目录
一、需用到的元器件
1.sg90舵机
PWM波的频率不能太高,大约50HZ,即周期=1/频率=1/50=0.02s,20ms左右。
选择周期为20ms,则 PSC=7199,ARR=199
角度控制:(高电平占空比越大角度越大)
0.5ms-------------0度; 2.5% 对应函数中CCRx为5
CCRx为5是因为:0.5/20ms=CRRx5/ARR200(32内部PWM设置),比例相等,占空比相等
1.0ms------------45度; 5.0% 对应函数中CCRx为10
1.5ms------------90度; 7.5% 对应函数中CCRx为15
2.0ms-----------135度; 10.0% 对应函数中CCRx为20
2.5ms-----------180度; 12.5% 对应函数中CCRx为25
2.超声波
引脚Trig、Echo
1.怎么让它发送波
给Trig端口发送至少10us的高电平。
发送出去的超声波
2.怎么知道超声波开始发了
Echo信号,由低电平跳转到高电平,表示开始发送波。
3.怎么知道返回波回来了
Echo,由高电平跳转回低电平,表示波回来了。
4.怎么算时间
(1)Echo引脚维持高电平的时间!
(2)波发出去的那一刻,启动定时器 ,波回来的那一刻,停止定时器,计算出中间经过多少时间。
5.怎么计算距离
距离 = 速度 (340m/s)* 时间/2
3.传感器
模块上的DO口,传感器不震动:输出高电平。传感器震动:输出低电平,绿色指示灯亮。
4.蜂鸣器
蜂鸣器收到低电平响,高电平不响。
二、配置
1.GPIO及引脚接线
其中PA6中断要在NVIC打开EXTI中断
添加:1.PA0按钮中断控制开关盖,下降沿触发中断,打开NVIC中断
2.把PA0、PA6的中断优先级设置为2
2.时钟72MHz
2.定时器TIM2
3.定时器TIM4_CH4通道(PB9 接舵机黄线PWM信号)
三、main.c代码
功能:超声波测距小于10、传感器被触碰、按钮被按下,然后舵机控制开盖,并且亮灯、蜂鸣器响。
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
#define OPEN 1//标志位 防止一直距离小于10时 一直滴滴响============================
#define CLOSE 0
char flag = CLOSE;
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
//使用TIM2来做us级延时函数======================================================================
void TIM2_Delay_us(uint16_t n_us)//计算一个数所需时间1 us
{
/* 使能定时器2计数 */
__HAL_TIM_ENABLE(&htim2);
__HAL_TIM_SetCounter(&htim2, 0);
while(__HAL_TIM_GetCounter(&htim2) < ((1 * n_us)-1) );
/* 关闭定时器2计数 */
__HAL_TIM_DISABLE(&htim2);
}
//超声波测距,返回距离============================================================
float get_distance()
{
int cnt;
float distance;
//1. Trig ,给Trig端口至少10us的高电平
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_SET);//拉高
TIM2_Delay_us(20);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_RESET);//拉低
//2. echo由低电平跳转到高电平,表示开始发送波
while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_7) == GPIO_PIN_RESET);//等待输入电平拉高
HAL_TIM_Base_Start(&htim2);//启动定时器
__HAL_TIM_SetCounter(&htim2,0);//定时器赋初值
//3. 由高电平跳转回低电平,表示波回来了
while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_7) == GPIO_PIN_SET);//等待输入电平变低
HAL_TIM_Base_Stop(&htim2);//停止定时器
//4.获取定时器的当前计数值
cnt = __HAL_TIM_GetCounter(&htim2);
//5.计算距离
distance = cnt*340/2*0.000001*100; // 距离 = 速度 (340m/s)* 时间/2(计数1次表示1us)
return distance;
}
//舵机==================================================================
void initSG90_0()
{
HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_4);//启动定时器(产生PWM)
}
void openDusbin()
{
if(flag == CLOSE){//如果是关闭就打开
flag = OPEN;
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 15);//90度
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);//蜂鸣器响
HAL_Delay(100);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);//蜂鸣器不响
}
HAL_Delay(2000);
}
void closeDusbin()
{
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 5);//0度
HAL_Delay(100);
flag = CLOSE;
}
//LED灯============================================================
void openLED()
{
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_8, GPIO_PIN_RESET);
}
void closeLED()
{
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_8, GPIO_PIN_SET);
}
//传感器中断及按钮中断===============================================
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin == GPIO_PIN_0 || GPIO_Pin == GPIO_PIN_6){
if(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_0) == GPIO_PIN_RESET || //按键
HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_6) == GPIO_PIN_RESET){//传感器
openLED();
openDusbin();
}
}
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM2_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
//=======================================================================
closeDusbin();//初始关盖状态
initSG90_0();//启动定时器tim4
HAL_NVIC_SetPriority(SysTick_IRQn,0,0);//提高滴答定时器的优先级为0
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
if(get_distance() < 10)//判断超声波测得的距离
{
openLED();
openDusbin();
}else{
closeLED();
closeDusbin();
}
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */