STM32驱动HC-SR04超声波测距模块

应用知识：定时器输入捕获，脉宽测量 

定时器相关知识链接：https://blog.csdn.net/weixin_42046883/article/details/85224572

模块图片如下图：

硬件连接：Trig（控制端）---> PG2     Echo（接收端）---> PA6 通用定时器3通道1

#include "distance.h"
#include "usart.h"

//Trig（控制端）---> PG2
//Echo（接收端）---> PA6 通用定时器3通道1

/**
* @brief  NVIC配置
* @param  无
* @retval 无
**/
static void Distance_NVIC_Config(void)
{
	NVIC_InitTypeDef NVIC_InitStructure;
	
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	
	NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //定时器3
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
	NVIC_Init(&NVIC_InitStructure);
}

/**
* @brief  GPIO引脚配置
* @param  无
* @retval 无
**/
static void Distance_GPIO_Config(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOG, ENABLE);
	
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOG, &GPIO_InitStructure);
	GPIO_ResetBits(GPIOG, GPIO_Pin_2);
}

/**
* @brief  定时器配置
* @param  无
* @retval 无
**/
static void Distance_TIM_Mode_Config(void)
{
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_ICInitTypeDef TIM_ICInitStructure;
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
	
	//时基结构体初始化 1MHz即1us
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 65535; //自动重装载寄存器的值，累计TIM_Period+1个频率后产生一个更新或者中断
	TIM_TimeBaseInitStructure.TIM_Prescaler = 71; //驱动CNT计数器的时钟 = Fck_int/(psc+1)
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);
	
	//输入捕获结构体初始化
	TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; //配置输入捕获的通道
	TIM_ICInitStructure.TIM_ICFilter = 0; //输入的需要被捕获的信号的滤波系数
	TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //测量的起始边沿，超声波测距检测到上升沿就开始计数
	TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //输入的需要被捕获的信号的分频系数
	TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //输入通道和捕获通道的映射关系，有直连和非直连两种
	TIM_ICInit(TIM3, &TIM_ICInitStructure);
	
	TIM_ClearITPendingBit(TIM3, TIM_IT_CC1 | TIM_IT_Update);
	
	TIM_ITConfig(TIM3, TIM_IT_CC1 | TIM_IT_Update, ENABLE); //TIM_IT_Update更新中断，寄存器计数溢出时发生。
	TIM_Cmd(TIM3, ENABLE);
}

/**
* @brief  定时器初始化
* @param  无
* @retval 无
**/
void Distance_TIM_Init(void)
{
	Distance_NVIC_Config();
	Distance_GPIO_Config();
	Distance_TIM_Mode_Config();
}

/**
* @brief  中断服务函数
* @param  无
* @retval 无
**/
uint8_t TIM3_1_State = 0; //bit7捕获完成标志 bit6捕获到高电平标志 bit5-0捕获高电平后定时器溢出的次数
uint16_t TIM3_1_Value = 0; //寄存器的值

void TIM3_IRQHandler(void)
{
	if((TIM3_1_State & 0x80) == 0) //捕获未完成
	{
		if(TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
		{
			if(TIM3_1_State & 0x40)
			{
				if((TIM3_1_State & 0x3F) == 0x3F)
				{
					TIM3_1_State |= 0x80;
					TIM3_1_Value = 0xFFFF;
				}
			}
			else
			{
				TIM3_1_State ++;
			}
		}
		if(TIM_GetITStatus(TIM3, TIM_IT_CC1) != RESET) //发生边沿捕获
		{
			if(TIM3_1_State & 0x40) //捕获到下降沿
			{
				TIM3_1_State |= 0x80;
				TIM3_1_Value = TIM_GetCapture1(TIM3);
				TIM_OC1PolarityConfig(TIM3, TIM_OCPolarity_High); //CC1P=0 设置为上升沿捕获
			}
			else //捕获到上升沿
			{
				TIM3_1_State = 0;
				TIM3_1_Value = 0;
				TIM_SetCounter(TIM3, 0); //寄存器清零
				TIM3_1_State |= 0x40;
				TIM_OC1PolarityConfig(TIM3, TIM_OCPolarity_Low);	//CC1P=1 设置为下降沿捕获
			}
		}
	}
	TIM_ClearITPendingBit(TIM3, TIM_IT_CC1 | TIM_IT_Update);
}

#include "stm32f10x.h"
#include "delay.h"
#include "usart.h"
#include "distance.h"

extern uint8_t TIM3_1_State;
extern uint16_t TIM3_1_Value;

/**
* @brief  获取一个十进制数的位数，返回整除的数
* @param  num 要解析的数
* @retval 整除它的数-1
**/
uint32_t bit_num(uint32_t num)
{
	uint8_t count = 0;
	do
	{
		num = num / 10;
		count ++;
	}while(num > 0); //获取十进制数的位数
	
	switch(count) //可以不用
	{
		case 4:
			return 1000;
		case 5:
			return 1000;
		case 6:
			return 1000;
		case 7:
			return 1000;
		default:
			return 0;
	}
}

int main(void)
{
	uint32_t time = 0;
	uint32_t Distance = 0;
	
	delay_init();
	USART1_Custom_Init();
	Distance_TIM_Init();
	while(1)
	{
		GPIO_SetBits(GPIOG, GPIO_Pin_2);
		delay_us(30);
		GPIO_ResetBits(GPIOG, GPIO_Pin_2);
		if(TIM3_1_State & 0x80)
		{
			time = TIM3_1_State & 0x3F;
			time *= 65536;
			time += TIM3_1_Value;
			Distance = (170 * time) / bit_num(170 * time);
			printf ( "\r\n测得高电平脉宽时间：%d us %d\r\n",time, Distance); //Distance最后一位是小数
			TIM3_1_State = 0;
		}
		delay_ms(500);
	}
}	

工程下载链接：https://download.csdn.net/download/weixin_42046883/10871452