STM32F103C8T6+MPU6050制作微型无人机实践
编辑
118
2025-07-30
项目背景：STM32F103C8T6+MPU6050制作微型无人机
开发工具：STM32CubeIDE
所需材料：
STM32F103C8T6最小系统板*1
MPU6050陀螺仪*1
TB6612电机驱动模块*2
8520空心杯电机*4
SSD1306 0.96寸OLED*1
JDY-23蓝牙模块*1
接线方式：
MPU6050
MPU6050.VCC -> STM32.3.3V
MPU6050.GND -> STM32.GND
MPU6050.SCL -> STM32.PB6(I2C1_SCL)
MPU6050.SDA -> STM32.PB7(I2C1_SDA)
SSD1306
SSD1306.GND -> STM32.GND
SSD1306.VCC -> STM32.3.3V
SSD1306.SCL-> STM32.PB10(I2C2_SCL)
SSD1306.SDA-> STM32.PB11(I2C2_SDA)
STM32CubeIDE配置：
TIM3
I2C1
I2C2
项目代码：
Inc
font.h
#ifndef __FONT_H #define __FONT_H #include "stdint.h" #include "string.h" typedef struct ASCIIFont { uint8_t h; uint8_t w; uint8_t *chars; } ASCIIFont; extern const ASCIIFont afont8x6; extern const ASCIIFont afont12x6; extern const ASCIIFont afont16x8; extern const ASCIIFont afont24x12; /** * @brief 字体结构体 * @note 字库前4字节存储utf8编码 剩余字节存储字模数据 * @note 字库数据可以使用波特律动LED取模助手生成(https://led.baud-dance.com) */ typedef struct Font { uint8_t h; // 字高度 uint8_t w; // 字宽度 const uint8_t *chars; // 字库 字库前4字节存储utf8编码 剩余字节存储字模数据 uint8_t len; // 字库长度 超过256则请改为uint16_t const ASCIIFont *ascii; // 缺省ASCII字体 当字库中没有对应字符且需要显示ASCII字符时使用 } Font; extern const Font font16x16; /** * @brief 图片结构体 * @note 图片数据可以使用波特律动LED取模助手生成(https://led.baud-dance.com) */ typedef struct Image { uint8_t w; // 图片宽度 uint8_t h; // 图片高度 const uint8_t *data; // 图片数据 } Image; extern const Image bilibiliImg; #endif // __FONT_H
oled.h
#ifndef __OLED_H__ #define __OLED_H__ #include "font.h" #include "main.h" #include "string.h" typedef enum { OLED_COLOR_NORMAL = 0, // 正常模式 黑底白字 OLED_COLOR_REVERSED // 反色模式 白底黑字 } OLED_ColorMode; void OLED_Init(); void OLED_DisPlay_On(); void OLED_DisPlay_Off(); void OLED_NewFrame(); void OLED_ShowFrame(); void OLED_SetPixel(uint8_t x, uint8_t y, OLED_ColorMode color); void OLED_DrawLine(uint8_t x1, uint8_t y1, uint8_t x2, uint8_t y2, OLED_ColorMode color); void OLED_DrawRectangle(uint8_t x, uint8_t y, uint8_t w, uint8_t h, OLED_ColorMode color); void OLED_DrawFilledRectangle(uint8_t x, uint8_t y, uint8_t w, uint8_t h, OLED_ColorMode color); void OLED_DrawTriangle(uint8_t x1, uint8_t y1, uint8_t x2, uint8_t y2, uint8_t x3, uint8_t y3, OLED_ColorMode color); void OLED_DrawFilledTriangle(uint8_t x1, uint8_t y1, uint8_t x2, uint8_t y2, uint8_t x3, uint8_t y3, OLED_ColorMode color); void OLED_DrawCircle(uint8_t x, uint8_t y, uint8_t r, OLED_ColorMode color); void OLED_DrawFilledCircle(uint8_t x, uint8_t y, uint8_t r, OLED_ColorMode color); void OLED_DrawEllipse(uint8_t x, uint8_t y, uint8_t a, uint8_t b, OLED_ColorMode color); void OLED_DrawImage(uint8_t x, uint8_t y, const Image *img, OLED_ColorMode color); void OLED_PrintASCIIChar(uint8_t x, uint8_t y, char ch, const ASCIIFont *font, OLED_ColorMode color); void OLED_PrintASCIIString(uint8_t x, uint8_t y, char *str, const ASCIIFont *font, OLED_ColorMode color); void OLED_PrintString(uint8_t x, uint8_t y, char *str, const Font *font, OLED_ColorMode color); #endif // __OLED_H__mpu6050.h
#include <stdint.h> #ifndef INC_MPU6050_H_ #define INC_MPU6050_H_ // MPU6050 I2C地址 #define MPU6050_ADDR 0xD0 // (0x68 << 1) // 寄存器定义 #define SMPLRT_DIV 0x19 #define CONFIG 0x1A #define GYRO_CONFIG 0x1B #define ACCEL_CONFIG 0x1C #define PWR_MGMT_1 0x6B #define WHO_AM_I 0x75 #define ACCEL_XOUT_H 0x3B #define TEMP_OUT_H 0x41 #define GYRO_XOUT_H 0x43 // 加速度计灵敏度 (g/LSB) #define AFS_SEL_0 16384.0 #define AFS_SEL_1 8192.0 #define AFS_SEL_2 4096.0 #define AFS_SEL_3 2048.0 // 陀螺仪灵敏度 (°/s/LSB) #define GFS_SEL_0 131.0 #define GFS_SEL_1 65.5 #define GFS_SEL_2 32.8 #define GFS_SEL_3 16.4 typedef struct { int16_t Accel_X_RAW; int16_t Accel_Y_RAW; int16_t Accel_Z_RAW; int16_t Gyro_X_RAW; int16_t Gyro_Y_RAW; int16_t Gyro_Z_RAW; int16_t Temperature_RAW; float Ax, Ay, Az; // 加速度 (g) float Gx, Gy, Gz; // 角速度 (°/s) float Temp; // 温度 (°C) float Gyro_Offset_X; // 陀螺仪X轴零偏 float Gyro_Offset_Y; // 陀螺仪Y轴零偏 float Gyro_Offset_Z; // 陀螺仪Z轴零偏 // DMA缓冲区 uint8_t dma_buffer[14]; } MPU6050_t; // 函数声明 uint8_t MPU6050_Init(); void MPU6050_Read_All_DMA(MPU6050_t *DataStruct); void MPU6050_Process_Data(MPU6050_t *DataStruct); void MPU6050_Calibrate(MPU6050_t *DataStruct, uint16_t numSamples); #endif /* INC_MPU6050_H_ */madgwick.h
#ifndef INC_MADGWICK_H_ #define INC_MADGWICK_H_ typedef struct { float q0, q1, q2, q3; // 四元数 float beta; // 滤波器增益 float sampleFreq; // 采样频率 } MadgwickFilter; // 函数声明 void Madgwick_Init(MadgwickFilter *filter, float beta, float sampleFreq); void Madgwick_Update(MadgwickFilter *filter, float gx, float gy, float gz, float ax, float ay, float az); void Get_Euler_Angles(MadgwickFilter *filter, float *roll, float *pitch, float *yaw); #endif /* INC_MADGWICK_H_ */
Src
font.c
/** * @file font.c * @brief 字体库 * * @attention * 本字体库与波特律动OLED驱动配套使用 * 英文字库已包含 * 中文字库请使用波特律动LED取模工具生成(https://led.baud-dance.com) * 图模也使用波特律动LED取模工具生成 */ // clang-format off #include "font.h" // 8*6 ASCII const unsigned char ascii_8x6[][6] = { {0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, // space 空格 {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 }; const ASCIIFont afont8x6 = {8, 6, (unsigned char *)ascii_8x6}; const unsigned char ascii_12x6[][12] = { {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*" ",0*/ {0x00, 0x00, 0xFC, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00}, /*"!",1*/ {0x00, 0x0C, 0x02, 0x0C, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*""",2*/ {0x90, 0xD0, 0xBC, 0xD0, 0xBC, 0x90, 0x00, 0x03, 0x00, 0x03, 0x00, 0x00}, /*"#",3*/ {0x18, 0x24, 0xFE, 0x44, 0x8C, 0x00, 0x03, 0x02, 0x07, 0x02, 0x01, 0x00}, /*"$",4*/ {0x18, 0x24, 0xD8, 0xB0, 0x4C, 0x80, 0x00, 0x03, 0x00, 0x01, 0x02, 0x01}, /*"%",5*/ {0xC0, 0x38, 0xE4, 0x38, 0xE0, 0x00, 0x01, 0x02, 0x02, 0x01, 0x02, 0x02}, /*"&",6*/ {0x08, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"'",7*/ {0x00, 0x00, 0x00, 0xF8, 0x04, 0x02, 0x00, 0x00, 0x00, 0x01, 0x02, 0x04}, /*"(",8*/ {0x00, 0x02, 0x04, 0xF8, 0x00, 0x00, 0x00, 0x04, 0x02, 0x01, 0x00, 0x00}, /*")",9*/ {0x90, 0x60, 0xF8, 0x60, 0x90, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00}, /*"*",10*/ {0x20, 0x20, 0xFC, 0x20, 0x20, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00}, /*"+",11*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x06, 0x00, 0x00, 0x00, 0x00}, /*",",12*/ {0x20, 0x20, 0x20, 0x20, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"-",13*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00}, /*".",14*/ {0x00, 0x80, 0x60, 0x1C, 0x02, 0x00, 0x04, 0x03, 0x00, 0x00, 0x00, 0x00}, /*"/",15*/ {0xF8, 0x04, 0x04, 0x04, 0xF8, 0x00, 0x01, 0x02, 0x02, 0x02, 0x01, 0x00}, /*"0",16*/ {0x00, 0x08, 0xFC, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x02, 0x00, 0x00}, /*"1",17*/ {0x18, 0x84, 0x44, 0x24, 0x18, 0x00, 0x03, 0x02, 0x02, 0x02, 0x02, 0x00}, /*"2",18*/ {0x08, 0x04, 0x24, 0x24, 0xD8, 0x00, 0x01, 0x02, 0x02, 0x02, 0x01, 0x00}, /*"3",19*/ {0x40, 0xB0, 0x88, 0xFC, 0x80, 0x00, 0x00, 0x00, 0x00, 0x03, 0x02, 0x00}, /*"4",20*/ {0x3C, 0x24, 0x24, 0x24, 0xC4, 0x00, 0x01, 0x02, 0x02, 0x02, 0x01, 0x00}, /*"5",21*/ {0xF8, 0x24, 0x24, 0x2C, 0xC0, 0x00, 0x01, 0x02, 0x02, 0x02, 0x01, 0x00}, /*"6",22*/ {0x0C, 0x04, 0xE4, 0x1C, 0x04, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00}, /*"7",23*/ {0xD8, 0x24, 0x24, 0x24, 0xD8, 0x00, 0x01, 0x02, 0x02, 0x02, 0x01, 0x00}, /*"8",24*/ {0x38, 0x44, 0x44, 0x44, 0xF8, 0x00, 0x00, 0x03, 0x02, 0x02, 0x01, 0x00}, /*"9",25*/ {0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00}, /*":",26*/ {0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00}, /*";",27*/ {0x00, 0x20, 0x50, 0x88, 0x04, 0x02, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02}, /*"<",28*/ {0x90, 0x90, 0x90, 0x90, 0x90, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"=",29*/ {0x00, 0x02, 0x04, 0x88, 0x50, 0x20, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00}, /*">",30*/ {0x18, 0x04, 0xC4, 0x24, 0x18, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00}, /*"?",31*/ {0xF8, 0x04, 0xE4, 0x94, 0xF8, 0x00, 0x01, 0x02, 0x02, 0x02, 0x02, 0x00}, /*"@",32*/ {0x00, 0xE0, 0x9C, 0xF0, 0x80, 0x00, 0x02, 0x03, 0x00, 0x00, 0x03, 0x02}, /*"A",33*/ {0x04, 0xFC, 0x24, 0x24, 0xD8, 0x00, 0x02, 0x03, 0x02, 0x02, 0x01, 0x00}, /*"B",34*/ {0xF8, 0x04, 0x04, 0x04, 0x0C, 0x00, 0x01, 0x02, 0x02, 0x02, 0x01, 0x00}, /*"C",35*/ {0x04, 0xFC, 0x04, 0x04, 0xF8, 0x00, 0x02, 0x03, 0x02, 0x02, 0x01, 0x00}, /*"D",36*/ {0x04, 0xFC, 0x24, 0x74, 0x0C, 0x00, 0x02, 0x03, 0x02, 0x02, 0x03, 0x00}, /*"E",37*/ {0x04, 0xFC, 0x24, 0x74, 0x0C, 0x00, 0x02, 0x03, 0x02, 0x00, 0x00, 0x00}, /*"F",38*/ {0xF0, 0x08, 0x04, 0x44, 0xCC, 0x40, 0x00, 0x01, 0x02, 0x02, 0x01, 0x00}, /*"G",39*/ {0x04, 0xFC, 0x20, 0x20, 0xFC, 0x04, 0x02, 0x03, 0x00, 0x00, 0x03, 0x02}, /*"H",40*/ {0x04, 0x04, 0xFC, 0x04, 0x04, 0x00, 0x02, 0x02, 0x03, 0x02, 0x02, 0x00}, /*"I",41*/ {0x00, 0x04, 0x04, 0xFC, 0x04, 0x04, 0x06, 0x04, 0x04, 0x03, 0x00, 0x00}, /*"J",42*/ {0x04, 0xFC, 0x24, 0xD0, 0x0C, 0x04, 0x02, 0x03, 0x02, 0x00, 0x03, 0x02}, /*"K",43*/ {0x04, 0xFC, 0x04, 0x00, 0x00, 0x00, 0x02, 0x03, 0x02, 0x02, 0x02, 0x03}, /*"L",44*/ {0xFC, 0x3C, 0xC0, 0x3C, 0xFC, 0x00, 0x03, 0x00, 0x03, 0x00, 0x03, 0x00}, /*"M",45*/ {0x04, 0xFC, 0x30, 0xC4, 0xFC, 0x04, 0x02, 0x03, 0x02, 0x00, 0x03, 0x00}, /*"N",46*/ {0xF8, 0x04, 0x04, 0x04, 0xF8, 0x00, 0x01, 0x02, 0x02, 0x02, 0x01, 0x00}, /*"O",47*/ {0x04, 0xFC, 0x24, 0x24, 0x18, 0x00, 0x02, 0x03, 0x02, 0x00, 0x00, 0x00}, /*"P",48*/ {0xF8, 0x84, 0x84, 0x04, 0xF8, 0x00, 0x01, 0x02, 0x02, 0x07, 0x05, 0x00}, /*"Q",49*/ {0x04, 0xFC, 0x24, 0x64, 0x98, 0x00, 0x02, 0x03, 0x02, 0x00, 0x03, 0x02}, /*"R",50*/ {0x18, 0x24, 0x24, 0x44, 0x8C, 0x00, 0x03, 0x02, 0x02, 0x02, 0x01, 0x00}, /*"S",51*/ {0x0C, 0x04, 0xFC, 0x04, 0x0C, 0x00, 0x00, 0x02, 0x03, 0x02, 0x00, 0x00}, /*"T",52*/ {0x04, 0xFC, 0x00, 0x00, 0xFC, 0x04, 0x00, 0x01, 0x02, 0x02, 0x01, 0x00}, /*"U",53*/ {0x04, 0x7C, 0x80, 0xE0, 0x1C, 0x04, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00}, /*"V",54*/ {0x1C, 0xE0, 0x3C, 0xE0, 0x1C, 0x00, 0x00, 0x03, 0x00, 0x03, 0x00, 0x00}, /*"W",55*/ {0x04, 0x9C, 0x60, 0x9C, 0x04, 0x00, 0x02, 0x03, 0x00, 0x03, 0x02, 0x00}, /*"X",56*/ {0x04, 0x1C, 0xE0, 0x1C, 0x04, 0x00, 0x00, 0x02, 0x03, 0x02, 0x00, 0x00}, /*"Y",57*/ {0x0C, 0x84, 0x64, 0x1C, 0x04, 0x00, 0x02, 0x03, 0x02, 0x02, 0x03, 0x00}, /*"Z",58*/ {0x00, 0x00, 0xFE, 0x02, 0x02, 0x00, 0x00, 0x00, 0x07, 0x04, 0x04, 0x00}, /*"[",59*/ {0x00, 0x0E, 0x30, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x00}, /*"\",60*/ {0x00, 0x02, 0x02, 0xFE, 0x00, 0x00, 0x00, 0x04, 0x04, 0x07, 0x00, 0x00}, /*"]",61*/ {0x00, 0x04, 0x02, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"^",62*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x08, 0x08, 0x08, 0x08, 0x08}, /*"_",63*/ {0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"`",64*/ {0x00, 0x40, 0xA0, 0xA0, 0xC0, 0x00, 0x00, 0x01, 0x02, 0x02, 0x03, 0x02}, /*"a",65*/ {0x04, 0xFC, 0x20, 0x20, 0xC0, 0x00, 0x00, 0x03, 0x02, 0x02, 0x01, 0x00}, /*"b",66*/ {0x00, 0xC0, 0x20, 0x20, 0x60, 0x00, 0x00, 0x01, 0x02, 0x02, 0x02, 0x00}, /*"c",67*/ {0x00, 0xC0, 0x20, 0x24, 0xFC, 0x00, 0x00, 0x01, 0x02, 0x02, 0x03, 0x02}, /*"d",68*/ {0x00, 0xC0, 0xA0, 0xA0, 0xC0, 0x00, 0x00, 0x01, 0x02, 0x02, 0x02, 0x00}, /*"e",69*/ {0x00, 0x20, 0xF8, 0x24, 0x24, 0x04, 0x00, 0x02, 0x03, 0x02, 0x02, 0x00}, /*"f",70*/ {0x00, 0x40, 0xA0, 0xA0, 0x60, 0x20, 0x00, 0x07, 0x0A, 0x0A, 0x0A, 0x04}, /*"g",71*/ {0x04, 0xFC, 0x20, 0x20, 0xC0, 0x00, 0x02, 0x03, 0x02, 0x00, 0x03, 0x02}, /*"h",72*/ {0x00, 0x20, 0xE4, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x02, 0x00, 0x00}, /*"i",73*/ {0x00, 0x00, 0x20, 0xE4, 0x00, 0x00, 0x08, 0x08, 0x08, 0x07, 0x00, 0x00}, /*"j",74*/ {0x04, 0xFC, 0x80, 0xE0, 0x20, 0x20, 0x02, 0x03, 0x02, 0x00, 0x03, 0x02}, /*"k",75*/ {0x04, 0x04, 0xFC, 0x00, 0x00, 0x00, 0x02, 0x02, 0x03, 0x02, 0x02, 0x00}, /*"l",76*/ {0xE0, 0x20, 0xE0, 0x20, 0xC0, 0x00, 0x03, 0x00, 0x03, 0x00, 0x03, 0x00}, /*"m",77*/ {0x20, 0xE0, 0x20, 0x20, 0xC0, 0x00, 0x02, 0x03, 0x02, 0x00, 0x03, 0x02}, /*"n",78*/ {0x00, 0xC0, 0x20, 0x20, 0xC0, 0x00, 0x00, 0x01, 0x02, 0x02, 0x01, 0x00}, /*"o",79*/ {0x20, 0xE0, 0x20, 0x20, 0xC0, 0x00, 0x08, 0x0F, 0x0A, 0x02, 0x01, 0x00}, /*"p",80*/ {0x00, 0xC0, 0x20, 0x20, 0xE0, 0x00, 0x00, 0x01, 0x02, 0x0A, 0x0F, 0x08}, /*"q",81*/ {0x20, 0xE0, 0x40, 0x20, 0x20, 0x00, 0x02, 0x03, 0x02, 0x00, 0x00, 0x00}, /*"r",82*/ {0x00, 0x60, 0xA0, 0xA0, 0x20, 0x00, 0x00, 0x02, 0x02, 0x02, 0x03, 0x00}, /*"s",83*/ {0x00, 0x20, 0xF8, 0x20, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x02, 0x00}, /*"t",84*/ {0x20, 0xE0, 0x00, 0x20, 0xE0, 0x00, 0x00, 0x01, 0x02, 0x02, 0x03, 0x02}, /*"u",85*/ {0x20, 0xE0, 0x20, 0x80, 0x60, 0x20, 0x00, 0x00, 0x03, 0x01, 0x00, 0x00}, /*"v",86*/ {0x60, 0x80, 0xE0, 0x80, 0x60, 0x00, 0x00, 0x03, 0x00, 0x03, 0x00, 0x00}, /*"w",87*/ {0x20, 0x60, 0x80, 0x60, 0x20, 0x00, 0x02, 0x03, 0x00, 0x03, 0x02, 0x00}, /*"x",88*/ {0x20, 0xE0, 0x20, 0x80, 0x60, 0x20, 0x08, 0x08, 0x07, 0x01, 0x00, 0x00}, /*"y",89*/ {0x00, 0x20, 0xA0, 0x60, 0x20, 0x00, 0x00, 0x02, 0x03, 0x02, 0x02, 0x00}, /*"z",90*/ {0x00, 0x00, 0x20, 0xDE, 0x02, 0x00, 0x00, 0x00, 0x00, 0x07, 0x04, 0x00}, /*"{",91*/ {0x00, 0x00, 0x00, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0x00, 0x00}, /*"|",92*/ {0x00, 0x02, 0xDE, 0x20, 0x00, 0x00, 0x00, 0x04, 0x07, 0x00, 0x00, 0x00}, /*"}",93*/ {0x02, 0x01, 0x02, 0x04, 0x04, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"~",94*/ }; const ASCIIFont afont12x6 = {12, 6, (unsigned char *)ascii_12x6}; const unsigned char ascii_16x8[][16] = { {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*" ",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, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x00, 0x00}, /*"|",92*/ {0x00, 0x02, 0x02, 0x7C, 0x80, 0x00, 0x00, 0x00, 0x00, 0x40, 0x40, 0x3F, 0x00, 0x00, 0x00, 0x00}, /*"}",93*/ {0x00, 0x06, 0x01, 0x01, 0x02, 0x02, 0x04, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"~",94*/ }; const ASCIIFont afont16x8 = {16, 8, (unsigned char *)ascii_16x8}; const unsigned char ascii_24x12[][36] = { {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*" ",0*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0xF0, 0xF0, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x7F, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1C, 0x1C, 0x1C, 0x00, 0x00, 0x00, 0x00}, /*"!",1*/ {0x00, 0x00, 0x80, 0x60, 0x30, 0x1C, 0x8C, 0x60, 0x30, 0x1C, 0x0C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*""",2*/ {0x00, 0x00, 0x00, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0x00, 0x00, 0x00, 0x86, 0xE6, 0x9F, 0x86, 0x86, 0x86, 0x86, 0xE6, 0x9F, 0x86, 0x00, 0x00, 0x01, 0x1F, 0x01, 0x01, 0x01, 0x01, 0x01, 0x1F, 0x01, 0x01, 0x00}, /*"#",3*/ {0x00, 0x00, 0x80, 0xC0, 0x60, 0x20, 0xF8, 0x20, 0xE0, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x03, 0x07, 0x0C, 0x18, 0xFF, 0x70, 0xE1, 0x81, 0x00, 0x00, 0x00, 0x00, 0x07, 0x0F, 0x10, 0x10, 0x7F, 0x10, 0x0F, 0x07, 0x00, 0x00}, /*"$",4*/ {0x80, 0x60, 0x20, 0x60, 0x80, 0x00, 0x00, 0x00, 0xE0, 0x20, 0x00, 0x00, 0x0F, 0x30, 0x20, 0x30, 0x9F, 0x70, 0xDC, 0x37, 0x10, 0x30, 0xC0, 0x00, 0x00, 0x00, 0x10, 0x0E, 0x03, 0x00, 0x07, 0x18, 0x10, 0x18, 0x07, 0x00}, /*"%",5*/ {0x00, 0x00, 0xC0, 0x20, 0x20, 0xE0, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xE0, 0x1F, 0x38, 0xE8, 0x87, 0x03, 0xC4, 0x3C, 0x04, 0x00, 0x00, 0x07, 0x0F, 0x18, 0x10, 0x10, 0x0B, 0x07, 0x0D, 0x10, 0x10, 0x08, 0x00}, /*"&",6*/ {0x00, 0x80, 0x8C, 0x4C, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"'",7*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0xE0, 0x30, 0x08, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x0F, 0x18, 0x20, 0x40, 0x00}, /*"(",8*/ {0x00, 0x04, 0x08, 0x30, 0xE0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0xFF, 0xFE, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x20, 0x18, 0x0F, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*")",9*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x42, 0x66, 0x66, 0x3C, 0x18, 0xFF, 0x18, 0x3C, 0x66, 0x66, 0x42, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"*",10*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x10, 0x10, 0x10, 0x10, 0xFF, 0x10, 0x10, 0x10, 0x10, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"+",11*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x8C, 0x4C, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*",",12*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"-",13*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1C, 0x1C, 0x1C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*".",14*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0x38, 0x0C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x70, 0x1C, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x60, 0x38, 0x0E, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"/",15*/ {0x00, 0x00, 0x80, 0xC0, 0x60, 0x20, 0x20, 0x60, 0xC0, 0x80, 0x00, 0x00, 0x00, 0xFE, 0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01, 0xFF, 0xFE, 0x00, 0x00, 0x01, 0x07, 0x0E, 0x18, 0x10, 0x10, 0x18, 0x0E, 0x07, 0x01, 0x00}, /*"0",16*/ {0x00, 0x00, 0x80, 0x80, 0x80, 0xC0, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x10, 0x10, 0x1F, 0x1F, 0x10, 0x10, 0x10, 0x00, 0x00}, /*"1",17*/ {0x00, 0x80, 0x40, 0x20, 0x20, 0x20, 0x20, 0x60, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x03, 0x03, 0x00, 0x80, 0x40, 0x20, 0x38, 0x1F, 0x07, 0x00, 0x00, 0x00, 0x1C, 0x1A, 0x19, 0x18, 0x18, 0x18, 0x18, 0x18, 0x1F, 0x00, 0x00}, /*"2",18*/ {0x00, 0x80, 0xC0, 0x20, 0x20, 0x20, 0x60, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x03, 0x03, 0x00, 0x10, 0x10, 0x18, 0x2F, 0xE7, 0x80, 0x00, 0x00, 0x00, 0x07, 0x0F, 0x10, 0x10, 0x10, 0x10, 0x18, 0x0F, 0x07, 0x00, 0x00}, /*"3",19*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0xE0, 0xF0, 0x00, 0x00, 0x00, 0x00, 0xC0, 0xB0, 0x88, 0x86, 0x81, 0x80, 0xFF, 0xFF, 0x80, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x10, 0x1F, 0x1F, 0x10, 0x10, 0x00}, /*"4",20*/ {0x00, 0x00, 0xE0, 0x60, 0x60, 0x60, 0x60, 0x60, 0x60, 0x60, 0x00, 0x00, 0x00, 0x00, 0x3F, 0x10, 0x08, 0x08, 0x08, 0x18, 0xF0, 0xE0, 0x00, 0x00, 0x00, 0x07, 0x0B, 0x10, 0x10, 0x10, 0x10, 0x1C, 0x0F, 0x03, 0x00, 0x00}, /*"5",21*/ {0x00, 0x00, 0x80, 0xC0, 0x40, 0x20, 0x20, 0x20, 0xE0, 0xC0, 0x00, 0x00, 0x00, 0xFC, 0xFF, 0x21, 0x10, 0x08, 0x08, 0x08, 0x18, 0xF0, 0xE0, 0x00, 0x00, 0x01, 0x07, 0x0C, 0x18, 0x10, 0x10, 0x10, 0x08, 0x0F, 0x03, 0x00}, /*"6",22*/ {0x00, 0x00, 0xC0, 0xE0, 0x60, 0x60, 0x60, 0x60, 0x60, 0xE0, 0x60, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xE0, 0x18, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"7",23*/ {0x00, 0x80, 0xC0, 0x60, 0x20, 0x20, 0x20, 0x20, 0x60, 0xC0, 0x80, 0x00, 0x00, 0x87, 0xEF, 0x2C, 0x18, 0x18, 0x30, 0x30, 0x68, 0xCF, 0x83, 0x00, 0x00, 0x07, 0x0F, 0x08, 0x10, 0x10, 0x10, 0x10, 0x18, 0x0F, 0x07, 0x00}, /*"8",24*/ {0x00, 0x00, 0xC0, 0xC0, 0x20, 0x20, 0x20, 0x20, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x3F, 0x60, 0x40, 0x40, 0x40, 0x20, 0x10, 0xFF, 0xFE, 0x00, 0x00, 0x00, 0x0C, 0x1C, 0x10, 0x10, 0x10, 0x08, 0x0F, 0x03, 0x00, 0x00}, /*"9",25*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0E, 0x0E, 0x0E, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1C, 0x1C, 0x1C, 0x00, 0x00, 0x00, 0x00}, /*":",26*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x0C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x58, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00}, /*";",27*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x40, 0x20, 0x10, 0x00, 0x00, 0x00, 0x10, 0x28, 0x44, 0x82, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x04, 0x08, 0x10, 0x00}, /*"<",28*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x84, 0x84, 0x84, 0x84, 0x84, 0x84, 0x84, 0x84, 0x84, 0x84, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"=",29*/ {0x00, 0x00, 0x10, 0x20, 0x40, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x82, 0x44, 0x28, 0x10, 0x00, 0x00, 0x00, 0x10, 0x08, 0x04, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00}, /*">",30*/ {0x00, 0xC0, 0x20, 0x20, 0x10, 0x10, 0x10, 0x10, 0x30, 0xE0, 0xC0, 0x00, 0x00, 0x03, 0x03, 0x00, 0x00, 0xF0, 0x10, 0x08, 0x0C, 0x07, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1C, 0x1C, 0x1C, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"?",31*/ {0x00, 0x00, 0x00, 0xC0, 0x40, 0x60, 0x20, 0x20, 0x20, 0x40, 0xC0, 0x00, 0x00, 0xFC, 0xFF, 0x01, 0xF0, 0x0E, 0x03, 0xC1, 0xFE, 0x03, 0x80, 0x7F, 0x00, 0x01, 0x07, 0x0E, 0x08, 0x11, 0x11, 0x10, 0x11, 0x09, 0x04, 0x02}, /*"@",32*/ {0x00, 0x00, 0x00, 0x00, 0x80, 0xE0, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x7C, 0x43, 0x40, 0x47, 0x7F, 0xF8, 0x80, 0x00, 0x00, 0x10, 0x18, 0x1F, 0x10, 0x00, 0x00, 0x00, 0x00, 0x13, 0x1F, 0x1C, 0x10}, /*"A",33*/ {0x20, 0xE0, 0xE0, 0x20, 0x20, 0x20, 0x20, 0x60, 0xC0, 0x80, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x10, 0x10, 0x10, 0x10, 0x18, 0x2F, 0xE7, 0x80, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x10, 0x10, 0x10, 0x10, 0x18, 0x0F, 0x07, 0x00}, /*"B",34*/ {0x00, 0x00, 0x80, 0xC0, 0x40, 0x20, 0x20, 0x20, 0x20, 0x60, 0xE0, 0x00, 0x00, 0xFC, 0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x01, 0x07, 0x0E, 0x18, 0x10, 0x10, 0x10, 0x08, 0x04, 0x03, 0x00}, /*"C",35*/ {0x20, 0xE0, 0xE0, 0x20, 0x20, 0x20, 0x20, 0x40, 0xC0, 0x80, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0xFF, 0xFE, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x10, 0x10, 0x18, 0x08, 0x0E, 0x07, 0x01, 0x00}, /*"D",36*/ {0x20, 0xE0, 0xE0, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x60, 0x80, 0x00, 0x00, 0xFF, 0xFF, 0x10, 0x10, 0x10, 0x10, 0x7C, 0x00, 0x00, 0x00, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x18, 0x06, 0x00}, /*"E",37*/ {0x20, 0xE0, 0xE0, 0x20, 0x20, 0x20, 0x20, 0x20, 0x60, 0x60, 0x80, 0x00, 0x00, 0xFF, 0xFF, 0x10, 0x10, 0x10, 0x10, 0x7C, 0x00, 0x00, 0x01, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"F",38*/ {0x00, 0x00, 0x80, 0xC0, 0x60, 0x20, 0x20, 0x20, 0x40, 0xE0, 0x00, 0x00, 0x00, 0xFC, 0xFF, 0x01, 0x00, 0x00, 0x40, 0x40, 0xC0, 0xC1, 0x40, 0x40, 0x00, 0x01, 0x07, 0x0E, 0x18, 0x10, 0x10, 0x10, 0x0F, 0x0F, 0x00, 0x00}, /*"G",39*/ {0x20, 0xE0, 0xE0, 0x20, 0x00, 0x00, 0x00, 0x00, 0x20, 0xE0, 0xE0, 0x20, 0x00, 0xFF, 0xFF, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0xFF, 0xFF, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x00, 0x00, 0x00, 0x00, 0x10, 0x1F, 0x1F, 0x10}, /*"H",40*/ {0x00, 0x00, 0x20, 0x20, 0x20, 0xE0, 0xE0, 0x20, 0x20, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x10, 0x10, 0x1F, 0x1F, 0x10, 0x10, 0x10, 0x00, 0x00}, /*"I",41*/ {0x00, 0x00, 0x00, 0x00, 0x20, 0x20, 0x20, 0xE0, 0xE0, 0x20, 0x20, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x60, 0xE0, 0x80, 0x80, 0x80, 0xC0, 0x7F, 0x3F, 0x00, 0x00, 0x00}, /*"J",42*/ {0x20, 0xE0, 0xE0, 0x20, 0x00, 0x00, 0x20, 0xA0, 0x60, 0x20, 0x20, 0x00, 0x00, 0xFF, 0xFF, 0x30, 0x18, 0x7C, 0xE3, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x00, 0x00, 0x01, 0x13, 0x1F, 0x1C, 0x18, 0x10}, /*"K",43*/ {0x20, 0xE0, 0xE0, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x18, 0x06, 0x00}, /*"L",44*/ {0x20, 0xE0, 0xE0, 0xE0, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xE0, 0xE0, 0x20, 0x00, 0xFF, 0x01, 0x3F, 0xFE, 0xC0, 0xE0, 0x1E, 0x01, 0xFF, 0xFF, 0x00, 0x10, 0x1F, 0x10, 0x00, 0x03, 0x1F, 0x03, 0x00, 0x10, 0x1F, 0x1F, 0x10}, /*"M",45*/ {0x20, 0xE0, 0xE0, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0xE0, 0x20, 0x00, 0xFF, 0x00, 0x03, 0x07, 0x1C, 0x78, 0xE0, 0x80, 0x00, 0xFF, 0x00, 0x10, 0x1F, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x0F, 0x1F, 0x00}, /*"N",46*/ {0x00, 0x00, 0x80, 0xC0, 0x60, 0x20, 0x20, 0x60, 0xC0, 0x80, 0x00, 0x00, 0x00, 0xFE, 0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFE, 0x00, 0x00, 0x01, 0x07, 0x0E, 0x18, 0x10, 0x10, 0x18, 0x0C, 0x07, 0x01, 0x00}, /*"O",47*/ {0x20, 0xE0, 0xE0, 0x20, 0x20, 0x20, 0x20, 0x20, 0x60, 0xC0, 0x80, 0x00, 0x00, 0xFF, 0xFF, 0x20, 0x20, 0x20, 0x20, 0x20, 0x30, 0x1F, 0x0F, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"P",48*/ {0x00, 0x00, 0x80, 0xC0, 0x60, 0x20, 0x20, 0x60, 0xC0, 0x80, 0x00, 0x00, 0x00, 0xFE, 0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFE, 0x00, 0x00, 0x01, 0x07, 0x0E, 0x11, 0x11, 0x13, 0x3C, 0x7C, 0x67, 0x21, 0x00}, /*"Q",49*/ {0x20, 0xE0, 0xE0, 0x20, 0x20, 0x20, 0x20, 0x20, 0x60, 0xC0, 0x80, 0x00, 0x00, 0xFF, 0xFF, 0x10, 0x10, 0x30, 0xF0, 0xD0, 0x08, 0x0F, 0x07, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x00, 0x00, 0x00, 0x03, 0x0F, 0x1C, 0x10, 0x10}, /*"R",50*/ {0x00, 0x80, 0xC0, 0x60, 0x20, 0x20, 0x20, 0x20, 0x40, 0x40, 0xE0, 0x00, 0x00, 0x07, 0x0F, 0x0C, 0x18, 0x18, 0x30, 0x30, 0x60, 0xE0, 0x81, 0x00, 0x00, 0x1F, 0x0C, 0x08, 0x10, 0x10, 0x10, 0x10, 0x18, 0x0F, 0x07, 0x00}, /*"S",51*/ {0x80, 0x60, 0x20, 0x20, 0x20, 0xE0, 0xE0, 0x20, 0x20, 0x20, 0x60, 0x80, 0x01, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x00, 0x00, 0x00, 0x00}, /*"T",52*/ {0x20, 0xE0, 0xE0, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0xE0, 0x20, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x00, 0x07, 0x0F, 0x18, 0x10, 0x10, 0x10, 0x10, 0x10, 0x08, 0x07, 0x00}, /*"U",53*/ {0x20, 0x60, 0xE0, 0xE0, 0x20, 0x00, 0x00, 0x00, 0x20, 0xE0, 0x60, 0x20, 0x00, 0x00, 0x07, 0x7F, 0xF8, 0x80, 0x00, 0x80, 0x7C, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x1F, 0x1C, 0x07, 0x00, 0x00, 0x00, 0x00}, /*"V",54*/ {0x20, 0xE0, 0xE0, 0x20, 0x00, 0xE0, 0xE0, 0x20, 0x00, 0x20, 0xE0, 0x20, 0x00, 0x07, 0xFF, 0xF8, 0xE0, 0x1F, 0xFF, 0xFC, 0xE0, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x03, 0x1F, 0x03, 0x00, 0x01, 0x1F, 0x03, 0x00, 0x00, 0x00}, /*"W",55*/ {0x00, 0x20, 0x60, 0xE0, 0xA0, 0x00, 0x00, 0x20, 0xE0, 0x60, 0x20, 0x00, 0x00, 0x00, 0x00, 0x03, 0x8F, 0x7C, 0xF8, 0xC6, 0x01, 0x00, 0x00, 0x00, 0x00, 0x10, 0x18, 0x1E, 0x13, 0x00, 0x01, 0x17, 0x1F, 0x18, 0x10, 0x00}, /*"X",56*/ {0x20, 0x60, 0xE0, 0xE0, 0x20, 0x00, 0x00, 0x00, 0x20, 0xE0, 0x60, 0x20, 0x00, 0x00, 0x01, 0x07, 0x3E, 0xF8, 0xE0, 0x18, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x10, 0x1F, 0x1F, 0x10, 0x10, 0x00, 0x00, 0x00}, /*"Y",57*/ {0x00, 0x80, 0x60, 0x20, 0x20, 0x20, 0x20, 0xA0, 0xE0, 0xE0, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0xF0, 0x3E, 0x0F, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x1C, 0x1F, 0x17, 0x10, 0x10, 0x10, 0x10, 0x18, 0x06, 0x00}, /*"Z",58*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0xFC, 0x04, 0x04, 0x04, 0x04, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7F, 0x40, 0x40, 0x40, 0x40, 0x40, 0x00}, /*"[",59*/ {0x00, 0x00, 0x10, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x1C, 0x60, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x0C, 0x70, 0x80, 0x00}, /*"\",60*/ {0x00, 0x00, 0x04, 0x04, 0x04, 0x04, 0x04, 0xFC, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x40, 0x40, 0x40, 0x40, 0x7F, 0x00, 0x00, 0x00, 0x00}, /*"]",61*/ {0x00, 0x00, 0x00, 0x10, 0x08, 0x0C, 0x04, 0x0C, 0x08, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"^",62*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80}, /*"_",63*/ {0x00, 0x00, 0x00, 0x04, 0x04, 0x08, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"`",64*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x98, 0xD8, 0x44, 0x64, 0x24, 0x24, 0xFC, 0xF8, 0x00, 0x00, 0x00, 0x0F, 0x1F, 0x18, 0x10, 0x10, 0x10, 0x08, 0x1F, 0x1F, 0x10, 0x18}, /*"a",65*/ {0x00, 0x20, 0xE0, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x18, 0x08, 0x04, 0x04, 0x0C, 0xF8, 0xF0, 0x00, 0x00, 0x00, 0x1F, 0x0F, 0x18, 0x10, 0x10, 0x10, 0x18, 0x0F, 0x03, 0x00}, /*"b",66*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xF8, 0x18, 0x04, 0x04, 0x04, 0x3C, 0x38, 0x00, 0x00, 0x00, 0x00, 0x03, 0x0F, 0x0C, 0x10, 0x10, 0x10, 0x10, 0x08, 0x06, 0x00, 0x00}, /*"c",67*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0xE0, 0xF0, 0x00, 0x00, 0x00, 0xE0, 0xF8, 0x1C, 0x04, 0x04, 0x04, 0x08, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x03, 0x0F, 0x18, 0x10, 0x10, 0x10, 0x08, 0x1F, 0x0F, 0x08, 0x00}, /*"d",68*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xF8, 0x48, 0x44, 0x44, 0x44, 0x4C, 0x78, 0x70, 0x00, 0x00, 0x00, 0x03, 0x0F, 0x0C, 0x18, 0x10, 0x10, 0x10, 0x08, 0x04, 0x00}, /*"e",69*/ {0x00, 0x00, 0x00, 0x00, 0x80, 0xC0, 0x60, 0x20, 0x20, 0xE0, 0xC0, 0x00, 0x00, 0x04, 0x04, 0x04, 0xFF, 0xFF, 0x04, 0x04, 0x04, 0x04, 0x00, 0x00, 0x00, 0x00, 0x10, 0x10, 0x1F, 0x1F, 0x10, 0x10, 0x10, 0x00, 0x00, 0x00}, /*"f",70*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x70, 0xF8, 0x8C, 0x04, 0x04, 0x8C, 0xF8, 0x74, 0x04, 0x0C, 0x00, 0x70, 0x76, 0xCF, 0x8D, 0x8D, 0x8D, 0x89, 0xC8, 0x78, 0x70, 0x00}, /*"g",71*/ {0x00, 0x20, 0xE0, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x08, 0x04, 0x04, 0x04, 0xFC, 0xF8, 0x00, 0x00, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x00, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x00}, /*"h",72*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x60, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x04, 0x04, 0xFC, 0xFC, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x10, 0x10, 0x1F, 0x1F, 0x10, 0x10, 0x10, 0x00, 0x00}, /*"i",73*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x60, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x04, 0x04, 0xFC, 0xFC, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0xC0, 0x80, 0x80, 0xC0, 0x7F, 0x3F, 0x00, 0x00, 0x00}, /*"j",74*/ {0x00, 0x20, 0xE0, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x80, 0xC0, 0xF4, 0x1C, 0x04, 0x04, 0x00, 0x00, 0x00, 0x10, 0x1F, 0x1F, 0x11, 0x00, 0x03, 0x1F, 0x1C, 0x10, 0x10, 0x00}, /*"k",75*/ {0x00, 0x00, 0x20, 0x20, 0x20, 0xE0, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x10, 0x10, 0x1F, 0x1F, 0x10, 0x10, 0x10, 0x00, 0x00}, /*"l",76*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0xFC, 0xFC, 0x08, 0x04, 0xFC, 0xFC, 0x08, 0x04, 0xFC, 0xFC, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x00, 0x1F, 0x1F, 0x10, 0x00, 0x1F, 0x1F, 0x10}, /*"m",77*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0xFC, 0xFC, 0x08, 0x08, 0x04, 0x04, 0xFC, 0xF8, 0x00, 0x00, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x00, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x00}, /*"n",78*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xF0, 