一、前言
本文旨在分享单片机对超声波模块的驱动，测量距离和显示
二、超声波的驱动
1、超声波模块
2、模块性能
（1）TCT40-16T/R1 压电陶瓷超声传感器（通用型）
3、接口定义
Vcc、 Trig（控制端）、 Echo（接收端）、 Gnd
4、使用方法
控制口发一个 10US 以上的高电平,就可以在接收口等待高电平输出.一有输出就可以开定时器计时,当此口变为低电平时就可以读定时器的值,此时就为此次测距的时间,方可算出距离.如此不断的周期测,就可以达到你移动测量的值了。
5、最远探测距离调节
上图标志电阻即 R3,可以调节最大探测距离。R3 电阻为 392，探测距离最大 4.5M 左右，探测角度小于 15 度；R3 电阻为 472，探测距离最大 7M 左右，探测角度小于 30 度；出厂默认 392，即最大探测距离 4.5M 左右。R3 电阻大，接收部分增益高，检测距离大，但检测角度会相应变大，容易检测到前方旁边的物体。当然,客户在不要求很高的测试距离的条件下,
可以改小 R3 来减小探测角度，这时最大测距会减小。
6、工作原理
(1)采用 IO 触发测距，给至少 10us 的高电平信号;
(2)模块自动发送 8 个 40khz 的方波，自动检测是否有信号返回；
(3)有信号返回，通过 IO 输出一高电平，高电平持续的时间就是
(4)超声波从发射到返回的时间．测试距离=(高电平时间*声速(340M/S))/2;
7、注意事项
1：此模块不宜带电连接，如果要带电连接，则先让模块的 Gnd 端先连接。否则会影响
模块工作。
2：测距时，被测物体的面积不少于 0.5 平方米且要尽量平整。否则会影响测试结果。
8、模块原理图
三、驱动代码
1、超声波PIC单片机C程序
//
// PIC16F877 + HC-SR04 + LCD03 example
// Written October 2008 , using HITECH PIC16 compiler
//
// Note - assumes a 20MHz crystal, which is 5MHz timer clock
// A 1:4 prescaler is used to give a 1.25MHz timer count (0.8uS per tick)
//
// This code is Freeware - Use it for any purpose you like.
//
///#include <pic.h>
#include <stdio.h>__CONFIG(0x3b32); #define trig RB0
#define echo RB1void clrscn(void); // prototypes
void cursor(char pos);
void print(char *p);
void setup(void);
unsigned int get_srf04(void);char s[21]; // buffer used to hold text to printvoid main(void)
{
unsigned int range;setup(); // sets up the PIC16F877 I2C portclrscn(); // clears the LCD03 displycursor(2); // sets cursor to 1st row of LCD03sprintf(s,"SRF04 Ranger Test"); // text, printed into our bufferprint(s); // send it to the LCD03while(1) { // loop foreverrange = get_srf04(); // get range from srf04 (round trip flight time in 0.8uS units)cursor(24); // sets cursor to 2nd row of LCD03sprintf(s,"Range = %dcm ", range/72); // convert to cmprint(s); // send it to the LCD03 cursor(44); // sets cursor to 3rd row of LCD03sprintf(s,"Range = %dinch ", range/185); // convert to inchesprint(s); // send it to the LCD03 TMR1H = 0; // 52mS delay - this is so that the SRF04 ranging is not too rapidTMR1L = 0; // and the previous pulse has faded away before we start the next oneT1CON = 0x21; // 1:4 prescale and runningTMR1IF = 0;while(!TMR1IF); // wait for delay timeTMR1ON = 0; // stop timer }
}unsigned int get_srf04(void)
{TMR1H = 0xff; // prepare timer for 10uS pulseTMR1L = -14;T1CON = 0x21; // 1:4 prescale and runningTMR1IF = 0; trig = 1; // start trigger pulsewhile(!TMR1IF); // wait 10uStrig = 0; // end trigger pulseTMR1ON = 0; // stop timerTMR1H = 0; // prepare timer to measure echo pulseTMR1L = 0;T1CON = 0x20; // 1:4 prescale but not running yetTMR1IF = 0;while(!echo && !TMR1IF); // wait for echo pulse to start (go high)TMR1ON = 1; // start timer to measure pulsewhile(echo && !TMR1IF); // wait for echo pulse to stop (go low)TMR1ON = 0; // stop timerreturn (TMR1H<<8)+TMR1L; // TMR1H:TMR1L contains flight time of the pulse in 0.8uS units
}void clrscn(void)
{SEN = 1; // send start bitwhile(SEN); // and wait for it to clearSSPIF = 0;SSPBUF = 0xc6; // LCD02 I2C addresswhile(!SSPIF); // wait for interruptSSPIF = 0; // then clear it.SSPBUF = 0; // address of register to write to while(!SSPIF); // SSPIF = 0; //SSPBUF = 12; // clear screen while(!SSPIF); // SSPIF = 0; //SSPBUF = 4; // cursor off while(!SSPIF); // SSPIF = 0; //PEN = 1; // send stop bitwhile(PEN); //
}void cursor(char pos)
