stm32 f407（HAL库)装载HC-SR04 超声波测距传感器（简单尝试）

参考视频用超声波传感器模拟倒车雷达(基于STM32F407 和HAL库)_哔哩哔哩_bilibili

首先创建项目

然后是型号选择：STM32f407ZGT6 

CubeMx里面的设置：

时钟配置：

两个定时器的设置：一个是pwm输出   一个是pwm捕获 分别对应HC-SR04  的超声波的触发端（发射端）和超声波的接收端  这里的接口分别 从左到右 接到stm32 f407上面的 +5V TIM4(对对应的GPIO口PB6） TIM5（对应的GPIO口PA0） GND 

还配置了一个串口uart方便串口打印测试：

后面生成代码的设置:

然后就点击：generate  code

keil里面(main.c)的代码：

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 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>
#include <string.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 isCapUp = 1; //捕获上升延
uint16_t valueUp=0;
uint16_t valueDown=0;
uint16_t width=0;
uint8_t updateCount = 0 ;  //防止计数器翻转
uint8_t echoFlag= 0;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)  //中断函数
{
	if(isCapUp) //如果是上升沿
	{
	valueUp = HAL_TIM_ReadCapturedValue(htim,TIM_CHANNEL_1);  //捕获上升沿
	__HAL_TIM_SET_CAPTUREPOLARITY(htim,TIM_CHANNEL_1,TIM_ICPOLARITY_FALLING); //下降沿捕获
	isCapUp = 0;	
	}
	else //如果是下降沿
	{
	valueDown = HAL_TIM_ReadCapturedValue(htim,TIM_CHANNEL_1);  //捕获下降沿
	__HAL_TIM_SET_CAPTUREPOLARITY(htim,TIM_CHANNEL_1,TIM_ICPOLARITY_RISING);  //捕获上升沿
	isCapUp = 1;		
		
	width = valueDown + updateCount * 65536 - valueUp;   //width的单位是微秒
	echoFlag = 1 ;
		
	}

}

void HAL_TIM_PeriodElapsedHalfCpltCallback(TIM_HandleTypeDef *htim)  //更新计数器  防止计数器翻转
{
	updateCount++;
}
uint32_t width2dist(uint16_t width)
{
	return width * 340 /2 /1000 ;  // m/s 换算成mm 毫米
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
	uint32_t dist=0;   存储距离，单位：毫米
	char printString[64] = {0};  //这是因为啥 不知道啊  

  /* 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_TIM4_Init();
  MX_TIM5_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
	HAL_UART_Transmit(&huart1,"hello\r\n",7,HAL_MAX_DELAY);
	HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_1);  //PWM输出
	HAL_TIM_IC_Start_IT(&htim5,TIM_CHANNEL_1);
	
	

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
		if(echoFlag)
		{
			dist=width2dist(width);  //啥意思
			//sprintf(printString,"%u mm\r\n",dist);   //串口格式化
			sprintf(printString, "%.1f cm\r\n", dist / 10.0f);
			//HAL_UART_Transmit(&huart1,printString,strlen(printString),HAL_MAX_DELAY);
			HAL_UART_Transmit(&huart1, (uint8_t*)printString, (uint16_t)strlen(printString), HAL_MAX_DELAY);      //串口打印出来的
			echoFlag =0 ;	  //一次回应结束
		}
  }
  /* 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_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 336;
  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 */