void interrupt();
void main() {
OPTION_REG.INTEDG=0;
INTCON.GIE=1;
INTCON.INTE=1;
TRISA=0x00;
PORTA=0x00;
while(1){
}
}
void interrupt(){
if(INTCON.INTF==1){
PORTA=0xFF;
Delay_ms(1000);
PORTA=0x00;
INTCON.INTF=0;
} }
Please avoid text-speak on this forum. This should be "Can you", thanks
char txt[6];
#define TRIG PORTB.F6
#define ECHO PORTB.F7
// LCD module connections
sbit LCD_RS at RA1_bit;
sbit LCD_EN at RA3_bit;
sbit LCD_D4 at RD4_bit;
sbit LCD_D5 at RD5_bit;
sbit LCD_D6 at RD6_bit;
sbit LCD_D7 at RD7_bit;
sbit LCD_RS_Direction at TRISA1_bit;
sbit LCD_EN_Direction at TRISA3_bit;
sbit LCD_D4_Direction at TRISD4_bit;
sbit LCD_D5_Direction at TRISD5_bit;
sbit LCD_D6_Direction at TRISD6_bit;
sbit LCD_D7_Direction at TRISD7_bit;
// End LCD module connections
double distance;
void main() {
INTCON = 0x00; //turn off interrupts
ADRESH = 0x00;
ADRESL = 0x00;
ADCON1 = 0x06; //all inputs are digital
ADCON0 = 0x00;
ADCON1 = 0x06; //all inputs are digital
ADCON0 = 0x00;
ANSEL = 0; // Configure AN pins as digital I/O
ANSELH = 0;
C1ON_bit = 0; // Disable comparators
C2ON_bit = 0;
TRISD = 0x00; //PORTD is output
PORTD = 0x00;
TRISA = 0x00;
PORTA = 0x00;
porta.f2=0;
Lcd_Init(); //Initialize LCD
Lcd_Cmd(_LCD_CLEAR); // Clear display
Lcd_Cmd(_LCD_CURSOR_OFF); // Cursor off
PORTA.F2=0;
TRISB.F6 = 0;
TRISB.F7 = 1;
OPTION_REG.T0CS = 0;
OPTION_REG.PSA = 0;
OPTION_REG.PS0 = 1;
OPTION_REG.PS1 = 1;
OPTION_REG.PS2 = 1;
while(1){
TRIG = 0;
delay_us(10);
TRIG = 1;
delay_us(10);
TRIG = 0;
while(ECHO==0);
TMR0=0;
while(ECHO==1);
distance = (double)TMR0 * 4.352;
wordtostr(distance,txt);
lcd_out(1,6,txt) ;
Delay_ms(500);
Lcd_Cmd(_LCD_CLEAR); // Clear display
}
}
#include <16F877.h>
#device adc=8
#FUSES NOWDT, HS, NOPUT, PROTECT, NOBROWNOUT, NOLVP, NOCPD, NOWRT, NODEBUG
#use delay(clock=20000000)
/ Used sonar - HC-SR04 & DYP ME007
/ If you are using DYP ME 007 or any other 5 pin sonar, Please note that not to take the
/ pin named 'out'. Take echo instead.