{SEN = 1; // send start bitwhile(SEN); // and wait for it to clearSSPIF = 0;SSPBUF = 0xc6; // LCD02 I2C addresswhile(!SSPIF); // wait for interruptSSPIF = 0; // then clear it.SSPBUF = 0; // address of register to write to while(!SSPIF); // SSPIF = 0; //SSPBUF = 2; // set cursor while(!SSPIF); // SSPIF = 0; //SSPBUF = pos; // while(!SSPIF); // SSPIF = 0; //PEN = 1; // send stop bitwhile(PEN); //
}void print(char *p)
{SEN = 1; // send start bitwhile(SEN); // and wait for it to clearSSPIF = 0;SSPBUF = 0xc6; // LCD02 I2C addresswhile(!SSPIF); // wait for interruptSSPIF = 0; // then clear it.SSPBUF = 0; // address of register to write to while(!SSPIF); // SSPIF = 0; //while(*p) {SSPBUF = *p++; // write the data while(!SSPIF); // SSPIF = 0; // }PEN = 1; // send stop bitwhile(PEN); //
}void setup(void)
{
unsigned long x;TRISB = 0xfe; // RB0 (trig) is outputPORTB = 0xfe; // and starts lowTRISC = 0xff;PORTC = 0xff;SSPSTAT = 0x80;SSPCON = 0x38;SSPCON2 = 0x00;SSPADD = 50; // SCL = 91khz with 20Mhz Oscfor(x=0; x<300000L; x++); // wait for LCD03 to initialise
}2、超声波测距51C程序
//晶振=8M
//MCU=STC10F04XE
//P0.0-P0.6共阳数码管引脚
//Trig = P1^0
//Echo = P3^2
#include <reg52.h> //包括一个52标准内核的头文件
#define uchar unsigned char //定义一下方便使用
#define uint unsigned int
#define ulong unsigned long
//***********************************************
sfr CLK_DIV = 0x97; //为STC单片机定义,系统时钟分频//为STC单片机的IO口设置地址定义
sfr P0M1 = 0X93;
sfr P0M0 = 0X94;
sfr P1M1 = 0X91;
sfr P1M0 = 0X92;
sfr P2M1 = 0X95;
sfr P2M0 = 0X96;
//***********************************************
sbit Trig = P1^0; //产生脉冲引脚
sbit Echo = P3^2; //回波引脚
sbit test = P1^1; //测试用引脚uchar code SEG7[10]={0xC0,0xF9,0xA4,0xB0,0x99,0x92,0x82,0xF8,0x80,0x90};//数码管0-9
uint distance[4]; //测距接收缓冲区
uchar ge,shi,bai,temp,flag,outcomeH,outcomeL,i; //自定义寄存器
bit succeed_flag; //测量成功标志
//********函数声明
void conversion(uint temp_data);
void delay_20us();
//void pai_xu();void main(void) // 主程序
{ uint distance_data,a,b;uchar CONT_1; CLK_DIV=0X03; //系统时钟为1/8晶振（pdf-45页） P0M1 = 0; //将io口设置为推挽输出P1M1 = 0;P2M1 = 0;P0M0 = 0XFF;P1M0 = 0XFF;P2M0 = 0XFF;i=0;flag=0;test =0;Trig=0; //首先拉低脉冲输入引脚TMOD=0x11; //定时器0，定时器1，16位工作方式TR0=1; //启动定时器0IT0=0; //由高电平变低电平，触发外部中断ET0=1; //打开定时器0中断//ET1=1; //打开定时器1中断EX0=0; //关闭外部中断EA=1; //打开总中断0 while(1) //程序循环{EA=0;Trig=1;delay_20us();Trig=0; //产生一个20us的脉冲，在Trig引脚 while(Echo==0); //等待Echo回波引脚变高电平succeed_flag=0; //清测量成功标志EX0=1; //打开外部中断TH1=0; //定时器1清零TL1=0; //定时器1清零TF1=0; //TR1=1; //启动定时器1EA=1;while(TH1 < 30);//等待测量的结果，周期65.535毫秒（可用中断实现） TR1=0; //关闭定时器1EX0=0; //关闭外部中断if(succeed_flag==1){ distance_data=outcomeH; //测量结果的高8位distance_data<<=8; //放入16位的高8位distance_data=distance_data|outcomeL;//与低8位合并成为16位结果数据distance_data*=12; //因为定时器默认为12分频distance_data/=58; //微秒的单位除以58等于厘米} //为什么除以58等于厘米， Y米=（X秒*344）/2// X秒=（ 2*Y米）/344 ==》X秒=0.0058*Y米 ==》厘米=微秒/58 if(succeed_flag==0){distance_data=0; //没有回波则清零test = !test; //测试灯变化}/// distance[i]=distance_data; //将测量结果的数据放入缓冲区/// i++;/// if(i==3)/// {/// distance_data=(distance[0]+distance[1]+distance[2]+distance[3])/4;/// pai_xu();/// distance_data=distance[1];a=distance_data;if(b==a) CONT_1=0;if(b!=a) CONT_1++;if(CONT_1>=3){ CONT_1=0;b=a;conversion(b);} /// i=0;/// } }
}
//***************************************************************
//外部中断0，用做判断回波电平
INTO_() interrupt 0 // 外部中断是0号{ outcomeH =TH1; //取出定时器的值outcomeL =TL1; //取出定时器的值succeed_flag=1; //至成功测量的标志EX0=0; //关闭外部中断}
//****************************************************************
//定时器0中断,用做显示
