sensor de sonido

//Author : cortex-m.com
//Tiltle :Interfacing HC-SR04 Ultrasonic sensor with Tiva C ARM Cortex-M4
#include "TM4C123.h" // Device header
#include <stdint.h>

void delay_Microsecond(uint32_t time);

void Timer0_init(void);
uint32_t measureD(void);

const double _16MHz_1clock = 62.5e-9; /*Value of 1clock cycle in nanoseconds*/

const uint32_t MULTIPLIER = 5882; /*Derived from speed of sound*/

#define ECHO (1U<<6) //PB6

#define TRIGGER(1U<<4) //PA4(OUTPUT)
#define BLUE_LED (1U<<2)//PF3 onboard Blue LED
uint32_t highEdge,lowEdge;
uint32_t ddistance; /*Distance in centimeters*/
uint32_t counter =0;
uint32_t measureD(void) {
GPIOA->DATA &=~TRIGGER;
delay_Microsecond(12);
GPIOA->DATA |= TRIGGER;
delay_Microsecond(12);
GPIOA->DATA &=~TRIGGER;
/*Capture firstEgde i.e. rising edge*/
TIMER0->ICR =4;
while((TIMER0->RIS & 4)==0){}; //Wait till captured
highEdge = TIMER0->TAR;

/*Capture secondEdge i.e. falling edge */

TIMER0->ICR =4; //clear timer capture flag
while((TIMER0->RIS & 4) ==0){};
lowEdge = TIMER0->TAR;
ddistance = lowEdge -highEdge;
ddistance = _16MHz_1clock *(double) MULTIPLIER *(double)ddistance;

return ddistance;

}
int main(void){
SYSCTL->RCGCGPIO |=(1U<<0); //Enable clock for PORTA
SYSCTL->RCGCGPIO |=(1U<<5); //Enable clock for PORTF
GPIOA->DIR =TRIGGER;
GPIOF->DIR =BLUE_LED;
GPIOA->DEN |=(ECHO)|(TRIGGER);
GPIOF->DEN |= BLUE_LED;

while(1){
Timer0_init();
measureD();
if(measureD() < 15)
GPIOF->DATA |=BLUE_LED;
else
GPIOF->DATA &=~BLUE_LED;
delay_Microsecond(100);

}
}
void delay_Microsecond(uint32_t time)
{
int i;
SYSCTL->RCGCTIMER |=(1U<<1);
TIMER1->CTL=0;
TIMER1->CFG=0x04;
TIMER1->TAMR=0x02;
TIMER1->TAILR= 16-1;
TIMER1->ICR =0x1;
TIMER1->CTL |=0x01;

for(i=0;i<time;i++){
while((TIMER1->RIS & 0x1)==0);
TIMER1->ICR = 0x1;
}

}
void Timer0_init(void)
{
SYSCTL->RCGCTIMER |=(1U<<0);
SYSCTL->RCGCGPIO |=(1U<<1);
GPIOB->DIR &=~ECHO;
GPIOB->DEN |=ECHO;
GPIOB->AFSEL |=ECHO;
GPIOB->PCTL &=~0x0F000000;
GPIOB->PCTL |= 0x07000000;

TIMER0->CTL &=~1;
TIMER0->CFG =4;
TIMER0->TAMR = 0x17;
TIMER0->CTL |=0x0C;
TIMER0->CTL |=1;
}

//Author : cortex-m.com
//Program: Interfacing HC-SR04 with Tiva C ARM Cortex M4
//Remarks: Less precise version
#include "TM4C123.h" // Device header
#include <stdint.h>
#define MAX_TIME 7500
float measureD(void);
uint32_t counter =0;
float distance=0;
#define ECHO (1U<<2) //PA2(INput)
#define TRIGGER (1U<<4) //PA4(OUTPUT)
#define BLUE_LED (1U<<2)//PF3 onboard Blue LED
void delay_Microsecond(uint32_t time);
float measureD(void){
GPIOA->DATA &=~TRIGGER;
delay_Microsecond(10);
GPIOA->DATA |= TRIGGER;
delay_Microsecond(10);
GPIOA->DATA &=~TRIGGER;
counter =0;
while((GPIOA->DATA &ECHO)==0) {}
while(((GPIOA->DATA &ECHO )!=0) &(counter < MAX_TIME))
{
 counter++;
delay_Microsecond(1);
}
distance = (float)counter*(float)0.0170000;
return distance; }
int main(void)
{
SYSCTL->RCGCGPIO |=(1U<<0); //Enable clock for PORTA
SYSCTL->RCGCGPIO |=(1U<<5); //Enable clock for PORTF
GPIOA->DIR =TRIGGER;
GPIOF->DIR =BLUE_LED;
GPIOA->DEN |=(ECHO)|(TRIGGER);
GPIOF->DEN |= BLUE_LED;
while(1){

measureD();
if(measureD() < 10.0){
GPIOF->DATA |=BLUE_LED;
}
else{
GPIOF->DATA &=~BLUE_LED;
}
delay_Microsecond(10);
}
}

void delay_Microsecond(uint32_t time)

{
int i;
SYSCTL->RCGCTIMER |=(1U<<1);
TIMER1->CTL=0;
TIMER1->CFG=0x04;
TIMER1->TAMR=0x02;
TIMER1->TAILR= 16-1;
TIMER1->ICR =0x1;
TIMER1->CTL |=0x01;

for(i=0;i<time;i++){
while((TIMER1->RIS & 0x1)==0);
TIMER1->ICR = 0x1;
}