STM32 HAL/STD库驱动HC-SR04测距

STM32 HAL/STD库驱动HC-SR04测距

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• ✨说明:本文不介绍HC-SR04原理。

• 📌相关篇《STM32F103VC+DS18B20温度+hc-sr04超声波测距+I2C OLED显示》

• 🌿工程案例一：HAL库实现方法比较简易，只需配置2个IO引脚：一个配置为输入，一个配置为输出即可。
  

• 🌿工程案例二：基于标准库例程，是使用定时器3，输出通道比较模式：TIM_OCMode_PWM1和输入通道捕获上升沿检测实现。

• 🌿工程案例三：基于HAL库实现方法实现，使用定时器2（TIM2），输入捕获功能实现。（使用的是STM32F4系列）
  

• • 🌿工程案例四：基于HAL库实现方法实现，使用外部中断 +定时器2（TIM2）计数，实现测距。

• 🌼HC-SR04
  

📓案例二中标准库驱动函数

• 👉🏻使用的是正点原子资料中的标准库工程模版

• 📝stm32f10x_HC-SR04.c

#include "stm32f10x_HC-SR04.h"

extern void EnableHCSR04PeriphClock(void);

static void initMeasureTimer() {
   
	RCC_ClocksTypeDef RCC_ClocksStatus;
	RCC_GetClocksFreq(&RCC_ClocksStatus);
	uint16_t prescaler = RCC_ClocksStatus.SYSCLK_Frequency / 1000000 - 1; //1 tick = 1us (1 tick = 0.165mm resolution)

	TIM_DeInit(US_TIMER);
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
	TIM_TimeBaseInitStruct.TIM_Prescaler = prescaler;
	TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStruct.TIM_Period = 0xFFFF;
	TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInit(US_TIMER, &TIM_TimeBaseInitStruct);

	TIM_OCInitTypeDef TIM_OCInitStruct;
	TIM_OCStructInit(&TIM_OCInitStruct);
	TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;
	TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
	TIM_OCInitStruct.TIM_Pulse = 15; //us
	TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
	TIM_OC3Init(US_TIMER, &TIM_OCInitStruct);

	TIM_ICInitTypeDef TIM_ICInitStruct;
	TIM_ICInitStruct.TIM_Channel = TIM_Channel_1;
	TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Rising;
	TIM_ICInitStruct.TIM_ICSelection = TIM_ICSelection_DirectTI;
	TIM_ICInitStruct.TIM_ICPrescaler = TIM_ICPSC_DIV1;
	TIM_ICInitStruct.TIM_ICFilter = 0;

	TIM_PWMIConfig(US_TIMER, &TIM_ICInitStruct);
	TIM_SelectInputTrigger(US_TIMER, US_TIMER_TRIG_SOURCE);
	TIM_SelectMasterSlaveMode(US_TIMER, TIM_MasterSlaveMode_Enable);

	TIM_CtrlPWMOutputs(US_TIMER, ENABLE);

	TIM_ClearFlag(US_TIMER, TIM_FLAG_Update);
}

static void initPins() {
   
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Pin = US_TRIG_PIN;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_Init(US_TRIG_PORT, &GPIO_InitStructure);

	GPIO_InitStructure.GPIO_Pin = US_ECHO_PIN;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_Init(US_ECHO_PORT, &GPIO_InitStructure);
}

void InitHCSR04() {
   
	EnableHCSR04PeriphClock();
	initPins();
	initMeasureTimer();
}

int32_t HCSR04GetDistance() {
   
	(US_TIMER)->CNT = 0;
	TIM_Cmd(US_TIMER, ENABLE);
	while(!TIM_GetFlagStatus(US_TIMER, TIM_FLAG_Update));
	TIM_Cmd(US_TIMER, DISABLE);
	TIM_ClearFlag(US_TIMER, TIM_FLAG_Update);
	return (TIM_GetCapture2(US_TIMER)-TIM_GetCapture1(US_TIMER))*165/1000;
}

• 📝stm32f10x_HC-SR04.h

#ifndef __STM32F10X_HC_SR04_H_
#define __STM32F10X_HC_SR04_H_

#include "stm32f10x.h"

#define US_TIMER					TIM3

#define US_TRIG_PORT				GPIOB
#define US_TRIG_PIN					GPIO_Pin_0		//TIM Ch3 (trig output)

#define US_ECHO_PORT				GPIOA
#define US_ECHO_PIN					GPIO_Pin_6		//TIM Ch1 (echo input)
#define US_TIMER_TRIG_SOURCE		TIM_TS_TI1FP1

/**
 *	How to use this driver:
 * 	1. Implement EnableHCSR04PeriphClock function and turn on clock for used peripherals
 * 		ex:
 * 		void EnableHCSR04PeriphClock() {
 *			RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
 *			RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
 *			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
 *		}
 *	2. Call InitHCSR04();
 *	3. Get distance (in mm) using HCSR04GetDistance function.
 *		Value lower than zero means no echo received (distance >3m)
 *		Measuring takes about 65ms
 *
 *	If necessary, change defines above, but be careful, US_ECHO_PIN must be tim ch1
 *	and US_TRIG_PIN must be ch3 or ch4. In case of ch4 change TIM_OC3Init into TIM_OC4Init in stm32f10x_HC-SR04.c file
 */



/**
 * Implement this function. See instruction at the top of this file.
 */
void EnableHCSR04PeriphClock(void);

/**
 * Initialization of HCSR04's peripherals
 */
void InitHCSR04(void);

/**
 * Measure distance and get value in mm. Lower than 0 means no echo signal: distance more than ~3m.
 */
int32_t HCSR04GetDistance(void);

#endif /* STM32F10X_HC_SR04_H_ */

• 📝main.c

#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "stm32f10x_HC-SR04.h"

void EnableHCSR04PeriphClock() {
   
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);