/ Pin configuration (5 pin)- VCC(+5) TRIG(Trigger pin) ECHO(Output pin) OUT(Not needed) GND (Ground)
/ Pin configuration (4 pin)- VCC(+5) TRIG(Trigger pin) ECHO(Output pin) GND (Ground)
#define LCD_TYPE 2
#include <lcd.c>
int16 distance, time; // Defining variables
// Defining the pins
#define trig pin_B1 // Change as you wish, can use any pin in the MCU
#define echo pin_B0 // Change as you wish, can use any pin in the MCU
void main()
{
lcd_init(); // initiating the LCD
printf(LCD_PUTC, "\f Sonar test \n Code by Bhanu ");// for LCD & MCU restart troubleshooting
delay_ms(1000); // Boot-up delay, for troubleshooting
setup_timer_1(T1_INTERNAL|T1_DIV_BY_8); // initiating timer
while(true)
{
output_high(trig); // ping the sonar
delay_us(20); // sending 20us pulse
output_low(trig);
while(!input(ECHO)) // wait for high state of echo pin
{}
set_timer1(0); // setting timer zero
while(input(ECHO)) // Wait for high state of echo pin
{}
time=get_timer1(); // Getting the time
distance=time*0.028 + 1.093 ; // Calculating the distance
printf(LCD_PUTC, "\fTime :%Lu \nDistance = %Lu",time,distance); // Putting the time and
//distance to the LCD
delay_ms(1000);
}
}//////////////////////////////////////////////////////////////////////
//
// File: 16F88_Ultrasonic_ranger.c
//
//
// Description:
//
// Range finding by generation and reception of
// ultrasonic audio at 40kHz.
//
// Compiler : mikroC, mikroElektronika C compiler
// for Microchip PIC microcontrollers
// Version: 5.0.0.3
//
// Note Testing:
//
// Tested on 16F88
//
// Requirements:
//
// 40kHz Ultrasonic amplifier (transistor amp).
//
// 40kHz ultrasonic transducer - for different transducers
// e.g. for a 32kHz transducer change the software appropriately.
//
// Target : 16F88
//
// Notes :
//
// For the CCP module (16F88):
// Which pin is used is controlled by bit 12 of the configuration
// word (either RB0 or RB3). Use the compiler settings to set the
// configuration word i.e. you can not set this from within the
// source code
//
// This software uses RB0 as input to the CCP module.
//
// RB0 : ultrasonic in (via amplifier, peak hold, level detect).
// RB3 : ultrasonic out (40kHz pulses)
//////////////////////////////////////////////////////////////////////
#include "bit.h"
//////////////////////////////////////////////////////////////////////
// macros
//////////////////////////////////////////////////////////////////////
// globals for interrupt.
//
unsigned int T1_O = 0; // timer1 overflow updated in interrupt routine.
unsigned short gCapInt = 0; // captured something in interrupt routine.
unsigned short gfCapOn = 1; // control capture only capture 1st value.
unsigned int t_capL = 0; // timer 1 low.
unsigned int t_capH = 0; // timer 1 high.
unsigned int t_capO = 0; // timer 1 overflow.
unsigned int gCapVal = 0; // captured this.
//////////////////////////////////////////////////////////////////////
void init(void) {
OSCCON = 0x60; // b6..4 = 110 = 4MHz
// set CCP to capture mode every rising edge.
CCP1CON = 0x05;
ANSEL = 0; // all ADC pins to digital I/O
// Timer 1 on
T1CON = (1<<TMR1ON);
}
//////////////////////////////////////////////////////////////////////
void init_ports(void) {
PORTA = 0;
TRISA = 0; // 0=o/p - sets analogue pins to digital output.
PORTB = 0;
TRISB = 0x01; // 0=o/p Receive on RB0.
}
//////////////////////////////////////////////////////////////////////
void enable_interrupts(void) {
// Timer 1
PIR1 &= ~(1<<TMR1IF); // Zero T1 overflow register value.
// Capture
PIR1 &= ~(1<<CCP1IF); // Zero Capture flag
// Interrupt enable.
PIE1 = (1<<CCP1IE);
// Global interrupt enable.
INTCON = (1<<GIE) | (1<<PEIE); // enable global & peripheral
}
//////////////////////////////////////////////////////////////////////
void disable_interrupts(void) {
INTCON &= ~(1<<GIE); // disable global & peripheral
}
//////////////////////////////////////////////////////////////////////
// RA% can only be input on 16F88
// ret table is for straight through
// PORT 0 1 2 3 4 5 6 7 to a b c d e f g dp
// So map to new outputs:
// 0 a, 1 b, 2 c, 3 d, 4 e, 6 f, 7 g - loosing dp
// i.e. keep 1st 5 and move bits 5,6 to 6,7
int2seg(unsigned short digit) {
unsigned short r;
unsigned short ret[10] = { 0x3F, 0x06, 0x5B, 0x4F, 0x66,
0x6D, 0x7D, 0x07, 0x7F, 0x6F };
if (digit<0 || digit>9) {
r = 0x7f;
} else {
r =( ret[digit] & 0x1f ) | \
( (ret[digit] & 0x60)<< 1);
}
return r;
}
//////////////////////////////////////////////////////////////////////
void seg_display_int(unsigned int val) {
char op[7];
IntToStr(val,op);
// 6 digits op by above.
