- 课程设计要求:
- 汽车盲区检测行人,包括左前、右前、 左后、 右后。
- 显示各路距离,当距离比较近蜂鸣器提示报警,且阈值可以设置。
- 主要设计思想
四个方位分别一个超声波模块,利用程序实现分时检测
每个超声波反应时间不得少于80ms,所以需要处理相隔时间
项目回顾:单个超声波实现倒车雷达
- 主要代码:
1602.c
#include "1602.h"
#include "delay.h"
#define CHECK_BUSY
sbit RS = P2^6; //定义端口
sbit RW = P2^5;
sbit EN = P2^7;
#define RS_CLR RS=0
#define RS_SET RS=1
#define RW_CLR RW=0
#define RW_SET RW=1
#define EN_CLR EN=0
#define EN_SET EN=1
#define DataPort P0
/*------------------------------------------------
判忙函数
------------------------------------------------*/
bit LCD_Check_Busy(void)
{
#ifdef CHECK_BUSY
DataPort= 0xFF;
RS_CLR;
RW_SET;
EN_CLR;
_nop_();
EN_SET;
return (bit)(DataPort & 0x80);
#else
return 0;
#endif
}
/*------------------------------------------------
写入命令函数
----------------- ----------------------------*/
void LCD_Write_Com(unsigned char com)
{
while(LCD_Check_Busy()); //忙则等待
RS_CLR;
RW_CLR;
EN_SET;
DataPort= com;
_nop_();
EN_CLR;
}
/*------------------------------------------------
写入数据函数
------------------------------------------------*/
void LCD_Write_Data(unsigned char Data)
{
while(LCD_Check_Busy()); //忙则等待
RS_SET;
RW_CLR;
EN_SET;
DataPort= Data;
_nop_();
EN_CLR;
}
/*------------------------------------------------
清屏函数
------------------------------------------------*/
void LCD_Clear(void)
{
LCD_Write_Com(0x01);
DelayMs(5);
}
/*------------------------------------------------
写入字符串函数
------------------------------------------------*/
void LCD_Write_String(unsigned char x,unsigned char y,unsigned char *s)
{
if (y == 0)
{
LCD_Write_Com(0x80 + x); //表示第一行
}
else
{
LCD_Write_Com(0xC0 + x); //表示第二行
}
while (*s)
{
LCD_Write_Data( *s);
s ++;
}
}
/*------------------------------------------------
初始化函数
------------------------------------------------*/
void LCD_Init(void)
{
LCD_Write_Com(0x38); /*显示模式设置*/
DelayMs(5);
LCD_Write_Com(0x38);
DelayMs(5);
LCD_Write_Com(0x38);
DelayMs(5);
LCD_Write_Com(0x38);
LCD_Write_Com(0x08); /*显示关闭*/
LCD_Write_Com(0x01); /*显示清屏*/
LCD_Write_Com(0x06); /*显示光标移动设置*/
DelayMs(5);
LCD_Write_Com(0x0C); /*显示开及光标设置*/
}
1602.h
#include<reg52.h>
#include<intrins.h>
#ifndef __1602_H__
#define __1602_H__
bit LCD_Check_Busy(void) ;
void LCD_Write_Com(unsigned char com) ;
void LCD_Write_Data(unsigned char Data) ;
void LCD_Clear(void) ;
void LCD_Write_String(unsigned char x,unsigned char y,unsigned char *s) ;
void LCD_Write_Char(unsigned char x,unsigned char y,unsigned char Data) ;
void LCD_Init(void) ;
void Lcd_User_Chr(void);
#endif
delay.c
#include "delay.h"
/*------------------------------------------------
uS延时函数,含有输入参数 unsigned char t,无返回值
unsigned char 是定义无符号字符变量,其值的范围是
0~255 这里使用晶振12M,精确延时请使用汇编,大致延时
长度如下 T=tx2+5 uS
------------------------------------------------*/
void DelayUs2x(unsigned char t)
{
while(--t);
}
/*------------------------------------------------
mS延时函数,含有输入参数 unsigned char t,无返回值
unsigned char 是定义无符号字符变量,其值的范围是
0~255 这里使用晶振12M,精确延时请使用汇编
------------------------------------------------*/
void DelayMs(unsigned char t)
{
while(t--)
{
//大致延时1mS
DelayUs2x(245);
DelayUs2x(245);
}
}
delay.h
#ifndef __DELAY_H__
#define __DELAY_H__
void DelayUs2x(unsigned char t);
void DelayMs(unsigned char t);
#endif
main.c
#include<reg52.h>
#include"1602.h"
#include"delay.h"
#define K1_MODE 1
#define K2_ADD 2
#define K3_DEC 3
#define uchar unsigned char
#define uint unsigned int
sbit trig1=P1^7; // 分别对应四路超声波
sbit echo1=P1^6;
sbit trig2=P1^5;
sbit echo2=P1^4;
sbit trig3=P1^3;
sbit echo3=P1^2;
sbit trig4=P1^1;
sbit echo4=P1^0;
sbit led1=P2^0; // 四个led灯显示哪一路距离过近
sbit led2=P2^1;
sbit led3=P2^2;
sbit led4=P2^3;
sbit beep=P3^4; // 蜂鸣器报警
sbit key3=P3^2; // 模式选择
sbit key2=P3^0; // 减小阈值
sbit key1=P3^1; // 增加阈值
uchar mode=0; // 设置阈值模式选择
uchar s1=0,s2=0,s3=0,s4=0; // 四路距离
uchar minx1=20,minx2=20,minx3=20,minx4=20; // 设置阈值默认值
uchar dis_buf[4]; // 暂存距离值
void delay_us(uint c)
{
while(--c);
}
void delay_10ms(uchar c1)
{
uchar a,b;
for(;c1>0;c1--)
{
for(a=38;a>0;a--)
for(b=130;b>0;b--);
if(key1==0||key2==0||key3==0)
return;
}
}
void Dis_DataPros()
{
// 显示四路距离
LCD_Write_String(0,0,"LF:");
dis_buf[0]=s1/100+'0';
dis_buf[1]=s1/10%10+'0';
dis_buf[2]=s1%10+'0';
dis_buf[3]='\0';
LCD_Write_String(3,0,dis_buf);
LCD_Write_String(8,0,"RF:");
dis_buf[0]=s2/100+'0';
dis_buf[1]=s2/10%10+'0';
dis_buf[2]=s2%10+'0';
dis_buf[3]='\0';
LCD_Write_String(11,0,dis_buf);
LCD_Write_String(0,1,"LB:");
dis_buf[0]=s3/100+'0';
dis_buf[1]=s3/10%10+'0';
dis_buf[2]=s3%10+'0';
dis_buf[3]='\0';
LCD_Write_String(3,1,dis_buf);
LCD_Write_String(8,1,"RB:");
dis_buf[0]=s4/100+'0';
dis_buf[1]=s4/10%10+'0';
dis_buf[2]=s4%10+'0';
dis_buf[3]='\0';
LCD_Write_String(11,1,dis_buf);
}
//mode: 0-单次扫描 1~4-连续扫描
uchar KEY_Scan(uchar mode)
{
static uchar is_key=1; // 按键标志位
if(is_key&&(key1==0||key2==0||key3==0)) // 某一个按键按下
{
// 消抖
delay_10ms(1);
is_key=0; // 标志位变0
if(key3==0) // 检测三个按键
{
return K1_MODE;
}
else if(key1==0)
{
return K2_ADD;
}
else if(key2==0)
{
return K3_DEC;
}
}
else if(key1==1&&key2==1&&key3==1)
{
is_key=1; // 按键抬起,标志位重置
}
if(mode) // 连续扫描
{
is_key=1;
}
return 0;
}
void KEY_Pros()
{
uchar key;
key=KEY_Scan(0);
if(key==K1_MODE) // 模式选择
{
mode++;
LCD_Clear();
if(mode==1) LCD_Write_String(0,0,"SETX1: ");
else if(mode==2) LCD_Write_String(0,0,"SETX2: ");
else if(mode==3) LCD_Write_String(0,0,"SETX3: ");
else if(mode==4) LCD_Write_String(0,0,"SETX4: ");
else
{
mode=0;
Dis_DataPros();
}
}
if(mode==1) // 左前阈值设置
{
switch(key)
{
case K2_ADD: // 加
minx1++;
if(minx1>=200) minx1=0;
break;
case K3_DEC: // 减
minx1--;
if(minx1<=0) minx1=200;
break;
}
dis_buf[0]=minx1/100+'0';
dis_buf[1]=minx1/10%10+'0';
dis_buf[2]=minx1%10+'0';
dis_buf[3]='\0';
LCD_Write_String(6,0,dis_buf);
}
else if(mode==2) // 右前阈值设置
{
switch(key)
{
case K2_ADD: // 加
minx2++;
if(minx2>=200) minx2=0;
break;
case K3_DEC: // 减
minx2--;
