多路超声波的程序,让超声波模块避免相互干扰,实现避障小车、跟随小车灯。。
单片机源程序如下:
- /**************************************************************/
- //使用时将US100跳帽拔下,使其设置为电平触发模式
- /***************************************************************/
- #include <reg52.h>
- #include <intrins.h>
- //引脚定义
- sbit Trig1 = P1 ^ 0; //
- sbit Ecno1 = P1 ^ 1; //
- sbit Trig2 = P3 ^ 2; //
- sbit Ecno2 = P3 ^ 3; //
- sbit Trig3 = P1 ^ 2; //
- sbit Ecno3 = P1 ^ 3; //
- sbit Trig4 = P1 ^ 4; //
- sbit Ecno4 = P1 ^ 5; //
-
- sbit CS = P0 ^ 5; //片选 高电平有效 单片LCD使用时可固定高电平
- sbit SID = P0 ^ 6; //数据
- sbit SCLK = P0 ^ 7; //时钟
- // 函数声明
- void Write_char(bit start, unsigned char ddata);
- void Send_byte(unsigned char bbyte);
- void Delaynms(unsigned int di);
- void Lcd_init(void);
- void LCD_Write_string(unsigned char X,unsigned char Y,unsigned char *s);
- void LCD_set_xy( unsigned char x, unsigned char y );
- void StartModule() ;
- void Clr_Scr();
- unsigned char code num[]={"0123456789 :."};
- unsigned char code table1[]={" 前方距离:"};
- unsigned char code table2[] ={"后方距离:"};
- unsigned char code table3[] ={"左方距离:"};
- unsigned char code table4[] ={"右方距离:"};
- unsigned char code M[] = {"CM"};
- unsigned int time1=0;
- unsigned int time2=0;
- unsigned int time3=0;
- unsigned int time4=0;
- long S1=0;
- long S2=0;
- long S3=0;
- long S4=0;
- bit flag =0;
-
- unsigned char disbuff[4] ={ 0,0,0,0,};
- /******************************************************************************/
- void Lcd_init(void) //初始化LCD
- {
- Delaynms(10); //启动等待,等LCM讲入工作状态
- CS=1;
- Write_char(0,0x30); //8 位介面,基本指令集
- Write_char(0,0x0c); //显示打开,光标关,反白关
- Write_char(0,0x01); //清屏,将DDRAM的地址计数器归零
- }
- /******************************************************************************/
- void Write_char(bit start, unsigned char ddata) //写指令或数据
- {
- unsigned char start_data,Hdata,Ldata;
- if(start==0)
- start_data=0xf8; //写指令
- else
- start_data=0xfa; //写数据
-
- Hdata=ddata&0xf0; //取高四位
- Ldata=(ddata<<4)&0xf0; //取低四位
- Send_byte(start_data); //发送起始信号
- Delaynms(5); //延时
- Send_byte(Hdata); //发送高四位
- Delaynms(1); //延时
- Send_byte(Ldata); //发送低四位
- Delaynms(1); //延时
- }
- /******************************************************************************/
- void Send_byte(unsigned char bbyte) //发送一个字节
- {
- unsigned char i;
- for(i=0;i<8;i++)
- {
- SID=bbyte&0x80; //取出最高位
- SCLK=1;
- SCLK=0;
- bbyte<<=1; //左移
- }
- }
- /******************************************************************************/
- void Delaynms(unsigned int di) //延时
- {
- unsigned int da,db;
- for(da=0;da<di;da++)
- for(db=0;db<10;db++);
- }
- /******************************************************************************/
- void Clr_Scr(void)//清屏函数
- {
- Write_char(0,0x01);
- }
- /******************************************************************************/
- void LCD_set_xy( unsigned char x, unsigned char y )//设置LCD显示的起始位置,X为行,Y为列
- {
- unsigned char address;
- switch(x)
- {
- case 0: address = 0x80 + y; break;
- case 1: address = 0x80 + y; break;
- case 2: address = 0x90 + y; break;
- case 3: address = 0x88 + y; break;
- case 4: address = 0x98 + y; break;
- default:address = 0x80 + y; break;
- }
- Write_char(0, address);
- }
- /******************************************************************************/
- void LCD_Write_string(unsigned char X,unsigned char Y,unsigned char *s)
- {
- LCD_set_xy( X, Y );
-
- while (*s)
- {
- Write_char( 1, *s );
- s ++;
- Delaynms(1);
- }
- }
- /******************************************************************************/
- void LCD_Write_number(unsigned char s)// 数字显示函数
- {
- Write_char(1,num[s]);
- Delaynms(1);
- }
- /******************************************************************************/
- void Lcd_Mark2(void)
- {
- Clr_Scr();//清屏
- LCD_Write_string(1,0,table1);//
- LCD_Write_string(1,7,M);
- LCD_Write_string(2,0,table2);
- LCD_Write_string(2,7,M);//
- LCD_Write_string(3,0,table3);//
- LCD_Write_string(3,7,M);
- LCD_Write_string(4,0,table4);//
- LCD_Write_string(4,7,M);
- }
- /********************************************************/
- void Conut1(void)
- {
- time1=TH0*256+TL0;
