树莓派超声波测距C语言 |
(一) 原理
(二) demo
#include <wiringPi.h>
#include <stdio.h>
#include <sys/time.h>
#define Trig 4
#define Echo 5
void chaoShengBoInit(void)
{
pinMode(Echo, INPUT); //设置端口为输入
pinMode(Trig, OUTPUT); //设置端口为输出
}
float disMeasure(void)
{
struct timeval tv1;
/*
* * struct timeval
* * {
* * time_t tv_sec; //秒
* * suseconds_t tv_usec; //微秒
* * };
* */
struct timeval tv2;
long start, stop;
float dis;
digitalWrite(Trig, LOW);
delayMicroseconds(2); //确保输出方波前为低电平
digitalWrite(Trig, HIGH);
delayMicroseconds(10); //发出10us超声波脉冲
digitalWrite(Trig, LOW);
while( !(digitalRead(Echo) == HIGH)); //Echo在方波发送后和接收前为高电平
gettimeofday(&tv1, NULL); //获取当前发送方波的时间
while( !(digitalRead(Echo) == LOW));
gettimeofday(&tv2, NULL); //获取当前接收完方波的时间
start = tv1.tv_sec * 1000000 + tv1.tv_usec; //微秒级的时间
stop = tv2.tv_sec * 1000000 + tv2.tv_usec;
dis = (float)(stop - start) / 1000000 * 34000 / 2; //计算时间差求出距离
return dis;
}
int main(void)
{
float dis;
if(wiringPiSetup() == -1){ //如果初始化失败,就输出错误信息 程序初始化时务必进行
printf("setup wiringPi failed !");
return 1;
}
chaoShengBoInit();
while(1){
dis = disMeasure();
printf("distance = %0.2f cm\n", dis);
delay(1000);
}
return 0;
}