if(minx2<=0) minx2=200;
break;
}
dis_buf[0]=minx2/100+'0';
dis_buf[1]=minx2/10%10+'0';
dis_buf[2]=minx2%10+'0';
dis_buf[3]='\0';
LCD_Write_String(6,0,dis_buf);
}
else if(mode==3) // 左后阈值设置
{
switch(key)
{
case K2_ADD: // 加
minx3++;
if(minx3>=200) minx3=0;
break;
case K3_DEC: // 减
minx3--;
if(minx3<=0) minx3=200;
break;
}
dis_buf[0]=minx3/100+'0';
dis_buf[1]=minx3/10%10+'0';
dis_buf[2]=minx3%10+'0';
dis_buf[3]='\0';
LCD_Write_String(6,0,dis_buf);;
}
else if(mode==4) // 右后阈值设置
{
switch(key)
{
case K2_ADD: // 加
minx4++;
if(minx3>=200) minx3=0;
break;
case K3_DEC: // 减
minx4--;
if(minx3<=0) minx3=200;
break;
}
dis_buf[0]=minx4/100+'0';
dis_buf[1]=minx4/10%10+'0';
dis_buf[2]=minx4%10+'0';
dis_buf[3]='\0';
LCD_Write_String(6,0,dis_buf);
}
}
void sound()
{
uchar i=100;
while(i--)
{
beep=!beep;
delay_us(10);
}
}
void dis_compare()
{
if(s1<=minx1||s2<=minx2||s3<=minx3||s4<=minx4)
if(s1!=0&&s2!=0&&s3!=0&&s4!=0)
sound();
}
void update_1()
{
s1=(TH0*256+TL0)/58;
Dis_DataPros();
if(s1<=minx1)
{
LCD_Write_Com(0x86);
LCD_Write_Data('!');
led1=0; sound();
}
else if(s1>minx1)
{
LCD_Write_Com(0x86);
LCD_Write_Data(' ');
led1=1;
}
}
void update_2()
{
s2=(TH0*256+TL0)/58;
Dis_DataPros();
if(s2<=minx2)
{
LCD_Write_Com(0x8e);
LCD_Write_Data('!');
led2=0; sound();
}
else if(s2>minx2)
{
LCD_Write_Com(0x8e);
LCD_Write_Data(' ');
led2=1;
}
}
void update_3()
{
s3=(TH0*256+TL0)/58;
Dis_DataPros();
if(s3<=minx3)
{
LCD_Write_Com(0xc6);
LCD_Write_Data('!');
led3=0; sound();
}
else if(s3>minx3)
{
LCD_Write_Com(0xc6);
LCD_Write_Data(' ');
led3=1;
}
}
void update_4()
{
s4=(TH0*256+TL0)/58;
Dis_DataPros();
if(s4<=minx4)
{
LCD_Write_Com(0xce);
LCD_Write_Data('!');
led4=0; sound();
}
else if(s4>minx4)
{
LCD_Write_Com(0xce);
LCD_Write_Data(' ');
led4=1;
}
}
void send_1()
{
trig1=1;
delay_us(5);
trig1=0;
while(echo1==0)
{
if(key1==0||key2==0||key3==0)
return;
}
TR0=1;
TH0=0;
TL0=0;
while(echo1==1)
{
if(key1==0||key2==0||key3==0)
return;
}
TR0=0;
update_1();
delay_10ms(2);
}
void send_2()
{
trig2=1;
delay_us(5);
trig2=0;
while(echo2==0)
{
if(key1==0||key2==0||key3==0)
return;
}
TR0=1;
TH0=0;
TL0=0;
while(echo2==1)
{
if(key1==0||key2==0||key3==0)
return;
}
TR0=0;
update_2();
delay_10ms(2);
}
void send_3()
{
trig3=1;
delay_us(5);
trig3=0;
while(echo3==0)
{
if(key1==0||key2==0||key3==0)
return;
}
TR0=1;
TH0=0;
TL0=0;
while(echo3==1)
{
if(key1==0||key2==0||key3==0)
return;
}
TR0=0;
update_3();
delay_10ms(2);
}
void send_4()
{
trig4=1;
delay_us(5);
trig4=0;
while(echo4==0)
{
if(key1==0||key2==0||key3==0)
return;
}
TR0=1;
TH0=0;
TL0=0;
while(echo4==1)
{
if(key1==0||key2==0||key3==0)
return;
}
TR0=0;
update_4();
delay_10ms(2);
}
void main()
{
TMOD=0X01;
TH0=0;
TL0=0;
ET0=1;
EA=1;
LCD_Init(); // LCD初始化
DelayMs(20); //延时有助于稳定
LCD_Clear(); // 清屏
while(1)
{
send_1();
send_2();
send_3();
send_4();
dis_compare();
if(mode==0) Dis_DataPros();
KEY_Pros();
while(mode!=0) KEY_Pros();
}
}