// e.g. for num 1234
// pos 5 4 3 2 1 0
// num x x 1 2 3 4 \0
// index from left ! 0 1 2 3 4 5
// Display the lower 4 digits.
PORTA=int2seg(op[2]-'0');
setBit(PORTB,5);
delay_ms(4);
resBit(PORTB,5);
PORTA=int2seg(op[3]-'0');
setBit(PORTB,2);
delay_ms(4);
resBit(PORTB,2);
PORTA=int2seg(op[4]-'0');
setBit(PORTB,6);
delay_ms(4);
resBit(PORTB,6);
PORTA=int2seg(op[5]-'0');
setBit(PORTB,7);
delay_ms(4);
resBit(PORTB,7);
PORTB &= ~0xe4; // turn off all resBit should do this
PORTB=0;
PORTA=0x00;
}
//////////////////////////////////////////////////////////////////////
// generate 4 pulses of ultrasonic @ 32kHz (8 periods of 32kHz).
// Use the simulator to set correct period.
// single ended drive
void gen_ultra(void) {
setBit(PORTB,3);
delay_us(12);
resBit(PORTB,3);
delay_us(11);
setBit(PORTB,3);
delay_us(12);
resBit(PORTB,3);
delay_us(11);
setBit(PORTB,3);
delay_us(12);
resBit(PORTB,3);
delay_us(11);
setBit(PORTB,3);
delay_us(12);
resBit(PORTB,3);
delay_us(11);
}
//////////////////////////////////////////////////////////////////////
void main() {
unsigned int i,val,s1,s2,tH,tL,tO;
char op[12];
unsigned long calc=0;
init_ports();
init();
gCapInt=0; // Reset capture indicator.
while(1) {
gfCapOn = 1; // allow one capture value
tO = T1_O; // Get the current timer value.
tH = TMR1H;
tL = TMR1L;
t_capL = 0; t_capH = 0; t_capO = 0; // initialise capture
gen_ultra();
enable_interrupts();
seg_display_int(val);
disable_interrupts(); // had 20 ish ms of time so stop
if (! gCapInt) { // no echo from soft output ? try loud
enable_interrupts();
seg_display_int(val);
seg_display_int(val);
disable_interrupts(); // had 20 ish ms of time so stop
}
// Did we get any echo from soft or loud ?
if (gCapInt) { // captured anything ?
gCapInt=0; // reset for next time
// 4MHz clock so timer 1 returns us
// gCapVal * 1,000,000 = seconds.
// speed of sound in air at 20degC = 340m/s
// (gCapVal*1000000*340)/(2*100) = distance in cm
s1=(t_capH-tH);
s2=(t_capL-tL);
calc = ((s1)<<8)+s2;
calc *= 34;
calc /= 2000; // output in cm
val = (int)calc;
}
} // while(1)
}
////////////////////////////////////////////////////////////////////////
void interrupt(void) {
// Free run Timer 1 get the overflow to extend counter here.
if (PIR1 & (1<<TMR1IF) ) { // T1 overflowed ?
PIR1 &= ~(1<<TMR1IF); // clear timer1 overflow bit.
T1_O++;
}
// Capture
if (PIR1 & (1<<CCP1IF)) {
PIR1 &= ~(1<<CCP1IF); // Zero Capture flag.
if (gfCapOn) { // allow only 1 capture
gfCapOn = 0;
t_capL = CCPR1L;
t_capH = CCPR1H;
t_capO = T1_O;
gCapInt = 1; // signal that a capture occured.
