STM32 HAL库超声波测距C++面向对象版

iKixan

已于 2024-07-27 19:33:47 修改

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文章标签： stm32 c++ 嵌入式硬件

于 2024-07-27 19:31:13 首次发布

本文链接：https://blog.csdn.net/w111155855/article/details/140739934

版权

hc-sr04.c

#ifndef __HCSR04_H__
#define __HCSR04_H__
 
#include "tim.h"
 
#ifdef __cplusplus

class HCSR
{
   public:
	
	void HC04_id_init(char id_);
	void HC_Start();
    void HC_measure();
	float Distance;
   private:
	   
   char id;
   int Edge;
   unsigned  int t1,t2,T;
	  
};


extern HCSR hcsr_04[4];


#endif
void HC_init();
void HC_rise(char id);
void HC_falling(char id);
uint32_t HC_time(char id);
void HC_start(char id);
void TIM1_Delay_us(unsigned short  int n_us);  
#endif

hc-sr04.c

#include "tim.h"
#include "hc-sr04.h"
HCSR hcsr_04[4];


void HC_init(){
	HAL_TIM_Base_Start(&htim3);
	HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_1);
	HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_2);
	HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_3);
	HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_4);
	hcsr_04[0].HC04_id_init(0);
	hcsr_04[1].HC04_id_init(1);
	hcsr_04[2].HC04_id_init(2);
	hcsr_04[3].HC04_id_init(3);
}

void TIM1_Delay_us(uint16_t n_us)
{

	__HAL_TIM_ENABLE(&htim3);
	
	__HAL_TIM_SetCounter(&htim3, 0);
	
	while(__HAL_TIM_GetCounter(&htim3) < ((1 * n_us)-1) );

	__HAL_TIM_DISABLE(&htim3);
}
 
void  HCSR::HC04_id_init(char id_)
{
	id=id_;
}
	
void HCSR::HC_Start()
{	
	HC_start(id);
}
 

void HCSR::HC_measure()
{
	if(Edge == 0)
	{
		t1 = HC_time(id);
		HC_falling(id);
		Edge = 1;
	}
	else if(Edge == 1)
	{
		t2 = HC_time(id);	
		if(t2>t1)
		{
			T = t2 - t1;
		}
		else
		{
			T = t2 - t1 + 65535;
		}
			
		HC_rise(id);
		Distance = T * 0.00001 * 170 * 100 ; 
		Edge = 0;
	}
}


 void HC_falling(char id)
{
	if(id==0){__HAL_TIM_SET_CAPTUREPOLARITY(&htim3,TIM_CHANNEL_1,TIM_INPUTCHANNELPOLARITY_FALLING);}
	if(id==1){__HAL_TIM_SET_CAPTUREPOLARITY(&htim3,TIM_CHANNEL_2,TIM_INPUTCHANNELPOLARITY_FALLING);}
	if(id==2){__HAL_TIM_SET_CAPTUREPOLARITY(&htim3,TIM_CHANNEL_3,TIM_INPUTCHANNELPOLARITY_FALLING);}
	if(id==3){__HAL_TIM_SET_CAPTUREPOLARITY(&htim3,TIM_CHANNEL_4,TIM_INPUTCHANNELPOLARITY_FALLING);}
}
void HC_rise(char id)
{
	if(id==0){__HAL_TIM_SET_CAPTUREPOLARITY(&htim3,TIM_CHANNEL_1,TIM_INPUTCHANNELPOLARITY_RISING);}
	if(id==1){__HAL_TIM_SET_CAPTUREPOLARITY(&htim3,TIM_CHANNEL_2,TIM_INPUTCHANNELPOLARITY_RISING);}
	if(id==2){__HAL_TIM_SET_CAPTUREPOLARITY(&htim3,TIM_CHANNEL_3,TIM_INPUTCHANNELPOLARITY_RISING);}
	if(id==3){__HAL_TIM_SET_CAPTUREPOLARITY(&htim3,TIM_CHANNEL_4,TIM_INPUTCHANNELPOLARITY_RISING);}
}
uint32_t HC_time(char id)
{
	if(id==0){return HAL_TIM_ReadCapturedValue(&htim3,TIM_CHANNEL_1);}
	if(id==1){return HAL_TIM_ReadCapturedValue(&htim3,TIM_CHANNEL_2);}
	if(id==2){return HAL_TIM_ReadCapturedValue(&htim3,TIM_CHANNEL_3);}
	if(id==3){return HAL_TIM_ReadCapturedValue(&htim3,TIM_CHANNEL_4);}
}
void HC_start(char id)
{
	if(id==0)
	{
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_SET);
		TIM1_Delay_us(20);	
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12, GPIO_PIN_RESET);
	}
	if(id==1)
	{
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_SET);
		TIM1_Delay_us(20);
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_RESET);
	}
	if(id==2)
	{
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_SET);
		TIM1_Delay_us(20);
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_RESET);
	}
	if(id==3)
	{
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET);
		TIM1_Delay_us(20);
		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_RESET);
	}
}
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
{
	if((htim->Instance == htim3.Instance) && (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)){hcsr_04[0].HC_measure();}
	if((htim->Instance == htim3.Instance) && (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2)){hcsr_04[1].HC_measure();}
	if((htim->Instance == htim3.Instance) && (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3)){hcsr_04[2].HC_measure();}
	if((htim->Instance == htim3.Instance) && (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_4)){hcsr_04[3].HC_measure();}
}