سلام
من با بسکام کار می کنم
این پروژ آلتراسونیک به زبان سی هستش
حالا این و با codviton , winavr , avr stdio
با چی کامپایل کنم
من با بسکام کار می کنم
این پروژ آلتراسونیک به زبان سی هستش
حالا این و با codviton , winavr , avr stdio
با چی کامپایل کنم
/* Vincent Ng (vsn2) / Jerry Wang (jw293)
ECE 476: Wednesday 1:30 lab
Final Project
Handheld Ultrasonic Rangefinder
*/
#include <Mega32.h>
#include <stdio.h> // sprintf
#include <stdlib.h> // ftoa
#define LCDwidth 16 //characters
#define t1 1 //timer vars
#define t2 2400
#define nopush 1
#define maybepush 2
#define pushed 3
#define maybenopush 4
#define pulsecount 6 //# of pulses to send
#define waittime 0 //wait time which isn't neccessary
#define dp 3 //decimal points
#asm
.equ __lcd_port=0x15
#endasm
#include <lcd.h> // LCD driver routines
void initialize(void);
void pulse(void);
void debounce(void);
void checkpin7(void);
unsigned char time1, time2, delayedsend, wait;
char sendpulse, calibrate, displayspeed,received, speedmode, normal, pushstate, D1,D2, D3, mode;
char lcd_buffer[17]; // LCD display buffer
int count, rcount, samples;
unsigned long ticks, loopcount, ovrflwcount, stoptime, stopcount;
double distance, currdist, prevdist,speed, distsum, speedsum, tsum, ctpm, tpm;
interrupt [TIM0_OVF] void timer0_ovrflw(void){
ovrflwcount++;
}
void main(void)
{
initialize();
while (1)
{
if(delayedsend == 0){ //a delay before sending the next pulse
if(time1 == 0){
pulse();
time1 = t1;
}
}
if(time2 == 0){ //timer for 30 ms
debounce();
time2 = t2;
}
checkpin7();
}
}
void checkpin7(void){
if((ovrflwcount>500)&&(received==0)){
lcd_gotoxy(0,0); //position to upper left on display
lcd_putsf("d ="
; //another string from flash
received = 1;
lcd_gotoxy(4,0);
lcd_putsf("out of range"
}
if((~PIND.7)&&(wait == 0)&&(received==0)){ //if the pin goes high we received
stoptime = TCNT0; //count the # of ticks
stopcount = ovrflwcount; //count # of times counter over flowed before receiving
received = 1; //received the pulse
lcd_clear();
lcd_gotoxy(0,0); //position to upper left on display
lcd_putsf("d =" //another string from flash
ticks = ((stopcount*256)+stoptime); //calculate total ticks
distance = (((double)ticks)*1.36*(tpm/ctpm))/2;
//# of ticks * (1.36 mm pertick)*(ticks per 5 cm/calibrated)
//all over 2 to compensate for sending and receiving
prevdist = currdist; //store previous dist
currdist = distance; //store current dist
ftoa(distance,dp,lcd_buffer); //display distance
lcd_gotoxy(4,0);
lcd_putsf(" "
lcd_gotoxy(4,0);
lcd_puts(lcd_buffer);
if(normal){
if(rcount>0){
delayedsend = 60000; //delay enough before sending next pulse
sendpulse = 1;
count = 2*pulsecount;
wait = waittime;
distsum = distsum + distance; //add up the samples
if(rcount == (samples/2)){ //take the middle and last samples
speedsum = distance; //for speed calculation
}else if(rcount == 1){
speedsum = speedsum - distance;
}
rcount--;
}else{
distsum = distsum/(samples); //take the average
speedsum = (speedsum/(samples/100)); //calculate speed between first and last
ftoa(distsum,dp,lcd_buffer); //displaystuff
lcd_gotoxy(4,0);