timer0() interrupt 1 // 定时器0中断是1号{TH0=0xfd; //写入定时器0初始值TL0=0x77; switch(flag) {case 0x00:P0=ge; P2=0xfd;flag++;break;case 0x01:P0=shi;P2=0xfe;flag++;break;case 0x02:P0=bai;P2=0xfb;flag=0;break;}}
//*****************************************************************
/*
//定时器1中断,用做超声波测距计时
timer1() interrupt 3 // 定时器0中断是1号{
TH1=0;
TL1=0;}
*/
//******************************************************************
//显示数据转换程序
void conversion(uint temp_data) { uchar ge_data,shi_data,bai_data ;bai_data=temp_data/100 ;temp_data=temp_data%100; //取余运算shi_data=temp_data/10 ;temp_data=temp_data%10; //取余运算ge_data=temp_data;bai_data=SEG7[bai_data];shi_data=SEG7[shi_data];ge_data =SEG7[ge_data];EA=0;bai = bai_data;shi = shi_data;ge = ge_data ; EA=1;}
//******************************************************************
void delay_20us(){ uchar bt ;for(bt=0;bt<100;bt++);}
/*
void pai_xu(){ uint t;if (distance[0]>distance[1]){t=distance[0];distance[0]=distance[1];distance[1]=t;} /*交换值if(distance[0]>distance[2]){t=distance[2];distance[2]=distance[0];distance[0]=t;} /*交换值if(distance[1]>distance[2]){t=distance[1];distance[1]=distance[2];distance[2]=t;} /*交换值 }
*/3、超声波测距LC1602显示
SMC1602A(16*2)模拟口线接线方式
连接线图: ---------------------------------------------------|LCM-----51 | LCM-----51 | LCM------51 |--------------------------------------------------||DB0-----P1.0 | DB4-----P1.4 | RW-------P3.4 ||DB1-----P1.1 | DB5-----P1.5 | RS-------P3.3 ||DB2-----P1.2 | DB6-----P1.6 | E--------P3.5 ||DB3-----P1.3 | DB7-----P1.7 | VLCD接1K电阻到GND|---------------------------------------------------
接线：模块TRIG接 P2.6 ECH0 接P2.7[注:AT89x51使用12M或11.0592M晶振,实测使用11.0592M]
=============================================================*/
#include <AT89x51.H> //器件配置文件
#include <intrins.h>
#define RX P2_7
#define TX P2_6#define LCM_RW P3_4 //定义LCD引脚
#define LCM_RS P3_3
#define LCM_E P3_5
#define LCM_Data P1#define Key_Data P2_0 //定义Keyboard引脚
#define Key_CLK P3_2#define Busy 0x80 //用于检测LCM状态字中的Busy标识void LCMInit(void);
void DisplayOneChar(unsigned char X, unsigned char Y, unsigned char DData);
void DisplayListChar(unsigned char X, unsigned char Y, unsigned char code *DData);
void Delay5Ms(void);
void Delay400Ms(void);
void Decode(unsigned char ScanCode);
void WriteDataLCM(unsigned char WDLCM);
void WriteCommandLCM(unsigned char WCLCM,BuysC);unsigned char ReadDataLCM(void);
unsigned char ReadStatusLCM(void);
unsigned char code mcustudio[] ={"mcustudio.com.cn"};
unsigned char code email[] = {"fhwxaoo@163.com "};
unsigned char code Cls[] = {" "};
unsigned char code ASCII[15] = {'0','1','2','3','4','5','6','7','8','9','.','-','M'};static unsigned char DisNum = 0; //显示用指针 unsigned int time=0;unsigned long S=0;bit flag =0;unsigned char disbuff[4] ={ 0,0,0,0,};//写数据
void WriteDataLCM(unsigned char WDLCM)
{ReadStatusLCM(); //检测忙LCM_Data = WDLCM;LCM_RS = 1;LCM_RW = 0;LCM_E = 0; //若晶振速度太高可以在这后加小的延时LCM_E = 0; //延时LCM_E = 1;
}//写指令
void WriteCommandLCM(unsigned char WCLCM,BuysC) //BuysC为0时忽略忙检测
{if (BuysC) ReadStatusLCM(); //根据需要检测忙LCM_Data = WCLCM;LCM_RS = 0;LCM_RW = 0; LCM_E = 0;LCM_E = 0;LCM_E = 1;
}//读数据
unsigned char ReadDataLCM(void)
{LCM_RS = 1; LCM_RW = 1;LCM_E = 0;LCM_E = 0;LCM_E = 1;return(LCM_Data);
}//读状态
unsigned char ReadStatusLCM(void)
{LCM_Data = 0xFF; LCM_RS = 0;LCM_RW = 1;LCM_E = 0;LCM_E = 0;LCM_E = 1;while (LCM_Data & Busy); //检测忙信号return(LCM_Data);
}void LCMInit(void) //LCM初始化
