超声波全部程序(共10页)

1、#include#include#includedelay.h#includeBC7281.h#includelcd.h#define uchar unsigned char#define uint unsigned int#define SET(a,b) a|=(1PORTD|=BIT(3);#define CLR(a,b) a&=(1DDRD&=BIT(3);#define CPL(a,b) a=(1AB,(00=0,01=0, /10=0,11=1)异或=与#define CHK(a,b) (a&(1DDRD=BIT(3); /CHK(PORTD,PD3)=PORTD=BIT(3);ui

2、nt got_num, got_num15,temp;uint S1,S2,S3,S4,get_num,d,D,shu,ru,mi,ma;long int Zchang=0,Jshu=0;unsigned long int value=0;uchar Flag=0,m=0,biaozhi=0,T=0;Mima10=0,1,2,3,4,5,6,7,8,9;uchar table=0,1,2,3,4,5,6,7,8,9; /数码(shm),直接调用 /*got_num发送10个脉冲(michng)的个数；got_num15把数据从小到大排列数组； temp是got_num15交换式据中间(zhng

3、jin)变量*/ /*Flag,m实现循环*/ /*/ /*测距离物体长度*/ /*/void PWM40K_style() DDRD|=BIT(7); TCCR2=0X18;/CTC模式比较匹配触发OC2(OC2为原OC2的取反) OCR2=0X0C; void PWM40K_ON() TCNT2=0X00; TCCR2=0X1A; /CTC模式(msh)，8分频void PWM40K_OFF() TCNT2=0X00; TCCR2=0X00;void INT1_init() CLR(DDRD,PD3); /(DDRD&=BIT(3)中断(zhngdun)1设为输入 SET(PORTD,PD

4、3); MCUCR=0X08; /(PORTD|=BIT(3)中断1上升(shngshng)沿触发 GICR&=(1INT1); /中断1标志位清零(低电平触发方式不带中断标志位)void ceju() PWM40K_ON(); delay_nus(250); /发十个脉冲 PWM40K_OFF(); /停止发脉冲 TCNT1=0X0000; /定时器1初始值为0 TCCR1A=0X00; /发完的同时开始计数 TCCR1B=0X02; /开定时器1 GIFR|=(1INTF1); /清中断标志位 delay_nus(700); GICR|=(1INT1); /外部中断1使能 delay_nm

5、s(10); /延时足够的时间，以便下一次使用 66？void distance() /获得距离值，测5次 CLI(); INT1_init(); PWM40K_style(); SEI(); for (m=0;m5;m+) ceju(); #pragma interrupt_handler int1wave:3 /设定中断入口地址void int1wave(void) uchar i,j; GICR&=(1INT1); /关中断(zhngdun)1 TCCR1B=0X00; /关定时器1 got_num=TCNT1; if ( got_num1700) got_num+=130; /补偿(b

6、chng)值 else if ( got_num3800) got_num+=50; /补偿(bchng)值 else got_num-=80; /补偿值 got_num1Flag=got_num; /将测得的值放入数组中 got_num=0; /清零 if (Flag=4) for(j=0;jFlag-1;j+) /把5次数据由小到大排列 for(i=0;i got_num1i+1) temp=got_num1i+1; got_num1i+1= got_num1i; got_num1i=temp; for (i=1;i4;i+) /去掉最小值，去掉最大值，取中间3个 got_num+=got

7、_num1i; got_num= got_num/3; /求平均值 value=got_num*33550/200000; /距离算法，以厘米为单位 /(335.5M/S)=(33550CM/1X106uS): / value=10(发10个波计一次数(csh) / got_num*(33550CM/1X106)=got_num*33550/200000; LCD_write(1,1,物距); wr_byte(:); wr_byte(tablevalue/1000); wr_byte(tablevalue%1000/100); wr_byte(tablevalue%1000%100/10);

8、wr_byte(.); wr_byte(tablevalue%10); wr_byte(C); wr_byte(M); Flag+;/* if (Flag=S2) if(PIND&0 x02)=0 x02) d=S1-S2; elsed=0; /*物长1*/void wchang1() /: CC if(S4=S3) if(PIND&0 x02)=0 x02) D=S4-S3; elseD=0;/*显示(xinsh)物长0 */void xswchang0() CES1(); CES2(); wchang0(); get_num=d; LCD_write(2,1,物长); wr_byte(:)

9、; wr_byte(tableget_num/1000); wr_byte(tableget_num%1000/100); wr_byte(tableget_num%1000%100/10); wr_byte(.); wr_byte(tableget_num%10); wr_byte(C); wr_byte(M); /* 显示(xinsh)物长1*/void xswchang1() CES3(); CES4(); wchang1(); get_num=D; LCD_write(2,1,物长); wr_byte(:); wr_byte(tableget_num/1000); wr_byte(ta

