[STM32G4] SR04超声波模块测距_hsi calibration value-CSDN博客

为了提高测量精度采用平均值滤波经过多次测量提高测量精度。我使用STM32NUCLEO-G431RB开发板做的，这里使用cubeMX选择该开发板配置

/*WithGCC,smallprintf(optionLDLinker->Libraries->Smallprintf

uint8_t1,0xFFFF);

returnch;

以实现串口printf函数的映射，同时在工程配置中启用MicroLIB即可。头文件当然要引用一下stdio.h为了方便代码阅读，对TRIG触发引脚的高低电平设置了如下宏定义。

并声明了几个变量用于存储临时数据

floatt1,t2,temp[5],average,distance;

inti=0;

每个周期的测量会产生两个计数器的值t1,t2,t2-t1时间差就是模块反馈回来的高电平时长，存储到temp数组内，测完几组数据后计算出时间差的平均值，然后计算长度。循环临时变量为i.

5;)

TRIG_LOW;

TRIG_HIGH;

HAL_Delay(1);

TRIG_LOW;

t1=htim2.Instance->CNT;

t2=htim2.Instance->CNT;

if(t2>=t1)

temp[i]=t2-t1;

i++;

HAL_Delay(50);

average=0;

5;i++)

average=average+temp[i];

average=average/5.0;

distance=average*17/1000;

printf("Distance=%.1fcm\n",distance);

*[url=home.php?mod=space&uid=288409]@file[/url]:main.c

*[url=home.php?mod=space&uid=247401]@brief[/url]:Mainprogrambody

*Allrightsreserved.</center></h2>

*the"License";Youmaynotusethisfileexceptincompliancewiththe

floatt1,t2,temp,distance;

inti=0;

UART_HandleTypeDefhlpuart1;

TIM_HandleTypeDefhtim2;

voidSystemClock_Config(void);

staticvoidMX_GPIO_Init(void);

staticvoidMX_LPUART1_UART_Init(void);

staticvoidMX_TIM2_Init(void);

/*WithGCC,smallprintf(optionLDLinker->Libraries->Smallprintf

*[url=home.php?mod=space&uid=247401]@brief[/url]Theapplicationentrypoint.

HAL_Init();

SystemClock_Config();

MX_GPIO_Init();

MX_LPUART1_UART_Init();

MX_TIM2_Init();

Error_Handler();

HAL_TIM_Base_Start(&htim2);

htim2.Instance->CNT=0;

TRIG_LOW;

TRIG_HIGH;

HAL_Delay(1);

TRIG_LOW;

t1=htim2.Instance->CNT;

t2=htim2.Instance->CNT;

htim2.Instance->CNT=0;

if(t2>=t1)

temp=t2-t1;

HAL_Delay(100);

distance=temp*17/1000;

printf("Distance=%.1fcm\n",distance);

HAL_Delay(2000);

RCC_OscInitTypeDefRCC_OscInitStruct={0};

RCC_ClkInitTypeDefRCC_ClkInitStruct={0};

RCC_PeriphCLKInitTypeDefPeriphClkInit={0};

HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);

RCC_OscInitStruct.OscillatorType=RCC_OSCILLATORTYPE_HSI;

RCC_OscInitStruct.HSIState=RCC_HSI_ON;

RCC_OscInitStruct.HSICalibrationValue=RCC_HSICALIBRATION_DEFAULT;

RCC_OscInitStruct.PLL.PLLState=RCC_PLL_NONE;

if(HAL_RCC_OscConfig(&RCC_OscInitStruct)!=HAL_OK)

Error_Handler();

|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;

RCC_ClkInitStruct.SYSCLKSource=RCC_SYSCLKSOURCE_HSI;

RCC_ClkInitStruct.AHBCLKDivider=RCC_SYSCLK_DIV1;

RCC_ClkInitStruct.APB1CLKDivider=RCC_HCLK_DIV1;

RCC_ClkInitStruct.APB2CLKDivider=RCC_HCLK_DIV1;

if(HAL_RCC_ClockConfig(&RCC_ClkInitStruct,FLASH_LATENCY_0)!=HAL_OK)

Error_Handler();

PeriphClkInit.PeriphClockSelection=RCC_PERIPHCLK_LPUART1;

PeriphClkInit.Lpuart1ClockSelection=RCC_LPUART1CLKSOURCE_PCLK1;

if(HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit)!=HAL_OK)

Error_Handler();

hlpuart1.Instance=LPUART1;

hlpuart1.Init.BaudRate=115200;

hlpuart1.Init.WordLength=UART_WORDLENGTH_8B;

hlpuart1.Init.StopBits=UART_STOPBITS_1;

hlpuart1.Init.Parity=UART_PARITY_NONE;

hlpuart1.Init.Mode=UART_MODE_TX_RX;

hlpuart1.Init.HwFlowCtl=UART_HWCONTROL_NONE;

hlpuart1.Init.OneBitSampling=UART_ONE_BIT_SAMPLE_DISABLE;

hlpuart1.Init.ClockPrescaler=UART_PRESCALER_DIV1;

hlpuart1.AdvancedInit.AdvFeatureInit=UART_ADVFEATURE_NO_INIT;

if(HAL_UART_Init(&hlpuart1)!=HAL_OK)