{LCM_Data = 0;WriteCommandLCM(0x38,0); //三次显示模式设置，不检测忙信号Delay5Ms(); WriteCommandLCM(0x38,0);Delay5Ms(); WriteCommandLCM(0x38,0);Delay5Ms(); WriteCommandLCM(0x38,1); //显示模式设置,开始要求每次检测忙信号WriteCommandLCM(0x08,1); //关闭显示WriteCommandLCM(0x01,1); //显示清屏WriteCommandLCM(0x06,1); // 显示光标移动设置WriteCommandLCM(0x0F,1); // 显示开及光标设置
}//按指定位置显示一个字符
void DisplayOneChar(unsigned char X, unsigned char Y, unsigned char DData)
{Y &= 0x1;X &= 0xF; //限制X不能大于15，Y不能大于1if (Y) X |= 0x40; //当要显示第二行时地址码+0x40;X |= 0x80; //算出指令码WriteCommandLCM(X, 1); //发命令字WriteDataLCM(DData); //发数据
}//按指定位置显示一串字符
void DisplayListChar(unsigned char X, unsigned char Y, unsigned char code *DData)
{unsigned char ListLength;ListLength = 0;Y &= 0x1;X &= 0xF; //限制X不能大于15，Y不能大于1while (DData[ListLength]>0x19) //若到达字串尾则退出{if (X <= 0xF) //X坐标应小于0xF{DisplayOneChar(X, Y, DData[ListLength]); //显示单个字符ListLength++;X++;}}
}//5ms延时
void Delay5Ms(void)
{unsigned int TempCyc = 5552;while(TempCyc--);
}//400ms延时
void Delay400Ms(void)
{unsigned char TempCycA = 5;unsigned int TempCycB;while(TempCycA--){TempCycB=7269;while(TempCycB--);};
}
/********************************************************/void Conut(void){time=TH0*256+TL0;TH0=0;TL0=0;S=(time*1.7)/100; //算出来是CMif((S>=700)||flag==1) //超出测量范围显示“-”{ flag=0;DisplayOneChar(0, 1, ASCII[11]);DisplayOneChar(1, 1, ASCII[10]); //显示点DisplayOneChar(2, 1, ASCII[11]);DisplayOneChar(3, 1, ASCII[11]);DisplayOneChar(4, 1, ASCII[12]); //显示M}else{disbuff[0]=S%1000/100;disbuff[1]=S%1000%100/10;disbuff[2]=S%1000%10 %10;DisplayOneChar(0, 1, ASCII[disbuff[0]]);DisplayOneChar(1, 1, ASCII[10]); //显示点DisplayOneChar(2, 1, ASCII[disbuff[1]]);DisplayOneChar(3, 1, ASCII[disbuff[2]]);DisplayOneChar(4, 1, ASCII[12]); //显示M}}
/********************************************************/void zd0() interrupt 1 //T0中断用来计数器溢出,超过测距范围{flag=1; //中断溢出标志}
/********************************************************/void StartModule() //启动模块{TX=1; //启动一次模块_nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_();_nop_(); _nop_(); _nop_(); _nop_();TX=0;}
/********************************************************/
void delayms(unsigned int ms)
{unsigned char i=100,j;for(;ms;ms--){while(--i){j=10;while(--j);}}
}
/*********************************************************/
void main(void)
{unsigned char TempCyc;Delay400Ms(); //启动等待，等LCM讲入工作状态LCMInit(); //LCM初始化Delay5Ms(); //延时片刻(可不要)DisplayListChar(0, 0, mcustudio);DisplayListChar(0, 1, email);ReadDataLCM();//测试用句无意义for (TempCyc=0; TempCyc<10; TempCyc++)Delay400Ms(); //延时DisplayListChar(0, 1, Cls); while(1){TMOD=0x01; //设T0为方式1，GATE=1；TH0=0;TL0=0; ET0=1; //允许T0中断EA=1; //开启总中断 while(1){StartModule();// DisplayOneChar(0, 1, ASCII[0]);while(!RX); //当RX为零时等待TR0=1; //开启计数while(RX); //当RX为1计数并等待TR0=0; //关闭计数Conut(); //计算delayms(80); //80MS}}
}4、超声波测距LCD12864显示
/******************************************************************************/
/* Name: LCD12864(St7920/St7921)+超声波测距模块+STC89C52 */
/* HC-SR04 超声波测距模块 DEMO 程序 */
/* 晶振：11.0592M */
/* 接线：模块TRIG接 P1.2 ECH0 接P1.1 */
/* RS(CS) 接 P3.3; */
/* RW(SID) 接 P3.4; */
/* E(SCLK) 接 P3.5; */
/* PSB 接 GND 串行模式 */
/******************************************************************************/#include <AT89X51.H>#include <intrins.h>
//引脚定义sbit RX = P1 ^ 1;sbit TX = P1 ^ 2;sbit CS = P3 ^ 3; //片选 高电平有效 单片LCD使用时可固定高电平sbit SID = P3 ^ 4; //数据sbit SCLK = P3 ^ 5; //时钟//Function Definition 函数声明
void Delay(int num);
void Init_DS18B20(void);
unsigned char ReadOneChar(void);
void WriteOneChar(unsigned char dat);
unsigned int ReadTemperature(void);
void clock_out(unsigned char dd);
unsigned char clock_in(void);
