XS128超声波程序

来源：互联网发布：金山毒霸如何备份软件编辑：程序博客网时间：2024/04/29 07:09

程序有2个。。一个是自己搭的，一个是买的模块。自己搭的测距能到1.6M，模块能到4M。

模块程序

void PLL_Init(void) //PLLCLK=2*OSCCLK*(SYNR+1)/(REFDV+1)
{                   //PLLCLK=2*16M*(2+1)/(0+1)= 96M
   SYNR = 0xC2;        //总线频率为PLL频率的一半48M
   REFDV = 0xC0;
   ECLKCTL &= ~0x80;
   while(!(CRGFLG&0x08)); //自循环语句，等待时钟频率稳定后允许锁相环时钟作为系统时钟
   CLKSEL=0x80;           //选择锁相环频率为系统时钟频率
}

//-------------------------真#定时器初始化---------------------------------------------
void PIT_Init(void)
{
    //----------------------定时10uS，控制采样频率---------------------------------------
    PITMUX_PMUX0=0;         //使用微计数器0
    PITMTLD0 = 1;            //微时钟0设置为99
    PITLD0 = 239;             //time-out period = (PITMTLD + 1) * (PITLD + 1) / fBUS.
                            //溢出时间为 2 * 240 / 48000000 = 10us
}

uint Time = 0;

char Error_Flag = 0;

void delay(uint t)
{
while(t--);
}

float Ranging(void)
{
    float Length = 0;     //距离，单位厘米(CM?
    int Count = 0;

    PORTA_PA0 = 1;
    delay(15);
    PORTA_PA0 = 0;

    while(1)
    {
       if(PORTA_PA1 == 1) break;   //等待
       if(PORTA_PA1 == 0) Count++;
       if(Count >= 400){Error_Flag = 1;return 0;}
    }


    Time = 0;

    PITCFLMT_PITE=1;        //定时器使能
    PITCE_PCE0=1;           //定时器0使能
    PITINTE_PINTE0=1;       //定时器中断0使能
    EnableInterrupts        //开中断

    while(1)
    {
      if(PORTA_PA1 == 0) break;   //等待
      if(Time >= 5000) {Error_Flag = 1;return 0;}   //超时
    }
    DisableInterrupts     //关中断

    Length = (float)((17*Time)/100.0); //340m/s * T

    delay(0xffff);            //延时避免干扰
    delay(0xffff);            //延时避免干
    delay(0xffff);            //延时避免干扰
    delay(0xffff);            //延时避免干扰

    return Length;
}

void main(void)
{
float Length_T = 0;
float Length = 0;
char Count = 3;

PLL_Init();
lcd_init();
PIT_Init();

//Send_Data(test,2,2);

DisableInterrupts     //关中断

DDRB_DDRB7 = 1;     //test

DDRA_DDRA0 = 1;     //超声波控制A0

DDRA_DDRA1 = 0;     //超声波接受A1

for(;;)
{

     while(Count--)
     {

        Length = (float)(Ranging()/3.0);
        if(Error_Flag == 0) Length_T += Length;
        if(Error_Flag == 1) Count += 1;

        Error_Flag = 0;
     }

     Count = 3;

     ClearScreen();

     Show_Flaot(Length_T,2,2);

     Length_T = 0;


}
}

#pragma CODE_SEG NON_BANKED
void interrupt 66 Timer1_IRQ(void) //5MS
{
PITTF_PTF0=1; //清中断标志位
Time++; //10us
}

自己搭的程序

uint Time = 0;

char Error_Flag = 0;

void delay(uint t)
{
while(t--);
}

float Ranging(void)
{
    float Length = 0;     //距离，单位厘米(CM)

    Time = 0;

    PITCFLMT_PITE=1;        //定时器使能
    PITCE_PCE0=1;           //定时器0使能
    PITINTE_PINTE0=1;       //定时器中断0使能
    EnableInterrupts        //开中断

    PWME_PWME0 = 1;           //使能PWM输出
                               //发送40KHz调制信号
    delay(80);
    PWME_PWME0 = 0;

    delay(20);            //延时避免干扰

    while(1)
    {
      if(PORTA_PA0 == 0) break;   //等待
      if(Time >= 3000) {Error_Flag = 1;return 0;}   //超时
    }
    DisableInterrupts     //关中断

    Length = (0.17 * Time);//340m/s * T

    delay(0xffff);            //延时避免干扰
     delay(0xffff);            //延时避免干扰
      delay(0xffff);            //延时避免干扰

    return Length;
}

void PWM_Init(void)
{
   PWMCTL = 0xA0;        //PWM 23 级联(前轮舵机) PWM 67 级联(摇头舵机)
                         //PWM 4 PWM5 做电机控制(正反转)
   PWMCAE = 0x00;        //PWM 左对齐输出
   PWMPOL = 0x01;        //PWM 极性为1
   PWMCLK = 0x01;        //PWM 0 选择时钟源 SA
   PWMPRCLK = 0x32;      //时钟源 A = 48M/4 = 12M
                         //时钟源 B = 48M/8 = 6M
   PWMSCLA = 0x01;      //时钟源SA = A/(2*1) = 6M
   PWMSCLB = 0x01;      //时钟源SB = B/(2*1) = 3M
   //-----------------超声波驱动--------------
   PWMPER0 = 150;          //频率40KHz
   PWMDTY0 = 75;           //50%

   PWME_PWME0 = 0;           //禁止PWM输出
}

void main(void)
{
float Length_T = 0;
float Length = 0;
char Count = 3;

PLL_Init();
PWM_Init();
lcd_init();
PIT_Init();

//Send_Data(test,2,2);

DisableInterrupts     //关中断

DDRB_DDRB7 = 1;     //test

DDRA_DDRA1 = 0;     //超声波接受

PWME_PWME0 = 1;

for(;;)
{

     while(Count--)
     {

        Length = (Ranging()/10.0);
        if(Error_Flag == 0) Length_T += Length;
        if(Error_Flag == 1) Count += 1;

        Error_Flag = 0;
     }

     Count = 10;

     ClearScreen();

     Send_Data((int)Length_T,2,2);

     lcd_putsf("CM",25,2);

     Length_T = 0;


}
}

#pragma CODE_SEG NON_BANKED
void interrupt 66 Timer1_IRQ(void) //5MS
{
     DisableInterrupts     //关中断
     PITTF_PTF0=1;         //清中断标志位

     Time++;        //10us

     EnableInterrupts        //开中断
}

拿去吧，电路图.....