HC-SR04超声测距模块

一：说明书

接口定义：VCC、TRIG控制端、ECHO接收端、GND

使用方法：TRIG控制端输出一个10us的输出信号，ECHO高电平时为声波发出时间，此时计数器开始计数，模块接受到声波信号时ECHO变为低电平，此时停止计数器。计数器计的时间就是声音发出到返回所花的时间。

代码以STM32C8T6单片机为例，使用的函数库为固件库。

#ifndef _hcsr04_H
#define _hcsr04_H
void hcsr04_init(void);
float measureDistance(void);
#endif

#include "stm32f10x.h"                  // Device header
#include "delay.h"
#define TRIG_PIN GPIO_Pin_10            
#define ECHO_PIN GPIO_Pin_11

void hcsr04_init(void)
{
		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);            //开启定时器2时钟

		TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;                  //结构体定义
		TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
		TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;                   // 1MHz计数频率
		TIM_TimeBaseStructure.TIM_ClockDivision = 0;
		TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;     

		TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
		TIM_Cmd(TIM2, ENABLE);                                          //定时器使能
		
		RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);           

		GPIO_InitTypeDef GPIO_InitStructure;
		GPIO_InitStructure.GPIO_Pin = TRIG_PIN;
		GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;                
		GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
		GPIO_Init(GPIOA, &GPIO_InitStructure);

		GPIO_InitStructure.GPIO_Pin = ECHO_PIN;
		GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;                   // 上拉输入
		GPIO_Init(GPIOA, &GPIO_InitStructure);
}
float measureDistance(void)
{
    GPIO_SetBits(GPIOA,TRIG_PIN);                               // 触发脚置高
    Delay_us(10);                                               // 触发信号保持至少10us
    GPIO_ResetBits(GPIOA, TRIG_PIN); // 触发脚置低

    while (GPIO_ReadInputDataBit(GPIOA, ECHO_PIN) == 0);        // 等待Echo信号开始
    TIM_SetCounter(TIM2, 0);                                    // 计时器清零

    while (GPIO_ReadInputDataBit(GPIOA, ECHO_PIN) == 1);        // 等待Echo信号结束
    uint32_t timeElapsed = TIM_GetCounter(TIM2);                // 获取计时器计数值

                                                                // 计算距离（单位：厘米）
    float distance = (float)timeElapsed / 58.0;

    return distance;
}


/*		distance处理，显示
		OLED_ShowNum(2,1,(unsigned int)(distance*100)/10000%10,1);
		OLED_ShowNum(2,2,(unsigned int)(distance*100)/1000%10,1);
		OLED_ShowNum(2,3,(unsigned int)(distance*100)/100%10,1);
		OLED_ShowChar(2,4,'.');
		OLED_ShowNum(2,5,(unsigned int)(distance*100)/10%10,1);
		OLED_ShowNum(2,6,(unsigned int)(distance*100)/1%10,1);
*/