【STM32学习】——超声波SR04

定时器配置：


引脚定义：


SR04.c

#include "SR04.h"
 
float distant;      //测量距离
float Distance_Data;//距离数据存储
uint32_t measure_Buf[3] = {0};   //存放定时器计数值的数组
uint8_t  measure_F_Cnt = 0;    //状态标志位
uint32_t high_time;   //超声波模块返回的高电平时间

//===============================================读取距离
void SR04_GetData(void)
{
	switch (measure_F_Cnt)
	{
		case 0:
			 TRIG_H;
			 delay_us(30);
			 TRIG_L;
		
			measure_F_Cnt++;
			__HAL_TIM_SET_CAPTUREPOLARITY(&htim3, TIM_CHANNEL_3, TIM_INPUTCHANNELPOLARITY_RISING);
			HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_3);	//启动输入捕获                                                                                   		
			break;
		case 3:
			high_time = measure_Buf[1]- measure_Buf[0];    //高电平时间
			//printf("\r\n----高电平时间-%d-us----\r\n",high_time);	//串口显示						
			distant=(high_time*0.034)/2;  //单位cm
			//printf("\r\n-检测距离为-%.2f-cm-\r\n",distant); //串口显示
			Distance_Data = distant;
			measure_F_Cnt = 0;  //清空标志位
			TIM3->CNT=0;     //清空计时器计数
			break;		
	}
}
 
//===============================================us延时函数
void delay_us(uint32_t us)//主频72M
{
    uint32_t delay = (HAL_RCC_GetHCLKFreq() / 4000000 * us);
    while (delay--)
	{
		;
	}
}
//===============================================中断回调函数
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)//
{
	if(TIM3 == htim->Instance)// 判断触发的中断的定时器为TIM3
	{
		switch(measure_F_Cnt){
			case 1:
				//获取当前的捕获值.
				measure_Buf[0] = HAL_TIM_ReadCapturedValue(&htim3,TIM_CHANNEL_3);
				//设置为下降沿捕获
				__HAL_TIM_SET_CAPTUREPOLARITY(&htim3,TIM_CHANNEL_3,TIM_ICPOLARITY_FALLING);  
				measure_F_Cnt++;                                            
				break;              
			case 2:
				//获取当前的捕获值.
				measure_Buf[1] = HAL_TIM_ReadCapturedValue(&htim3,TIM_CHANNEL_3);
				//停止捕获   或者: __HAL_TIM_DISABLE(&htim5);
				HAL_TIM_IC_Stop_IT(&htim3,TIM_CHANNEL_3); 
				measure_F_Cnt++;                
		}
	}
}

SR04.h

#ifndef __SR04_H
#define __SR04_H
#include "main.h"
#include "tim.h"
#include "stdio.h"
 
#define TRIG_H  HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_SET)
#define TRIG_L  HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET)
 
extern float Distance_Data;
void delay_us(uint32_t us);
void SR04_GetData(void);
 
#endif

main.c

void csb_SR04_mainloop(void)//超声波
{
	if(!f_1500ms)return;
	f_1500ms = 0;
	
	SR04_GetData();
}