Cảm biến siêu âm

[fidel]

Đây là code của mình, SRF05/mode1/Atmega128.



#define F_CPU 14745600UL
#define STOP_CLK 0x08 // Stop clock
#define START_CLK 0x0A // Start clock with 1:8 prescaler CTC mode
#define START_CLK_N 0x02 // Start clock running 1:8 prescaler in normal mode
#include <avr/io.h>
#include <string.h>
#include <stdio.h>
#include <util/delay.h>
#include <stdint.h>
#include "knihovnaLCD.c"

float s;
char buffer [50];
void setup(void)
{
DDRA = 0x00; // Port A asIN
DDRC = 0xFF; // Port C as OUT
TCCR1A = 0x00; // Set timer up in CTC mode
TCCR1B = 0x08;
TWBR = 0x20; // 100MHz I2C clock frequency
}
void waitForTimer(void)
{
while(!(TIFR&0x10)); // wait for timer to set compare match flag
TCCR1B = STOP_CLK; // Stop the timer
}
void startTimer(unsigned int time)
{
OCR1A = time; // Time set to count to
TIFR = 0x10; // Clear timer campare match flag
TCNT1 = 0x00; // Clear timer to zero
TCCR1B = START_CLK; // Start timer running 1:8 prescaler
}

unsigned int getEcho(void)
{
unsigned int range;

TCNT1 = 0x00; // Clear timer to zero
TCCR1B = START_CLK_N;
while(bit_is_clear(PINA,0) && TCNT1 < 0xC350) // Wait for echo pin to go high, this indicates the start of the incoming pulse
{
}
if (TCNT1 > 0xC300) //Time over
{
TCCR1B = STOP_CLK;
return(999);
}
TCCR1B = STOP_CLK;
TCNT1 = 0x00; // Clear timer to zero
TCCR1B = START_CLK_N; // Start timer running 1:8 prescaler in normal mode
while(bit_is_set(PINA,0)); // Echo pin goes high
{ // Just wait
}
TCCR1B = STOP_CLK; // Echo pin has just fallen down. Stop the timer
range = TCNT1/107; // Read back value in the timer counter register
return(range);
}

int main(void)
{
setup();
startTimer(0xFFFF);
waitForTimer();
LCD_Init();
LCD_Clear();

while (1)
{
PORTC=255;
_delay_us(10);
PORTC=0;
s = getEcho();
sprintf (buffer, "s =%u ", (int)s);
LCD_Position(1 , 1);
LCD_WriteString(buffer);
_delay_ms(100);
};
}

[navy]

Nguyên văn bởi fidel

Đây là code của mình, SRF05/mode1/Atmega128.



#define F_CPU 14745600UL
#define STOP_CLK 0x08 // Stop clock
#define START_CLK 0x0A // Start clock with 1:8 prescaler CTC mode
#define START_CLK_N 0x02 // Start clock running 1:8 prescaler in normal mode
#include <avr/io.h>
#include <string.h>
#include <stdio.h>
#include <util/delay.h>
#include <stdint.h>
#include "knihovnaLCD.c"

float s;
char buffer [50];
void setup(void)
{
DDRA = 0x00; // Port A asIN
DDRC = 0xFF; // Port C as OUT
TCCR1A = 0x00; // Set timer up in CTC mode
TCCR1B = 0x08;
TWBR = 0x20; // 100MHz I2C clock frequency
}
void waitForTimer(void)
{
while(!(TIFR&0x10)); // wait for timer to set compare match flag
TCCR1B = STOP_CLK; // Stop the timer
}
void startTimer(unsigned int time)
{
OCR1A = time; // Time set to count to
TIFR = 0x10; // Clear timer campare match flag
TCNT1 = 0x00; // Clear timer to zero
TCCR1B = START_CLK; // Start timer running 1:8 prescaler
}

unsigned int getEcho(void)
{
unsigned int range;

TCNT1 = 0x00; // Clear timer to zero
TCCR1B = START_CLK_N;
while(bit_is_clear(PINA,0) && TCNT1 < 0xC350) // Wait for echo pin to go high, this indicates the start of the incoming pulse
{
}
if (TCNT1 > 0xC300) //Time over
{
TCCR1B = STOP_CLK;
return(999);
}
TCCR1B = STOP_CLK;
TCNT1 = 0x00; // Clear timer to zero
TCCR1B = START_CLK_N; // Start timer running 1:8 prescaler in normal mode
while(bit_is_set(PINA,0)); // Echo pin goes high
{ // Just wait
}
TCCR1B = STOP_CLK; // Echo pin has just fallen down. Stop the timer
range = TCNT1/107; // Read back value in the timer counter register
return(range);
}

int main(void)
{
setup();
startTimer(0xFFFF);
waitForTimer();
LCD_Init();
LCD_Clear();

while (1)
{
PORTC=255;
_delay_us(10);
PORTC=0;
s = getEcho();
sprintf (buffer, "s =%u ", (int)s);
LCD_Position(1 , 1);
LCD_WriteString(buffer);
_delay_ms(100);
};
}

