关于HC-SR04超声波测距模块(Trig和Echo的引脚可以自定义,我用的TRIG是PBout(11) ECHO是PBin(10))
硬件连接:
Vcc :5V输入(最好不要用3.3V输入)
Trig :触发信号输入(直接给Trig高电平,然后读取Echo引脚是否为高电平,若为高电平,则开启定时器,然后继续检测等待其为低电平的时候,获取计数器值,然后进行计算)
Echo :回响信号输出(开启外部中断,先将Echo配置上升沿中断,当中断来临的时候,在中断函数里面开启定时器,再将其配置为下降沿中断,等待下降沿中断来临的时候,获取计数器值)
Gnd:连接地线
在使用HC-SR04超声波测距模块时,前5次测量求取平均值,减少测量的误差
#include "hcsr04.h"
#include "SysTick.h"
#include "usart.h"
u16 msHcCount = 0;
void hcsr04_NVIC()//定时器4设置
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void Hcsr04Init()//IO口初始化 及其他初始化
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(HCSR04_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin =HCSR04_TRIG;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(HCSR04_PORT, &GPIO_InitStructure);
GPIO_ResetBits(HCSR04_PORT,HCSR04_TRIG);
GPIO_InitStructure.GPIO_Pin = HCSR04_ECHO;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(HCSR04_PORT, &GPIO_InitStructure);
GPIO_ResetBits(HCSR04_PORT,HCSR04_ECHO);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_DeInit(TIM2);
TIM_TimeBaseStructure.TIM_Period = (1000-1);
TIM_TimeBaseStructure.TIM_Prescaler =(72-1); //1us进入一次更新
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_ClearFlag(TIM4, TIM_FLAG_Update);
TIM_ITConfig(TIM4,TIM_IT_Update,ENABLE);
hcsr04_NVIC();
TIM_Cmd(TIM4,DISABLE);
}
static void OpenTimerForHc() //打开定时器4
{
TIM_SetCounter(TIM4,0);
msHcCount = 0;
TIM_Cmd(TIM4, ENABLE);
}
static void CloseTimerForHc() //关闭定时器4
{
TIM_Cmd(TIM4, DISABLE);
}
void TIM4_IRQHandler(void)//定时器4中断
{
if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)
{
TIM_ClearITPendingBit(TIM4, TIM_IT_Update );
msHcCount++;
}
}
u32 GetEchoTimer(void)//获取定时器4计数器值
{
u32 t = 0;
t = msHcCount*1000;
t += TIM_GetCounter(TIM4);
TIM4->CNT = 0;
delay_ms(50);
return t;
}
float Hcsr04GetLength(void)//通过定时器4计数器值推算距离
{
u32 t = 0;
int i = 0;
float lengthTemp = 0;
float sum = 0;
while(i!=5)
{
TRIG_Send = 1;
delay_us(20);
TRIG_Send = 0;
while(ECHO_Reci == 0);
OpenTimerForHc();
i = i + 1;
while(ECHO_Reci == 1);
CloseTimerForHc();
t = GetEchoTimer();
lengthTemp = ((float)t/58);//cm
sum = lengthTemp + sum ;
}
lengthTemp = sum/5.0;
return lengthTemp;
}
#ifndef __HCSR04_H
#define __HCSR04_H
#include "stm32f10x.h"
#include "sys.h"
//超声波硬件接口定义
#define HCSR04_PORT GPIOB
#define HCSR04_CLK RCC_APB2Periph_GPIOB
#define HCSR04_TRIG GPIO_Pin_11
#define HCSR04_ECHO GPIO_Pin_10
#define TRIG_Send PBout(11)
#define ECHO_Reci PBin(10)
void hcsr04_NVIC(void);//定时器4设置
void Hcsr04Init(void);//IO口初始化 及其他初始化
static void OpenTimerForHc(void);//打开定时器4
static void CloseTimerForHc(void);//关闭定时器4
void TIM4_IRQHandler(void);//定时器4终中断
u32 GetEchoTimer(void);//获取定时器4计数器值
float Hcsr04GetLength(void);//通过定时器4计数器值推算距离
#endif