0x18, 0x0C, 0x04, 0x04, 0x0C, 0x18, 0xF0, 0xE0, 0x00, 0x00, 0x03, 0x0F, 0x0C, 0x10, 0x10, 0x10, 0x10, 0x0C, 0x0F, 0x03, 0x00}, /*"o",79*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0xFC, 0xFC, 0x08, 0x04, 0x04, 0x04, 0x0C, 0xF8, 0xF0, 0x00, 0x00, 0x80, 0xFF, 0xFF, 0x88, 0x90, 0x10, 0x10, 0x1C, 0x0F, 0x03, 0x00}, /*"p",80*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0, 0xF8, 0x1C, 0x04, 0x04, 0x04, 0x08, 0xF8, 0xFC, 0x00, 0x00, 0x00, 0x03, 0x0F, 0x18, 0x10, 0x10, 0x90, 0x88, 0xFF, 0xFF, 0x80, 0x00}, /*"q",81*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x04, 0x04, 0xFC, 0xFC, 0x10, 0x08, 0x04, 0x04, 0x0C, 0x0C, 0x00, 0x10, 0x10, 0x10, 0x1F, 0x1F, 0x10, 0x10, 0x10, 0x00, 0x00, 0x00, 0x00}, /*"r",82*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x30, 0x78, 0xCC, 0xC4, 0x84, 0x84, 0x84, 0x0C, 0x1C, 0x00, 0x00, 0x00, 0x1E, 0x18, 0x10, 0x10, 0x10, 0x11, 0x19, 0x0F, 0x06, 0x00}, /*"s",83*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x04, 0x04, 0xFF, 0xFF, 0x04, 0x04, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0x1F, 0x10, 0x10, 0x10, 0x0C, 0x00, 0x00}, /*"t",84*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0xFC, 0xFE, 0x00, 0x00, 0x00, 0x04, 0xFC, 0xFE, 0x00, 0x00, 0x00, 0x00, 0x0F, 0x1F, 0x18, 0x10, 0x10, 0x08, 0x1F, 0x0F, 0x08, 0x00}, /*"u",85*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x0C, 0x3C, 0xFC, 0xC4, 0x00, 0x00, 0xC4, 0x3C, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, 0x01, 0x0F, 0x1E, 0x0E, 0x01, 0x00, 0x00, 0x00}, /*"v",86*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x3C, 0xFC, 0xC4, 0x00, 0xE4, 0x7C, 0xFC, 0x84, 0x80, 0x7C, 0x04, 0x00, 0x00, 0x07, 0x1F, 0x07, 0x00, 0x00, 0x07, 0x1F, 0x07, 0x00, 0x00}, /*"w",87*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x04, 0x1C, 0x7C, 0xE4, 0xC0, 0x34, 0x1C, 0x04, 0x04, 0x00, 0x00, 0x10, 0x10, 0x1C, 0x16, 0x01, 0x13, 0x1F, 0x1C, 0x18, 0x10, 0x00}, /*"x",88*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x0C, 0x3C, 0xFC, 0xC4, 0x00, 0xC4, 0x3C, 0x04, 0x04, 0x00, 0x00, 0x00, 0xC0, 0x80, 0xC1, 0x37, 0x0E, 0x01, 0x00, 0x00, 0x00, 0x00}, /*"y",89*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1C, 0x04, 0x04, 0xC4, 0xF4, 0x7C, 0x1C, 0x04, 0x00, 0x00, 0x00, 0x00, 0x10, 0x1C, 0x1F, 0x17, 0x11, 0x10, 0x10, 0x18, 0x0E, 0x00}, /*"z",90*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xF8, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x28, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0x60, 0x40, 0x00, 0x00}, /*"{",91*/ {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"|",92*/ {0x00, 0x00, 0x04, 0x0C, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xEF, 0x28, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x60, 0x3F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"}",93*/ {0x00, 0x18, 0x06, 0x02, 0x02, 0x04, 0x08, 0x10, 0x20, 0x20, 0x30, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /*"~",94*/ /*"~",94*/ }; const ASCIIFont afont24x12 = {24, 12, (unsigned char *)ascii_24x12}; const uint8_t zh16x16[][36] = { /* 0 波 */ {0xe6,0xb3,0xa2,0x00,0x10,0x60,0x02,0x0c,0xc0,0x00,0xf8,0x88,0x88,0x88,0xff,0x88,0x88,0xa8,0x18,0x00,0x04,0x04,0x7c,0x03,0x80,0x60,0x1f,0x80,0x43,0x2c,0x10,0x28,0x46,0x81,0x80,0x00,}, /* 1 特 */ {0xe7,0x89,0xb9,0x00,0x40,0x3c,0x10,0xff,0x10,0x10,0x40,0x48,0x48,0x48,0x7f,0x48,0xc8,0x48,0x40,0x00,0x02,0x06,0x02,0xff,0x01,0x01,0x00,0x02,0x0a,0x12,0x42,0x82,0x7f,0x02,0x02,0x00,}, /* 2 律 */ {0xe5,0xbe,0x8b,0x00,0x00,0x10,0x88,0xc4,0x33,0x10,0x54,0x54,0x54,0xff,0x54,0x54,0x7c,0x10,0x10,0x00,0x02,0x01,0x00,0xff,0x00,0x10,0x12,0x12,0x12,0xff,0x12,0x12,0x12,0x10,0x00,0x00,}, /* 3 动 */ {0xe5,0x8a,0xa8,0x00,0x40,0x44,0xc4,0x44,0x44,0x44,0x40,0x10,0x10,0xff,0x10,0x10,0x10,0xf0,0x00,0x00,0x10,0x3c,0x13,0x10,0x14,0xb8,0x40,0x30,0x0e,0x01,0x40,0x80,0x40,0x3f,0x00,0x00,} }; const Font font16x16 = {16, 16, (const uint8_t *)zh16x16, 4, &afont16x8}; const uint8_t bilibiliData[] = { 0x00, 0x00, 0x00, 0x00, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x86, 0x8f, 0x9f, 0xbf, 0xff, 0xfc, 0xf8, 0xf8, 0xe0, 0xe0, 0xc0, 0x80, 0x80, 0x80, 0x80, 0x80, 0xc0, 0xe0, 0xe0, 0xf8, 0xf8, 0xfc, 0xfe, 0xbf, 0x9f, 0x8f, 0x86, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf8, 0xfe, 0xff, 0xff, 0xff, 0xff, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0xff, 0xff, 0xff, 0xfe, 0xfc, 0xf8, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0xe0, 0xe0, 0xf0, 0xf0, 0xf0, 0xf0, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf0, 0xf0, 0xf0, 0xf0, 0xe0, 0x20, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x03, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x80, 0x00, 0x00, 0x80, 0xc0, 0xc0, 0x80, 0x00, 0x00, 0x80, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x03, 0x03, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x07, 0x07, 0x07, 0x07, 0x07, 0x03, 0x07, 0x07, 0x07, 0x07, 0x07, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x01, 0x07, 0x07, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 0x7f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x1f, 0x07, 0x07, 0x03, }; const Image bilibiliImg = {51, 48, bilibiliData};oled.c
/** * @file oled.c * @brief 波特律动OLED驱动(SSD1306) * @anchor 波特律动(keysking 博哥在学习) * @version 1.0 * @date 2023-08-19 * @license MIT License * * @attention * 本驱动库针对波特律动·keysking的STM32教程学习套件进行开发 * 在其他平台或驱动芯片上使用可能需要进行移植 * * @note * 使用流程: * 1. STM32初始化IIC完成后调用OLED_Init()初始化OLED. 注意STM32启动比OLED上电快, 可等待20ms再初始化OLED * 2. 调用OLED_NewFrame()开始绘制新的一帧 * 3. 调用OLED_DrawXXX()系列函数绘制图形到显存 调用OLED_Printxxx()系列函数绘制文本到显存 * 4. 调用OLED_ShowFrame()将显存内容显示到OLED * * @note * 为保证中文显示正常 请将编译器的字符集设置为UTF-8 * */ #include "oled.h" #include "i2c.h" #include <math.h> #include <stdlib.h> // OLED器件地址 #define OLED_ADDRESS 0x78 // OLED参数 #define OLED_PAGE 8 // OLED页数 #define OLED_ROW 8 * OLED_PAGE // OLED行数 #define OLED_COLUMN 128 // OLED列数 // 显存 uint8_t OLED_GRAM[OLED_PAGE][OLED_COLUMN]; // ========================== 底层通信函数 ========================== /** * @brief 向OLED发送数据的函数 * @param data 要发送的数据 * @param len 要发送的数据长度 * @return None * @note 此函数是移植本驱动时的重要函数 将本驱动库移植到其他平台时应根据实际情况修改此函数 */ void OLED_Send(uint8_t *data, uint8_t len) { HAL_I2C_Master_Transmit(&hi2c2, OLED_ADDRESS, data, len, HAL_MAX_DELAY); } /** * @brief 向OLED发送指令 */ void OLED_SendCmd(uint8_t cmd) { static uint8_t sendBuffer[2] = {0}; sendBuffer[1] = cmd; OLED_Send(sendBuffer, 2); } // ========================== OLED驱动函数 ========================== /** * @brief 初始化OLED (SSD1306) * @note 此函数是移植本驱动时的重要函数 将本驱动库移植到其他驱动芯片时应根据实际情况修改此函数 */ void OLED_Init() { OLED_SendCmd(0xAE); /*关闭显示 display off*/ OLED_SendCmd(0x20); OLED_SendCmd(0x10); OLED_SendCmd(0xB0); OLED_SendCmd(0xC8); OLED_SendCmd(0x00); OLED_SendCmd(0x10); OLED_SendCmd(0x40); OLED_SendCmd(0x81); OLED_SendCmd(0xDF); OLED_SendCmd(0xA1); OLED_SendCmd(0xA6); OLED_SendCmd(0xA8); OLED_SendCmd(0x3F); OLED_SendCmd(0xA4); OLED_SendCmd(0xD3); OLED_SendCmd(0x00); OLED_SendCmd(0xD5); OLED_SendCmd(0xF0); OLED_SendCmd(0xD9); OLED_SendCmd(0x22); OLED_SendCmd(0xDA); OLED_SendCmd(0x12); OLED_SendCmd(0xDB); OLED_SendCmd(0x20); OLED_SendCmd(0x8D); OLED_SendCmd(0x14); OLED_NewFrame(); OLED_ShowFrame(); OLED_SendCmd(0xAF); /*开启显示 display ON*/ } /** * @brief 开启OLED显示 */ void OLED_DisPlay_On() { OLED_SendCmd(0x8D); // 电荷泵使能 OLED_SendCmd(0x14); // 开启电荷泵 OLED_SendCmd(0xAF); // 点亮屏幕 } /** * @brief 关闭OLED显示 */ void OLED_DisPlay_Off() { OLED_SendCmd(0x8D); // 电荷泵使能 OLED_SendCmd(0x10); // 关闭电荷泵 OLED_SendCmd(0xAE); // 关闭屏幕 } /** * @brief 设置颜色模式 