cads.zip_障碍物

#include<reg52.h> #include<intrins.h> #define uchar unsigned char #define uint unsigned int sbit E=P2^2; //1602使能引脚 sbit RW=P2^1; //1602读写引脚 sbit RS=P2^0; //1602数据/命令选择引脚 sbit trig=P2^7; //触发超声波 sbit echo=P3^2; //超声波响应输入 bit en_flag=1; uchar t1=0,t2=0; unsigned char i; unsigned int t=0; unsigned long S; unsigned char code ASCII[19]={'0','1','2','3','4','5','6','7','8','9','.','-','M','J','U',' ','L','I',':'}; static unsigned char DisNum=0; //显示用指针 unsigned long S=0; unsigned char disbuff[11]={0}; /************函数声明************/ void T_soundwave(); //发送超声波 void R_soundwave(); //接收超声波 void Count(unsigned int t); // 获取距离 void lcd_mang(); //判忙 void write_lcd1602(uchar cmd,uchar i) ; //1602写 void Outside_Init(void); //外部中断初始化 void Time1_init(); //定时器1初始化 void ini_lcd1602(); //1602初始化 void Delay_1ms(unsigned char i); /********************************/ void delay(uchar a) { uchar i; while(a--) { for(i=0;i<250;i++) { _nop_(); _nop_(); _nop_(); _nop_(); } } } //判忙 void lcd_mang() { RS=0; RW=1; E=1; _nop_(); _nop_(); _nop_(); _nop_(); while(P0&0x80); E=0; } //1602的写 void write_lcd1602(uchar cmd,uchar i) //当i为0时向1602写指令，为1时写数据 { lcd_mang(); RS=i; RW=0; E=0; _nop_(); _nop_(); E=1; _nop_(); _nop_(); P0=cmd; E=0; } //1602的初始化 void ini_lcd1602() { write_lcd1602(0x38,0); delay(1); write_lcd1602(0x0c,0); delay(1); write_lcd1602(0x06,0); delay(1); write_lcd1602(0x01,0); delay(1); } void T_soundwave() { uchar i; trig=0; trig=1; for(i=0;i<10;i++); trig=0; } void R_soundwave() { while(echo!=1); TR1=1; //打开定时器1 EX0=1; // 打开外部中断 } void Count(unsigned int t) { S=(t*1.7)/100;//距离单位cm disbuff[0]=13; disbuff[1]=14; disbuff[2]=15; disbuff[3]=16; disbuff[4]=17; disbuff[5]=18; disbuff[6]=S%1000/100; disbuff[7]=10; disbuff[8]=S%1000%100/10; disbuff[9]=S%1000%100%10; disbuff[10]=12; } void Outside_Init(void) { EX0 = 0; //关外部中断0 IT0 = 1; //负边沿触发 EA = 1; //开总中断 } void Time1_init() { TMOD=0x11; //GATE=1，计时器选用方式1 TH1=0x00; TL1=0x00; ET1=1; } void Delay_1ms(unsigned char i) //1ms延时 { unsigned char x,j; for(j=0;j<i;j++) for(x=0;x<=148;x++); } void Main() { Time1_init(); Outside_Init(); ini_lcd1602(); while(1) { T_soundwave(); R_soundwave(); while(en_flag!=1); Count(t); en_flag=0; write_lcd1602( 0x80, 0) ; for(i=0;i<=10;i++) write_lcd1602(ASCII[disbuff[i]],1); Delay_1ms(60); } } void Int0(void) interrupt 0 { TR1=0; t1=TH1; t2=TL1; TH1=0; TL1=0; t=(t1<<8)+t2; en_flag=1; }