Main.c
float temp;
void main(void)
{
WDTCTL = WDTPW + WDTHOLD;
P2DIR = 0xFF;
lcdinit();
initsona();
readsona();
}
Sona.h
#ifndef SONA_H_
#define SONA_H_
#include <msp430.h>
#include “lcd16.h”
#define P1_ECHO BIT1
#define P1_TRIGGER BIT0
#define P1_LED0 BIT2
#define P1_LED1 BIT3
#define P1_LED2 BIT4
#define P1_LED3 BIT5
#define P1_BUZZER BIT6
#define TH0 5000 /* Distance */
#define TH1 4000
#define TH2 3000
#define TH3 2000
#define TH4 1000
#define TH5 500
void initsona(void);
void readsona(void);
#endif /* SONA_H_ */
Sona.c
#include <msp430.h>
#include “lcd16.h”

#include “temp.h”
#include “sona.h”
unsigned int j;
unsigned int measure = 0;
unsigned int measure_1 = 0;
float temp;
void initsona(void) {
//포트 설정을 해줌
P1DIR |= BIT0 +BIT6 + BIT7;
P1SEL |= BIT1;
P1OUT |= 0×00;
BCSCTL1 |= CALBC1_1MHZ;
DCOCTL |= CALDCO_1MHZ;
BCSCTL2 &= ~SELS;
BCSCTL2 |= DIVS0;
TACCTL0 |= CM_3 + SCS + CCIS_0 + CAP + CCIE;
TACTL |= TASSEL_2 + MC_2 + ID_0;
_BIS_SR(GIE);// general interrupt enable
}
void readsona(void) {
while (1) {
long i;
temp = readtemp();
P1OUT |= P1_TRIGGER;
for (i = 0; i < 3; i++)
;
P1OUT &= ~P1_TRIGGER;
for (i = 0; i < 8000; i++)
;
}
}
#pragma vector=TIMER0_A0_VECTOR
__interrupt void TimerA0(void) {
long i;
if ((P1IN & P1_ECHO)> 0){
measure_1 = TACCR0;
TACCTL0 |= CM_3;
} else {
measure = TACCR0 – measure_1;
TACCR0 = 0;
P1OUT &= ~(BIT0 + BIT1);
if (measure > TH0) {
gotoXy(0, 0);
prints(“safe”);
j=0;
} else if (measure > TH1) {
gotoXy(0, 0);
prints(“safe”);
j=0;
} else if (measure > TH2) {
j++;
if(j>50000&&temp>100&&temp<150)
{
gotoXy(0, 0);
prints(“Too close”);
P1OUT |= (BIT7+BIT6);

> TH3) {
j++;
if(j>48000&&temp>=150&&temp<170)
{
gotoXy(0, 0);
prints(“Too close”);
P1OUT |= (BIT7+BIT6);
}
}
else if (measure > TH4) {
j++;
if(j>46000&&temp>=170)
{
gotoXy(0, 0);
prints(“Too close”);
P1OUT |= (BIT7+BIT6);
}
}
for (i = 0; i < 8000; i++)
;
}
TACTL &= ~TAIFG;
P1OUT &= ~(BIT7+BIT6);
}
#pragma vector= ADC10_VECTOR ; // interrupt vector
__interrupt void ADC10(void) {
gotoXy(0, 1);
integerToLcd(temp);
}
Temp.h
#ifndef TEMP_H_
#define TEMP_H_
#include <msp430.h>
#include “lcd16.h”
float readtemp(void);
#endif
Temp.c
#include “temp.h”
#include “lcd16.h”
float temp;
float readtemp(void) {
ADC10CTL0 |= ADC10SHT_2 + ADC10ON + ADC10IE; //
ADC10ON, interrupt enabled
ADC10CTL1 = INCH_4; // input A1
ADC10AE0 |= BIT4; // PA.1 ADC option
select
ADC10CTL0 |= ENC + ADC10SC; // Sampling and
conversion start
temp = (ADC10MEM * 3.7 / 1023.0) * 100;
ADC10CTL0 &= ~ADC10ON;

return temp;
}
LCD.h
#ifndef LCD16_H_
#define LCD16_H_
#include <msp430.h>
#define LCD_OUT P2OUT
#define LCD_DIR P2DIR
#define EN BIT5
#define RS BIT4
#define EN_1 (P2OUT |= EN)
#define EN_0 (P2OUT &= ~EN)
#define RS_1 (P2OUT |= RS)
#define RS_0 (P2OUT &= ~RS)
void waitlcd(unsigned int x);
void lcdinit(void);
void integerToLcd(int integer);
void lcdData(unsigned char l);
void prints(char *s);
void gotoXy(unsigned char x, unsigned char y);
#endif /* LCD16_H_ */
LCD.c
/*
* lcd16.c
*
* Created on: Dec 1, 2011
* Author: Gaurav www.circuitvalley.com
*/
#include “lcd16.h”
void lcdcmd(unsigned char Data) {
RS_0;
EN_0;
LCD_OUT &= 0×00; //clear all data pin.
LCD_OUT |= ((Data & 0xF0) >> 4);
EN_1;
waitlcd(2);
EN_0;
LCD_OUT &= 0×00; //clear all data pin
LCD_OUT |= (Data & 0x0F); // P1OUT |=BIT
EN_1;
waitlcd(2);
EN_0;
}
void lcdData(unsigned char l) {
RS_1;
EN_0;
LCD_OUT &= 0xF0;
LCD_OUT |= ((l & 0xF0) >> 4);

EN_1;
waitlcd(2);
EN_0;
LCD_OUT &= 0xF0;
LCD_OUT |= (l & 0x0F);
EN_1;
waitlcd(2);
EN_0;
}
void lcdinit(void) {
RS_0;
EN_0;
LCD_OUT = (BIT0 + BIT1);
waitlcd(40);
EN_1;
EN_0;
waitlcd(5);
EN_1;
EN_0;
waitlcd(5);
EN_1;
EN_0;
waitlcd(2);
LCD_OUT = BIT1;
EN_1;
EN_0;
lcdcmd(0×28); // Function set -> set data length 4 bit 2 line
waitlcd(250);
lcdcmd(0x0C); //Display on/off control -> set display on
cursor on blink on
waitlcd(250);
lcdcmd(0×01); // Clear display
waitlcd(250);
lcdcmd(0×06); // Cursor or display shift -> cursor shift
direction
waitlcd(250);
lcdcmd(0×80); //Set DDRAM address -> set ram address
waitlcd(250);
}
void waitlcd(volatile unsigned int x) {
volatile unsigned int i;
for (x; x > 1; x–) {
for (i = 0; i <= 110; i++)
;
}
}
void prints(char *s) {
while (*s) {
lcdData(*s);
s++;
}

}
void gotoXy(unsigned char x, unsigned char y) {
if (x < 40) {
if (y)
x |= 0×40;
x |= 0×80;
lcdcmd(x);
}
}
void integerToLcd(int integer) {
unsigned char thousands, hundreds, tens, ones;

thousands = integer / 1000;
lcdData(thousands + 0×30);
hundreds = ((integer – thousands * 1000) – 1) / 100;
lcdData(hundreds + 0×30);
tens = (integer % 100) / 10;
lcdData(tens + 0×30);
ones = integer % 10;
lcdData(ones + 0×30);
}