超声波全部程序

#include<iom16v.h>#include<macros.h>#include"delay.h"#include"BC7281.h"#include"lcd.h"#defineucharunsignedchar#defineuintunsignedint#defineSET(a,b)a|=(1<<b)//SET(PORTD,PD3)=>PORTD|=BIT(3);#defineCLR(a,b)a&=~(1<<b)//SET(DDRD,PD3)=>DDRD&=~BIT(3);#defineCPL(a,b)a^=(1<<b)//CPL(A,B)=>A^B,(0^0=0,0^1=0,//1^0=0,1^1=1)异或=与#defineCHK(a,b)(a&(1<<b))//CHK(DDRD,PD3)=>DDRD=BIT(3);//CHK(PORTD,PD3)=>PORTD=BIT(3);uintgot_num,got_num1[5],temp;uintS1,S2,S3,S4,get_num,d,D,shu,ru,mi,ma;longintZchang=0,Jshu=0;unsignedlongintvalue=0;ucharFlag=0,m=0,biaozhi=0,T=0;Mima[10]={0,1,2,3,4,5,6,7,8,9};uchartable[]={'0','1','2','3','4','5','6','7','8','9'};//数码,直接调用/************got_num发送10个脉冲的个数；got_num1[5]把数据从小到大排列数组；temp是got_num1[5]交换式据中间变量*************//************Flag,m实现循环*************//****************************************************************************//*****************************测距离物体长度********************************//**************************************************************************/voidPWM40K_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;}voidPWM40K_ON(){TCNT2=0X00; TCCR2=0X1A;//CTC模式，8分频}voidPWM40K_OFF(){TCNT2=0X00; TCCR2=0X00;}voidINT1_init(){CLR(DDRD,PD3);//(DDRD&=~BIT(3))中断1设为输入 SET(PORTD,PD3); MCUCR=0X08;//(PORTD|=BIT(3)中断1上升沿触发 GICR&=~(1<<INT1);//中断1标志位清零(低电平触发方式不带中断标志位)}voidceju(){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|=(1<<INTF1);//清中断标志位delay_nus(700); GICR|=(1<<INT1);//外部中断1使能 delay_nms(10);//延时足够的时间，以便下一次使用66？}voiddistance()//获得距离值，测5次{ CLI(); INT1_init();PWM40K_style(); SEI(); for(m=0;m<5;m++) { ceju(); }}#pragmainterrupt_handlerint1wave:3//设定中断入口地址voidint1wave(void){ uchari,j;GICR&=~(1<<INT1);//关中断1TCCR1B=0X00;//关定时器1got_num=TCNT1; if(got_num<1700) { got_num+=130;//补偿值 } else if(got_num<3800) { got_num+=50;//补偿值 } else { got_num-=80;//补偿值 } got_num1[Flag]=got_num;//将测得的值放入数组中 got_num=0;//清零if(Flag==4) { for(j=0;j<Flag-1;j++)//把5次数据由小到大排列 {for(i=0;i<Flag-j-1;i++) { if(got_num1[i]>got_num1[i+1]) { temp=got_num1[i+1]; got_num1[i+1]=got_num1[i]; got_num1[i]=temp; } }}for(i=1;i<4;i++)//去掉最小值，去掉最大值，取中间3个 { got_num+=got_num1[i]; } 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/1X10^6uS)://value=10(发10个波计一次数) //got_num*(33550CM/1X10^6)=got_num*33550/200000;LCD_write(1,1,"物距"); wr_byte(':');wr_byte(table[value/1000]); wr_byte(table[value%1000/100]); wr_byte(table[value%1000%100/10]); wr_byte('.'); wr_byte(table[value%10]); wr_byte('C'); wr_byte('M'); }Flag++;/* if(Flag<5)//????????????????????????? { value=1000; }*/ if(Flag==5) { Flag=0; } }/********************************测物体长度**********************************/voidCES1()//光电传感器检测到物体输出低电平,测量S1{if(((PIND&0x02)==0x00)&&(biaozhi==0))//右面检测到 {S1=value;biaozhi++;}}voidCES2()//测量S2{ if(((PIND&0x02)==0x02)&&(biaozhi==1)) {S2=value;biaozhi=0;wchang0();zchang0();}//wchang();与zchang();见下面AA,BB}voidCES3(){if(((PIND&0x02)==0x00)&&(biaozhi==0))//右面检测到 {S3=value;biaozhi++;}}voidCES4()//测量S2{ if(((PIND&0x02)==0x02)&&(biaozhi==1)) {S4=value;biaozhi=0;wchang1();zchang1();}//wchang();与zchang();见下面CC,DD}/*************************************物长0***********************************/voidwchang0()//:AA{if(S1>=S2){if(((PIND&0x02)==0x02)) {d=S1-S2;}}else{d=0;}}/*************************************物长1***********************************/voidwchang1()//:CC{if(S4>=S3){if(((PIND&0x02)==0x02)) {D=S4-S3;}}else{D=0;}}/*******************************显示物长0***********************************/voidxswchang0(){CES1();CES2(); wchang0();get_num=d;LCD_write(2,1,"物长"); wr_byte(':');wr_byte(table[get_num/1000]); wr_byte(table[get_num%1000/100]); wr_byte(table[get_num%1000%100/10]); wr_byte('.'); wr_byte(table[get_num%10]); wr_byte('C'); wr_byte('M');}/*******************************显示物长1*******************************/voidxswchang1(){ CES3();CES4(); wchang1();get_num=D;LCD_write(2,1,"物长"); wr_byte(':');wr_byte(table[get_num/1000]); wr_byte(table[get_num%1000/100]); wr_byte(table[get_num%1000%100/10]); wr_byte('.'); wr_byte(table[get_num%10]); wr_byte('C'); wr_byte('M');}/*******************************计总长，个数0********************************/voidzchang0(){//:BBZchang+=d;if(S1>=S2){Jshu++;}if((Zchang>99999)|(Jshu>999))//总长最大9999.9CM;计数最多999个{Zchang=0;Jshu=0;}LCD_write(3,1,"总长"); wr_byte(':'); wr_byte(table[Zchang/10000]);wr_byte(table[Zchang/1000%10]); wr_byte(table[Zchang%1000/100]); wr_byte(table[Zchang%1000%100/10]); wr_byte('.'); wr_byte(table[Zchang%10]);wr_byte('C'); wr_byte('M'); LCD_write(4,1,"计数"); wr_byte(':'); wr_byte(table[Jshu%1000/100]); wr_byte(table[Jshu%1000%100/10]); wr_byte(table[Jshu%10]); LCD_write(4,5,"个");}/*******************************计总长，个数1********************************/voidzchang1()//:DD{Zchang-=d;if(S4>=S3){Jshu--;}if((Zchang<0)|(Jshu<0)){Zchang=0;Jshu=0;}LCD_write(3,1,"总长"); wr_byte(':'); wr_byte(table[Zchang/10000]);wr_byte(table[Zchang/1000%10]); wr_byte(table[Zchang%1000/100]); wr_byte(table[Zchang%1000%100/10]); wr_byte('.'); wr_byte(table[Zchang%10]);wr_byte('C'); wr_byte('M'); LCD_write(4,1,"计数"); wr_byte(':'); wr_byte(table[Jshu%1000/100]); wr_byte(table[Jshu%1000%100/10]); wr_byte(table[Jshu%10]); LCD_write(4,5,"个");}voidpanduan(){if(GB_Number==0x0D)//键值等于1时木棒长度,计数加{xswchang0();}if(GB_Number==0x0E)//键值等于2时木棒长度,计数减{xswchang1();}}voiddianji(){ switch(GB_Number) {/*****************************顺转数据相加************************************/ case0x0C:{ 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;/****************************逆转测数据相减***********************************/ case0x0D:{ 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;/******************************停止数据丢失**********************************/ case0x0E:{ DDRA&=~0x0C;PORTA&=~0x0C;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_num1[5]=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;/***************************暂停数据不丢失**********************************/ case0x0F:{ LCD_write(1,8,""); LCD_write(2,8,"暂"); LCD_write(3,8,"停"); LCD_write(4,8,""); }break; }}voidmain(){DDRA=BIT(2)|BIT(3);PORTA&=~BIT(2);PORTA&=~BIT(3);BC7281_init();int0_init();LCD_int();SEI();while(1)//一直测距{if(T==0){switch(GB_Number){case0:LCD_write(2,1,"学习是灯，");shu=0;ru=0;mi=0;ma=0;break; case1:LCD_write(2,1,"努力是油。");shu=0;ru=0;mi=0;ma=0;break; case2:LCD_write(2,1,"要想灯亮，");break; case3:LCD_write(2,1,"必须加油。");shu=0;ru=0;mi=0;ma=0;break;case4:LCD_write(2,1,"学习是灯，");shu=0;ru=0;mi=0