unsigned char read_clock(unsigned char ord);
void write_clock(unsigned char ord, unsigned char dd);
void Disp(void);
void id_case1_key(void);
void id_case2_key(void);
void Set_time(unsigned char sel,bit sel_1);
void Timer0_Init(void);
void Init_1302(void);
void Set_Bell(unsigned char sel, bit sel_1);
void Bell(void);
//12864
void Write_char(bit start, unsigned char ddata);
void Send_byte(unsigned char bbyte);
void Delaynms(unsigned int di);
void Lcd_init(void);
void Disp_img(unsigned char *img);
void LCD_Write_string(unsigned char X,unsigned char Y,unsigned char *s);
void LCD_set_xy( unsigned char x, unsigned char y );
unsigned char code num[]={"0123456789 :.-"};
unsigned char code waves[]={"超声波测距系统"};
unsigned char code znwk[] ={"智能微控工作室"};
unsigned char code CM[] = {"M"};
unsigned int time=0;long S=0;bit flag =0;
unsigned char disbuff[4] ={ 0,0,0,0,};
unsigned char code logo[]={
/*-- 调入了一幅图像：logo.bmp -- */
/*-- 宽度x高度=128x64 欢迎使用本产品LOGO --*/
/*-- 调入了一幅图像：C:\Documents and Settings\lwd\桌面\新建文件夹\X.bmp --*/
/*-- 宽度x高度=128x64 --*/
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x60,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0xE0,0x00,0x00,0x0C,0x00,0x00,0x40,0x70,0x00,0x00,0x00,0x80,0x00,
0x00,0x00,0x00,0xE0,0x00,0x00,0x1E,0x00,0x00,0x60,0x70,0x00,0x00,0x0F,0xE0,0x00,
0x00,0x00,0x01,0xC0,0x00,0x60,0x3C,0x00,0x00,0xE0,0x60,0x00,0x1F,0xFF,0xE0,0x00,
0x00,0x00,0x03,0x80,0x00,0x70,0x70,0x40,0x00,0xE0,0x7E,0x00,0x1F,0xE0,0xC0,0x00,
0x00,0x00,0x03,0x00,0x00,0x73,0xC3,0xF0,0x01,0xC3,0xFC,0x00,0x38,0xE1,0xC0,0x00,
0x00,0x03,0xC6,0x3C,0x00,0x33,0x9F,0xF0,0x03,0x8F,0xC0,0x00,0x30,0xC1,0xC0,0x00,
0x00,0x3F,0xEF,0xFE,0x00,0x03,0x1C,0xE0,0x07,0x01,0xCC,0x00,0x31,0xF1,0x80,0x00,
0x00,0x79,0xDF,0xBC,0x00,0x06,0x18,0xC0,0x0E,0x01,0xFE,0x00,0x77,0xF9,0x80,0x00,
0x00,0x01,0xB0,0x30,0x01,0xC6,0x19,0xC0,0x1E,0x7F,0xDE,0x00,0x6F,0x83,0x80,0x00,
0x00,0x23,0xAC,0x60,0x0F,0xE6,0xF1,0x80,0x3E,0x7B,0x38,0x00,0x61,0x83,0x00,0x00,
0x00,0x37,0x0E,0x00,0x0F,0xC7,0xB7,0x80,0xEC,0x63,0x30,0x00,0xE3,0x03,0x00,0x00,
0x00,0x3E,0x0E,0x00,0x01,0x8F,0x37,0x01,0xCC,0x6F,0xF0,0x00,0xC7,0xF7,0x00,0x00,
0x00,0x1E,0x0C,0x00,0x03,0x1E,0x66,0x03,0x0C,0x7F,0x00,0x01,0xFF,0xE6,0x00,0x00,
0x00,0x1E,0x1C,0x00,0x03,0x1C,0x60,0x02,0x19,0xAC,0x00,0x01,0x96,0x06,0x00,0x00,
0x00,0x3E,0x3E,0x00,0x03,0x18,0x60,0x00,0x19,0xFC,0x00,0x03,0x86,0x0E,0x00,0x00,
0x00,0x7E,0x36,0x00,0x03,0x00,0xC0,0x00,0x38,0x78,0x00,0x03,0x06,0x0C,0x00,0x00,
0x00,0xE6,0x67,0x00,0x03,0x00,0xC0,0x00,0x30,0x78,0x00,0x06,0x0C,0x0C,0x00,0x00,
0x01,0xC6,0xC3,0x80,0x7F,0xF0,0xC0,0x00,0x30,0xFE,0x00,0x0E,0x0C,0x1C,0x00,0x00,
0x03,0x81,0x83,0xC0,0x78,0xFF,0x80,0x00,0x61,0xCF,0x80,0x1C,0x08,0x18,0x00,0x00,
0x06,0x07,0x03,0xE0,0x00,0x1F,0xFF,0xE0,0x67,0x07,0xE0,0x38,0x18,0xF8,0x00,0x00,
0x08,0x0E,0x01,0xF8,0x00,0x07,0xFF,0x80,0xCE,0x03,0xF8,0x60,0x00,0x70,0x00,0x00,
0x00,0x18,0x01,0xF8,0x00,0x01,0xFC,0x00,0xC0,0x01,0xFC,0xC0,0x00,0x70,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x60,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x10,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x06,0x00,0x00,0x00,0x1C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x07,0x00,0x00,0x00,0x1C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x06,0x00,0x00,0x00,0x0C,0xE0,0x00,0x01,0xE0,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x0E,0x00,0x00,0x00,0x3F,0xE0,0x00,0xFF,0xF0,0x00,0x38,0x00,0xE0,0x00,
0x00,0x00,0x0C,0x00,0x00,0x0F,0xFF,0x80,0x00,0xF8,0xF0,0x00,0x38,0x00,0xE0,0x00,
0x00,0x00,0x0C,0xF0,0x00,0x0F,0xC7,0x00,0x00,0x60,0xE0,0x00,0x38,0x00,0xE0,0x00,
0x00,0x00,0x1F,0xF0,0x00,0x01,0x8E,0x00,0x00,0x60,0xC0,0x00,0x70,0x01,0xC0,0x00,
0x00,0x07,0xFF,0x80,0x00,0x01,0x8C,0x00,0x00,0xE1,0x80,0x00,0x70,0x01,0xC0,0x00,
0x00,0x07,0xF8,0x00,0x00,0x01,0x98,0x00,0x00,0xDF,0xC0,0x00,0x70,0x01,0xC0,0x00,
0x00,0x00,0x78,0x00,0x00,0x01,0xBF,0xE0,0x00,0xFF,0x00,0x00,0x60,0x01,0x80,0x00,
0x00,0x00,0xFC,0x00,0x00,0x7F,0xFF,0xE0,0x00,0xC0,0x00,0x00,0xE0,0x03,0x80,0x00,
0x00,0x01,0xFE,0x00,0x00,0x7F,0xF8,0x00,0x00,0x00,0x00,0x00,0xC0,0x03,0x00,0x00,
0x00,0x03,0xB7,0x00,0x00,0x60,0x00,0x00,0x00,0x00,0x3C,0x00,0xC0,0x03,0x00,0x00,
0x00,0x07,0x67,0x00,0x00,0x60,0x00,0x00,0x03,0x9F,0xFE,0x00,0x80,0x02,0x00,0x00,
0x00,0x0E,0x63,0x80,0x00,0xE0,0x00,0x01,0xFF,0xCF,0x1E,0x01,0x80,0x06,0x00,0x00,
0x00,0x1C,0xE1,0xE0,0x00,0xC0,0x00,0x00,0xE3,0x9C,0x38,0x01,0x80,0x06,0x00,0x00,
0x00,0x38,0xC1,0xF8,0x01,0xC0,0x00,0x00,0xC3,0x18,0x30,0x00,0x00,0x00,0x00,0x00,
0x00,0xE0,0xFC,0xFE,0x03,0x80,0x00,0x01,0xC7,0x18,0x60,0x00,0x00,0x00,0x00,0x00,
0x01,0xDF,0xF8,0xFE,0x03,0x00,0x00,0x01,0x8E,0x1B,0xE0,0x07,0x00,0x1C,0x00,0x00,
0x07,0x07,0x80,0x00,0x07,0x00,0x00,0x01,0xFF,0x3F,0xE0,0x07,0x00,0x1C,0x00,0x00,
0x0C,0x03,0x80,0x00,0x0E,0x00,0x00,0x01,0xF0,0x38,0x00,0x0F,0x00,0x3C,0x00,0x00,
0x00,0x03,0x00,0x00,0x1C,0x00,0x00,0x01,0x00,0x20,0x00,0x06,0x00,0x18,0x00,0x00,
0x00,0x03,0x00,0x00,0x38,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x03,0x00,0x00,0xE0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x02,0x00,0x01,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
};/******************************************************************************/
void Lcd_init(void) //初始化LCD
{Delaynms(10); //启动等待，等LCM讲入工作状态CS=1;Write_char(0,0x30); //8 位介面，基本指令集Write_char(0,0x0c); //显示打开，光标关，反白关Write_char(0,0x01); //清屏，将DDRAM的地址计数器归零
}/******************************************************************************/
void Write_char(bit start, unsigned char ddata) //写指令或数据
{unsigned char start_data,Hdata,Ldata;if(start==0) start_data=0xf8; //写指令else start_data=0xfa; //写数据Hdata=ddata&0xf0; //取高四位Ldata=(ddata<<4)&0xf0; //取低四位Send_byte(start_data); //发送起始信号Delaynms(5); //延时是必须的Send_byte(Hdata); //发送高四位Delaynms(1); //延时是必须的Send_byte(Ldata); //发送低四位Delaynms(1); //延时是必须的
}/******************************************************************************/
void Send_byte(unsigned char bbyte) //发送一个字节
{unsigned char i;for(i=0;i<8;i++){SID=bbyte&0x80; //取出最高位SCLK=1;SCLK=0;bbyte<<=1; //左移}
}/******************************************************************************/
void Delaynms(unsigned int di) //延时
{unsigned int da,db;for(da=0;da<di;da++)for(db=0;db<10;db++);
}/******************************************************************************/
void Disp_img(unsigned char *img) //图形方式12864显示字模221 横向取膜
{ unsigned char i,j;unsigned int k = 0;Write_char(0,0x36); //图形方式for(i=0;i<32;i++){ Write_char(0,0x80+i);Write_char(0,0x80);for(j=0;j<16;j++) {Write_char(1,img[k++]);}}for(i=0;i<32;i++){ Write_char(0,0x80+i);Write_char(0,0x88);for(j=0;j<16;j++) {Write_char(1,img[k++]);}}
}/******************************************************************************/
void Clr_Scr(void)//清屏函数
{Write_char(0,0x01);
}/******************************************************************************/
void LCD_set_xy( unsigned char x, unsigned char y )
