基于stm32的超声波测距HC-SR04

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一、软件准备

(1)编程平台：Keil5

(2)CubeMX

(3)fire tool(串口调试助手)

(4)flyMcu(烧录软件)

二、硬件准备

(1)HC-SR04超声波测距模块

(2)stm32f103c8t6

(3)USB-TTL模块

三、CubeMX配置

1.配置RCC，SYS，时钟配置

2.配置GPIO

3.配置串口1

4.配置定时器

5.开启定时器中断

6.设置路径、生成代码工程

四、Keil5代码

创建SR04.c和SR04.h文件
SR04.h

#ifndef __SR04_H
#define __SR04_H
#include "main.h"
#include "tim.h"
#include "stdio.h"
 
#define TRIG_H  HAL_GPIO_WritePin(Trig_GPIO_Port,Trig_Pin,GPIO_PIN_SET)
#define TRIG_L  HAL_GPIO_WritePin(Trig_GPIO_Port,Trig_Pin,GPIO_PIN_RESET)
 
void delay_us(uint32_t us);
void SR04_GetData(void);
 
#endif

SR04.c

#include "SR04.h"
 
float distant;      //测量距离
uint32_t measure_Buf[3] = {0};   //存放定时器计数值的数组
uint8_t  measure_Cnt = 0;    //状态标志位
uint32_t high_time;   //超声波模块返回的高电平时间
 
 
//===============================================读取距离
void SR04_GetData(void)
{
switch (measure_Cnt){
	case 0:
         TRIG_H;
         delay_us(30);
         TRIG_L;
    
		measure_Cnt++;
		__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING);
		HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);	//启动输入捕获       或者: __HAL_TIM_ENABLE(&htim5);                                                                                    		
        break;
	case 3:
		high_time = measure_Buf[1]- measure_Buf[0];    //高电平时间
         printf("\r\n----高电平时间-%d-us----\r\n",high_time);							
		distant=(high_time*0.034)/2;  //单位cm
        printf("\r\n-检测距离为-%.2f-cm-\r\n",distant);          
		measure_Cnt = 0;  //清空标志位
        TIM2->CNT=0;     //清空计时器计数
		break;
				
	}
}
 
 
//===============================================us延时函数
    void delay_us(uint32_t us)//主频72M
{
    uint32_t delay = (HAL_RCC_GetHCLKFreq() / 4000000 * us);
    while (delay--)
	{
		;
	}
}
 
//===============================================中断回调函数
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)//
{
	
	if(TIM2 == htim->Instance)// 判断触发的中断的定时器为TIM2
	{
		switch(measure_Cnt){
			case 1:
				measure_Buf[0] = HAL_TIM_ReadCapturedValue(&htim2,TIM_CHANNEL_1);//获取当前的捕获值.
				__HAL_TIM_SET_CAPTUREPOLARITY(&htim2,TIM_CHANNEL_1,TIM_ICPOLARITY_FALLING);  //设置为下降沿捕获
				measure_Cnt++;                                            
				break;              
			case 2:
				measure_Buf[1] = HAL_TIM_ReadCapturedValue(&htim2,TIM_CHANNEL_1);//获取当前的捕获值.
				HAL_TIM_IC_Stop_IT(&htim2,TIM_CHANNEL_1); //停止捕获   或者: __HAL_TIM_DISABLE(&htim5);
				measure_Cnt++;  
                         
		}
	
	}
	
}
 

usrat.c代码添加

/* USER CODE BEGIN 0 */
#include "stdio.h"
/* USER CODE END 0 */
 
 
 
/* USER CODE BEGIN 1 */
/*********************************************************
*
*重定义 fputc 函数
*
*********************************************************/
int fputc(int ch,FILE *f)
{
	HAL_UART_Transmit (&huart1 ,(uint8_t *)&ch,1,HAL_MAX_DELAY );
	return ch;
}
/* USER CODE END 1 */

main函数

#include "SR04.h"
 
 
int main(void)
{
  /* USER CODE BEGIN 1 */
 
  /* 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_TIM2_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
 
  /* USER CODE END 2 */
 
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
      
      SR04_GetData(  );
      HAL_Delay(1500);
      
    /* USER CODE END WHILE */
 
    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */