, ENABLE);

    //PB8——SCL PB9——SDA
    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_OD;
    GPIO_InitStructure.GPIO_Pin   = OLED_SCL_Pin | OLED_SDA_Pin;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

    GPIO_Init(OLED_Port, &GPIO_InitStructure);

    I2C_DeInit(OLEDI2C);
    I2C_InitStructure.I2C_Ack                 = I2C_Ack_Enable;
    I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_InitStructure.I2C_ClockSpeed          = 400000;
    I2C_InitStructure.I2C_DutyCycle           = I2C_DutyCycle_2;
    I2C_InitStructure.I2C_Mode                = I2C_Mode_I2C;
    I2C_InitStructure.I2C_OwnAddress1         = 0x10;  // Fill in this address casually, do not do slave machine

    I2C_Init(OLEDI2C, &I2C_InitStructure);
    I2C_Cmd(OLEDI2C, ENABLE);

    OLED_Init(); //oled initialization
    OLED_Draw_Line("oled init success!" , 1, true, true);
}

OLED_Draw_String

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void OLED_Draw_String(char *data, uint8_t x, uint8_t y, bool clear, bool refresh)
{
    if (clear)
        OLED_Clear();
    SSD1306_GotoXY(x, y);
    SSD1306_Puts(data, &Font_7x10, SSD1306_COLOR_WHITE);
    if (refresh)
        OLED_Refresh();
}

OLED_Draw_Line

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void OLED_Draw_Line(char *data, uint8_t line, bool clear, bool refresh)
{
    if (line > 0 && line <= 3)
    {
        OLED_Draw_String(data, 0, 10 * (line - 1), clear, refresh);
    }
}

Experimental phenomenon

The OLed.hex file generated by the project compilation is located in the OBJ folder of the OLED project. Find the OLed.hex file corresponding to the project and download the program into the development board using FlyMcu software.

After the program is downloaded successfully: OLED will display oled init success! And OLED Class! The CONTENT.

Motor drive+encoder (TIM)
MPU6050-Data Read (I2C)

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