}
}
// Interrupts are only enabled at a specific point from program.
// They are not re-enabled here
// Note GIE set by RETFIE instruction
}/********************
* MACRO DEFINITIONS
********************/
/*
* ultra sonic pulse length in microseconds
*/
#define PULSELEN 300
/*
* circular buffer size for samples averaging
*/
#define BUFSIZE 10
/*
* LCD PORT
* EasyPic2, EasyPic3 : PORTB
* EaspyPic4 : PORTD
*/
#define LCDPORT PORTD
#define LCDTRIS TRISD
/*******************
* GLOBAL VARIABLES
*******************/
unsigned char outOfRange ; // out of range flag : set when no echo is detected
unsigned int buf[BUFSIZE] ; // samples buffer
unsigned char idx = 0 ; // index of current sample in buffer
/*****************************************
* INTERRUPT SERVICE ROUTINE
* This ISR handles TIMER1 overflow only
*****************************************/
void interrupt(void)
{
if(PIR1.TMR1IF) // timer1 overflow ?
{
outOfRange = 1 ; // set out of range flag
PIR1.TMR1IF = 0 ; // clear interrupt flag
}
}
/************
* MAIN LOOP
************/
void main()
{
ADCON1 = 0 ; // enables ADC
TRISA = 0xff ; // PORTA as inputs
PORTA = 0 ;
TRISC = 0 ; // PORTC as outputs
PORTC = 0 ;
// TIMER1 settings
T1CON = 0b00001100 ; // prescaler 1:1, osc. enabled, not sync, internal clk, stopped
#ifdef LCDPORT
// init LCD
Lcd_Init(&LCDPORT) ; // use EP2/3/4 settings
Lcd_Cmd(Lcd_CLEAR) ; // clear display
Lcd_Cmd(Lcd_CURSOR_OFF) ; // cursor off
Lcd_Out(1, 1, "UltraSonicRanger") ;
Lcd_Out(2, 5, "cm") ;
#endif
// init PWM Channel : 40 Khz, 50% duty cycle
PWM1_Init(40000) ;
PWM1_Change_Duty(128) ;
INTCON.GIE = 1 ; // enable global interrupts
INTCON.PEIE = 1 ; // enable peripheral interrupts
PIE1.TMR1IE = 0 ; // disable timer 1 interrupt
PIR1.TMR1IF = 0 ; // clear timer 1 interrupt flag
// forever
for(;;)
{
unsigned char i ; // general purpose byte
unsigned long cm ; // distance in centimeters
unsigned char str[4] ; // string for range display
// prepare timer
T1CON.TMR1ON = 0 ; // stop timer
outOfRange = 0 ; // reset out of range flag
TMR1H = 0 ; // clear timer1
TMR1L = 0 ;
T1CON.TMR1ON = 1 ; // start timer 1
PIE1.TMR1IE = 1 ; // enable timer 1 interrupts on overflow
// send pulse
PWM1_Start() ; // enable PWM output : transducer is pulsed at ultrasonic frequency
Delay_us(PULSELEN) ; // during PULSELEN microseconds
PWM1_Stop() ; // stop PWM
Delay_us(PULSELEN * 2) ; // do nothing for twice the pulse length duration to prevent false start
while(Adc_Read(1) < 1) // while no pulse detected (no signal on ADC channel 1)
{
if(outOfRange) break ; // to late, out of range
}
T1CON.TMR1ON = 0 ; // stop timer 1
PIE1.TMR1IE = 0 ; // disable timer 1 interrupts on overflow
#ifdef LCDPORT
if(outOfRange) // is overrange condtion detected ?
{
Lcd_Out(2, 8, "OverRange") ; // display overrange message
}
else if(TMR1H < ((PULSELEN * 6 * Clock_kHz()) / (1000 * 4 * 256))) // is underrange condition detected ?
