超聲波全部程序

1、#include<iom16v.h>#include<macros.h>#include"delay.h"#include"BC7281.h"#include"lcd.h"#define uchar unsigned char#define uint unsigned int#define SET(a,b) a|=(1<<b) /SET(PORTD,PD3)=>PORTD|=BIT(3);#define CLR(a,b) a&=(1<<b) /SET(DDRD,PD3)=&

2、gt;DDRD&=BIT(3);#define CPL(a,b) a=(1<<b) /CPL(A,B)=>AB,(00=0,01=0, /10=0,11=1)異或=與#define CHK(a,b) (a&(1<<b) /CHK(DDRD,PD3)=>DDRD=BIT(3); /CHK(PORTD,PD3)=>PORTD=BIT(3);uint got_num, got_num15,temp;uint S1,S2,S3,S4,get_num,d,D,shu,ru,mi,ma;long int Zchang=0,Jshu=0;unsign

3、ed 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' /數碼,直接調用 /*got_num發(fā)送10個脈沖的個數；got_num15把數據從小到大排列數組； temp是got_num15交換式據中間變量*/ /*Flag,m實現循環(huán)*/

4、 /*/ /*測距離物體長度*/ /*/void PWM40K_style() DDRD|=BIT(7); TCCR2=0X18;/CTC模式比較匹配觸發(fā)OC2(OC2為原OC2的取反) OCR2=0X0C; void PWM40K_ON() TCNT2=0X00; TCCR2=0X1A; /CTC模式，8分頻void PWM40K_OFF() TCNT2=0X00; TCCR2=0X00;void INT1_init() CLR(DDRD,PD3); /(DDRD&=BIT(3)中斷1設為輸入 SET(PORTD,PD3); MCUCR=0X08; /(PORTD|=BIT(3)中斷

5、1上升沿觸發(fā) GICR&=(1<<INT1); /中斷1標志位清零(低電平觸發(fā)方式不帶中斷標志位)void ceju() PWM40K_ON(); delay_nus(250); /發(fā)十個脈沖 PWM40K_OFF(); /停止發(fā)脈沖 TCNT1=0X0000; /定時器1初始值為0 TCCR1A=0X00; /發(fā)完的同時開始計數 TCCR1B=0X02; /開定時器1 GIFR|=(1<<INTF1); /清中斷標志位 delay_nus(700); GICR|=(1<<INT1); /外部中斷1使能 delay_nms(10); /延時足夠的時間

6、，以便下一次使用 66？void distance() /獲得距離值，測5次 CLI(); INT1_init(); PWM40K_style(); SEI(); for (m=0;m<5;m+) ceju(); #pragma interrupt_handler int1wave:3 /設定中斷入口地址void int1wave(void) uchar i,j; GICR&=(1<<INT1); /關中斷1 TCCR1B=0X00; /關定時器1 got_num=TCNT1; if ( got_num<1700) got_num+=130; /補償值 else

7、 if ( got_num<3800) got_num+=50; /補償值 else got_num-=80; /補償值 got_num1Flag=got_num; /將測得的值放入數組中 got_num=0; /清零 if (Flag=4) for(j=0;j<Flag-1;j+) /把5次數據由小到大排列 for(i=0;i<Flag-j-1;i+) if( got_num1i> got_num1i+1) temp=got_num1i+1; got_num1i+1= got_num1i; got_num1i=temp; for (i=1;i<4;i+) /去掉

8、最小值，去掉最大值，取中間3個 got_num+=got_num1i; got_num= got_num/3; /求平均值 value=got_num*33550/200000; /距離算法，以厘米為單位 /(335.5M/S)=(33550CM/1X106uS): / value=10(發(fā)10個波計一次數) / got_num*(33550CM/1X106)=got_num*33550/200000; LCD_write(1,1,"物距"); wr_byte(':'); wr_byte(tablevalue/1000); wr_byte(tablevalu

9、e%1000/100); wr_byte(tablevalue%1000%100/10); wr_byte('.'); wr_byte(tablevalue%10); wr_byte('C'); wr_byte('M'); Flag+;/* if (Flag<5) /? value=1000; */ if (Flag=5) Flag=0; /*測物體長度*/void CES1() /光電傳感器檢測到物體輸出低電平,測量S1 if(PIND&0x02)=0x00)&&(biaozhi=0) /右面檢測到 S1=valu

10、e;biaozhi+; void CES2() /測量S2 if(PIND&0x02)=0x02)&&(biaozhi=1) S2=value;biaozhi=0;wchang0();zchang0();/wchang();與zchang();見下面AA,BB void CES3() if(PIND&0x02)=0x00)&&(biaozhi=0) /右面檢測到 S3=value;biaozhi+; void CES4() /測量S2 if(PIND&0x02)=0x02)&&(biaozhi=1) S4=value;bi

11、aozhi=0;wchang1();zchang1();/wchang();與zchang();見下面CC,DD /*物長0*/void wchang0() /: AA if(S1>=S2) if(PIND&0x02)=0x02) d=S1-S2; elsed=0; /*物長1*/void wchang1() /: CC if(S4>=S3) if(PIND&0x02)=0x02) D=S4-S3; elseD=0;/*顯示物長0 */void xswchang0() CES1(); CES2(); wchang0(); get_num=d; LCD_write(2

12、,1,"物長"); wr_byte(':'); 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'); /* 顯示物長1*/void xswchang1() CES3(); CES4(); wchang1(); get_num=D; LCD_wr

13、ite(2,1,"物長"); wr_byte(':'); 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'); /*計總長，個數0*/void zchang0() /: BB Zchang+=d; if(S1>=S2)Jshu+; if(

14、Zchang>99999)|(Jshu>999) /總長最大9999.9CM;計數最多999個 Zchang=0;Jshu=0; LCD_write(3,1,"總長");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_byte('

15、;C');wr_byte('M'); LCD_write(4,1,"計數");wr_byte(':');wr_byte(tableJshu%1000/100);wr_byte(tableJshu%1000%100/10);wr_byte(tableJshu%10);LCD_write(4,5,"個");/*計總長，個數1*/void zchang1() /: DD Zchang-=d; if(S4>=S3)Jshu-; if(Zchang<0)|(Jshu<0) Zchang=0;Jshu=0;

16、LCD_write(3,1,"總長");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_byte('C');wr_byte('M'); LCD_write(4,1,"計數");wr_byte(&#

17、39;:');wr_byte(tableJshu%1000/100);wr_byte(tableJshu%1000%100/10);wr_byte(tableJshu%10);LCD_write(4,5,"個");void panduan() if(GB_Number=0x0D) /鍵值等于1時木棒長度,計數加 xswchang0(); if(GB_Number=0x0E) /鍵值等于2時木棒長度,計數減 xswchang1();void dianji() switch(GB_Number) /*順轉數據相加*/ case 0x0C: DDRA|=BIT(2); P

18、ORTA|=BIT(2); delay_nus(1); LCD_write(1,8,"逆");LCD_write(3,8,"相");LCD_write(2,8,"轉");LCD_write(4,8,"加"); break;/*逆轉測數據相減*/ case 0x0D: DDRA|=BIT(3); PORTA|=BIT(3); delay_nus(1);LCD_write(1,8,"順");LCD_write(3,8,"相");LCD_write(2,8,"轉"

19、;);LCD_write(4,8,"減"); break;/*停止數據丟失*/ case 0x0E: 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_num15=0;value=0,D=0; S1=0,S2=0,S3=0,S4=0,get_num=0,d=0; Zch

20、ang=0,Jshu=0;Flag=0,m=0,biaozhi=0; break;/*暫停數據不丟失*/ case 0x0F: LCD_write(1,8," ");LCD_write(2,8,"暫");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

21、();while(1) / 一直測距 if(T=0)switch(GB_Number) case 0: LCD_write(2,1,"學習是燈，");shu=0;ru=0;mi=0;ma=0;break; case 1: LCD_write(2,1,"努力是油。");shu=0;ru=0;mi=0;ma=0;break; case 2: LCD_write(2,1,"要想燈亮，");break; case 3: LCD_write(2,1,"必須加油。");shu=0;ru=0;mi=0;ma=0;break; c

22、ase 4: LCD_write(2,1,"學習是燈，");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,"要想燈亮，");shu=0;ru=0;mi=0;ma=0;break; case 7: LCD_write(2,1,"必須加油。");break; case 8: LCD_write(2,1,"學習是燈，");shu=0;ru=0;mi=0;ma=0;break; case 9: LCD_wr