超声波测距模块在STM32上的移植

芯片：STM32F103C8T6

模块：HC-SR04

main.c

#include "stm32f10x.h"  
#include "OLED.h"  
#include "delay.h"	
#include "timer3.h"
#include "timer2.h"
#include "gpio.h"


uint16_t S = 0,flag, temp = 0,i=0,sum,agre;

void count(void)
{
	temp=TIM_GetCounter(TIM2); 
	sum += temp;
	i++;
	if(i==10)
	{
		i=0;
		S = (sum*1.7)/1000;//Ëã³öÀ´µÄÖµÊÇcm
		if(S > 700 || flag==1)//Òç³ö
		{
			OLED_ShowString(2,1,"failed");
		}
		else
		{
			OLED_ShowString(2,1,"      ");
			OLED_ShowNum(3,1,S,3);
			OLED_ShowNum(4,1,temp,3); 
		}
		sum = 0;
	}
	
}

int main(void)
{
	OLED_Init();	
	GPIO_INIT();
	TIM3_Init(5760,1000);//80ms   ¶¨Ê±´ò¿ªÄ£¿é
	TIM2_Init(65535,72);//¼ÆÊý65535´Î ÓÃÓÚ¼ÆÊý

	while(1)
	{	
		while(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_9)==RESET);//
		TIM_SetCounter(TIM2,0);
		TIM_Cmd(TIM2,ENABLE);
		while(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_9)==SET);
		TIM_Cmd(TIM2,DISABLE);
		count();
	}
}	

timer3.c

#include "timer3.h"
#include "delay.h"

void TIM3_Init(u16 arr,u16 psc)
{
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
	NVIC_InitTypeDef NVIC_InitStruct;
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
	
	TIM_TimeBaseStructure.TIM_Period = arr-1; 
	TIM_TimeBaseStructure.TIM_Prescaler = psc-1;
	TIM_TimeBaseStructure.TIM_ClockDivision = 0;//时钟分频因子 
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//计时方式
	TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);
	
	TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);//定时器中断配置
	
	NVIC_InitStruct.NVIC_IRQChannel = TIM3_IRQn;
	NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 2; 
	NVIC_InitStruct.NVIC_IRQChannelSubPriority = 2;
	NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
	
	NVIC_Init(&NVIC_InitStruct);
	TIM_Cmd(TIM3,ENABLE);
}

void TIM3_IRQHandler(void)//每800ms 启动模块
{
	if(TIM_GetITStatus(TIM3,TIM_IT_Update) !=RESET)
	{
		GPIO_SetBits(GPIOA,GPIO_Pin_8);//产生脉冲
		Delay_us(10);
		GPIO_ResetBits(GPIOA,GPIO_Pin_8);
		TIM_ClearITPendingBit(TIM3,TIM_IT_Update);
	}
}

timer2.c

#include "timer2.h"

void TIM2_Init(u16 arr,u16 psc)//TIM3初始化
{
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
	NVIC_InitTypeDef NVIC_InitStruct;
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);//使能定时时钟
	
	TIM_TimeBaseStructure.TIM_Period = arr-1; //定时器周期
	TIM_TimeBaseStructure.TIM_Prescaler = psc-1;// 定时器预分频器系数 除数会自动加一 
	TIM_TimeBaseStructure.TIM_ClockDivision = 0;//时钟分频因子 
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//计时方式
	TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure);//初始化定时器
	
	TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE);//定时器中断配置
	//中断配置
	NVIC_InitStruct.NVIC_IRQChannel = TIM2_IRQn;//Interrupt Request 中断请求
	NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1; //抢占优先级
	NVIC_InitStruct.NVIC_IRQChannelSubPriority = 2;//响应优先级
	NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
	
	NVIC_Init(&NVIC_InitStruct);
	TIM_Cmd(TIM2,DISABLE);
}

void TIM2_IRQHandler(void)//中断服务函数（中断请求处理函数）
{
	uint16_t flag;
	if(TIM_GetITStatus(TIM2,TIM_IT_Update) !=RESET)
	{
		flag=1;	
	}
	TIM_ClearITPendingBit(TIM2,TIM_IT_Update);
}

gpio.c

#include "gpio.h"

void GPIO_INIT(void)
{
	GPIO_InitTypeDef GPIO_InitStruct;
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	
	GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;//Êä³ö
	GPIO_InitStruct.GPIO_Pin =GPIO_Pin_8;
	GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA,&GPIO_InitStruct);
	
	GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IPU;//ÊäÈë
	GPIO_InitStruct.GPIO_Pin =GPIO_Pin_9;
	GPIO_Init(GPIOA,&GPIO_InitStruct);
}

delay.c

#include "stm32f10x.h"

/**
  * @brief  微秒级延时
  * @param  xus 延时时长，范围：0~233015
  * @retval 无
  */
void Delay_us(uint32_t xus)
{
	SysTick->LOAD = 72 * xus;				//设置定时器重装值
	SysTick->VAL = 0x00;					//清空当前计数值
	SysTick->CTRL = 0x00000005;				//设置时钟源为HCLK，启动定时器
	while(!(SysTick->CTRL & 0x00010000));	//等待计数到0
	SysTick->CTRL = 0x00000004;				//关闭定时器
}

/**
  * @brief  毫秒级延时
  * @param  xms 延时时长，范围：0~4294967295
  * @retval 无
  */
void Delay_ms(uint32_t xms)
{
	while(xms--)
	{
		Delay_us(1000);
	}
}
 
/**
  * @brief  秒级延时
  * @param  xs 延时时长，范围：0~4294967295
  * @retval 无
  */
void Delay_s(uint32_t xs)
{
	while(xs--)
	{
		Delay_ms(1000);
	}
} 

OLED模块相关代码，网上资源较多，可自行搜索。也可通过keil的硬件调试功能查看相关数据。

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