HC-SR04超声波测距模块介绍
接口定义:Vcc、 Trig(控制端——PA2)、 Echo(接收端——PA11)、 Gnd
模块工作原理:采用 IO 触发测距,给至少 10us 的高电平信号; 模块自动发送 8 个 40khz 的方波,自动检测是否有信号返回;有信号返回,通过 IO 输出一高电平,高电平持续的时间就是超声波从发射到返回的时间,测试距离=(高电平时间*声速(340M/S))/2;
测距方法介绍:
距离 = 超声波来回的时间/2 * 340,因此最重要的就是求时间。
方法一:利用定时器计数功能,在成功发送触发信号后,通过读取Echo信号引脚的高低电平变化的时间内计数器所计数的值,再乘以计一下数的所用的时间即可计算出该段变化电平所用的时间。
方法二:利用定时器的输入捕获功能,在Echo电平升高时进入回调函数,在回调函数中将此时的计数值保存,并设置定时器为下降沿捕获;在Echo电平降低时进入回调函数,在回调函数中将此时的计数值保存,并设置定时器为下降沿捕获(为了下次测量准备);将两次保存的计数值进行相减并乘以计一下数所用的时间就可计算出该段电平变化所用的时间。
STM32CubeMX的配置:
配置时钟,为最高的168MHZ
其中的时钟晶振哪里改成168也是没有问题的
main.c
/* 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 "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* 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 */
uint8_t USART1_RXbuff; // 接收缓冲区;
uint8_t str[3];
uint8_t openmv_length = 0;
uint8_t openmv_bolob_cx = 0;
uint8_t openmv_bolob_cy = 0;
/* 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 */
/*超声波函数*/
void Start_chsb()
{
HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_SET);//拉高
TIM1_Delay_us(20);
HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_RESET);//拉低
}
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void motion(void);
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void data_processing(uint8_t *str)
{
openmv_length = str[0];
openmv_bolob_cx = str[1];
openmv_bolob_cy = str[2];
motion();
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
static uint8_t i=0;
if(huart->Instance==USART1)
{
str[i++]=USART1_RXbuff;
if(i==3)
{
i=0;
data_processing(str);
}
/*调运数据接收处理函数,每次进入中断都对数据进行理处
,由于需要接收器个数据,因此要进入七次断理*/
}
HAL_UART_Receive_IT(&huart1,(void *)&USART1_RXbuff,1);/*再次开启接收中断*/
}
void Advance() //前进
{
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_5,GPIO_PIN_SET); //左前轮前进
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_4,GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_SET); //左后轮前进
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_11,GPIO_PIN_SET); //右前轮前进
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,GPIO_PIN_SET); //右后轮前进
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12,GPIO_PIN_RESET);
}
void Back_off() //后退
{
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_5,GPIO_PIN_RESET); //左前轮后退
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_4,GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET); //左后轮后退
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_11,GPIO_PIN_RESET); //右前轮后退
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,GPIO_PIN_RESET); //右后轮后退
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12,GPIO_PIN_SET);
}
void Turn_right() //右转
{
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_5,GPIO_PIN_SET); //左前轮前进
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_4,GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_SET); //左后轮前进
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_11,GPIO_PIN_RESET); //右前轮后退
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,GPIO_PIN_RESET); //右后轮后退
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12,GPIO_PIN_SET);
}
void Turn_left() //左转
{
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_5,GPIO_PIN_RESET); //左前轮后退
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_4,GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET); //左后轮后退
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_11,GPIO_PIN_SET); //右前轮前进
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,GPIO_PIN_SET); //右后轮前进
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12,GPIO_PIN_RESET);
}
void Stop()
{
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_5,GPIO_PIN_RESET); //左前轮停止
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_4,GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET); //左后轮停止
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_11,GPIO_PIN_RESET); //右前轮停止
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,GPIO_PIN_RESET); //右后轮停止
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12,GPIO_PIN_RESET);
}
void clip()
{
HAL_GPIO_WritePin(GPIOD,GPIO_PIN_2,GPIO_PIN_SET); //夹起
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_3,GPIO_PIN_RESET);
}
void vertical_judgment() //y轴判断是否进入夹爪
{
if(openmv_bolob_cy < 120)
{
Advance();
}
else
{
Back_off();
HAL_Delay(10);
clip();
}
}
void level_judgment() //判断水平方向
{
if(openmv_bolob_cx >64)
{
Turn_right();
}
else if(openmv_bolob_cx < 56)
{
Turn_left();
}
else if(openmv_bolob_cx>=56 && openmv_bolob_cx <= 64)
{
vertical_judgment();
}
}
void motion() //根据距离决定是否前进
{
if(openmv_length > 50)
{
Advance();
}
else
{
Back_off();
HAL_Delay(10);
level_judgment();
}
}
int Cnt;//计数值
float Distance;//距离
/* 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_USART1_UART_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM1_Init();
/* USER CODE BEGIN 2 */
HAL_UART_Receive_IT(&huart1,(void *)&USART1_RXbuff,1);
/* USER CODE END 2 */
HAL_TIM_Base_Start(&htim1);//开启定时器
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* 定时器1,通道1,模式随便,主要用于计数,没有使用边沿捕获 */
Start_chsb();//开启超声波模块
HAL_TIM_Base_Start(&htim1);//开启定时器
//对超声波输入端口操作
while( HAL_GPIO_ReadPin (Echo_GPIO_Port ,Echo_Pin) == GPIO_PIN_RESET);//等待输入电平拉高
__HAL_TIM_SetCounter(&htim1,0);
//对超声波输入端口操作
while( HAL_GPIO_ReadPin (Echo_GPIO_Port ,Echo_Pin) == GPIO_PIN_SET);//等待输入电平变低
Cnt = __HAL_TIM_GetCounter(&htim1);
HAL_TIM_Base_Stop(&htim1);
Distance = Cnt*340/2*0.000001*100 ;
printf("Distance=%.1fcm\n",Distance);
HAL_Delay(500);
/* USER CODE END WHILE */
/* 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};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 168;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
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_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != 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 */
mian.h
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.h
* @brief : Header for main.c file.
* This file contains the common defines of the application.
******************************************************************************
* @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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define Trig_Pin GPIO_PIN_4
#define Trig_GPIO_Port GPIOA
#define Echo_Pin GPIO_PIN_11
#define Echo_GPIO_Port GPIOA
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
#ifdef __cplusplus
}
#endif
#endif /* __MAIN_H */
首先,重定向printf函数
打开 usart.c,在 /* USER CODE BEGIN 0 */ 和 /* USER CODE END 0 */加入以下代码:
#include <stdio.h>
#ifdef __GNUC__
/* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
set to 'Yes') calls __io_putchar() */
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */
在 /* USER CODE BEGIN 1 */ 和 /* USER CODE END 1 */ 之间加入以下代码:
/**
* @brief Retargets the C library printf function to the USART.
* @param None
* @retval None
*/
PUTCHAR_PROTOTYPE
{
/* Place your implementation of fputc here */
/* e.g. write a character to the EVAL_COM1 and Loop until the end of transmission */
HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
return ch;
}
在tim.c中编写毫秒延时函数
/* USER CODE BEGIN 1 */
//使用TIM1来做us级延时函数,此函数为1us
void TIM1_Delay_us(uint16_t n_us)
{
/* 使能定时器1计数 */
__HAL_TIM_ENABLE(&htim1);
__HAL_TIM_SetCounter(&htim1, 0);//htim1
while(__HAL_TIM_GetCounter(&htim1) < ((1 * n_us)-1) );
/* 失能定时器1计数 */
__HAL_TIM_DISABLE(&htim1);
}
main.c
/* USER CODE END 1 */
void Start()
{
HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_SET);//拉高
TIM1_Delay_us(20);
HAL_GPIO_WritePin(Trig_GPIO_Port, Trig_Pin, GPIO_PIN_RESET);//拉低
}
在主函数外定义变量
int Cnt;//计数值
float Distance;//距离
主函数
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_USART1_UART_Init();
MX_TIM1_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start(&htim1);//开启定时器
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* 定时器1,通道1,模式随便,主要用于计数,没有使用边沿捕获 */
Start();//开启超声波模块
HAL_TIM_Base_Start(&htim1);//开启定时器
//对超声波输入端口操作
while( HAL_GPIO_ReadPin (Echo_GPIO_Port ,Echo_Pin) == GPIO_PIN_RESET);//等待输入电平拉高
__HAL_TIM_SetCounter(&htim1,0);
//对超声波输入端口操作
while( HAL_GPIO_ReadPin (Echo_GPIO_Port ,Echo_Pin) == GPIO_PIN_SET);//等待输入电平变低
Cnt = __HAL_TIM_GetCounter(&htim1);
HAL_TIM_Base_Stop(&htim1);
Distance = Cnt*340/2*0.000001*100 ;
printf("Distance=%.1fcm\n",Distance);
HAL_Delay(500);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
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原文链接:https://blog.csdn.net/m0_64354650/article/details/125566125