黑底白字或白底黑字 * @param ColorMode 颜色模式COLOR_NORMAL/COLOR_REVERSED * @note 此函数直接设置屏幕的颜色模式 */ void OLED_SetColorMode(OLED_ColorMode mode) { if (mode == OLED_COLOR_NORMAL) { OLED_SendCmd(0xA6); // 正常显示 } if (mode == OLED_COLOR_REVERSED) { OLED_SendCmd(0xA7); // 反色显示 } } // ========================== 显存操作函数 ========================== /** * @brief 清空显存 绘制新的一帧 */ void OLED_NewFrame() { memset(OLED_GRAM, 0, sizeof(OLED_GRAM)); } /** * @brief 将当前显存显示到屏幕上 * @note 此函数是移植本驱动时的重要函数 将本驱动库移植到其他驱动芯片时应根据实际情况修改此函数 */ void OLED_ShowFrame() { static uint8_t sendBuffer[OLED_COLUMN + 1]; sendBuffer[0] = 0x40; for (uint8_t i = 0; i < OLED_PAGE; i++) { OLED_SendCmd(0xB0 + i); // 设置页地址 OLED_SendCmd(0x00); // 设置列地址低4位 OLED_SendCmd(0x10); // 设置列地址高4位 memcpy(sendBuffer + 1, OLED_GRAM[i], OLED_COLUMN); OLED_Send(sendBuffer, OLED_COLUMN + 1); } } /** * @brief 设置一个像素点 * @param x 横坐标 * @param y 纵坐标 * @param color 颜色 */ void OLED_SetPixel(uint8_t x, uint8_t y, OLED_ColorMode color) { if (x >= OLED_COLUMN || y >= OLED_ROW) return; if (!color) { OLED_GRAM[y / 8][x] |= 1 << (y % 8); } else { OLED_GRAM[y / 8][x] &= ~(1 << (y % 8)); } } /** * @brief 设置显存中一字节数据的某几位 * @param page 页地址 * @param column 列地址 * @param data 数据 * @param start 起始位 * @param end 结束位 * @param color 颜色 * @note 此函数将显存中的某一字节的第start位到第end位设置为与data相同 * @note start和end的范围为0-7, start必须小于等于end * @note 此函数与OLED_SetByte_Fine的区别在于此函数只能设置显存中的某一真实字节 */ void OLED_SetByte_Fine(uint8_t page, uint8_t column, uint8_t data, uint8_t start, uint8_t end, OLED_ColorMode color) { static uint8_t temp; if (page >= OLED_PAGE || column >= OLED_COLUMN) return; if (color) data = ~data; temp = data | (0xff << (end + 1)) | (0xff >> (8 - start)); OLED_GRAM[page][column] &= temp; temp = data & ~(0xff << (end + 1)) & ~(0xff >> (8 - start)); OLED_GRAM[page][column] |= temp; // 使用OLED_SetPixel实现 // for (uint8_t i = start; i <= end; i++) { // OLED_SetPixel(column, page * 8 + i, !((data >> i) & 0x01)); // } } /** * @brief 设置显存中的一字节数据 * @param page 页地址 * @param column 列地址 * @param data 数据 * @param color 颜色 * @note 此函数将显存中的某一字节设置为data的值 */ void OLED_SetByte(uint8_t page, uint8_t column, uint8_t data, OLED_ColorMode color) { if (page >= OLED_PAGE || column >= OLED_COLUMN) return; if (color) data = ~data; OLED_GRAM[page][column] = data; } /** * @brief 设置显存中的一字节数据的某几位 * @param x 横坐标 * @param y 纵坐标 * @param data 数据 * @param len 位数 * @param color 颜色 * @note 此函数将显存中从(x,y)开始向下数len位设置为与data相同 * @note len的范围为1-8 * @note 此函数与OLED_SetByte_Fine的区别在于此函数的横坐标和纵坐标是以像素为单位的, 可能出现跨两个真实字节的情况(跨页) */ void OLED_SetBits_Fine(uint8_t x, uint8_t y, uint8_t data, uint8_t len, OLED_ColorMode color) { uint8_t page = y / 8; uint8_t bit = y % 8; if (bit + len > 8) { OLED_SetByte_Fine(page, x, data << bit, bit, 7, color); OLED_SetByte_Fine(page + 1, x, data >> (8 - bit), 0, len + bit - 1 - 8, color); } else { OLED_SetByte_Fine(page, x, data << bit, bit, bit + len - 1, color); } // 使用OLED_SetPixel实现 // for (uint8_t i = 0; i < len; i++) { // OLED_SetPixel(x, y + i, !((data >> i) & 0x01)); // } } /** * @brief 设置显存中一字节长度的数据 * @param x 横坐标 * @param y 纵坐标 * @param data 数据 * @param color 颜色 * @note 此函数将显存中从(x,y)开始向下数8位设置为与data相同 * @note 此函数与OLED_SetByte的区别在于此函数的横坐标和纵坐标是以像素为单位的, 可能出现跨两个真实字节的情况(跨页) */ void OLED_SetBits(uint8_t x, uint8_t y, uint8_t data, OLED_ColorMode color) { uint8_t page = y / 8; uint8_t bit = y % 8; OLED_SetByte_Fine(page, x, data << bit, bit, 7, color); if (bit) { OLED_SetByte_Fine(page + 1, x, data >> (8 - bit), 0, bit - 1, color); } } /** * @brief 设置一块显存区域 * @param x 起始横坐标 * @param y 起始纵坐标 * @param data 数据的起始地址 * @param w 宽度 * @param h 高度 * @param color 颜色 * @note 此函数将显存中从(x,y)开始的w*h个像素设置为data中的数据 * @note data的数据应该采用列行式排列 */ void OLED_SetBlock(uint8_t x, uint8_t y, const uint8_t *data, uint8_t w, uint8_t h, OLED_ColorMode color) { uint8_t fullRow = h / 8; // 完整的行数 uint8_t partBit = h % 8; // 不完整的字节中的有效位数 for (uint8_t i = 0; i < w; i++) { for (uint8_t j = 0; j < fullRow; j++) { OLED_SetBits(x + i, y + j * 8, data[i + j * w], color); } } if (partBit) { uint16_t fullNum = w * fullRow; // 完整的字节数 for (uint8_t i = 0; i < w; i++) { OLED_SetBits_Fine(x + i, y + (fullRow * 8), data[fullNum + i], partBit, color); } } // 使用OLED_SetPixel实现 // for (uint8_t i = 0; i < w; i++) { // for (uint8_t j = 0; j < h; j++) { // for (uint8_t k = 0; k < 8; k++) { // if (j * 8 + k >= h) break; // 防止越界(不完整的字节 // OLED_SetPixel(x + i, y + j * 8 + k, !((data[i + j * w] >> k) & 0x01)); // } // } // } } // ========================== 图形绘制函数 ========================== /** * @brief 绘制一条线段 * @param x1 起始点横坐标 * @param y1 起始点纵坐标 * @param x2 终止点横坐标 * @param y2 终止点纵坐标 * @param color 颜色 * @note 此函数使用Bresenham算法绘制线段 */ void OLED_DrawLine(uint8_t x1, uint8_t y1, uint8_t x2, uint8_t y2, OLED_ColorMode color) { static uint8_t temp = 0; if (x1 == x2) { if (y1 > y2) { temp = y1; y1 = y2; y2 = temp; } for (uint8_t y = y1; y <= y2; y++) { OLED_SetPixel(x1, y, color); } } else if (y1 == y2) { if (x1 > x2) { temp = x1; x1 = x2; x2 = temp; } for (uint8_t x = x1; x <= x2; x++) { OLED_SetPixel(x, y1, color); } } else { // Bresenham直线算法 int16_t dx = x2 - x1; int16_t dy = y2 - y1; int16_t ux = ((dx > 0) << 1) - 1; int16_t uy = ((dy > 0) << 1) - 1; int16_t x = x1, y = y1, eps = 0; dx = abs(dx); dy = abs(dy); if (dx > dy) { for (x = x1; x != x2; x += ux) { OLED_SetPixel(x, y, color); eps += dy; if ((eps << 1) >= dx) { y += uy; eps -= dx; } } } else { for (y = y1; y != y2; y += uy) { OLED_SetPixel(x, y, color); eps += dx; if ((eps << 1) >= dy) { x += ux; eps -= dy; } } } } } /** * @brief 绘制一个矩形 * @param x 起始点横坐标 * @param y 起始点纵坐标 * @param w 矩形宽度 * @param h 矩形高度 * @param color 颜色 */ void OLED_DrawRectangle(uint8_t x, uint8_t y, uint8_t w, uint8_t h, OLED_ColorMode color) { OLED_DrawLine(x, y, x + w, y, color); OLED_DrawLine(x, y + h, x + w, y + h, color); OLED_DrawLine(x, y, x, y + h, color); OLED_DrawLine(x + w, y, x + w, y + h, color); } /** * @brief 绘制一个填充矩形 * @param x 起始点横坐标 * @param y 起始点纵坐标 * @param w 矩形宽度 * @param h 矩形高度 * @param color 颜色 */ void OLED_DrawFilledRectangle(uint8_t x, uint8_t y, uint8_t w, uint8_t h, OLED_ColorMode color) { for (uint8_t i = 0; i < h; i++) { OLED_DrawLine(x, y + i, x + w, y + i, color); } } /** * @brief 绘制一个三角形 * @param x1 第一个点横坐标 * @param y1 第一个点纵坐标 * @param x2 第二个点横坐标 * @param y2 第二个点纵坐标 * @param x3 第三个点横坐标 * @param y3 第三个点纵坐标 * @param color 颜色 */ void OLED_DrawTriangle(uint8_t x1, uint8_t y1, uint8_t x2, uint8_t y2, uint8_t x3, uint8_t y3, OLED_ColorMode color) { OLED_DrawLine(x1, y1, x2, y2, color); OLED_DrawLine(x2, y2, x3, y3, color); OLED_DrawLine(x3, y3, x1, y1, color); } /** * @brief 绘制一个填充三角形 * @param x1 第一个点横坐标 * @param y1 第一个点纵坐标 * @param x2 第二个点横坐标 * @param y2 第二个点纵坐标 * @param x3 第三个点横坐标 * @param y3 第三个点纵坐标 * @param color 颜色 */ void OLED_DrawFilledTriangle(uint8_t x1, uint8_t y1, uint8_t x2, uint8_t y2, uint8_t x3, uint8_t y3, OLED_ColorMode color) { uint8_t a = 0, b = 0, y = 0, last = 0; if (y1 > y2) { a = y2; b = y1; } else { a = y1; b = y2; } y = a; for (; y <= b; y++) { if (y <= y3) { OLED_DrawLine(x1 + (y - y1) * (x2 - x1) / (y2 - y1), y, x1 + (y - y1) * (x3 - x1) / (y3 - y1), y, color); } else { last = y - 1; break; } } for (; y <= b; y++) { OLED_DrawLine(x2 + (y - y2) * (x3 - x2) / (y3 - y2), y, x1 + (y - last) * (x3 - x1) / (y3 - last), y, color); } } /** * @brief 绘制一个圆 * @param x 圆心横坐标 * @param y 圆心纵坐标 * @param r 圆半径 * @param color 颜色 * @note 此函数使用Bresenham算法绘制圆 */ void OLED_DrawCircle(uint8_t x, uint8_t y, uint8_t r, OLED_ColorMode color) { int16_t a = 0, b = r, di = 3 - (r << 