STM32CubeMX之C8T6+HC-SR04超声波模块

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已于 2024-01-11 20:30:02 修改

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文章标签： stm32 嵌入式硬件单片机

于 2023-11-03 10:30:54 首次发布

本文链接：https://blog.csdn.net/qq_28017117/article/details/134195935

版权

hc-sr04.c

#include "hc-sr04.h"

Hcsr04InfoTypeDef Hcsr04Info;

void Hcsr04Init(TIM_HandleTypeDef *htim, uint32_t Channel)
{
  Hcsr04Info.prescaler = htim->Init.Prescaler; //  72-1
  Hcsr04Info.period = htim->Init.Period;       //  65535
  Hcsr04Info.ic_tim_ch=Channel;
  Hcsr04Info.instance = htim->Instance;        
  if(Hcsr04Info.ic_tim_ch == TIM_CHANNEL_1)
  {
    Hcsr04Info.active_channel = HAL_TIM_ACTIVE_CHANNEL_1;             //  TIM_CHANNEL_1
  }
  else if(Hcsr04Info.ic_tim_ch == TIM_CHANNEL_2)
  {
    Hcsr04Info.active_channel = HAL_TIM_ACTIVE_CHANNEL_2;             //  TIM_CHANNEL_2
  }
  else if(Hcsr04Info.ic_tim_ch == TIM_CHANNEL_3)
  {
    Hcsr04Info.active_channel = HAL_TIM_ACTIVE_CHANNEL_3;             //  TIM_CHANNEL_3
  }
  else if(Hcsr04Info.ic_tim_ch == TIM_CHANNEL_4)
  {
    Hcsr04Info.active_channel = HAL_TIM_ACTIVE_CHANNEL_4;             //  TIM_CHANNEL_4
  }
  /*--------[ Start The ICU Channel ]-------*/
  HAL_TIM_Base_Start_IT(htim);
  HAL_TIM_IC_Start_IT(htim, Channel);//开启中断
}
 
void Hcsr04Start(void)
{
  HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_SET);
  HAL_Delay(1);  //  10us以上
  HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_RESET);
}
void Hcsr04TimOverflowIsr(TIM_HandleTypeDef *htim)
{
  if(htim->Instance == Hcsr04Info.instance) //  
  {
    Hcsr04Info.tim_overflow_counter++;
  }
}
 
void Hcsr04TimIcIsr(TIM_HandleTypeDef* htim)
{
  if((htim->Instance == Hcsr04Info.instance) && (htim->Channel == Hcsr04Info.active_channel))
  {
    if(Hcsr04Info.edge_state == 0)      //  捕获上升沿
    {
      // 得到上升沿开始时间T1，并更改输入捕获为下降沿
      Hcsr04Info.t1 = HAL_TIM_ReadCapturedValue(htim, Hcsr04Info.ic_tim_ch);
      __HAL_TIM_SET_CAPTUREPOLARITY(htim, Hcsr04Info.ic_tim_ch, TIM_INPUTCHANNELPOLARITY_FALLING);
      Hcsr04Info.tim_overflow_counter = 0;  //  定时器溢出计数器清零
      Hcsr04Info.edge_state = 1;        //  上升沿、下降沿捕获标志位
    }
    else if(Hcsr04Info.edge_state == 1) //  捕获下降沿
    {
      // 捕获下降沿时间T2，并计算高电平时间
      Hcsr04Info.t2 = HAL_TIM_ReadCapturedValue(htim, Hcsr04Info.ic_tim_ch);
      Hcsr04Info.t2 += Hcsr04Info.tim_overflow_counter * Hcsr04Info.period; //  需要考虑定时器溢出中断
      Hcsr04Info.high_level_us = Hcsr04Info.t2 - Hcsr04Info.t1; //  高电平持续时间 = 下降沿时间点 - 上升沿时间点
      // 计算距离
      Hcsr04Info.distance = (Hcsr04Info.high_level_us / 1000000.0) * 340.0 / 2.0 * 100.0;
      // 重新开启上升沿捕获
      Hcsr04Info.edge_state = 0;  //  一次采集完毕，清零
      __HAL_TIM_SET_CAPTUREPOLARITY(htim, Hcsr04Info.ic_tim_ch, TIM_INPUTCHANNELPOLARITY_RISING);
    }
  }
}
 
float Hcsr04Read(void)
{
  // 测距结果限幅
  if(Hcsr04Info.distance >= 450)
  {
    Hcsr04Info.distance = 450;
  }
  return Hcsr04Info.distance;
}
 
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
{
  Hcsr04TimIcIsr(htim);
}
 
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  Hcsr04TimOverflowIsr(htim);
}

hc-sr04.h

 
#ifndef HCSR04_H_
#define HCSR04_H_
#include "main.h"
typedef struct
{
	uint8_t  edge_state;
	uint16_t tim_overflow_counter;
	uint32_t prescaler;
	uint32_t period;
	uint32_t t1;	//	上升沿时间
	uint32_t t2;	//	下降沿时间
	uint32_t high_level_us;	//	高电平持续时间
	float    distance;
	TIM_TypeDef* instance;
  uint32_t ic_tim_ch;
	HAL_TIM_ActiveChannel active_channel;
}Hcsr04InfoTypeDef;
 
extern Hcsr04InfoTypeDef Hcsr04Info;
 
void Hcsr04Init(TIM_HandleTypeDef *htim, uint32_t Channel);
 
void Hcsr04Start(void);
 
void Hcsr04TimOverflowIsr(TIM_HandleTypeDef *htim);
 
void Hcsr04TimIcIsr(TIM_HandleTypeDef* htim);
 
float Hcsr04Read(void);
 
#endif

main.c

int main(void)
{

  SystemClock_Config();


  MX_GPIO_Init();
  MX_TIM3_Init();
  MX_USART1_UART_Init();

  Hcsr04Init(&htim3, TIM_CHANNEL_2);
  Hcsr04Start();


  while (1)
  {
 
	Hcsr04Start();
	printf("distance:%.01f cm\r\n", Hcsr04Read());
    HAL_Delay(200); 

  }

}