{ //设置LCD显示的起始位置，X为行，Y为列unsigned char address;switch(x){case 0: address = 0x80 + y; break; case 1: address = 0x80 + y; break; case 2: address = 0x90 + y; break; case 3: address = 0x88 + y; break;case 4: address = 0x98 + y; break; default:address = 0x80 + y; break;}Write_char(0, address);
}/******************************************************************************/
void LCD_Write_string(unsigned char X,unsigned char Y,unsigned char *s)
{ // 中英文字符串显示函数LCD_set_xy( X, Y );while (*s) {Write_char( 1, *s );s ++;Delaynms(1);}
}/******************************************************************************/
void LCD_Write_number(unsigned char s)// 数字显示函数
{ Write_char(1,num[s]);Delaynms(1);
}
/******************************************************************************/
void Lcd_Mark2(void)
{Clr_Scr();//清屏LCD_Write_string(1,0,znwk);//LCD_Write_string(2,0,waves);// LCD_Write_string(3,7,CM);//
}/********************************************************/void Conut(void){time=TH0*256+TL0;TH0=0;TL0=0;S=time*1.87/100; //算出来是CM 11。0592M晶振if(flag==1) //超出测量{ flag=0;LCD_set_xy( 3, 4 );LCD_Write_number(13);LCD_Write_number(12);LCD_set_xy( 3, 5 );LCD_Write_number(13);LCD_Write_number(13);}else{disbuff[1]=S%1000/100;disbuff[2]=S%1000%100/10;disbuff[3]=S%1000%10 %10;LCD_set_xy( 3, 4 );LCD_Write_number(disbuff[1]);LCD_Write_number(12);LCD_set_xy( 3, 5 );LCD_Write_number(disbuff[2]);LCD_Write_number(disbuff[3]);}}
/********************************************************/
void delayms(unsigned int ms)
{unsigned char i=100,j;for(;ms;ms--){while(--i){j=10;while(--j);}}
}
/********************************************************/void zd0() interrupt 1 //T0中断用来计数器溢出,超过测距范围{flag=1; //中断溢出标志}
/********************************************************/void StartModule() //T1中断用来扫描数码管和计800MS启动模块{TX=1; //800MS 启动一次模块_nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_();_nop_(); _nop_(); _nop_(); _nop_();TX=0;}
/********************************************************/
void main(void)
{ TMOD=0x01; //设T0为方式1，GATE=1TH0=0;TL0=0; TR0=1; Lcd_init(); //设置液晶显示器Clr_Scr(); //清屏 Disp_img(logo); //显示欢迎使用本产品LOGODelaynms(1000);Lcd_init(); //从图形显示状态下返回Lcd_Mark2();while(1){StartModule(); //计算while(!RX); //当RX为零时等待TR0=1; //开启计数while(RX); //当RX为1计数并等待TR0=0; //关闭计数Conut();delayms(80); //80MS}} 5、超声波测距串口显示
/***********************************************************************************************************/
//HC-SR04 超声波测距模块 DEMO 程序
//晶振：11。0592
//接线：模块TRIG接 P1.2 ECH0 接P1.1
//串口波特率9600
/***********************************************************************************************************/ #include <AT89X51.H>#include <intrins.h>#include <STDIO.H>#define uchar unsigned char#define uint unsigned int #define RX P1_1#define TX P1_2unsigned int time=0;unsigned int timer=0;float S=0;bit flag =0;/********************************************************/void Conut(void){time=TH0*256+TL0;TH0=0;TL0=0;S=(time*1.87)/100; //算出来是CMif(flag==1) //超出测量{flag=0;printf("-----\n"); }printf("S=%f\n",S); }
/********************************************************/
void delayms(unsigned int ms)
{unsigned char i=100,j;for(;ms;ms--){while(--i){j=10;while(--j);}}
}
/********************************************************/void zd0() interrupt 1 //T0中断用来计数器溢出,超过测距范围{flag=1; //中断溢出标志}
/********************************************************/void StartModule() //T1中断用来扫描数码管和计800MS启动模块{TX=1; //800MS 启动一次模块_nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_();_nop_(); _nop_(); _nop_(); _nop_();TX=0;}
