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求51單片機超聲波避障程序

這是壹個超聲波避障小車的源程序，可以參考下，用的89C52單片機，舵機控制轉角避障。

#include<AT89x51.H>

#include <intrins.h>

#define Sevro_moto_pwm P2_7 //接舵機信號端輸入PWM信號調節速度

#define ECHO P2_4 //超聲波接口定義

#define TRIG P2_5 //超聲波接口定義

#define Left_moto_go {P1_0=1,P1_1=0,P1_2=1,P1_3=0;} //左邊兩個電機向前走

#define Left_moto_back {P1_0=0,P1_1=1,P1_2=0,P1_3=1;} //左邊兩個電機向後轉

#define Left_moto_Stop {P1_0=0,P1_1=0,P1_2=0,P1_3=0;} //左邊兩個電機停轉

#define Right_moto_go {P1_4=1,P1_5=0,P1_6=1,P1_7=0;} //右邊兩個電機向前走

#define Right_moto_back {P1_4=0,P1_5=1,P1_6=0,P1_7=1;} //右邊兩個電機向前走

#define Right_moto_Stop {P1_4=0,P1_5=0,P1_6=0,P1_7=0;} //右邊兩個電機停轉

unsigned char const discode[] ={ 0xC0,0xF9,0xA4,0xB0,0x99,0x92,0x82,0xF8,0x80,0x90,0xBF,0xff/*-*/};

unsigned char const positon[3]={ 0xfe,0xfd,0xfb};

unsigned char disbuff[4] ={ 0,0,0,0,};

unsigned char posit=0;

unsigned char pwm_val_left = 0;//變量定義

unsigned char push_val_left =14;//舵機歸中，產生約，1.5MS 信號

unsigned long S=0;

unsigned long S1=0;

unsigned long S2=0;

unsigned long S3=0;

unsigned long S4=0;

unsigned int time=0; //時間變量

unsigned int timer=0; //延時基準變量

unsigned char timer1=0; //掃描時間變量

/************************************************************************/

void delay(unsigned int k) //延時函數

{

unsigned int x,y;

for(x=0;x<k;x++)

for(y=0;y<2000;y++);

}

/************************************************************************/

void Display(void) //掃描數碼管

{

if(posit==0)

{P0=(discode[disbuff[posit]])&0x7f;}//產生點

else

{P0=discode[disbuff[posit]];} if(posit==0)

{ P2_1=0;P2_2=1;P2_3=1;}

if(posit==1)

{P2_1=1;P2_2=0;P2_3=1;}

if(posit==2)

{P2_1=1;P2_2=1;P2_3=0;}

if(++posit>=3)

posit=0;

}

/************************************************************************/

void StartModule() //啟動測距信號

{

TRIG=1;

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

_nop_();

TRIG=0;

}

/***************************************************/

void Conut(void) //計算距離

{

while(!ECHO); //當RX為零時等待

TR0=1; //開啟計數

while(ECHO); //當RX為1計數並等待

TR0=0; //關閉計數

time=TH0*256+TL0; //讀取脈寬長度

TH0=0;

TL0=0;

S=(time*1.7)/100; //算出來是CM

disbuff[0]=S%1000/100; //更新顯示

disbuff[1]=S%1000%100/10;

disbuff[2]=S%1000%10 %10;

}

/************************************************************************/

//前速前進

void run(void)

{

Left_moto_go ; //左電機往前走

Right_moto_go ; //右電機往前走

}

/************************************************************************/

//前速後退

void backrun(void)

{

Left_moto_back ; //左電機往前走

Right_moto_back ; //右電機往前走

}

/************************************************************************/

//左轉

void leftrun(void)

{

Left_moto_back ; //左電機往前走

Right_moto_go ; //右電機往前走

}

/************************************************************************/

//右轉

void rightrun(void)

{

Left_moto_go ; //左電機往前走

Right_moto_back ; //右電機往前走

}

/************************************************************************/

//STOP

void stoprun(void)

{

Left_moto_Stop ; //左電機停走

Right_moto_Stop ; //右電機停走

}

/************************************************************************/

void COMM( void )

{

push_val_left=5; //舵機向左轉90度

timer=0;

while(timer<=4000); //延時400MS讓舵機轉到其位置

StartModule(); //啟動超聲波測距

Conut(); //計算距離

S2=S;

push_val_left=23; //舵機向右轉90度

timer=0;

while(timer<=4000); //延時400MS讓舵機轉到其位置

StartModule(); //啟動超聲波測距

Conut(); //計算距離

S4=S;

push_val_left=14; //舵機歸中

timer=0;

while(timer<=4000); //延時400MS讓舵機轉到其位置 StartModule(); //啟動超聲波測距

Conut(); //計算距離

S1=S; if((S2<20)||(S4<20)) //只要左右各有距離小於20CM小車後退

{

backrun(); //後退

timer=0;

while(timer<=4000);

}

if(S2>S4)

{

rightrun(); //車的左邊比車的右邊距離小 右轉

timer=0;

while(timer<=4000);

}

else

{

leftrun(); //車的左邊比車的右邊距離大 左轉

timer=0;

while(timer<=4000);

}

} /************************************************************************/

/* PWM調制電機轉速 */

/************************************************************************/

/* 左電機調速 */

/*調節push_val_left的值改變電機轉速,占空比 */

void pwm_Servomoto(void)

{

if(pwm_val_left<=push_val_left)

Sevro_moto_pwm=1;

else

Sevro_moto_pwm=0;

if(pwm_val_left>=200)

pwm_val_left=0;

}

/***************************************************/

///*TIMER1中斷服務子函數產生PWM信號*/

void time1()interrupt 3 using 2

{

TH1=(65536-100)/256; //100US定時

TL1=(65536-100)%256;

timer++; //定時器100US為準。在這個基礎上延時

pwm_val_left++;

pwm_Servomoto(); timer1++; //2MS掃壹次數碼管

if(timer1>=20)

{

timer1=0;

Display();

}

}

/***************************************************/

///*TIMER0中斷服務子函數產生PWM信號*/

void timer0()interrupt 1 using 0

{

} /***************************************************/ void main(void)

{ TMOD=0X11;

TH1=(65536-100)/256; //100US定時

TL1=(65536-100)%256;

TH0=0;

TL0=0;

TR1= 1;

ET1= 1;

ET0= 1;

EA = 1; delay(100);

push_val_left=14; //舵機歸中

while(1) /*無限循環*/

{ if(timer>=1000) //100MS檢測啟動檢測壹次

{

timer=0;

StartModule(); //啟動檢測

Conut(); //計算距離

if(S<30) //距離小於20CM

{

stoprun(); //小車停止

COMM(); //方向函數

}

else

if(S>30) //距離大於，30CM往前走

run();

}

}

}

/**************************************************************************/

下面是頭文件：

頭文件（壹）

/*--------------------------------------------------------------------------

AT89X51.H Header file for the low voltage Flash Atmel AT89C51 and AT89LV51.

Copyright (c) 1988-2002 Keil Elektronik GmbH and Keil Software, Inc.

All rights reserved.

--------------------------------------------------------------------------*/

#ifndef __AT89X51_H__

#define __AT89X51_H__

/*------------------------------------------------

Byte Registers

------------------------------------------------*/

sfr P0 = 0x80;

sfr SP = 0x81;

sfr DPL = 0x82;

sfr DPH = 0x83;

sfr PCON = 0x87;

sfr TCON = 0x88;

sfr TMOD = 0x89;

sfr TL0 = 0x8A;

sfr TL1 = 0x8B;

sfr TH0 = 0x8C;

sfr TH1 = 0x8D;

sfr P1 = 0x90;

sfr SCON = 0x98;

sfr SBUF = 0x99;

sfr P2 = 0xA0;

sfr IE = 0xA8;

sfr P3 = 0xB0;

sfr IP = 0xB8;

sfr PSW = 0xD0;

sfr ACC = 0xE0;

sfr B = 0xF0;

/*------------------------------------------------

P0 Bit Registers

------------------------------------------------*/

sbit P0_0 = 0x80;

sbit P0_1 = 0x81;

sbit P0_2 = 0x82;

sbit P0_3 = 0x83;

sbit P0_4 = 0x84;

sbit P0_5 = 0x85;

sbit P0_6 = 0x86;

sbit P0_7 = 0x87;

/*------------------------------------------------

PCON Bit Values

------------------------------------------------*/

#define IDL_ 0x01

#define STOP_ 0x02

#define PD_ 0x02 /* Alternate definition */

#define GF0_ 0x04

#define GF1_ 0x08 #define SMOD_ 0x80 /

*------------------------------------------------

TCON Bit Registers

------------------------------------------------*/

sbit IT0 = 0x88;

sbit IE0 = 0x89;

sbit IT1 = 0x8A;

sbit IE1 = 0x8B;

sbit TR0 = 0x8C;

sbit TF0 = 0x8D;

sbit TR1 = 0x8E;

sbit TF1 = 0x8F;