1); while (a <= b) { OLED_SetPixel(x - b, y - a, color); OLED_SetPixel(x + b, y - a, color); OLED_SetPixel(x - a, y + b, color); OLED_SetPixel(x - b, y - a, color); OLED_SetPixel(x - a, y - b, color); OLED_SetPixel(x + b, y + a, color); OLED_SetPixel(x + a, y - b, color); OLED_SetPixel(x + a, y + b, color); OLED_SetPixel(x - b, y + a, color); a++; if (di < 0) { di += 4 * a + 6; } else { di += 10 + 4 * (a - b); b--; } OLED_SetPixel(x + a, y + b, color); } } /** * @brief 绘制一个填充圆 * @param x 圆心横坐标 * @param y 圆心纵坐标 * @param r 圆半径 * @param color 颜色 * @note 此函数使用Bresenham算法绘制圆 */ void OLED_DrawFilledCircle(uint8_t x, uint8_t y, uint8_t r, OLED_ColorMode color) { int16_t a = 0, b = r, di = 3 - (r << 1); while (a <= b) { for (int16_t i = x - b; i <= x + b; i++) { OLED_SetPixel(i, y + a, color); OLED_SetPixel(i, y - a, color); } for (int16_t i = x - a; i <= x + a; i++) { OLED_SetPixel(i, y + b, color); OLED_SetPixel(i, y - b, color); } a++; if (di < 0) { di += 4 * a + 6; } else { di += 10 + 4 * (a - b); b--; } } } /** * @brief 绘制一个椭圆 * @param x 椭圆中心横坐标 * @param y 椭圆中心纵坐标 * @param a 椭圆长轴 * @param b 椭圆短轴 */ void OLED_DrawEllipse(uint8_t x, uint8_t y, uint8_t a, uint8_t b, OLED_ColorMode color) { int xpos = 0, ypos = b; int a2 = a * a, b2 = b * b; int d = b2 + a2 * (0.25 - b); while (a2 * ypos > b2 * xpos) { OLED_SetPixel(x + xpos, y + ypos, color); OLED_SetPixel(x - xpos, y + ypos, color); OLED_SetPixel(x + xpos, y - ypos, color); OLED_SetPixel(x - xpos, y - ypos, color); if (d < 0) { d = d + b2 * ((xpos << 1) + 3); xpos += 1; } else { d = d + b2 * ((xpos << 1) + 3) + a2 * (-(ypos << 1) + 2); xpos += 1, ypos -= 1; } } d = b2 * (xpos + 0.5) * (xpos + 0.5) + a2 * (ypos - 1) * (ypos - 1) - a2 * b2; while (ypos > 0) { OLED_SetPixel(x + xpos, y + ypos, color); OLED_SetPixel(x - xpos, y + ypos, color); OLED_SetPixel(x + xpos, y - ypos, color); OLED_SetPixel(x - xpos, y - ypos, color); if (d < 0) { d = d + b2 * ((xpos << 1) + 2) + a2 * (-(ypos << 1) + 3); xpos += 1, ypos -= 1; } else { d = d + a2 * (-(ypos << 1) + 3); ypos -= 1; } } } /** * @brief 绘制一张图片 * @param x 起始点横坐标 * @param y 起始点纵坐标 * @param img 图片 * @param color 颜色 */ void OLED_DrawImage(uint8_t x, uint8_t y, const Image *img, OLED_ColorMode color) { OLED_SetBlock(x, y, img->data, img->w, img->h, color); } // ================================ 文字绘制 ================================ /** * @brief 绘制一个ASCII字符 * @param x 起始点横坐标 * @param y 起始点纵坐标 * @param ch 字符 * @param font 字体 * @param color 颜色 */ void OLED_PrintASCIIChar(uint8_t x, uint8_t y, char ch, const ASCIIFont *font, OLED_ColorMode color) { OLED_SetBlock(x, y, font->chars + (ch - ' ') * (((font->h + 7) / 8) * font->w), font->w, font->h, color); } /** * @brief 绘制一个ASCII字符串 * @param x 起始点横坐标 * @param y 起始点纵坐标 * @param str 字符串 * @param font 字体 * @param color 颜色 */ void OLED_PrintASCIIString(uint8_t x, uint8_t y, char *str, const ASCIIFont *font, OLED_ColorMode color) { uint8_t x0 = x; while (*str) { OLED_PrintASCIIChar(x0, y, *str, font, color); x0 += font->w; str++; } } /** * @brief 获取UTF-8编码的字符长度 */ uint8_t _OLED_GetUTF8Len(char *string) { if ((string[0] & 0x80) == 0x00) { return 1; } else if ((string[0] & 0xE0) == 0xC0) { return 2; } else if ((string[0] & 0xF0) == 0xE0) { return 3; } else if ((string[0] & 0xF8) == 0xF0) { return 4; } return 0; } /** * @brief 绘制字符串 * @param x 起始点横坐标 * @param y 起始点纵坐标 * @param str 字符串 * @param font 字体 * @param color 颜色 * * @note 为保证字符串中的中文会被自动识别并绘制, 需: * 1. 编译器字符集设置为UTF-8 * 2. 使用波特律动LED取模工具生成字模(https://led.baud-dance.com) */ /** * @brief 绘制字符串 * @param x 起始点横坐标 * @param y 起始点纵坐标 * @param str 字符串 * @param font 字体 * @param color 颜色 * * @note 为保证字符串中的中文会被自动识别并绘制, 需: * 1. 编译器字符集设置为UTF-8 * 2. 使用波特律动LED取模工具生成字模(https://led.baud-dance.com) */ void OLED_PrintString(uint8_t x, uint8_t y, char *str, const Font *font, OLED_ColorMode color) { uint16_t i = 0; // 字符串索引 uint8_t oneLen = (((font->h + 7) / 8) * font->w) + 4; // 一个字模占多少字节 uint8_t found; // 是否找到字模 uint8_t utf8Len; // UTF-8编码长度 uint8_t *head; // 字模头指针 while (str[i]) { found = 0; utf8Len = _OLED_GetUTF8Len(str + i); if (utf8Len == 0) break; // 有问题的UTF-8编码 // 寻找字符 TODO 优化查找算法, 二分查找或者hash for (uint8_t j = 0; j < font->len; j++) { head = (uint8_t *)(font->chars) + (j * oneLen); if (memcmp(str + i, head, utf8Len) == 0) { OLED_SetBlock(x, y, head + 4, font->w, font->h, color); // 移动光标 x += font->w; i += utf8Len; found = 1; break; } } // 若未找到字模,且为ASCII字符, 则缺省显示ASCII字符 if (found == 0) { if (utf8Len == 1) { OLED_PrintASCIIChar(x, y, str[i], font->ascii, color); // 移动光标 x += font->ascii->w; i += utf8Len; } else { OLED_PrintASCIIChar(x, y, ' ', font->ascii, color); x += font->ascii->w; i += utf8Len; } } } }mpu6050.c
#include "i2c.h" #include "mpu6050.h" #include "oled.h" #include <math.h> // MPU6050初始化 uint8_t MPU6050_Init() { uint8_t check; uint8_t Data; // 检测设备ID HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, WHO_AM_I, 1, &check, 1, 100); if (check != 0x68) return 1; // 设备ID错误 // 唤醒设备 Data = 0x00; HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, PWR_MGMT_1, 1, &Data, 1, 100); // 设置采样率 = 1kHz / (1+7) = 125Hz Data = 0x07; HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, SMPLRT_DIV, 1, &Data, 1, 100); // 设置DLPF带宽为94Hz Data = 0x02; HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, CONFIG, 1, &Data, 1, 100); // 设置加速度计量程 ±4g Data = 0x08; HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, ACCEL_CONFIG, 1, &Data, 1, 100); // 设置陀螺仪量程 ±500°/s Data = 0x08; HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, GYRO_CONFIG, 1, &Data, 1, 100); return 0; } // 启动DMA传输读取MPU6050数据 void MPU6050_Read_All_DMA(MPU6050_t *DataStruct) { // 启动I2C读取操作(DMA模式) HAL_I2C_Mem_Read_DMA(&hi2c1, MPU6050_ADDR, ACCEL_XOUT_H, 1, DataStruct->dma_buffer, 14); } // 处理DMA接收到的数据 void MPU6050_Process_Data(MPU6050_t *DataStruct) { // 解析原始数据 DataStruct->Accel_X_RAW = (int16_t)(DataStruct->dma_buffer[0] << 8 | DataStruct->dma_buffer[1]); DataStruct->Accel_Y_RAW = (int16_t)(DataStruct->dma_buffer[2] << 8 | DataStruct->dma_buffer[3]); DataStruct->Accel_Z_RAW = (int16_t)(DataStruct->dma_buffer[4] << 8 | DataStruct->dma_buffer[5]); DataStruct->Temperature_RAW = (int16_t)(DataStruct->dma_buffer[6] << 8 | DataStruct->dma_buffer[7]); DataStruct->Gyro_X_RAW = (int16_t)(DataStruct->dma_buffer[8] << 8 | DataStruct->dma_buffer[9]); DataStruct->Gyro_Y_RAW = (int16_t)(DataStruct->dma_buffer[10] << 8 | DataStruct->dma_buffer[11]); DataStruct->Gyro_Z_RAW = (int16_t)(DataStruct->dma_buffer[12] << 8 | DataStruct->dma_buffer[13]); // 转换为物理量 (使用±4g量程) DataStruct->Ax = DataStruct->Accel_X_RAW / AFS_SEL_1; DataStruct->Ay = DataStruct->Accel_Y_RAW / AFS_SEL_1; DataStruct->Az = DataStruct->Accel_Z_RAW / AFS_SEL_1; // 转换为物理量 (使用±500°/s量程) DataStruct->Gx = DataStruct->Gyro_X_RAW / GFS_SEL_1; DataStruct->Gy = DataStruct->Gyro_Y_RAW / GFS_SEL_1; DataStruct->Gz = DataStruct->Gyro_Z_RAW / GFS_SEL_1; // 应用零偏校准 DataStruct->Gx -= DataStruct->Gyro_Offset_X; DataStruct->Gy -= DataStruct->Gyro_Offset_Y; DataStruct->Gz -= DataStruct->Gyro_Offset_Z; // 温度转换 (°C) DataStruct->Temp = (float)DataStruct->Temperature_RAW / 340.0 + 36.53; } // 陀螺仪校准 void MPU6050_Calibrate(MPU6050_t *DataStruct, uint16_t numSamples) { OLED_NewFrame(); OLED_PrintASCIIString(0, 26, "Calibrating...", &afont8x6, OLED_COLOR_NORMAL); OLED_ShowFrame(); // 禁用所有中断 __disable_irq(); float sumX = 0, sumY = 0, sumZ = 0; uint8_t Rec_Data[14]; // 用于轮询读取的缓冲区 // 使用轮询方式安全读取 for (uint16_t i = 0; i < numSamples; i++) { // 阻塞式读取 HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, ACCEL_XOUT_H, 1, Rec_Data, 14, 100); // 解析原始数据 DataStruct->Gyro_X_RAW = (int16_t)(Rec_Data[8] << 8 | Rec_Data[9]); DataStruct->Gyro_Y_RAW = (int16_t)(Rec_Data[10] << 8 | Rec_Data[11]); DataStruct->Gyro_Z_RAW = (int16_t)(Rec_Data[12] << 8 | Rec_Data[13]); // 转换为物理量 (使用±500°/s量程) float gx = DataStruct->Gyro_X_RAW / GFS_SEL_1; float gy = DataStruct->Gyro_Y_RAW / GFS_SEL_1; float gz = DataStruct->Gyro_Z_RAW / GFS_SEL_1; sumX += gx; sumY += gy; sumZ += gz; HAL_Delay(5); } // 计算平均值作为零偏 DataStruct->Gyro_Offset_X = sumX / numSamples; DataStruct->Gyro_Offset_Y = sumY / numSamples; DataStruct->Gyro_Offset_Z = sumZ / numSamples; // 重新启用中断 __enable_irq(); }madgwick.c