/********************************************************/
void main(void)
{ TMOD=0x21; //设T0为方式1，GATE=1；SCON=0x50;TH1=0xFD;TL1=0xFD;TH0=0;TL0=0; TR0=1; ET0=1; //允许T0中断TR1=1; //开启定时器TI=1;EA=1; //开启总中断while(1){StartModule();while(!RX); //当RX为零时等待TR0=1; //开启计数while(RX); //当RX为1计数并等待TR0=0; //关闭计数Conut(); //计算delayms(100); //100MS}} 6、超声波测距数码管显示
/***********************************************************************************************************/
//hc-sr04 超声波测距模块 DEMO 程序
//晶振：11。0592
//接线：模块TRIG接 P0.2 ECH0 接P0.1
//数码管：共阳数码管P1接数据口,P2.5 P2.4 P2.3接选通数码管
/***********************************************************************************************************/ #include <AT89x51.H> //器件配置文件#include <intrins.h>#define RX P0_1#define TX P0_2unsigned int time=0;unsigned int timer=0;unsigned char posit=0;unsigned long S=0;bit flag =0;unsigned char const discode[] ={ 0xC0,0xF9,0xA4,0xB0,0x99,0x92,0x82,0xF8,0x80,0x90,0xBF,0xff/*-*/};unsigned char const positon[3]={ 0xdf,0xef,0xf7};unsigned char disbuff[4] ={ 0,0,0,0,};
/********************************************************/void Display(void) //扫描数码管{if(posit==0){P1=(discode[disbuff[posit]])&0x7f;}else{P1=discode[disbuff[posit]];}P2=positon[posit];if(++posit>=3)posit=0;}
/********************************************************/void Conut(void){time=TH0*256+TL0;TH0=0;TL0=0;S=(time*1.7)/100; //算出来是CMif((S>=700)||flag==1) //超出测量范围显示“-”{ flag=0;disbuff[0]=10; //“-”disbuff[1]=10; //“-”disbuff[2]=10; //“-”}else{disbuff[0]=S%1000/100;disbuff[1]=S%1000%100/10;disbuff[2]=S%1000%10 %10;}}
/********************************************************/void zd0() interrupt 1 //T0中断用来计数器溢出,超过测距范围{flag=1; //中断溢出标志}
/********************************************************/void zd3() interrupt 3 //T1中断用来扫描数码管和计800MS启动模块{TH1=0xf8;TL1=0x30;Display();timer++;if(timer>=400){timer=0;TX=1; //800MS 启动一次模块_nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_();_nop_(); _nop_(); _nop_(); _nop_();TX=0;} }
/*********************************************************/void main( void ){ TMOD=0x11; //设T0为方式1，GATE=1；TH0=0;TL0=0; TH1=0xf8; //2MS定时TL1=0x30;ET0=1; //允许T0中断ET1=1; //允许T1中断TR1=1; //开启定时器EA=1; //开启总中断while(1){while(!RX); //当RX为零时等待TR0=1; //开启计数while(RX); //当RX为1计数并等待TR0=0; //关闭计数Conut(); //计算}}7、STM32串口显示
#include "stm32f10x.h"
#include <stdio.h>#define TRIG_PIN GPIO_Pin_0
#define ECHO_PIN GPIO_Pin_1void delay_us(uint32_t us) {us *= (SystemCoreClock / 1000000) / 9;while (us--) {__NOP();}
}float measure_distance(void) {GPIO_SetBits(GPIOA, TRIG_PIN);delay_us(10);GPIO_ResetBits(GPIOA, TRIG_PIN);while (!GPIO_ReadInputDataBit(GPIOA, ECHO_PIN));TIM_Cmd(TIM2, ENABLE);while (GPIO_ReadInputDataBit(GPIOA, ECHO_PIN));TIM_Cmd(TIM2, DISABLE);uint16_t duration = TIM_GetCounter(TIM2);float distance = duration * 0.017;return distance;
}int main(void) {RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Pin = TRIG_PIN;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);GPIO_InitStructure.GPIO_Pin = ECHO_PIN;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;TIM_TimeBaseStructure.TIM_Period = 0xFFFF;TIM_TimeBaseStructure.TIM_Prescaler = SystemCoreClock / 1000000 - 1;TIM_TimeBaseStructure.TIM_ClockDivision = 0;TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);while (1) {float distance = measure_distance();printf("Distance: %.2f cm\n", distance);// 延时一段时间，进行下一次测距delay_us(100000);}
}
四、结语
以上就是我对超声波模块驱动的分享，希望我的分享对你有所帮助！下面给读者提供一些资料，需要的读者可以私信我或者入群领取（815239036），收到私信后我会及时回复！