- TH0=0x00;
- TL0=0x00;
- S1=time1*1.87/100; // 11.0592M晶振
- if(flag==1) //超出测量
- {
- flag=0;
- LCD_set_xy( 1, 5 );
- LCD_Write_number(13);
- LCD_Write_number(12);
- LCD_set_xy( 1, 6 );
- LCD_Write_number(13);
- LCD_Write_number(13);
-
- }
- else
- {
- disbuff[1]=S1%1000/100;
- disbuff[2]=S1%1000%100/10;
- disbuff[3]=S1%1000%100%10;
- LCD_set_xy( 1, 5 );
- LCD_Write_number(disbuff[1]);
- LCD_Write_number(disbuff[2]);
- LCD_set_xy( 1, 6 );
- LCD_Write_number(disbuff[3]);
- }
- }
-
- /****************************************************/
- void Conut2(void)
- {
- time2=TH0*256+TL0;
- TH0=0x00;
- TL0=0x00;
- S2=time2*1.87/100; // 11.0592M晶振
- if(flag==1) //超出测量
- {
- flag=0;
- LCD_set_xy( 2, 5 );
- LCD_Write_number(13);
- LCD_Write_number(12);
- LCD_set_xy( 2, 6 );
- LCD_Write_number(13);
- LCD_Write_number(13);
-
- }
- else
- {
- disbuff[1]=S2%1000/100;
- disbuff[2]=S2%1000%100/10;
- disbuff[3]=S2%1000%100%10;
- LCD_set_xy( 2, 5 );
- LCD_Write_number(disbuff[1]);
- LCD_Write_number(disbuff[2]);
- LCD_set_xy( 2, 6 );
- LCD_Write_number(disbuff[3]);
- }
- }
- /****************************************************/
- void Conut4(void)
- {
- time4=TH0*256+TL0;
- TH0=0x00;
- TL0=0x00;
- S4=time4*1.87/100; // 11.0592M晶振
- if(flag==1) //超出测量
- {
- flag=0;
- LCD_set_xy( 2, 5 );
- LCD_Write_number(13);
- LCD_Write_number(12);
- LCD_set_xy( 2, 6 );
- LCD_Write_number(13);
- LCD_Write_number(13);
-
- }
- else
- {
- disbuff[1]=S4%1000/100;
- disbuff[2]=S4%1000%100/10;
- disbuff[3]=S4%1000%100%10;
- LCD_set_xy( 4, 5 );
- LCD_Write_number(disbuff[1]);
- LCD_Write_number(disbuff[2]);
- LCD_set_xy( 4, 6 );
- LCD_Write_number(disbuff[3]);
- }
- }
- /****************************************************/
- void Conut3(void)
- {
- time3=TH0*256+TL0;
- TH0=0x00;
- TL0=0x00;
- S3=time3*1.87/100; // 11.0592M晶振
- if(flag==1) //超出测量
- {
- flag=0;
- LCD_set_xy( 3, 5 );
- LCD_Write_number(13);
- LCD_Write_number(12);
- LCD_set_xy( 3, 6 );
- LCD_Write_number(13);
- LCD_Write_number(13);
-
- }
- else
- {
- disbuff[1]=S3%1000/100;
- disbuff[2]=S3%1000%100/10;
- disbuff[3]=S3%1000%100%10;
- LCD_set_xy( 3, 5 );
- LCD_Write_number(disbuff[1]);
- LCD_Write_number(disbuff[2]);
- LCD_set_xy( 3, 6 );
- LCD_Write_number(disbuff[3]);
- }
- }
- /********************************************************/
- void delay20us(void) //误差 -0.016637731481us
- {
- unsigned char a,b;
- for(b=1;b>0;b--)
- for(a=52;a>0;a--);
- //if Keil,require use intrins.h
- }
- void Delay5ms() //@11.0592MHz
- {
- unsigned char i, j;
- i = 54;
- j = 199;
- do
- {
- while (--j);
- } while (--i);
- }
- void Delay50ms() //@11.0592MHz
- {
- unsigned char i, j, k;
- i = 3;
- j = 26;
- k = 223;
- do
- {
- do
- {
- while (--k);
- } while (--j);
- } while (--i);
- }
-
-
-
- void Delay300ms() //@11.0592MHz
- {
- unsigned char i, j, k;
- i = 13;
- j = 156;
- k = 83;
- do
- {
- do
- {
- while (--k);
- } while (--j);
- } while (--i);
- }
- /********************************************************/
- void zd0() interrupt 1 //T0中断用来计数器溢出,超过测距范围
- {
- flag=1; //中断溢出标志
- }
- /********************************************************/
- void StartModule1() //超声波触发函数
- { Trig1=0;
- delay20us();
- Trig1=1;
- delay20us(); //发射一个大于10us的脉冲,触发超声波发射
- Trig1=0;
- }
- /******************************************************/
- void StartModule2() //超声波触发函数
- { Trig2=0;
- delay20us();
- Trig2=1;
- delay20us(); //发射一个大于10us的脉冲,触发超声波发射
- Trig2=0;
- }
- /******************************************************/
- void StartModule3() //超声波触发函数
- { Trig3=0;
- delay20us();
- Trig3=1;
- delay20us(); //发射一个大于10us的脉冲,触发超声波发射
- Trig3=0;
- }
- /******************************************************/
- void StartModule4() //超声波触发函数
- { Trig4=0;
- delay20us();
- Trig4=1;
- delay20us(); //发射一个大于10us的脉冲,触发超声波发射
- Trig4=0;
- }
- /********************************************************/
- void main(void)
- {
- TMOD=0x01; //设T0为方式1
- TH0=0x00;
- TL0=0x00;
- TR0=1;
- ET0=1; //允许T0中断
- EA=1; //开启总中断
- Lcd_init(); //设置液晶显示器
- Clr_Scr(); //清屏
- ……………………
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