پروژه راه اندازی ماژول سنجش مسافت آلتراسونیک SR-04 با استفاده از مجموعه آموزشی AVR WIZARD توسط برد پلاریس به زبان C

				
					#include <delay.h>
// Alphanumeric LCD functions
#include <alcd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
int timer_ovf=0;
float distance=0.0;
char dist_str[20];
// Declare your global variables here

// Timer 0 overflow interrupt service routine
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
  timer_ovf++;
  TCNT0=0;
}

void main(void)
{
// Declare your local variables here

// Input/Output Ports initialization

// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In 
DDRA=(0<<DDA7) | (0<<DDA6) | (0<<DDA5) | (0<<DDA4) | (0<<DDA3) | (0<<DDA2) | (1<<DDA1) | (0<<DDA0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T 
PORTA=(0<<PORTA7) | (0<<PORTA6) | (0<<PORTA5) | (0<<PORTA4) | (0<<PORTA3) | (0<<PORTA2) | (0<<PORTA1) | (0<<PORTA0);

// Port B initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In 
DDRB=(0<<DDB7) | (0<<DDB6) | (0<<DDB5) | (0<<DDB4) | (0<<DDB3) | (0<<DDB2) | (0<<DDB1) | (0<<DDB0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T 
PORTB=(0<<PORTB7) | (0<<PORTB6) | (0<<PORTB5) | (0<<PORTB4) | (0<<PORTB3) | (0<<PORTB2) | (0<<PORTB1) | (0<<PORTB0);

// Port C initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In 
DDRC=(0<<DDC7) | (0<<DDC6) | (0<<DDC5) | (0<<DDC4) | (0<<DDC3) | (0<<DDC2) | (0<<DDC1) | (0<<DDC0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T 
PORTC=(0<<PORTC7) | (0<<PORTC6) | (0<<PORTC5) | (0<<PORTC4) | (0<<PORTC3) | (0<<PORTC2) | (0<<PORTC1) | (0<<PORTC0);

// Port D initialization
// Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In 
DDRD=(0<<DDD7) | (0<<DDD6) | (0<<DDD5) | (0<<DDD4) | (0<<DDD3) | (0<<DDD2) | (0<<DDD1) | (0<<DDD0);
// State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T 
PORTD=(0<<PORTD7) | (0<<PORTD6) | (0<<PORTD5) | (0<<PORTD4) | (0<<PORTD3) | (0<<PORTD2) | (0<<PORTD1) | (0<<PORTD0);

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 2000.000 kHz
// Mode: Normal top=0xFF
// OC0 output: Disconnected
// Timer Period: 0.128 ms
TCCR0=(0<<WGM00) | (0<<COM01) | (0<<COM00) | (0<<WGM01) | (0<<CS02) | (1<<CS01) | (0<<CS00);
TCNT0=0x00;
OCR0=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=(0<<OCIE2) | (0<<TOIE2) | (0<<TICIE1) | (0<<OCIE1A) | (0<<OCIE1B) | (0<<TOIE1) | (0<<OCIE0) | (1<<TOIE0);

// Alphanumeric LCD initialization
// Connections are specified in the
// Project|Configure|C Compiler|Libraries|Alphanumeric LCD menu:
// RS - PORTB Bit 0
// RD - PORTB Bit 1
// EN - PORTB Bit 2

// D5 - PORTA Bit 5
// D6 - PORTA Bit 6
// D7 - PORTA Bit 7
// Characters/line: 16
lcd_init(16);
lcd_clear();
lcd_gotoxy( 0 , 0 );
lcd_putsf( "WWW.REDRONIC.COM" ) ;
delay_ms(2000);

// Global enable interrupts
#asm("sei")
while (1)
      {
       PORTA.1=1;               // set trig pulse
       TCNT0= 0;  
       TCCR0=(0<<WGM00) | (0<<COM01) | (0<<COM00) | (0<<WGM01) | (0<<CS02) | (1<<CS01) | (0<<CS00);
       while(TCNT0<20);
       PORTA.1=0;               //reset trig pulse
       TCCR0=0;
       while(PINA.2==0);      //listen to echo puls
       timer_ovf=0;
       TCNT0=0;
       TCCR0=(0<<WGM00) | (0<<COM01) | (0<<COM00) | (0<<WGM01) | (0<<CS02) | (1<<CS01) | (0<<CS00);
       while(PINA.2==1);     //listen to echo puls
       TCCR0=0;
       distance=((timer_ovf*256+TCNT0)/116.62) ;   // calculate distance
       if(distance>450) 
        { 
               //lcd_clear();
               lcd_gotoxy(0,1);  
               lcd_putsf("             ");
               lcd_gotoxy(0,1); 
               lcd_putsf("Out of Range");
               delay_ms(500);
        }
       else 
        {
         //sprintf(dist_str,"Distance = %3.1f cm",distance);  
         ftoa(distance,1,dist_str);
         lcd_gotoxy(0,1);  
         lcd_putsf("Distance:");   
         lcd_gotoxy(9,1); 
         lcd_puts(dist_str); 
         lcd_gotoxy(14,1);  
         lcd_putsf("cm"); 
         delay_ms(1000); 
         lcd_gotoxy(9,1);
         lcd_putsf("   ");
        }

      }
}