超声波距离控制舵机角度

本来想做的是超声波控制直流电机pwm，但手里驱动坏了，就勉强用舵机凑合一下

模块：HCSR04超声波模块+SG90小舵机+oled显示屏

原理：通过TIM定时器功能，将发出和接受超声波的信号作为开始计时和结束即使，再有声音传播速度为340m/s，以此确定距离。用距离和舵机角度建立关系，而舵机角度于pwm有关，pwm的输出又于CCR有联系。因此采用两个TIM，一个用定时器功能，一个输出pwm

接线：HCSR04的trig接PA0,echo接PA1.舵机信号接收口接PB0.

代码部分 ：

1.超声波部分

#include "stm32f10x.h"                  // Device header
#include "HCSR04.h"
#include "Timer.h"
#include "Delay.h"

uint16_t Time;

void HCSR04_Init()
{
	RCC_APB2PeriphClockCmd(Trig_RCC, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStruct;
	
	GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_InitStruct.GPIO_Pin = Trig_Pin;
	GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(Trig_Port, &GPIO_InitStruct);
	
	GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IPD;
	GPIO_InitStruct.GPIO_Pin = Echo_Pin;
	GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(Echo_Port, &GPIO_InitStruct);
	
	GPIO_ResetBits(Trig_Port, Trig_Pin);
	
}

void HCSR04_Start()
{
	GPIO_SetBits(Trig_Port, Trig_Pin);
	Delay_us(45);
	GPIO_ResetBits(Trig_Port, Trig_Pin);
	Timer_Init();
}

uint16_t HCSR04_GetValue()
{
	HCSR04_Start();
	Delay_ms(100);
	return ((Time * 0.0001) * 34000) / 2;
//	return Time;
}

2.定时器部分

#include "stm32f10x.h"                  // Device header
#include "Timer.h"

extern uint16_t Time;
void Timer_Init()
{
	Time = 0;
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);	//选择APB1总线下的定时器Timer2
	
	TIM_InternalClockConfig(TIM2);		//TIM2使用内部时钟
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;		//计数模式，此处为向上计数
	TIM_TimeBaseInitStructure.TIM_Period = 7199;		//ARR 1 = 0.0001S
	TIM_TimeBaseInitStructure.TIM_Prescaler = 0;		//PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;		//高级计时器特有，重复计数
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
	
	TIM_ClearFlag(TIM2, TIM_FLAG_Update);
	TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);		//使能中断
	
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	
	NVIC_InitTypeDef NVIC_InitStructure;
	NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;		//中断通道选择
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;		//优先级，同上
	
	NVIC_Init(&NVIC_InitStructure);
	
	TIM_Cmd(TIM2, ENABLE);		//打开定时器
}

void TIM2_IRQHandler()		//定时中断
{
	if(TIM_GetITStatus(TIM2, TIM_IT_Update) == SET)
	{

		if (GPIO_ReadInputDataBit(Echo_Port, Echo_Pin) == 1)
		{
			Time ++;
		}
		TIM_ClearITPendingBit(TIM2, TIM_IT_Update);		//清空标志位
	}
}

舵机部分与之前定时器基本一样，只需改变tim的通道，就可改变io口（注意查看复用关系io口与通道的对应关系）

3.main函数部分

#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "Servo.h"
#include "Key.h"
#include "HCSR04.h"
#include "Timer.h"
uint8_t KeyNum;
float Angle;
uint16_t T;

int main(void)
{
	OLED_Init();
	Servo_Init();
	Key_Init();
	HCSR04_Init();
	OLED_ShowString(1, 1, "Angle:");
	OLED_ShowString(2, 1, "distance:");
	OLED_ShowString(2, 13, "cm");
	while (1)
	{
		T = HCSR04_GetValue();
		OLED_ShowNum(2, 10, T, 3);
		//Delay_ms(100);
		
		Angle = 180/T;
			
		Servo_SetAngle(Angle);
		OLED_ShowNum(1, 7, Angle, 3);
		
	}
}

代码缺点：在每次驱动完舵机后，角度会清零，且响应较慢，可能与超声波定时器中断取时间有关。