urm37v3.c

超声波模块S51例程, URM37V3.0超声波模块是通过串口通讯的

URM37V3.0超声波模块S51例程 

 

//************************************************************************************
//URM37V3.0超声波模块是通过串口通讯的，也可以设置成PWM输出模式及开关量输出模式，

//***********************************URM37_51DEMO.H*******************************

#include<AT89X51.H>
#include<INTRINS.H>

#define uchar   unsigned char
#define uint  unsigned int


#define LCD_E P0_7 //使能线，R/W = 0,E电平低有效；R/W = 1,E电平高有效
#define LCD_RW P0_6 //'1'读操作，'0'写操作
#define LCD_RS P0_5 //'0'操作指令寄存器，'1'操作数据寄存器 
#define LED P0_4    //LCD背光

#define ModeKey P0_3 //模式选择按钮

#define TemperKey P0_2

#define LCD_DATA    P2 //8数据线


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

//***********************************HD44780.C*************************************

#include"URM37_51demo.H"

void Delay_ms(uchar ms)
{
 uchar i;
 for(;ms>0;ms--)
  for(i=250;i>0;i--)
  {
    
    _nop_();
    _nop_(); 
  }
}

void LCD_WRITE_COMM(uchar comm) //写命令
{
 
 
 LCD_RS = 0;
 LCD_RW = 0;
  
 LCD_E = 1;
 LCD_DATA = comm; //写8位 
 LCD_E = 0;
  
 
 Delay_ms(2);  
}

void LCD_WRITE_DATA(uchar Data)//写数据
{
 
 LCD_RS = 1;
 LCD_RW = 0;
 
 LCD_E = 1;
 LCD_DATA = Data; //写8位
 LCD_E = 0;
 
 
 Delay_ms(2);
}

 

void LCD_Init(void)
{
 Delay_ms(15);
 
 
 LCD_RS = 0;
 LCD_RW = 0;
  
 LCD_E = 1;
 LCD_DATA =  0x00;  //上电初使
 LCD_E = 0;
 Delay_ms(5);
 
 LCD_E = 1;
 LCD_E = 0;
 Delay_ms(5);
 
 
 LCD_E = 1;
 LCD_E = 0;
 Delay_ms(5);
 
 
 LCD_E = 1;
 LCD_DATA =  0x02; //2行显示，5×7点阵
 LCD_E = 0;
 Delay_ms(5);
 
 LCD_WRITE_COMM(0x0c); //开显示，开光标，开字符闪烁
 LCD_WRITE_COMM(0x06);   //显示后自动加一，光标移动
 LCD_WRITE_COMM(0x01); //清显示
 LCD_WRITE_COMM(0x38); //选择8线接口方式，2行显示，5×7点阵
 LCD_WRITE_COMM(0x80); //
  
}

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

//*****************************URM37_COM.C***********************************

#include"URM37_51demo.H"

extern void LCD_Init(void);
extern void LCD_WRITE_DATA(uchar);
extern void LCD_WRITE_COMM(uchar);
extern void Delay_ms(uchar);


uchar Data_buf[4];
uchar Send_buf[4];
uchar Receive_buf[4];
uchar Temper_Oder[4]={0x11,0x00,0x00,0x11};//读温度命令
uchar Du_dec[7]={29,65,100,135,170,206,241};//舵机角度
uchar time,sum,Mode,Mode_flag;

void MCU_Initi(void)  //MCU初始化
{
  TMOD = 0X21;//波特率发生器T1工作在模式2上
  SCON = 0X50;//设串口工作方式1，收发状态
  PCON = 0X00;//波特率不加倍
  TL1 = 0XFD;//设波特率为9600
  TH1 = 0XFD;
  TR1 = 1;    //开        
} 

void LCD_logo(void)  //LOGO显示
{
 uchar i;
 uchar LOGO[]="   URM37 V3.0   ";
 i = 0;
  
 LCD_WRITE_COMM(0x80); 
 while(LOGO!=NULL)
  {
   LCD_WRITE_DATA(LOGO);
   i++; 
  }
}

 

void Receive(uchar *p)//串口接收
{
 uchar i,n=100;
 for(i=0;i<4;i++)
  {
   while(RI==0);   //等待串行中断
   *(p+i)=SBUF;
   RI = 0;       //清TI，必须软件清除  
   while(--n);   //延时
     
  }
 
}


void Send_com(uchar *p)//串口发送
{
 uchar i,n=100;
 for(i=0;i<4;i++)
  {
   
   SBUF = *(p+i);
   while(TI==0);   //等待串行中断
   TI = 0;       //清TI，必须软件清除  
   while(--n);   //延时
     