{
Lcd_Out(2, 8, "UnderRnge") ; // display underrange message
}
else // good reading
{
buf[idx] = TMR1H ; // build a 16 bit value from timer1
buf[idx] <<= 8 ; // MSB
buf[idx] += TMR1L ; // LSB
// circular buffer
idx++ ; // next location
if(idx == BUFSIZE) // the end is reached ?
{
idx = 0 ; // back to start
}
cm = 0 ; // prepare centimeter averaging
for(i = 0 ; i < BUFSIZE ; i++) // for all samples in buffer
{
cm += buf[i] ; // add to sum
}
cm /= BUFSIZE ; // average samples
/*
* cm contains now the number of clock cycles
* from the start of the ultrasonic transmission
* to the first echo detection
* the duration in second is s = cm / (Clock_Khz() * 1000 / 4)
* if we admit that sound speed in the air is 340 m/s
* the distance in centimeters (forth and back) is d = s * 340 * 100 / 2
* or d = 340 * 100 / 2 * cm / Clock_khz() / 1000 * 4
* d = 34 * 2 / Clock_Khz()
*/
cm *= 34 * 2 ; // now converts to centimeters
cm /= Clock_Khz() ;
ByteToStr(cm, str) ; // convert to string
Lcd_Out(2, 1, str) ; // print string
Lcd_Out(2, 8, " ") ; // clear error message
}
#endif
Delay_ms(10) ; // 10 milliseconds delay before next sample
}
}setup_timer_1(T1_INTERNAL|T1_DIV_BY_8); // initiating timer#include<pic.h>
#define trig RB0
#define echo RB1
#define sound_speed 33000
void init_ports(void);
unsigned int read_distance(void);
void compare_react(unsigned int);
void init_ports(void)
{
TRISB = 0xfe; // RB0 (trig) is output (Burst)
PORTB = 0xfe; // and starts low
T1CON = 0x00;
CCP1CON = 0x00;
TMR1H = 0x00;
TMR1L = 0x00;
CCPR1H = 0x00;
CCPR1L = 0x00;
PEIE = 1;
T0IE = 1;
TMR1IE = 1;
CCP1IE = 1;
}
unsigned int read_distance(void)
{
int i;
for(i=0;i<=10;i++) //**THIS GENERATES 10 PULSE BURST AT 40 khz**//
{
TMR1H = 0xff; // prepare timer for 12.5 uS pulse
TMR1L = -1f;
T1CON = 0x11; // 1:2 prescale and running
TMR1IF = 0;
trig = 1; // start trigger pulse
while(!TMR1IF); // wait for 12.5 us
trig= 0 ;
TMR1ON = 0; // stop timer
TMR1H = 0xff; // prepare timer for 12.5 uS pulse
TMR1L = -1f;
T1CON = 0x11; // 1:2 prescale and running
TMR1IF = 0;
trig = 0; // start trigger pulse
while(!TMR1IF); // wait for 12.5 us
trig= 1 ;
TMR1ON = 0; // stop timer
}
TMR1H = 0x00; // prepare timer to measure flight time of echo
TMR1L = 0x00;
T1CON = 0x11; // 1:2 prescale and running
TMR1IF=0;
while(!TMR1IF); // detect rising edge
TMR1ON = 0; // stop timer
return (TMR1H<<8)+TMR1L; // TMR1H:TMR1L contains flight time of the pulse in 0.4 uS units
}
void compare_react(unsigned int time )
{
int dist_cm = time * sound_speed /2000000; // gets the distance in CM unit
if(dist_cm >= 0 && dist_cm <= 375)
{
// Action
}
else if(dist_cm >375 && dist_cm <= 750)
{
//Action
}
else if(dist_cm >750 && dist_cm <= 1125)
{
//Action
}
else if(dist_cm >1125 && dist_cm <= 1500)
{
//Action
}
else
{
//something wrong???