Error_Handler();

if(HAL_UARTEx_SetTxFifoThreshold(&hlpuart1,UART_TXFIFO_THRESHOLD_1_8)!=HAL_OK)

Error_Handler();

if(HAL_UARTEx_SetRxFifoThreshold(&hlpuart1,UART_RXFIFO_THRESHOLD_1_8)!=HAL_OK)

Error_Handler();

if(HAL_UARTEx_DisableFifoMode(&hlpuart1)!=HAL_OK)

Error_Handler();

TIM_ClockConfigTypeDefsClockSourceConfig={0};

TIM_MasterConfigTypeDefsMasterConfig={0};

htim2.Instance=TIM2;

htim2.Init.Prescaler=15;

htim2.Init.CounterMode=TIM_COUNTERMODE_UP;

htim2.Init.Period=49999;

htim2.Init.ClockDivision=TIM_CLOCKDIVISION_DIV1;

htim2.Init.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE;

if(HAL_TIM_Base_Init(&htim2)!=HAL_OK)

Error_Handler();

sClockSourceConfig.ClockSource=TIM_CLOCKSOURCE_INTERNAL;

if(HAL_TIM_ConfigClockSource(&htim2,&sClockSourceConfig)!=HAL_OK)

Error_Handler();

sMasterConfig.MasterOutputTrigger=TIM_TRGO_RESET;

sMasterConfig.MasterSlaveMode=TIM_MASTERSLAVEMODE_DISABLE;

if(HAL_TIMEx_MasterConfigSynchronization(&htim2,&sMasterConfig)!=HAL_OK)

Error_Handler();

GPIO_InitTypeDefGPIO_InitStruct={0};

__HAL_RCC_GPIOC_CLK_ENABLE();

__HAL_RCC_GPIOF_CLK_ENABLE();

__HAL_RCC_GPIOA_CLK_ENABLE();

__HAL_RCC_GPIOB_CLK_ENABLE();

HAL_GPIO_WritePin(TRIG_GPIO_Port,TRIG_Pin,GPIO_PIN_RESET);

HAL_GPIO_WritePin(LD2_GPIO_Port,LD2_Pin,GPIO_PIN_RESET);

GPIO_InitStruct.Pin=B1_Pin;

GPIO_InitStruct.Mode=GPIO_MODE_IT_RISING;

GPIO_InitStruct.Pull=GPIO_NOPULL;

HAL_GPIO_Init(B1_GPIO_Port,&GPIO_InitStruct);

GPIO_InitStruct.Pin=TRIG_Pin;

GPIO_InitStruct.Mode=GPIO_MODE_OUTPUT_PP;

GPIO_InitStruct.Pull=GPIO_NOPULL;

GPIO_InitStruct.Speed=GPIO_SPEED_FREQ_LOW;

HAL_GPIO_Init(TRIG_GPIO_Port,&GPIO_InitStruct);

GPIO_InitStruct.Pin=ECHO_Pin;

GPIO_InitStruct.Mode=GPIO_MODE_INPUT;

GPIO_InitStruct.Pull=GPIO_NOPULL;

HAL_GPIO_Init(ECHO_GPIO_Port,&GPIO_InitStruct);

GPIO_InitStruct.Pin=LD2_Pin;

GPIO_InitStruct.Mode=GPIO_MODE_OUTPUT_PP;

GPIO_InitStruct.Pull=GPIO_NOPULL;

GPIO_InitStruct.Speed=GPIO_SPEED_FREQ_LOW;

HAL_GPIO_Init(LD2_GPIO_Port,&GPIO_InitStruct);

HAL_UART_Transmit(&hlpuart1,(uint8_t*)&ch,1,0xFFFF);

returnch;

__disable_irq();

while(1)

{

}

/*USERCODEENDError_Handler_Debug*/

}

#ifdefUSE_FULL_ASSERT

/**

*@briefReportsthenameofthesourcefileandthesourcelinenumber

*wheretheassert_paramerrorhasoccurred.

*@paramfile:pointertothesourcefilename

*@paramline:assert_paramerrorlinesourcenumber

*@retvalNone

voidassert_failed(uint8_t*file,uint32_tline)

{

/*USERCODEBEGIN6*/

/*Usercanaddhisownimplementationtoreportthefilenameandlinenumber,

ex:printf("Wrongparametersvalue:file%sonline%d\r\n",file,line)*/

/*USERCODEEND6*/

}

#endif/*USE_FULL_ASSERT*/

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作者：gaoyang9992006
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来源：21ic.com
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