Pozdrawiam
[syntax=c]#include <avr/io.h>
#include <avr/pgmspace.h>
#include <util/delay.h>
#include <string.h>
#include <stdlib.h>
#include <avr/interrupt.h>
#include "../OLED/daw_sdd1306.h"
#include "moduly.h"
#include "../ikony/logo.h"
void sonar (void);
void tlo (void);
volatile uint16_t PulseWidth=0, flaga_tim=0;;
volatile uint8_t flaga=0;
uint16_t wynik;
void hcsr04( void )
{
TIMSK |= (1<<TICIE1) | (1<<OCIE0); //odblokowanie przerwania ICP1, compare match
TCCR1B |= (1<<CS11) | (1<<ICES1) | (1<<ICNC1) ; //preskaler=8,zbocze narastajace ICP1,noise canceller
TCCR0 |= (1<<WGM01) | (1<<CS02) ;//preskaler i tryb ctc
OCR0 = 63;
DDRD |= 1<<PD5;//trig
DDRD&=~(1<<PD6);//ECHO
PORTD &= ~(1<<PD6);
sei();
DDRB = 0xFF;
tlo();
while(1)
{
if ( flaga_tim==1 && flaga ==0)
{
PORTB ^= 1<<PB0;
flaga_tim =0;
sonar();//trigger
}
if (flaga && (PulseWidth<300))
{
daw_ssd1306_fillRect(0,0,128,9,1); //czyszczenie paska odleglosci
daw_ssd1306_fillRect(50,26,35,14,0);//czyszczenie odleglosci
wynik = (-(PulseWidth) + 300)*0.42666;
daw_ssd1306_put_int(49,26,PulseWidth,2,1,0);//wyswietlanie odleglosci
daw_ssd1306_fillRect(0,0,wynik,9,0);//wyswietlanie paska
daw_ssd1306_display();
flaga = 0;
}
}
}
ISR(TIMER1_CAPT_vect)
{
static uint16_t LastCapture;
if ( !(TCCR1B & (1<<ICES1)) )
{
PulseWidth = (ICR1 - LastCapture)/58;
flaga = 1;
}
LastCapture = ICR1;
TCCR1B ^= (1<<ICES1); //zmiana zbocza
}
ISR(TIMER0_COMP_vect)
{
static uint16_t i=0;
if(i==100)
{//co sek
flaga_tim=1;
i=0;
}
else
{
i++;
}
}
void sonar (void)
{
PORTD &= ~(1<<PD5);
_delay_us(5);
PORTD |= (1<<PD5);
_delay_us(15);
PORTD &= ~(1<<PD5);
}
void tlo (void)
{
samochod();// tlo obrazek
daw_ssd1306_drawFastVline(0,10,5,1);
daw_ssd1306_put_int(-1,16,300,1,1,0);
daw_ssd1306_drawFastVline(42,10,5,1);
daw_ssd1306_put_int(37,16,200,1,1,0);
daw_ssd1306_drawFastVline(84,10,5,1);
daw_ssd1306_put_int(79,16,100,1,1,0);
daw_ssd1306_drawFastVline(127,10,5,1);
daw_ssd1306_put_int(123,16,0,1,1,0);
}[/syntax]Statystyki: Napisane przez ostr — 29 mar 2015, o 18:14
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