  }
 

}


uchar Efficacy(uchar x)//效验和
{
 uchar i,temp=0;
 
   if(x==1)
    {
     for(i=0;i<3;i++)
       {
        temp=temp+Send_buf;//发送效验和
       }
    }
   if(x==2)
    {
     for(i=0;i<3;i++)
       {
        temp=temp+Receive_buf;//接收效验和
       }
    }
 return temp;
}


void HEX_TO_DEC(uint source,uchar * object)//16进制转10进制
{
 uchar i;

 for(i=0;i<4;i++)
 {
  *(object+i) = source % 10;
  source/=10;
 }
 return;
}


void Dis_Temper(void)//温度显示
{
 uchar i;
 uchar Temp;
 uchar x;
 uchar y;
 uchar TemperData;
 uchar Dis[]="Temperature: ";
 i = 0;
  
 LCD_WRITE_COMM(0xc0); 
 while(Dis!=NULL)
  {
   LCD_WRITE_DATA(Dis);
   i++; 
  }

        x=Receive_buf[1]<<4;
        y=Receive_buf[2]>>4;
        TemperData = ((x&0xf0)|(y&0x0f))&0xff;
        Temp = TemperData/10;
        LCD_WRITE_DATA(0x30+Temp);
        Temp= TemperData%10;
        LCD_WRITE_DATA(0x30+Temp);
        LCD_WRITE_DATA('C');

}


void Dis_Distance(void)//角度与距离显示
{
      uchar i;
      uchar tem;
      uchar temp;
      uchar Data[4];
      uchar du[]="Du: ";
      uchar Distance[]="D: ";
      i=0;
      LCD_WRITE_COMM(0xc0); 
      while(du!=NULL)
  {
   LCD_WRITE_DATA(du);
   i++; 
  }
      tem=Du_dec[Mode]/100;
      LCD_WRITE_DATA(0x30+tem);
      tem=(Du_dec[Mode]%100)/10;
      LCD_WRITE_DATA(0x30+tem);
      tem=(Du_dec[Mode]%100)%10;
      LCD_WRITE_DATA(0x30+tem);
      LCD_WRITE_DATA(0x20);

      i=0;
      while(Distance!=NULL)
  {
   LCD_WRITE_DATA(Distance);
   i++; 
  }


         tem=Receive_buf[1];
         temp=(uchar)(((tem<<8)&0xff00)|Receive_buf[2]);
         HEX_TO_DEC(temp,Data);
         LCD_WRITE_DATA(0x30+Data[2]);//米
         LCD_WRITE_DATA('.');
         LCD_WRITE_DATA(0x30+Data[1]);//分米
         LCD_WRITE_DATA(0x30+Data[0]);//厘米
         LCD_WRITE_DATA('m');

}


void main(void)
{ 
        uchar i;
        uchar Mod,flag;  //模式记数
        MCU_Initi();
        LCD_Init();
        LCD_logo();

        Mode_flag=0;
        sum=0;
        Mode = 0;
        flag = 0;
        Mod = 0;

while(1)
 { 

   LED = 0;//背光亮
  TemperKey = 1;
  if(TemperKey == 0)//按键舵机角度控制
  {
   Delay_ms(10);
   if(TemperKey == 0)
   {   
    if(Mode==0)
       flag=0;
    if(Mode==6)
       flag=1;
    if(flag==0)
       Mode++; 
    else    Mode--;  
   }
   while(!TemperKey);
  }

  ModeKey = 1;
  if(ModeKey == 0)//功能切换模式
  {
   Delay_ms(10);
   if(ModeKey == 0)
   {   
    if(Mod == 1)
       Mod = 0;
    else
       Mod++;  
   }
   while(!ModeKey);
  }

  switch(Mod)
  {
   case 0:                      for(i=0;i<4;i++)//温度读取
                                   Send_buf=Temper_Oder;
                                   
                                   Send_com(Send_buf);
                                   Receive(Receive_buf);
                                   Dis_Temper();  
                                   Delay_ms(100); 
                                   break;

   case 1:                      Send_buf[0]=0x22;//距离读取
                                   Send_buf[1]=0x05+Mode*6;
                                   Send_buf[2]=0x00;
                                   Send_buf[3]=Efficacy(1);
                                   Delay_ms(50);  
                                   Send_com(Send_buf);
                                   Receive(Receive_buf); 
                                   Dis_Distance();
                                   Delay_ms(50); 
                                   break;


   default :                    break;
                 }

 }
 
}