lcd_putsf(" "
lcd_gotoxy(4,0);
lcd_puts(lcd_buffer);
lcd_gotoxy(0,1);
lcd_putsf("spd = "
lcd_gotoxy(9,1);
ftoa(speedsum,dp,lcd_buffer);
lcd_puts(lcd_buffer); //end displaying stuff
distsum = 0; //reset variables
speedsum = 0;
normal = 0;
}
}else if(calibrate){
/*takes 200 samples of how many ticks for 5cm
*averages it and sets it as the calibrated ticks per 5 cm
*/
if(rcount>0){
delayedsend = 60000;
sendpulse = 1;
count = 2*pulsecount;
wait = waittime;
distsum = distsum + distance; //sum up the distances
tsum = tsum + ticks; //sum up the ticks
rcount--;
}else{
distsum = distsum/((float)samples); //average the distances
tsum = tsum/((float)samples) ; //average the ticks
ftoa(distsum,dp,lcd_buffer); //display all this stuff to lcd
lcd_gotoxy(4,0);
lcd_putsf(" "
lcd_gotoxy(4,0);
lcd_puts(lcd_buffer);
lcd_gotoxy(0,1);
lcd_putsf("avgtick = "
lcd_gotoxy(10,1);
ftoa(tsum,dp,lcd_buffer);
lcd_puts(lcd_buffer); //end displaying stuff
distsum = 0; //reset variables
ctpm = tsum;
tsum = 0;
calibrate = 0;
}
}
}
}
void debounce(void){//standard debounce state machine as given in lecture
switch(pushstate){
case nopush:
if((~PIND.1) || (~PIND.2) || (~PIND.3)) // button pushed?
pushstate = maybepush;
else pushstate = nopush;
break;
case maybepush:
if((~PIND.1) || (~PIND.2) || (~PIND.3))
pushstate = pushed;
else pushstate = nopush;
break;
case pushed:
if((~PIND.1) || (~PIND.2) || (~PIND.3)){ // button pushed?
pushstate = pushed;
if(~PIND.1) D1 = 1; //pushflags for each button
else if(~PIND.2) D2 = 1;
else if(~PIND.3) D3 = 1;
}else pushstate = maybenopush;
break;
case maybenopush:
if((~PIND.1) || (~PIND.2) || (~PIND.3)) // button pushed?
pushstate = pushed;
else{
pushstate = nopush;
/*
D1 is normal operation
D2 is speed detection mode
D3 is calibration mode
This checks which button was pressed and sets
the appropriate flags for each mode
*/
if(received){
if(!mode){
if(D1){
sendpulse = 1; //sends a pulse
count = 2*pulsecount;
wait = waittime; //wait for receive
rcount = samples; //count for # of samples
D1 = 0;
normal = 1; //mode of operation
}else if(D2){
ctpm = 73; //reset the calibration
mode = 1; //set mode to change samples mode
lcd_clear(); //clear the display
lcd_putsf("Sample #"
lcd_gotoxy(0,1);
lcd_putsf("b1- "
lcd_putsf("b2+ b3 back"
D2 = 0;
}else if(D3){
sendpulse = 1; //sends pulse
count = 2*pulsecount;
wait = waittime;
calibrate = 1; //calibrate mode on
D3 = 0;
rcount = samples;
}
}else if(mode){ //mode two for changing sample number
if(D1){ //decrement sample #
if(samples>50){
samples = samples - 50; //minimum number 50
}
D1 = 0;
lcd_gotoxy(0,0); //display sample number to LCD
lcd_putsf(" "
lcd_gotoxy(0,0);
sprintf (lcd_buffer, "n = %i", samples);
lcd_puts(lcd_buffer);
}else if(D2){ //increment sample #
samples = samples+50;
lcd_gotoxy(0,0);
lcd_putsf(" "
lcd_gotoxy(0,0);
sprintf (lcd_buffer, "n = %i", samples);
lcd_puts(lcd_buffer);
D2 = 0;
}else if(D3){
ctpm = 73; //reset the calibration
mode = 0; //set mode to change samples mode
lcd_clear(); //clear the display
lcd_gotoxy(0,0); //show regular operation options