}
}
void main()
{
unsigned int flight_time;
init_ports();
while(1)
{
flight_time = read_distance(); // Trigger Transmiiter, Reads the echo, Calculates and returns the distance
compare_react(flight_time); // Displays Messages, Buzzes the beeper
TMR1H = 0x00; // delay between two trigers
TMR1L = 0x00;
T1CON = 0x21; // 1:4 prescale and running
TMR1IF = 0;
while(!TMR1IF); // wait for delay time
TMR1ON = 0; // stop timer
}
}
char txt[6];
unsigned int timex;
#define TRIG PORTB.F6
#define ECHO PORTB.F7
// LCD module connections
sbit LCD_RS at RA1_bit;
sbit LCD_EN at RA3_bit;
sbit LCD_D4 at RD4_bit;
sbit LCD_D5 at RD5_bit;
sbit LCD_D6 at RD6_bit;
sbit LCD_D7 at RD7_bit;
sbit LCD_RS_Direction at TRISA1_bit;
sbit LCD_EN_Direction at TRISA3_bit;
sbit LCD_D4_Direction at TRISD4_bit;
sbit LCD_D5_Direction at TRISD5_bit;
sbit LCD_D6_Direction at TRISD6_bit;
sbit LCD_D7_Direction at TRISD7_bit;
// End LCD module connections
double distance;
void main() {
INTCON = 0x00; //turn off interrupts
ADRESH = 0x00;
ADRESL = 0x00;
ADCON1 = 0x06; //all inputs are digital
ADCON0 = 0x00;
ADCON1 = 0x06; //all inputs are digital
ADCON0 = 0x00;
ANSEL = 0; // Configure AN pins as digital I/O
ANSELH = 0;
C1ON_bit = 0; // Disable comparators
C2ON_bit = 0;
TRISD = 0x00; //PORTD is output
PORTD = 0x00;
TRISA = 0x00;
PORTA = 0x00;
porta.f2=0;
Lcd_Init(); //Initialize LCD
Lcd_Cmd(_LCD_CLEAR); // Clear display
Lcd_Cmd(_LCD_CURSOR_OFF); // Cursor off
PORTA.F2=0;
TRISB.F6 = 0;
TRISB.F7 = 1;
OPTION_REG.T0CS = 0;
OPTION_REG.PSA = 0;
OPTION_REG.PS0 = 1;
OPTION_REG.PS1 = 1;
OPTION_REG.PS2 = 1;
while(1)
{
TRIG = 0;
delay_us(10);
TRIG = 1;
delay_us(10);
TRIG = 0;
while(ECHO==0);
{
timex = timex +1;
Delay_us(1);
}
timex = timex/116;
Inttostr(timex,txt);
lcd_out(1,1,txt) ;
lcd_out(1,7,"cm") ;
Delay_ms(100);
}
}#include <p18cxxx.h>
#include "stdio.h"
#include "stdlib.h"
// Configuration Bit Values
/** CONFIGURATION **************************************************/
#pragma config OSC = INTIO67
#pragma config FCMEN = OFF
#pragma config IESO = OFF
#pragma config PWRT = ON
#pragma config BOREN = OFF
#pragma config WDT = OFF
#pragma config WDTPS = 32768
#pragma config MCLRE = OFF
#pragma config LPT1OSC = OFF
#pragma config PBADEN = OFF
#pragma config STVREN = ON
#pragma config LVP = OFF
#pragma config XINST = OFF // Extended Instruction Set
#pragma config CP0 = OFF
#pragma config CP1 = OFF
#pragma config CPB = OFF
#pragma config WRT0 = OFF
#pragma config WRT1 = OFF
#pragma config WRTB = OFF // Boot Block Write Protection
#pragma config WRTC = OFF
#pragma config EBTR0 = OFF
#pragma config EBTR1 = OFF
#pragma config EBTRB = OFF
#define TRIG LATDbits.LATD3 // used to trigger the srf04
#define ECHO PORTDbits.RD2 // Used to read the echo pulse back from SRF04
// Prototypes
void setup(void);
void setup_lcd(void);
void print_buff(void);
void set_cursor(unsigned char pos);