/*------------------------------------------------

TMOD Bit Values

------------------------------------------------*/

#define T0_M0_ 0x01

#define T0_M1_ 0x02

#define T0_CT_ 0x04

#define T0_GATE_ 0x08

#define T1_M0_ 0x10

#define T1_M1_ 0x20

#define T1_CT_ 0x40

#define T1_GATE_ 0x80

#define T1_MASK_ 0xF0

#define T0_MASK_ 0x0F

/*------------------------------------------------

P1 Bit Registers

------------------------------------------------*/

sbit P1_0 = 0x90;

sbit P1_1 = 0x91;

sbit P1_2 = 0x92;

sbit P1_3 = 0x93;

sbit P1_4 = 0x94;

sbit P1_5 = 0x95;

sbit P1_6 = 0x96;

sbit P1_7 = 0x97; /

*------------------------------------------------

SCON Bit Registers

------------------------------------------------*/

sbit RI = 0x98;

sbit TI = 0x99;

sbit RB8 = 0x9A;

sbit TB8 = 0x9B;

sbit REN = 0x9C;

sbit SM2 = 0x9D;

sbit SM1 = 0x9E;

sbit SM0 = 0x9F;

/*------------------------------------------------

P2 Bit Registers

------------------------------------------------*/

sbit P2_0 = 0xA0;

sbit P2_1 = 0xA1;

sbit P2_2 = 0xA2;

sbit P2_3 = 0xA3;

sbit P2_4 = 0xA4;

sbit P2_5 = 0xA5;

sbit P2_6 = 0xA6;

sbit P2_7 = 0xA7;

/*------------------------------------------------

IE Bit Registers

------------------------------------------------*/

sbit EX0 = 0xA8; /* 1=Enable External interrupt 0 */

sbit ET0 = 0xA9; /* 1=Enable Timer 0 interrupt */

sbit EX1 = 0xAA; /* 1=Enable External interrupt 1 */

sbit ET1 = 0xAB; /* 1=Enable Timer 1 interrupt */

sbit ES = 0xAC; /* 1=Enable Serial port interrupt */

sbit ET2 = 0xAD; /* 1=Enable Timer 2 interrupt */ sbit EA = 0xAF; /* 0=Disable all interrupts */

/*------------------------------------------------

P3 Bit Registers (Mnemonics & Ports)

------------------------------------------------*/

sbit P3_0 = 0xB0;

sbit P3_1 = 0xB1;

sbit P3_2 = 0xB2;

sbit P3_3 = 0xB3;

sbit P3_4 = 0xB4;

sbit P3_5 = 0xB5;

sbit P3_6 = 0xB6;

sbit P3_7 = 0xB7; sbit RXD = 0xB0; /* Serial data input */

sbit TXD = 0xB1; /* Serial data output */

sbit INT0 = 0xB2; /* External interrupt 0 */

sbit INT1 = 0xB3; /* External interrupt 1 */

sbit T0 = 0xB4; /* Timer 0 external input */

sbit T1 = 0xB5; /* Timer 1 external input */

sbit WR = 0xB6; /* External data memory write strobe */

sbit RD = 0xB7; /* External data memory read strobe */

/*------------------------------------------------

IP Bit Registers

------------------------------------------------*/

sbit PX0 = 0xB8;

sbit PT0 = 0xB9;

sbit PX1 = 0xBA;

sbit PT1 = 0xBB;

sbit PS = 0xBC;

sbit PT2 = 0xBD;

/*------------------------------------------------

PSW Bit Registers

------------------------------------------------*/

sbit P = 0xD0;

sbit FL = 0xD1;

sbit OV = 0xD2;

sbit RS0 = 0xD3;

sbit RS1 = 0xD4;

sbit F0 = 0xD5;

sbit AC = 0xD6;

sbit CY = 0xD7;

/*------------------------------------------------

Interrupt Vectors:

Interrupt Address = (Number * 8) + 3

------------------------------------------------*/

#define IE0_VECTOR 0 /* 0x03 External Interrupt 0 */

#define TF0_VECTOR 1 /* 0x0B Timer 0 */

#define IE1_VECTOR 2 /* 0x13 External Interrupt 1 */

#define TF1_VECTOR 3 /* 0x1B Timer 1 */

#define SIO_VECTOR 4 /* 0x23 Serial port */ #endif

頭文件（二）

/*--------------------------------------------------------------------------

INTRINS.H Intrinsic functions for C51.

Copyright (c) 1988-2002 Keil Elektronik GmbH and Keil Software, Inc.

All rights reserved.

--------------------------------------------------------------------------*/

#ifndef __INTRINS_H__

#define __INTRINS_H__ extern void _nop_ (void);

extern bit _testbit_ (bit);

extern unsigned char _cror_ (unsigned char, unsigned char);

extern unsigned int _iror_ (unsigned int, unsigned char);

extern unsigned long _lror_ (unsigned long, unsigned char);

extern unsigned char _crol_ (unsigned char, unsigned char);

extern unsigned int _irol_ (unsigned int, unsigned char);

extern unsigned long _lrol_ (unsigned long, unsigned char);

extern unsigned char _chkfloat_(float); #endif

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