求助：谁能给个atmega16对超声波hc-sr04测距程序。要可以用的！

求助：谁能给个atmega16对超声波hc-sr04测距程序。要可以用的！

//ICC-AVR application builder : 2011-8-25 16:45:09
// Target : M16
// Crystal: 16.000Mhz
//PD6接trig，PD7接echo，系统时钟8分频，用T1的输入补捉
#include
#include
#include "lcd1602.h"
#include "delay.h"
#define uint unsigned int
#define uchar unsigned char
uchar dist_num[6]=" mm";//存放要显示的数据
void port_init(void)
{
PORTA = 0x00;
DDRA = 0xFF;
PORTB = 0x00;
DDRB = 0x00;
PORTC = 0x03; //m103 output only
DDRC = 0xFC;
PORTD = 0xb0;
DDRD = 0xbF;
}

//TIMER1 initialize - prescale:8
// WGM: 0) Normal, TOP=0xFFFF
// desired value: 1KHz
// actual value: 1.000KHz (0.0%)
void timer1_init(void)
{
TCCR1B = 0x00; //stop
TCNT1H = 0xF8; //setup
TCNT1L = 0x30;
OCR1AH = 0x07;
OCR1AL = 0xD0;
OCR1BH = 0x07;
OCR1BL = 0xD0;
ICR1H = 0x07;
ICR1L = 0xD0;
TCCR1A = 0x00;
TCCR1B = 0xC2; //start Timer
}

//call this routine to initialize all peripherals
void init_devices(void)
{
//stop errant interrupts until set up
CLI(); //disable all interrupts
port_init();
timer1_init();
lcd_init();
MCUCR = 0x00;
GICR = 0x00;
TIMSK = 0x20; //timer interrupt sources
SEI(); //re-enable interrupts
//all peripherals are now initialized
}

void main(void)
{
uchar i;
init_devices();
while(1)
{
PORTD|=0x80;
delay_us(20);
PORTD&=0x7f;
write_com(0x80);
for(i=0;i<6;i++)
{
write_data(dist_num[i]);
}
delay_ms(400);
}
}

#pragma interrupt_handler timer1_capt_isr:6
void timer1_capt_isr(void)
{
uint time=0;
float dist=0;
if(TCCR1B==0xC2)
{
TCNT1=0;
TCCR1B=0x82;
}
else
{
dist=TCNT1;
TCCR1B=0xC2;
if(TCNT1>60000);//超过5100mm作为错误处理
else
{
dist*=0.085;//系统时钟8分频，每记1次等于0.085mm
time=dist;//转换成整型，可以作取余运算
dist_num[0]=time/1000+48;
dist_num[1]=time%1000/100+48;
dist_num[2]=time%100/10+48;
dist_num[3]=time%10+48;
}
}
}
中断处理后数据都放在dist_num中，已经转换成asic||码。你可以用自己的显示模块显示。

//icc-avr application builder : 2011-8-25 16:45:09 // target : m16 // crystal: 16.000mhz //pd6接trig，pd7接echo，系统时钟8分频，用t1的输入补捉 #include &lt;iom16v.h&gt; #include &lt;macros.h&gt; #include "lcd1602.h" #include "delay.h" #define uint unsigned int #define uchar unsigned char uchar dist_num[6]=" mm";//存放要显示的数据 void port_init(void) { porta = 0x00; ddra = 0xff; portb = 0x00; ddrb = 0x00; portc = 0x03; //m103 output only ddrc = 0xfc; portd = 0xb0; ddrd = 0xbf; } //timer1 initialize - prescale:8 // wgm: 0) normal, top=0xffff // desired value: 1khz // actual value: 1.000khz (0.0%) void timer1_init(void) { tccr1b = 0x00; //stop tcnt1h = 0xf8; //setup tcnt1l = 0x30; ocr1ah = 0x07; ocr1al = 0xd0; ocr1bh = 0x07; ocr1bl = 0xd0; icr1h = 0x07; icr1l = 0xd0; tccr1a = 0x00; tccr1b = 0xc2; //start timer } //call this routine to initialize all peripherals void init_devices(void) { //stop errant interrupts until set up cli(); //disable all interrupts port_init(); timer1_init(); lcd_init(); mcucr = 0x00; gicr = 0x00; timsk = 0x20; //timer interrupt sources sei(); //re-enable interrupts //all peripherals are now initialized } void main(void) { uchar i; init_devices(); while(1) { portd|=0x80; delay_us(20); portd&amp;=0x7f; write_com(0x80); for(i=0;i&lt;6;i++) { write_data(dist_num[i]); } delay_ms(400); } } #pragma interrupt_handler timer1_capt_isr:6 void timer1_capt_isr(void) { uint time=0; float dist=0; if(tccr1b==0xc2) { tcnt1=0; tccr1b=0x82; } else { dist=tcnt1; tccr1b=0xc2; if(tcnt1&gt;60000);//超过5100mm作为错误处理 else { dist*=0.085;//系统时钟8分频，每记1次等于0.085mm time=dist;//转换成整型，可以作取余运算 dist_num[0]=time/1000+48; dist_num[1]=time%1000/100+48; dist_num[2]=time%100/10+48; dist_num[3]=time%10+48; } } } 中断处理后数据都放在dist_num中，已经转换成asic||码。你可以用自己的显示模块显示。

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