void SetTimer(unsigned int time);
void Wait4Timer(void);
void send_pulse(void);
void measure_pulse(void);
unsigned char s[21]; // used to print data to the LCD03
void main(void)
{
unsigned int range;
setup();
setup_lcd(); // Clear LCD03 screen and hide cursor
set_cursor(1);
sprintf(s, "SRF04 Example");
print_buff();
while(1)
{
SetTimer(6500); // Start a 50mS timer running with timer 0
send_pulse(); // Send a 10uS pulse to trigger the SRF04
while(!ECHO); // Wait for echo line to go high
measure_pulse(); // Measure the length of the incoming pulse using timer 1
range = (TMR1H << 8) + TMR1L; // Get timer 1 values high byte and low byte into range
range /= 58; // Range is a reading in uS dividing this by 58 will give us the range
sprintf(s, "Range: %i ", range);
set_cursor(21);
print_buff();
Wait4Timer(); // Wait for the 50mS timer to finish before triggering the SRF04 again
}
}
/*****************
* SRF04 routines *
*****************/
void send_pulse(void)
{
TMR1H = 255; // Set the clock to only need 2 counts to roll over
TMR1L = 253; // This will give us 10uS before it rolls over
TRIG = 1; // Pin high to trigger ping from SRF04;
PIR1bits.TMR1IF = 0; // Clear timer 1 interupt flag
T1CONbits.TMR1ON = 1; // Start timer 1 running for 10us
while(PIR1bits.TMR1IF == 0); // Wait for interupt to be set
T1CONbits.TMR1ON = 0;
TRIG = 0; // Pin output for SRF04 low
TMR1H = 0; // Clear timer
TMR1L = 0;
}
void measure_pulse(void)
{
T1CONbits.TMR1ON = 1; // Start timer 1 counting
while(ECHO); // Wait for echo line to go low
T1CONbits.TMR1ON = 0;
}
/*****************
* Timer Routines *
*****************/
void SetTimer(unsigned int time)
{
TMR0H = 0-(time/256);
TMR0L = 0-(time&0xff);
INTCONbits.TMR0IF = 0;
}
void Wait4Timer(void)
{
while(INTCONbits.TMR0IF==0);
}
/*************
* Chip setup *
*************/
void setup(void)
{
OSCCON = 0x70; // set 8MHz
TRISDbits.TRISD2 = 1; // pin Input for SRF04
TRISDbits.TRISD3 = 0; // pin output for SRF04
LATDbits.LATD3 = 0;
T0CON = 0x83; // 16bit, 64:1 prescaler
T1CON = 0x10; // Timer 1 16bit: 2:1 prescaler
ADCON1 = 0x0f; // all ports to digital
TRISC = 0x1F;
SSPSTAT = 0x80; // slew diabled
SSPCON1 = 0x38; // master mode enabled
SSPADD = 0x11; // 100khz
}
/**********************
* Functions for LCD03 *
**********************/
void setup_lcd(void)
{
SSPCON2bits.SEN = 1; // innitiate a start bit
while(SSPCON2bits.SEN); // Wait for start bit to end
PIR1bits.SSPIF = 0; // Clear the i2c interupt flag
SSPBUF = 0xC6; // Address of LCD03
while(!PIR1bits.SSPIF); // Wait for interupt flag to be set indicating and of a transmission
PIR1bits.SSPIF = 0;
SSPBUF = 0x00; // Command register of LCD03
while(!PIR1bits.SSPIF);
PIR1bits.SSPIF = 0;
SSPBUF = 0x04; // command to hide cursor
while(!PIR1bits.SSPIF);
PIR1bits.SSPIF = 0;
SSPBUF = 0x0C; // command to clear screen
while(!PIR1bits.SSPIF);
SSPCON2bits.PEN = 1; // Send stop bit