lcd_putsf("b1 sendpulse"
lcd_gotoxy(0,1);
lcd_putsf("b2 mode2 "
lcd_putsf("b3 cal"
D3 = 0;
}
}
}//end received if
}
break;
} // switch
}
void pulse(void){
//sends a certain number of pulses depending on what the count is
if(sendpulse){
received = 0;
if(count>0){
TCCR1A = 0b01000011;
count--;
}else{
sendpulse = 0;
TCCR1A = 0b00000011;
TCNT0 = 0;
ovrflwcount = 0;
}
}
}
void initialize(void)
{
//initialize pushflags for buttons
D1 = 0; //which pin is pushed
D2 = 0;
D3 = 0;
normal = 0;
prevdist = 0;
currdist = 0;
rcount =0;
distsum = 0;
speedsum = 0;
tsum = 0;
// initialize the LCD for 16 char wide
lcd_init(LCDwidth); //initialize the display
lcd_clear(); //clear the display
lcd_putsf("b1 sendpulse"
lcd_gotoxy(0,1);
lcd_putsf("b2 mode2 "
lcd_putsf("b3 cal"
sendpulse = 0;
//set up the ports
DDRD=0b00100000; // PORT D.5 is output rest is inputs
PORTD=0;
//initialize the variables to their proper values
stoptime = 0;
displayspeed = 0;
speedmode = 0;
loopcount = 0;
speed = 0;
mode = 0;
received = 1;
samples = 200;
calibrate = 0;
pushstate = nopush;
ticks = 0;
ctpm= 73.0; //init ticks per 5 cm
tpm = 73.0;
//set up timer 0 and timer 1
TCCR0=0b000000011; //prescalar to 64 and turn on clear-on-match
TIMSK = 0x11; //timer1 compA and TIMER0 COMP interrupts on
OCR1A = 24; //timer1 OCR to count 25 times and toggle OC1A at 40kHz
TCCR1A = 0b00000011; //divide the clock by 8 PWM mode on
TCCR1B = 0b00011010;
//init the timers
time1=t1;
time2=t2;
wait = 0;
delayedsend = 0;
#asm
sei
#endasm
}
interrupt [TIM1_COMPA] void timer1_compare(void)
{
if (time1>0) --time1; //40khz
if (time2>0) --time2; //debounce machine
if (wait>0) --wait; //wait to receive
if (delayedsend>0) --delayedsend; //wait to send another pulse
}
ECE 476: Wednesday 1:30 lab
Final Project
Handheld Ultrasonic Rangefinder
*/
#include <Mega32.h>
#include <stdio.h> // sprintf
#include <stdlib.h> // ftoa
#define LCDwidth 16 //characters
#define t1 1 //timer vars
#define t2 2400
#define nopush 1
#define maybepush 2
#define pushed 3
#define maybenopush 4
#define pulsecount 6 //# of pulses to send
#define waittime 0 //wait time which isn't neccessary
#define dp 3 //decimal points
#asm
.equ __lcd_port=0x15
#endasm
#include <lcd.h> // LCD driver routines
void initialize(void);
void pulse(void);
void debounce(void);
void checkpin7(void);
unsigned char time1, time2, delayedsend, wait;
char sendpulse, calibrate, displayspeed,received, speedmode, normal, pushstate, D1,D2, D3, mode;
char lcd_buffer[17]; // LCD display buffer
int count, rcount, samples;
unsigned long ticks, loopcount, ovrflwcount, stoptime, stopcount;
double distance, currdist, prevdist,speed, distsum, speedsum, tsum, ctpm, tpm;
interrupt [TIM0_OVF] void timer0_ovrflw(void){
ovrflwcount++;
}
void main(void)
{
initialize();
while (1)
{
if(delayedsend == 0){ //a delay before sending the next pulse
if(time1 == 0){
pulse();
time1 = t1;
}
}
if(time2 == 0){ //timer for 30 ms
debounce();
time2 = t2;
}
checkpin7();
}
}
void checkpin7(void){
if((ovrflwcount>500)&&(received==0)){
lcd_gotoxy(0,0); //position to upper left on display
lcd_putsf("d ="
