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#include <reg51.h>
#include <intrins.h>
#include <beep.H>
#include <LCD1602.H>
sbit Beep = P1^5 ;
#define LED P3
#define VELOCITY_30C 3495
#define VELOCITY_23C 3453
#define uchar unsigned char
#define uint unsigned int
sbit Echo = P1^4; //回聲接收端口
sbit Trig = P1^3;//超聲觸發(fā)端口
sbit LB=P2^0;
sbit LF=P2^1;
sbit RB=P2^2;
sbit RF=P2^3;
sbit ENA=P2^4;
sbit ENB=P2^5;
sbit k1=P3^0;
sbit k2=P3^1;
sbit k3=P3^2;
long int distance=0; //距離變量
static uint temp;
uchar count; //全局變量定義
uint key;
uint flag;
void delays(uint i)
{
while(i--);
}
void Delay_xMs(unsigned int x)
{
unsigned int i,j;
for(i = 0;i < x;i++ )
{
for(j = 0;j < 3;j++ )
{
;
}
}
}
void delayt(uint x)
{
uchar j;
while(x-- > 0)
{
for(j = 0;j < 125;j++)
{
;
}
}
}
void stop()
{
LF=0;
LB=0;
RF=0;
RB=0;
}
void forward()
{
LF=1;
LB=0;
RF=1;
RB=0;
}
void back()
{
LF=0;
LB=1;
RF=0;
RB=1;
}
void Init_MCU(void)
{
TMOD = 0x11; //定時(shí)器2初始化,設(shè)置為16位自動(dòng)重裝模式
TH0 = 0xfc; //1ms (65536-922)/256 高八位求模（除法）
TL0 = 0x66; // (65536-922)%256 低八位求余
ET1=1;
ET0 = 1; //開定時(shí)器2
EA = 1; //總中斷使能
}
void Init_Parameter(void)
{
Trig =1; //Trig 觸發(fā)控制信號(hào)輸入
Echo = 1; //Echo 回響信號(hào)輸出
count = 0;
distance = 0;
}
void Trig_SuperSonic(void)//出發(fā)聲波
{
Trig = 1; //發(fā)送trig信號(hào)
delayt(1); //延時(shí)0.1ms
Trig = 0; //發(fā)送trig信號(hào)完畢
}
void Measure_Distance(void)
{
uchar l;
uint h,y;
TR0 = 1; //啟動(dòng)定時(shí)器0,收到回聲則開始計(jì)時(shí)
while(Echo) //
{
;
}
TR0 = 0;
l = TL0; //把定時(shí)器0低8位裝入L
h = TH0; //把定時(shí)器0高8位裝入h
y = (h << 8) + l; //將計(jì)數(shù)值轉(zhuǎn)換為16位（把h向左移八位加上低八位
y = y - 0xfc66; //us（微秒）部分，不足1ms的時(shí)間
temp=distance;
distance = y + 1000 * count; //計(jì)算總時(shí)間(定時(shí)器一次1ms) 單位:us
TL0 = 0x66;
TH0 = 0xfc;
delayt(30);
distance = VELOCITY_30C * distance /20000;
}
void distancescan()
{
if(distance>3000)
{
LCD_ShowNum(1,1,distance,4);
LED=0xff;
}
else if(distance>2500||distance<=3000)
{
LCD_ShowNum(1,1,distance,4);
LED=0xfe;
}
else if(distance>1500||distance<=2500)
{
LCD_ShowNum(1,1,distance,4);
LED=0xfc;
}
else if(distance>1000||distance<=1500)
{
LCD_ShowNum(1,1,distance,4);
LED=0xfb;
}
else if(distance>500||distance<=1500)
{
LCD_ShowNum(1,1,distance,4);
LED=0xf3;
}
else if(distance>250||distance<=500)
{
LCD_ShowNum(1,1,distance,4);
LED=0xef;
}
else if(distance>100||distance<=250)
{
LCD_ShowNum(1,1,distance,4);
LED=0xcf;
}
else if(distance<=100)
{
LCD_ShowNum(1,1,distance,4);
LED=0xc0;
}
}
void csbscan()
{
Trig_SuperSonic(); //觸發(fā)超聲波發(fā)射
while(Echo == 0) //等待回聲 如果有回波則Echo=1 則跳出循環(huán)開始計(jì)時(shí)
{
;
}
Measure_Distance(); //計(jì)算脈寬并轉(zhuǎn)換為距離
distancescan();
beep(0.16*distance+34);
Init_Parameter(); // 參數(shù)重新初始化
delayt(600); //延時(shí)，兩次發(fā)射之間要至少有60ms間隔
}
unsigned char keyscan()
{
static unsigned char KeyNumber=0;
if(k1==0)
{ delays(1000);
if(k1==0)
KeyNumber=1;
}
if(k2==0)
{ delays(1000);
if(k2==0)
KeyNumber=2;
}
if(k3==0)
{ delays(1000);
if(k3==0)
KeyNumber=3;
}
return KeyNumber;
}
int main()
{
stop();
// forward();
LCD_Init();
LCD_ShowString(1,5,"mm");
Init_MCU();
Init_Parameter();
while(1)
{
flag=keyscan();
switch(flag)
{
case 1:back();LCD_ShowString(2,1,"back ");break;
case 2:forward();LCD_ShowString(2,1,"forward");break;
case 3:stop();LCD_ShowString(2,1,"stop ");flag=0;break;
default:;
}
csbscan();
}
}
void timer0 () interrupt 1
{
TF0 = 0;
TL0 = 0x66;
TH0 = 0xfc; //1ms
count++;
if(count == 18) //超聲波回聲脈寬最多18ms
{
TR0 =0;
TL0 = 0x66;
TH0 = 0xfc;
count = 0;
}
}
各位幫忙看看哪里有問題嘛，非常感謝
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