前言
这一次使用的是超声波做实验,以前使用51单片机的时候用SR04超声波时总是在while(echo)使得得非常占用资源, 不得已得用中断或者阻塞的方式,较为麻烦,而且融合多个传感器51显得越来越不够用所以我打算从STM32用Free RTOS系统作为平台,实现的效果为实时串口打印超声波测距的数据
目录
硬件
HC-SR04
STM32F103C6
首先我们使用上一次的搭建好的环境
STM32F103x/Free RTOS系统学习笔记之环境搭建-CXM_CHENxiaomingming的博客-CSDN博客
\RTOS\stm32F103C6-TROS\inc\FreeRTOSConfig.h
在配置文件中需要吧#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 10*1024 ) )
改为#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 1024 ) ) 这样编译的文件大小不会超过C6芯片的内存。
1.串口配置和输出
串口基本配置
void uart_init(u32 bound)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1|RCC_APB2Periph_GPIOA, ENABLE); //使能USART1，GPIOA时钟
//USART1_TX GPIOA.9
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //PA.9
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA.9
//USART1_RX GPIOA.10初始化
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;//PA10
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//浮空输入
GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA.10
//Usart1 NVIC 配置
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn; //串口中断通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//抢占优先级3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //子优先级1
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器
//USART 初始化设置
USART_InitStructure.USART_BaudRate = bound;//串口波特率
USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式
USART_Init(USART1, &USART_InitStructure); //初始化串口1
USART_ITConfig(USART1, USART_IT_RXNE, DISABLE);//开启串口接受中断
USART_Cmd(USART1, ENABLE); //使能串口1
}
//字符
void USART_SendByte(USART_TypeDef* USARTx, uint16_t Data) //一个一个字符发送
{
USART_SendData( USARTx, Data);
while( USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET );
}
//字符串
void USART_SendStr(USART_TypeDef* USARTx, char* str) //字符串发送
{
uint16_t i=0;
while( *(str+i) != '\0' )
{
USART_SendByte( USART1, *(str+i) );
i++;
}
while( USART_GetFlagStatus(USARTx, USART_FLAG_TC) == RESET );
}
2.定时器配置
void timer2_init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //时钟使能
//定时器TIM2初始化
TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim TIM_CKD_DIV1=0x000000
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根据指定的参数初始化TIMx的时间基数单位
TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE ); //使能指定的TIM2中断,允许更新中断
TIM_ITConfig(TIM2,TIM_IT_Trigger,ENABLE); //允许触发方式中断
//中断优先级NVIC设置
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; //TIM2中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级0级
NVIC_InitStructure.NVIC_IRQChannelSubPriority =0; //从优先级3级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //初始化NVIC寄存器
//TIM_Cmd(TIM2, ENABLE); //使能TIMx
}
//定时器2中断服务程序
void TIM2_IRQHandler(void) //TIM2中断
{
if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) //检查TIM2更新中断发生与否
{
TIM_ClearITPendingBit(TIM2,TIM_IT_Update); //清除TIM2更新中断标志
USART_SendStr(USART1,"data ok!\t\n");
while( USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET ); //判断 '0' 是否已被发送出去
}
}
3.HC-SR04超声波测距代码
通用配置
使用 PB6 和PB7作为端口
void sr04_init(void)
{
GPIO_InitTypeDef GPIO_InitSture;
EXTI_InitTypeDef EXTI_InitSture;
NVIC_InitTypeDef NVIC_InitSture;
//如果外部中断的话则一定使能AFIO复用功能
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO|RCC_APB2Periph_GPIOB,ENABLE);
//配置IO端口
GPIO_InitSture.GPIO_Mode=GPIO_Mode_Out_PP; //推挽输出模式
GPIO_InitSture.GPIO_Pin=Trig; //将PB6于Trig相连
GPIO_InitSture.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_InitSture);
GPIO_InitSture.GPIO_Mode=GPIO_Mode_IPD; //下拉输入模式
GPIO_InitSture.GPIO_Pin=Echo; //将PB7于Echo相连
GPIO_InitSture.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_InitSture);
中断映射到 PB7 信号源
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB,GPIO_PinSource7);
//中断配置
EXTI_InitSture.EXTI_Line=EXTI_Line7; //外部线路
EXTI_InitSture.EXTI_LineCmd=ENABLE; //中断状态
EXTI_InitSture.EXTI_Mode=EXTI_Mode_Interrupt; //设置为中断请求,非事件
EXTI_InitSture.EXTI_Trigger=EXTI_Trigger_Rising; //上升沿中断请求
EXTI_Init(&EXTI_InitSture);
//中断函数优先级管理
NVIC_InitSture.NVIC_IRQChannel=EXTI9_5_IRQn; //中断函数
NVIC_InitSture.NVIC_IRQChannelPreemptionPriority=2; //抢占优先级2
NVIC_InitSture.NVIC_IRQChannelSubPriority=0; //子优先级 2
NVIC_InitSture.NVIC_IRQChannelCmd=ENABLE; //使能 DISABLE
//NVIC_InitSture.NVIC_IRQChannelCmd=DISABLE;
NVIC_Init(&NVIC_InitSture);
}超声波初始化
void sr04_start(void)
{
GPIO_ResetBits(GPIOB,Trig);
delayS_us(2);
GPIO_SetBits(GPIOB,Trig); //将Trig设置为高电平
delayS_us(20); //持续大于10us触发，触发超声波模块工作
GPIO_ResetBits(GPIOB,Trig);
}第一种:外部中断检测法
void EXTI9_5_IRQHandler(void)
{
delayS_us(10);
if(EXTI_GetITStatus(EXTI_Line7) != RESET) //判断外部中断
{
TIM_SetCounter(TIM2,0); //定时器设置
TIM_Cmd(TIM2,ENABLE); //启动定时器开始运行
while(GPIO_ReadInputDataBit(GPIOB,Echo)); //等待低电平
TIM_Cmd(TIM2,DISABLE);
Distance = (TIM_GetCounter(TIM2)*340)/2; //计算距离
_data[0]= Distance/1000 +0x30;
_data[1]= Distance/100%10 +0x30;
_data[2]= Distance%100/10 +0x30;
_data[3]= Distance%10 +0x30;
if(Distance>0) {
USART_SendStr(USART1,_data);
USART_SendStr(USART1,"\r\n");
}
else USART_SendStr(USART1,"04 no\r");
Distance = 0;
EXTI_ClearFlag(EXTI_Line7);
}
}
基本的功能实现都在这里下一节更新剩下的
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