10、bleget_num%1000/100); wr_byte(tableget_num%1000%100/10); wr_byte(.); wr_byte(tableget_num%10); wr_byte(C); wr_byte(M); /*计总长(zngzhng)，个数0*/void zchang0() /: BB Zchang+=d; if(S1=S2)Jshu+; if(Zchang99999)|(Jshu999) /总长(zngzhng)最大9999.9CM;计数最多999个 Zchang=0;Jshu=0; LCD_write(3,1,总长);wr_byte(:);wr_byte(t

11、ableZchang/10000); wr_byte(tableZchang/1000%10);wr_byte(tableZchang%1000/100);wr_byte(tableZchang%1000%100/10);wr_byte(.);wr_byte(tableZchang%10); wr_byte(C);wr_byte(M); LCD_write(4,1,计数);wr_byte(:);wr_byte(tableJshu%1000/100);wr_byte(tableJshu%1000%100/10);wr_byte(tableJshu%10);LCD_write(4,5,个);/*计

12、总长(zngzhng)，个数1*/void zchang1() /: DD Zchang-=d; if(S4=S3)Jshu-; if(Zchang0)|(Jshu0) Zchang=0;Jshu=0; LCD_write(3,1,总长(zngzhng);wr_byte(:);wr_byte(tableZchang/10000); wr_byte(tableZchang/1000%10);wr_byte(tableZchang%1000/100);wr_byte(tableZchang%1000%100/10);wr_byte(.);wr_byte(tableZchang%10); wr_by

13、te(C);wr_byte(M); LCD_write(4,1,计数(j sh);wr_byte(:);wr_byte(tableJshu%1000/100);wr_byte(tableJshu%1000%100/10);wr_byte(tableJshu%10);LCD_write(4,5,个);void panduan() if(GB_Number=0 x0D) /键值等于1时木棒长度,计数加 xswchang0(); if(GB_Number=0 x0E) /键值等于2时木棒长度,计数减 xswchang1();void dianji() switch(GB_Number) /*顺转数据

14、相加*/ case 0 x0C: DDRA|=BIT(2); PORTA|=BIT(2); delay_nus(1); LCD_write(1,8,逆);LCD_write(3,8,相);LCD_write(2,8,转);LCD_write(4,8,加); break;/*逆转(nzhun)测数据相减*/ case 0 x0D: DDRA|=BIT(3); PORTA|=BIT(3); delay_nus(1);LCD_write(1,8,顺);LCD_write(3,8,相);LCD_write(2,8,转);LCD_write(4,8,减); break;/*停止(tngzh)数据丢失*/

15、 case 0 x0E: DDRA&=0 x0C; PORTA&=0 x0C; delay_nus(1); LCD_write(1,8, );LCD_write(2,8,停);LCD_write(3,8,止); LCD_write(4,8, ); got_num=0, got_num15=0;value=0,D=0; S1=0,S2=0,S3=0,S4=0,get_num=0,d=0; Zchang=0,Jshu=0;Flag=0,m=0,biaozhi=0; break;/*暂停数据(shj)不丢失*/ case 0 x0F: LCD_write(1,8, );LCD_write(2,8,暂

16、);LCD_write(3,8,停); LCD_write(4,8, );break; void main() DDRA=BIT(2)|BIT(3); PORTA&=BIT(2); PORTA&=BIT(3); BC7281_init(); int0_init(); LCD_int(); SEI();while(1) / 一直(yzh)测距 if(T=0)switch(GB_Number) case 0: LCD_write(2,1,学习(xux)是灯，);shu=0;ru=0;mi=0;ma=0;break; case 1: LCD_write(2,1,努力(n l)是油。);shu=0;r

17、u=0;mi=0;ma=0;break; case 2: LCD_write(2,1,要想灯亮，);break; case 3: LCD_write(2,1,必须加油。);shu=0;ru=0;mi=0;ma=0;break; case 4: LCD_write(2,1,学习是灯，);shu=0;ru=0;mi=0;ma=0;break; case 5: LCD_write(2,1,努力是油。);break; case 6: LCD_write(2,1,要想灯亮，);shu=0;ru=0;mi=0;ma=0;break; case 7: LCD_write(2,1,必须加油。);break;

18、case 8: LCD_write(2,1,学习是灯，);shu=0;ru=0;mi=0;ma=0;break; case 9: LCD_write(2,1,努力是油。);break; case 10:LCD_write(2,1,要想灯亮，);shu=0;ru=0;mi=0;ma=0;break; case 11:LCD_write(2,1,必须加油。);shu=0;ru=0;mi=0;ma=0;break; case 12:LCD_write(2,1,学习是灯，);shu=0;ru=0;mi=0;ma=0;break; case 13:LCD_write(2,1,努力是油。);shu=0;ru=0;mi=0;ma=0;break; case 14:LCD_write(2,1,要想灯亮，);shu=0;ru=0;mi=0;ma=0;break; case 15:LCD_write(2,1,必须加油。);shu=0;ru=0;mi=0;ma=0;break;if(GB_Number=30) LCD_write(2,1,请输入密码);if(GB_Number=0 x01) shu=; if(GB_Number=0 x02)&(shu=) ru=; i