; //another string from flashreceived = 1;
lcd_gotoxy(4,0);
lcd_putsf("out of range"
;}
if((~PIND.7)&&(wait == 0)&&(received==0)){ //if the pin goes high we received
stoptime = TCNT0; //count the # of ticks
stopcount = ovrflwcount; //count # of times counter over flowed before receiving
received = 1; //received the pulse
lcd_clear();
lcd_gotoxy(0,0); //position to upper left on display
lcd_putsf("d ="
; //another string from flashticks = ((stopcount*256)+stoptime); //calculate total ticks
distance = (((double)ticks)*1.36*(tpm/ctpm))/2;
//# of ticks * (1.36 mm pertick)*(ticks per 5 cm/calibrated)
//all over 2 to compensate for sending and receiving
prevdist = currdist; //store previous dist
currdist = distance; //store current dist
ftoa(distance,dp,lcd_buffer); //display distance
lcd_gotoxy(4,0);
lcd_putsf(" "
;lcd_gotoxy(4,0);
lcd_puts(lcd_buffer);
if(normal){
if(rcount>0){
delayedsend = 60000; //delay enough before sending next pulse
sendpulse = 1;
count = 2*pulsecount;
wait = waittime;
distsum = distsum + distance; //add up the samples
if(rcount == (samples/2)){ //take the middle and last samples
speedsum = distance; //for speed calculation
}else if(rcount == 1){
speedsum = speedsum - distance;
}
rcount--;
}else{
distsum = distsum/(samples); //take the average
speedsum = (speedsum/(samples/100)); //calculate speed between first and last
ftoa(distsum,dp,lcd_buffer); //displaystuff
lcd_gotoxy(4,0);
lcd_putsf(" "
;lcd_gotoxy(4,0);
lcd_puts(lcd_buffer);
lcd_gotoxy(0,1);
lcd_putsf("spd = "
;lcd_gotoxy(9,1);
ftoa(speedsum,dp,lcd_buffer);
lcd_puts(lcd_buffer); //end displaying stuff
distsum = 0; //reset variables
speedsum = 0;
normal = 0;
}
}else if(calibrate){
/*takes 200 samples of how many ticks for 5cm
*averages it and sets it as the calibrated ticks per 5 cm
*/
if(rcount>0){
delayedsend = 60000;
sendpulse = 1;
count = 2*pulsecount;
wait = waittime;
distsum = distsum + distance; //sum up the distances
tsum = tsum + ticks; //sum up the ticks
rcount--;
}else{
distsum = distsum/((float)samples); //average the distances
tsum = tsum/((float)samples) ; //average the ticks
ftoa(distsum,dp,lcd_buffer); //display all this stuff to lcd
lcd_gotoxy(4,0);
lcd_putsf(" "
;lcd_gotoxy(4,0);
lcd_puts(lcd_buffer);
lcd_gotoxy(0,1);
lcd_putsf("avgtick = "
;lcd_gotoxy(10,1);
ftoa(tsum,dp,lcd_buffer);
lcd_puts(lcd_buffer); //end displaying stuff
distsum = 0; //reset variables
ctpm = tsum;
tsum = 0;
calibrate = 0;
}
}
}
}
void debounce(void){//standard debounce state machine as given in lecture
switch(pushstate){
case nopush:
if((~PIND.1) || (~PIND.2) || (~PIND.3)) // button pushed?
pushstate = maybepush;
else pushstate = nopush;
break;
case maybepush:
if((~PIND.1) || (~PIND.2) || (~PIND.3))
pushstate = pushed;
else pushstate = nopush;
break;
case pushed:
if((~PIND.1) || (~PIND.2) || (~PIND.3)){ // button pushed?
pushstate = pushed;
if(~PIND.1) D1 = 1; //pushflags for each button
else if(~PIND.2) D2 = 1;
else if(~PIND.3) D3 = 1;
}else pushstate = maybenopush;
break;
case maybenopush:
if((~PIND.1) || (~PIND.2) || (~PIND.3)) // button pushed?
