80 lines
1.2 KiB
C++
80 lines
1.2 KiB
C++
#include "environment.h"
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#include <avr/io.h>
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#include <util/delay.h>
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#include <stdio.h>
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#include "ShiftRegister.h"
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#include "KS0066.h"
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int main(void)
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{
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DDRC |= (1 << PC4) | (1 << PC3) | (1 << PC2);
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ShiftRegister shiftRegister(&PORTC, PC4, &PORTC, PC2, &PORTC, PC3);
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KS0066 lcd(shiftRegister);
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lcd.set("Ultra-sonic");
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DDRB |= (1 << PB0); // PB0 trigger output
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DDRB &= ~(1 << PB1); // PB1 pulse input
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// Timer 1, normal mode
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TCCR1A = 0;
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// Timer 1, clk/64 prescaler
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TCCR1B |= (1 << CS10) | (1 << CS11);
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_delay_ms(2000);
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lcd.clear();
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while (true)
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{
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uint8_t errorNum = 0;
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PORTB |= (1 << PB0);
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_delay_us(15);
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PORTB &= ~(1 << PB0);
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_delay_us(20);
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TCNT1 = 0;
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while ((PINB & (1 << PB1)) == 0 && errorNum == 0)
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{
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if (TCNT1 > 60000)
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{
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errorNum = 1;
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lcd.set("Timeout");
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}
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}
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if (errorNum == 0)
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{
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TCNT1 = 0;
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while ((PINB & (1 << PB1)) != 0 && errorNum == 0)
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{
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if (TCNT1 > 60000)
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{
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errorNum = 2;
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lcd.set("No object");
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}
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}
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if (errorNum == 0)
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{
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uint16_t ticks = TCNT1;
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uint16_t cm = (ticks * 1.835) / 20.0;
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char buffer[16];
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sprintf(buffer, "%3i cm", cm);
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lcd.set(buffer);
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}
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}
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_delay_ms(200);
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}
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}
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