while(SSPCON2bits.PEN); // Wait for stop bit to finish
}
void print_buff(void)
{
unsigned char index = 0;
SSPCON2bits.SEN = 1; // innitiate a start bit
while(SSPCON2bits.SEN); // Wait for start bit to end
PIR1bits.SSPIF = 0; // Clear the i2c interupt flag
SSPBUF = 0xC6; // Address of LCD03
while(!PIR1bits.SSPIF); // Wait for interupt flag to be set indicating and of a transmission
PIR1bits.SSPIF = 0;
SSPBUF = 0x00; // Command register of LCD03
while(!PIR1bits.SSPIF);
while(s[index]) // Send ascii string to LCD03 untill a null reached
{
PIR1bits.SSPIF = 0;
SSPBUF = s[index++]; // Command register of LCD03
while(!PIR1bits.SSPIF);
}
SSPCON2bits.PEN = 1; // Send stop bit
while(SSPCON2bits.PEN);
}
void set_cursor(unsigned char pos)
{
SSPCON2bits.SEN = 1; // innitiate a start bit
while(SSPCON2bits.SEN); // Wait for start bit to end
PIR1bits.SSPIF = 0; // Clear the i2c interupt flag
SSPBUF = 0xC6; // Address of LCD03
while(!PIR1bits.SSPIF); // Wait for interupt flag to be set indicating and of a transmission
PIR1bits.SSPIF = 0;
SSPBUF = 0x00; // Command register of LCD03
while(!PIR1bits.SSPIF); // Wait for interupt flag to be set indicating and of a transmission
PIR1bits.SSPIF = 0;
SSPBUF = 0x02; // Command to set cursor possition
while(!PIR1bits.SSPIF); // Wait for interupt flag to be set indicating and of a transmission
PIR1bits.SSPIF = 0;
SSPBUF = pos; // where to set cursor to
while(!PIR1bits.SSPIF);
SSPCON2bits.PEN = 1; // Send stop bit
while(SSPCON2bits.PEN); // Wait for stop bit to finish
}char txt[6];
#define TRIG PORTB.F6
#define ECHO PORTB.F7
// LCD module connections
sbit LCD_RS at RA1_bit;
sbit LCD_EN at RA3_bit;
sbit LCD_D4 at RD4_bit;
sbit LCD_D5 at RD5_bit;
sbit LCD_D6 at RD6_bit;
sbit LCD_D7 at RD7_bit;
sbit LCD_RS_Direction at TRISA1_bit;
sbit LCD_EN_Direction at TRISA3_bit;
sbit LCD_D4_Direction at TRISD4_bit;
sbit LCD_D5_Direction at TRISD5_bit;
sbit LCD_D6_Direction at TRISD6_bit;
sbit LCD_D7_Direction at TRISD7_bit;
// End LCD module connections
double distance;
void main() {
INTCON = 0x00; //turn off interrupts
ADRESH = 0x00;
ADRESL = 0x00;
ADCON1 = 0x06; //all inputs are digital
ADCON0 = 0x00;
ADCON1 = 0x06; //all inputs are digital
ADCON0 = 0x00;
ANSEL = 0; // Configure AN pins as digital I/O
ANSELH = 0;
C1ON_bit = 0; // Disable comparators
C2ON_bit = 0;
TRISD = 0x00; //PORTD is output
PORTD = 0x00;
TRISA = 0x00;
PORTA = 0x00;
porta.f2=0;
Lcd_Init(); //Initialize LCD
Lcd_Cmd(_LCD_CLEAR); // Clear display
Lcd_Cmd(_LCD_CURSOR_OFF); // Cursor off
PORTA.F2=0;
TRISB.F6 = 0;
TRISB.F7 = 1;
OPTION_REG.T0CS = 0;
OPTION_REG.PSA = 0;
OPTION_REG.PS0 = 1;
OPTION_REG.PS1 = 1;
OPTION_REG.PS2 = 1;
while(1){
TRIG = 0;
delay_us(10);
TRIG = 1;
delay_us(10);
TRIG = 0;
while(ECHO==0);
TMR0=0;
while(ECHO==1);
distance = (double)TMR0 * 4.352;
wordtostr(distance,txt);
lcd_out(1,6,txt) ;
Delay_ms(500);
Lcd_Cmd(_LCD_CLEAR); // Clear display
}
}