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[spkt_kdd95]

Mình đang muốn làm con robo dùng cảm biến siêu âm Sr04 để tìm vật cản, mà viết code hoài mà nó không chạy theo ý muốn mong các sư huynh chỉ giúp. Đây là code mình viết.

;================================================= =======
; Ten chuong trinh : Mach phat xung 10us-Dung Cho Cam Bien Sieu Am Hc-SR04
; Nguoi thuc hien : Duong Van Bong
; Ngay thuc hien : 04/03/2012
; Phien ban : 1.0
; Mo ta phan cung : Dung PIC16F84A - thach anh 16MHz
; : HC-SR04 giao tiep voi PORTB
; : RB0 - RB7 la cac chan output
;----------------------------------------------------------------
; Ngay hoan thanh : 04/03/2012
; Ngay kiem tra : 04/03/2012
; Nguoi kiem tra : Duong Van Bong
;----------------------------------------------------------------
; Chu thich : Dung Pic tao xung cho cam bien
; :
;================================================= =======
TITLE "Mach phat xung 10us"
PROCESSOR P16F84A
INCLUDE <P16F84A.inc>
__CONFIG _CP_OFF & _PWRTE_ON & _WDT_OFF &_HS_OSC
;================================================= ======
; Phan Dat Bien
;-------------------------------------
; Bien o bang 0
;-------------------------------------
ORG 0x020
Delay_reg1 EQU 0x020
Delay_reg2 EQU 0x021
Delay_reg3 EQU 0x022
Delay_reg4 EQU 0x023
Delay_reg5 EQU 0x024
Rb1 EQU 1
;------------------------------------
; Bien o bang 1
;------------------------------------
ORG 0x0A0
;------------------------------------
; Bien o bang 2
;------------------------------------
ORG 0x120
;================================================= ========================
; Phâ`n chuong trình chính
;================================================= ========================
ORG 0x0000
GOTO MAIN
ORG 0x0005
MAIN
BANKSEL TRISB ; bank select
MOVLW b'00000010'
MOVWF TRISB
CLRF TRISA ; trisa = 00000000
CLRF PORTA ; porta = output
BCF STATUS,RP0
LOOP BSF PORTB,0 ; rb0 = 1
CALL DELAY_10US ; Delay times 10us
BCF PORTB,0 ; Rb0=0
CALL DELAY_1740US ; Delay times 1740us
MOVFW PORTB
BTFSS PORTB,Rb1
CALL BONG
BTFSC PORTB,Rb1
GOTO $-1
GOTO LOOP
;================================================= ============================
; Các chuong trình con
;================================================= ============================
DELAY_10US
MOVLW d'13'
MOVWF Delay_reg1
LOOP1 DECFSZ Delay_reg1
GOTO LOOP1
RETURN
;------------------------------------
DELAY_1740US
MOVLW d'3'
MOVWF Delay_reg2
MOVLW d'25'
MOVWF Delay_reg3
LOOP2 DECFSZ Delay_reg2
GOTO LOOP3
GOTO EXIT
LOOP3 DECFSZ Delay_reg3
GOTO LOOP3
GOTO LOOP2
EXIT
RETURN
;------------------------------------
DELAY_50MS
MOVLW d'17'
MOVWF Delay_reg4
MOVLW d'232'
MOVWF Delay_reg5
LOOP4 DECFSZ Delay_reg4
GOTO LOOP5
GOTO EXIT_1
LOOP5 DECFSZ Delay_reg5
GOTO LOOP5
GOTO LOOP4
EXIT_1
RETURN
;------------------------------------
BONG
BSF PORTA,0
CALL DELAY_50MS
BCF PORTA,0
RETURN
;------------------------------------
END
;================================================= ==================
duongvanbong@yahoo.com
Mong các sư huynh chỉ giúp

[fire_dragon]

Hiện giờ, anh Hùng có bán loại cảm biến siêu âm SRF05 còn mới.
Giá bộ cảm biến 550000 VND. Liên hệ anh Hùng qua email:
hungmn30@yahoo.com

[matong999]

cảm biến này hay thật