Loki86
11.09.2007, 18:47
Hallo alle zusammen. Für eine Projektarbeit (SIA) hab ich mit mich entschieden meinen Asuro mit dem Ultraschallsensor auszustatten. Der Sensor Funktioniert mit dem unten aufgeführten Programm, leider kapier ich es noch nicht wirklich. Könntet ihr mir das Programm oberhalb der gestrichelten Linie und die Pinbelegung etwas näher bringen?
Vielen Dank
Loki
#include "asuro.h"
void LocalInit(void)
{
// Change Oscillator-frequency of Timer 2
// to 40kHz, no toggling of IO-pin:
TCCR2 = (1 << WGM21) | (1 << CS20);
OCR2 = 0x64; // 40kHz @8MHz crystal
ADCSRA = 0x00; // ADC off // Analog comparator:
ACSR = 0x02; // Generate interrupt on falling edge
ADMUX = 0x03; // Multiplexer for comparator to // ADC pin 3
SFIOR |= (1 << ACME); // Enable muliplexing of comparator
DDRD &= ~(1 << 6); // Port D Pin 6 is input!
}
void Ping(unsigned char length)
{
count72kHz = 0;
TCCR2 = (1 << WGM21) | (1 << COM20) | (1 << CS20);
// Toggling of IO-Pin on // generate the Chirp
while(count72kHz < length)
{
OCR2 = 0x64 + length / 2 - count72kHz;
}
TCCR2 = (1 << WGM21) | (1 << CS20); // Toggling of IO-Pin off
OCR2 = 0x64; // set frequency to 40kHz
}
int main(void)
{
int pos, i;
int posmarker;
Init();
LocalInit();
--------------------------------------------------------------------------------------
while(TRUE)
{
posmarker = 0;
Ping(20);
for(pos = 0; pos < 100; pos++)
{
Sleep(10);
if((ACSR & (1 << ACI)) != 0)
{
if(posmarker == 0)
{
posmarker = pos;
}
}
ACSR |= (1 << ACI);
}
if(posmarker >10)
{
StatusLED(GREEN);
MotorDir(FWD, FWD);
MotorSpeed(200, 200);
}
else
{
StatusLED(RED);
MotorDir(FWD, RWD);
MotorSpeed(0, 200);
for(i = 0; i<100; i++)
{
Sleep(200);
}
}
}
return 0;
}
Vielen Dank
Loki
#include "asuro.h"
void LocalInit(void)
{
// Change Oscillator-frequency of Timer 2
// to 40kHz, no toggling of IO-pin:
TCCR2 = (1 << WGM21) | (1 << CS20);
OCR2 = 0x64; // 40kHz @8MHz crystal
ADCSRA = 0x00; // ADC off // Analog comparator:
ACSR = 0x02; // Generate interrupt on falling edge
ADMUX = 0x03; // Multiplexer for comparator to // ADC pin 3
SFIOR |= (1 << ACME); // Enable muliplexing of comparator
DDRD &= ~(1 << 6); // Port D Pin 6 is input!
}
void Ping(unsigned char length)
{
count72kHz = 0;
TCCR2 = (1 << WGM21) | (1 << COM20) | (1 << CS20);
// Toggling of IO-Pin on // generate the Chirp
while(count72kHz < length)
{
OCR2 = 0x64 + length / 2 - count72kHz;
}
TCCR2 = (1 << WGM21) | (1 << CS20); // Toggling of IO-Pin off
OCR2 = 0x64; // set frequency to 40kHz
}
int main(void)
{
int pos, i;
int posmarker;
Init();
LocalInit();
--------------------------------------------------------------------------------------
while(TRUE)
{
posmarker = 0;
Ping(20);
for(pos = 0; pos < 100; pos++)
{
Sleep(10);
if((ACSR & (1 << ACI)) != 0)
{
if(posmarker == 0)
{
posmarker = pos;
}
}
ACSR |= (1 << ACI);
}
if(posmarker >10)
{
StatusLED(GREEN);
MotorDir(FWD, FWD);
MotorSpeed(200, 200);
}
else
{
StatusLED(RED);
MotorDir(FWD, RWD);
MotorSpeed(0, 200);
for(i = 0; i<100; i++)
{
Sleep(200);
}
}
}
return 0;
}