pushstate = pushed;
else{
pushstate = nopush;
/*
D1 is normal operation
D2 is speed detection mode
D3 is calibration mode
This checks which button was pressed and sets
the appropriate flags for each mode
*/
if(received){
if(!mode){
if(D1){
sendpulse = 1; //sends a pulse
count = 2*pulsecount;
wait = waittime; //wait for receive
rcount = samples; //count for # of samples
D1 = 0;
normal = 1; //mode of operation
}else if(D2){
ctpm = 73; //reset the calibration
mode = 1; //set mode to change samples mode
lcd_clear(); //clear the display
lcd_putsf("Sample #"
;lcd_gotoxy(0,1);
lcd_putsf("b1- "
;lcd_putsf("b2+ b3 back"
;D2 = 0;
}else if(D3){
sendpulse = 1; //sends pulse
count = 2*pulsecount;
wait = waittime;
calibrate = 1; //calibrate mode on
D3 = 0;
rcount = samples;
}
}else if(mode){ //mode two for changing sample number
if(D1){ //decrement sample #
if(samples>50){
samples = samples - 50; //minimum number 50
}
D1 = 0;
lcd_gotoxy(0,0); //display sample number to LCD
lcd_putsf(" "
;lcd_gotoxy(0,0);
sprintf (lcd_buffer, "n = %i", samples);
lcd_puts(lcd_buffer);
}else if(D2){ //increment sample #
samples = samples+50;
lcd_gotoxy(0,0);
lcd_putsf(" "
;lcd_gotoxy(0,0);
sprintf (lcd_buffer, "n = %i", samples);
lcd_puts(lcd_buffer);
D2 = 0;
}else if(D3){
ctpm = 73; //reset the calibration
mode = 0; //set mode to change samples mode
lcd_clear(); //clear the display
lcd_gotoxy(0,0); //show regular operation options
lcd_putsf("b1 sendpulse"
;lcd_gotoxy(0,1);
lcd_putsf("b2 mode2 "
;lcd_putsf("b3 cal"
;D3 = 0;
}
}
}//end received if
}
break;
} // switch
}
void pulse(void){
//sends a certain number of pulses depending on what the count is
if(sendpulse){
received = 0;
if(count>0){
TCCR1A = 0b01000011;
count--;
}else{
sendpulse = 0;
TCCR1A = 0b00000011;
TCNT0 = 0;
ovrflwcount = 0;
}
}
}
void initialize(void)
{
//initialize pushflags for buttons
D1 = 0; //which pin is pushed
D2 = 0;
D3 = 0;
normal = 0;
prevdist = 0;
currdist = 0;
rcount =0;
distsum = 0;
speedsum = 0;
tsum = 0;
// initialize the LCD for 16 char wide
lcd_init(LCDwidth); //initialize the display
lcd_clear(); //clear the display
lcd_putsf("b1 sendpulse"
;lcd_gotoxy(0,1);
lcd_putsf("b2 mode2 "
;lcd_putsf("b3 cal"
;sendpulse = 0;
//set up the ports
DDRD=0b00100000; // PORT D.5 is output rest is inputs
PORTD=0;
//initialize the variables to their proper values
stoptime = 0;
displayspeed = 0;
speedmode = 0;
loopcount = 0;
speed = 0;
mode = 0;
received = 1;
samples = 200;
calibrate = 0;
pushstate = nopush;
ticks = 0;
ctpm= 73.0; //init ticks per 5 cm
tpm = 73.0;
//set up timer 0 and timer 1
TCCR0=0b000000011; //prescalar to 64 and turn on clear-on-match
TIMSK = 0x11; //timer1 compA and TIMER0 COMP interrupts on
OCR1A = 24; //timer1 OCR to count 25 times and toggle OC1A at 40kHz
TCCR1A = 0b00000011; //divide the clock by 8 PWM mode on
TCCR1B = 0b00011010;
//init the timers
time1=t1;
time2=t2;
wait = 0;
delayedsend = 0;
#asm
sei
#endasm
}
interrupt [TIM1_COMPA] void timer1_compare(void)
{
if (time1>0) --time1; //40khz
if (time2>0) --time2; //debounce machine
if (wait>0) --wait; //wait to receive
if (delayedsend>0) --delayedsend; //wait to send another pulse
}
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