/* * madgwick.c * * Created on: Jul 30, 2025 * Author: yingzhuang.feng */ #include "madgwick.h" #include <math.h> // 初始化滤波器 void Madgwick_Init(MadgwickFilter *filter, float beta, float sampleFreq) { filter->q0 = 1.0f; filter->q1 = 0.0f; filter->q2 = 0.0f; filter->q3 = 0.0f; filter->beta = beta; filter->sampleFreq = sampleFreq; } // Madgwick滤波更新 void Madgwick_Update(MadgwickFilter *filter, float gx, float gy, float gz, float ax, float ay, float az) { float q0 = filter->q0, q1 = filter->q1, q2 = filter->q2, q3 = filter->q3; float recipNorm; float s0, s1, s2, s3; float qDot1, qDot2, qDot3, qDot4; float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2, _8q1, _8q2, q0q0, q1q1, q2q2, q3q3; // 速率转弧度/秒 gx *= 0.0174533f; // deg/s to rad/s gy *= 0.0174533f; gz *= 0.0174533f; // 梯度下降算法校正 if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { // 归一化加速度计数据 recipNorm = 1.0f / sqrtf(ax * ax + ay * ay + az * az); ax *= recipNorm; ay *= recipNorm; az *= recipNorm; // 辅助变量避免重复计算 _2q0 = 2.0f * q0; _2q1 = 2.0f * q1; _2q2 = 2.0f * q2; _2q3 = 2.0f * q3; _4q0 = 4.0f * q0; _4q1 = 4.0f * q1; _4q2 = 4.0f * q2; _8q1 = 8.0f * q1; _8q2 = 8.0f * q2; q0q0 = q0 * q0; q1q1 = q1 * q1; q2q2 = q2 * q2; q3q3 = q3 * q3; // 梯度下降目标函数 s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay; s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az; s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az; s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay; // 归一化步长 recipNorm = 1.0f / sqrtf(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); s0 *= recipNorm; s1 *= recipNorm; s2 *= recipNorm; s3 *= recipNorm; // 应用反馈 qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz) - filter->beta * s0; qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy) - filter->beta * s1; qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx) - filter->beta * s2; qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx) - filter->beta * s3; } else { // 无加速度计数据时仅用陀螺仪 qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz); qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy); qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx); qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx); } // 积分四元数 q0 += qDot1 * (1.0f / filter->sampleFreq); q1 += qDot2 * (1.0f / filter->sampleFreq); q2 += qDot3 * (1.0f / filter->sampleFreq); q3 += qDot4 * (1.0f / filter->sampleFreq); // 归一化四元数 recipNorm = 1.0f / sqrtf(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); q0 *= recipNorm; q1 *= recipNorm; q2 *= recipNorm; q3 *= recipNorm; // 存储更新后的四元数 filter->q0 = q0; filter->q1 = q1; filter->q2 = q2; filter->q3 = q3; } // 获取欧拉角 (单位: 度) void Get_Euler_Angles(MadgwickFilter *filter, float *roll, float *pitch, float *yaw) { float q0 = filter->q0, q1 = filter->q1, q2 = filter->q2, q3 = filter->q3; *roll = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2) * 57.29578f; // rad to deg *pitch = asinf(-2.0f * (q1*q3 - q0*q2)) * 57.29578f; *yaw = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3) * 57.29578f; }
main.c
/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2025 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "dma.h" #include "i2c.h" #include "tim.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "stdio.h" #include "oled.h" #include "mpu6050.h" #include "madgwick.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ MPU6050_t mpu6050; MadgwickFilter filter; char displayBuffer[40]; // 显示缓冲区 volatile uint8_t data_status = 0; // 数据就绪标志 volatile uint8_t calibration_status = 0; // 校准状态标志 uint32_t display_timer = 0; // 显示更新计时器 uint32_t last_sample_time = 0; /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ // TIM3中断处理 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { if (htim->Instance == TIM3 && calibration_status) { // 启动DMA读取 MPU6050_Read_All_DMA(&mpu6050); } } // DMA传输完成回调 void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *hi2c) { if (hi2c->Instance == I2C1 && calibration_status) { data_status = 1; } } // I2C错误处理 void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c) { if (hi2c->Instance == I2C1 && calibration_status) { // 错误计数 static uint8_t error_count = 0; error_count++; if(error_count > 5) { // 严重错误 - 重启I2C HAL_I2C_DeInit(&hi2c1); MX_I2C1_Init(); error_count = 0; } // 重新尝试读取 MPU6050_Read_All_DMA(&mpu6050); } } /* 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_DMA_Init(); MX_I2C1_Init(); MX_I2C2_Init(); MX_TIM3_Init(); /* USER CODE BEGIN 2 */ HAL_Delay(20); OLED_Init(); // 初始化MPU6050 if (MPU6050_Init()){ while(1) { OLED_NewFrame(); OLED_PrintASCIIString(0, 1, "MPU6050 Error!", &afont8x6, OLED_COLOR_NORMAL); OLED_ShowFrame(); } } // 上电自动校准陀螺仪 MPU6050_Calibrate(&mpu6050, 500); // 采集500个样本 // 初始化Madgwick滤波器 Madgwick_Init(&filter, 0.1f, 125.0f); // 标记校准完成 calibration_status = 1; // 启动定时器 HAL_TIM_Base_Start_IT(&htim3); float roll, pitch, yaw; /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { // 检查数据是否就绪 if (data_status) { data_status = 0; // 清除标志 // 计算采样间隔 (用于滤波器) uint32_t current_time = HAL_GetTick(); float dt = (current_time - last_sample_time) / 1000.0f; last_sample_time = current_time; // 更新采样频率 if(dt > 0) filter.sampleFreq = 1.0f / dt; // 处理数据 MPU6050_Process_Data(&mpu6050); // 更新姿态 Madgwick_Update(&filter, mpu6050.Gx, mpu6050.Gy, mpu6050.Gz, mpu6050.Ax, mpu6050.Ay, mpu6050.Az); } // 20Hz更新显示 if (HAL_GetTick() - display_timer >= 50) { display_timer = HAL_GetTick(); // 获取欧拉角 Get_Euler_Angles(&filter, &roll, &pitch, &yaw); // 在OLED上显示姿态和温度 OLED_NewFrame(); snprintf(displayBuffer, sizeof(displayBuffer), "T:%2.1fC",mpu6050.Temp); OLED_PrintASCIIString(0, 1, displayBuffer, &afont8x6, OLED_COLOR_NORMAL); snprintf(displayBuffer, sizeof(displayBuffer), "R:%4.1f", roll); OLED_PrintASCIIString(0, 11, displayBuffer, &afont8x6, OLED_COLOR_NORMAL); snprintf(displayBuffer, sizeof(displayBuffer), "P:%4.1f", pitch); OLED_PrintASCIIString(0, 21, displayBuffer, &afont8x6, OLED_COLOR_NORMAL); snprintf(displayBuffer, sizeof(displayBuffer), "Y:%4.1f", yaw); OLED_PrintASCIIString(0, 31, displayBuffer, &afont8x6, OLED_COLOR_NORMAL); OLED_ShowFrame(); } // 低功耗等待 __WFI(); /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) { Error_Handler(); } } /* USER CODE BEGIN 4 */ /* USER CODE END 4 */ /** * @brief This function is executed in case of error occurrence. * @retval None */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); while (1) { } /* USER CODE END Error_Handler_Debug */ } #ifdef USE_FULL_ASSERT /** * @brief Reports the name of the source file and the source line number * where the assert_param error has occurred. * @param file: pointer to the source file name * @param line: assert_param error line source number * @retval None */ void assert_failed(uint8_t *file, uint32_t line) { /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */
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