STM32控制超声波感应开盖垃圾桶

项目主要应用了超声波感应器和pwm控制舵机

代码模块

motor.h+motor.c

#include "stm32f10x.h"
void motor_config();


#include "motor.h"
#include "stm32f10x.h"


void motor_config()
{
	GPIO_InitTypeDef GPIOMotorinit;
	TIM_TimeBaseInitTypeDef TIMMotorinit;
	TIM_OCInitTypeDef TIMPWM_Motorinit;
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
	
	GPIO_PinRemapConfig( GPIO_PartialRemap_TIM3,  ENABLE);
	
	GPIOMotorinit.GPIO_Mode=GPIO_Mode_AF_PP;
	GPIOMotorinit.GPIO_Pin=GPIO_Pin_5;
	GPIOMotorinit.GPIO_Speed=GPIO_Speed_50MHz;
	
	GPIO_Init( GPIOB, &GPIOMotorinit);
	
	TIMMotorinit.TIM_ClockDivision=TIM_CKD_DIV1 ;//设置时钟分割
	TIMMotorinit.TIM_CounterMode=TIM_CounterMode_Up;//向上计数
	TIMMotorinit.TIM_Period=200-1;//自动重装载值
	TIMMotorinit.TIM_Prescaler=7200-1;//tim时钟频率的预分屏值
	
	TIM_TimeBaseInit( TIM3, &TIMMotorinit);

	TIMPWM_Motorinit.TIM_OCMode=TIM_OCMode_PWM1;//pwm输出模式1
	TIMPWM_Motorinit.TIM_OutputState=TIM_OutputState_Enable;//使能
	TIMPWM_Motorinit.TIM_OCPolarity=TIM_OCPolarity_Low;//选择有效输出极性
	
	TIM_OC2Init( TIM3, &TIMPWM_Motorinit);
	TIM_OC2PreloadConfig( TIM3, TIM_OCPreload_Enable);
	TIM_Cmd(TIM3, ENABLE);
	
	
}

HC_SR04.h+HC_SR04.c

#ifndef _HC_SR04_H
#define _HC_SR04_H

#include "stm32f10x.h"

void HC_SR04Config();
void Open_tim4();
void Close_tim4();
int GetEcho_tim4();

float Getlength();
#define ECHO_reci   GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_10)
//Trig PB11
#define HC_SR04_Trig_GPIO_PIN  GPIO_Pin_11

//Echo  PB10
#define HC_SR04_Echo_GPIO_PIN  GPIO_Pin_10

#define HC_SR04_Trig_H() GPIO_SetBits(GPIOB,HC_SR04_Trig_GPIO_PIN)   //Trig
#define HC_SR04_Trig_L() GPIO_ResetBits(GPIOB,HC_SR04_Trig_GPIO_PIN) //Trig


#endif


#include "HC_SR04.h"
#include "stm32f10x.h"
#include "Systick.h"

extern uint16_t  mscount = 0;
void HC_SR04Config()
{
	GPIO_InitTypeDef GPIO_hcsr04init;
	TIM_TimeBaseInitTypeDef TIM_hcsr04init;
	NVIC_InitTypeDef NVIC_hcsr04init;
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE );
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
	
	
	//trig pb11		
	GPIO_hcsr04init.GPIO_Mode=GPIO_Mode_Out_PP;
	GPIO_hcsr04init.GPIO_Pin=GPIO_Pin_11;
	GPIO_hcsr04init.GPIO_Speed=GPIO_Speed_50MHz;
	GPIO_Init( GPIOB, &GPIO_hcsr04init);
	
	//Echo PB10
	GPIO_hcsr04init.GPIO_Mode=GPIO_Mode_IN_FLOATING;
	GPIO_hcsr04init.GPIO_Pin=GPIO_Pin_10;
	GPIO_Init( GPIOB, &GPIO_hcsr04init);
	
	
	//定时器配置
	TIM_hcsr04init.TIM_ClockDivision=TIM_CKD_DIV1;
	TIM_hcsr04init.TIM_CounterMode=TIM_CounterMode_Up;
	TIM_hcsr04init.TIM_Period=1000-1;
	TIM_hcsr04init.TIM_Prescaler=72-1;
	TIM_TimeBaseInit( TIM4, &TIM_hcsr04init);
	TIM_ITConfig(TIM4, TIM_IT_Update,ENABLE);
	TIM_Cmd(TIM4, DISABLE);
	
	//中断配置
	NVIC_hcsr04init.NVIC_IRQChannel= TIM4_IRQn;
	NVIC_hcsr04init.NVIC_IRQChannelPreemptionPriority=0;
	NVIC_hcsr04init.NVIC_IRQChannelSubPriority=0;
	NVIC_hcsr04init.NVIC_IRQChannelCmd=ENABLE;
	NVIC_Init(&NVIC_hcsr04init);
	
	
}


void Open_tim4()
{
	TIM_SetCounter( TIM4, 0);
	mscount=0;
	TIM_Cmd(TIM4, ENABLE);
}
void Close_tim4()
{
	TIM_Cmd(TIM4, DISABLE);
}
void TIM4_IRQHandler()
{
	if(TIM_GetITStatus( TIM4, TIM_IT_Update)!=RESET)
	{
		TIM_ClearITPendingBit(TIM4, TIM_IT_Update);
		mscount++;//1ms中断一次，计数
	}		
}
//获取定时器计数的值
int GetEcho_tim4()
{
	uint32_t t=0;
	t=mscount*1000;
	t+=TIM_GetCounter( TIM4);
	TIM4->CNT=0;
	ms_delay(50);
	return t;

}
//超声波测距离
float Getlength()
{
	 uint32_t time = 0;
    uint16_t i;
    float length = 0;
    float sum =0 ;
    for(i=0;i<5;i++)
    {
        HC_SR04_Trig_H();

        us_delay(20);
        HC_SR04_Trig_L();
        while(ECHO_reci == 0);
        Open_tim4();
        while(ECHO_reci == 1);
        Close_tim4();
        time=GetEcho_tim4();
        length = ((float)time/58.0);//58是超声波计算距离的固定值
        sum = sum + length;
    }
	length=sum/5.0;//取平均值
	return length;
	

}

main.c

#include "stm32f10x.h"
#include "main.h"
#include "led.h"
#include "relay.h"
#include "shake.h"
#include "exti.h"
#include "usart.h"
#include "tim.h"
#include "motor.h"
#include "Systick.h"
#include "HC_SR04.h"


void delay(uint16_t time)
{
		uint16_t i=0;
		while(time--)
		{
				i=12000;
				while(i--);
		}
}

int  main()
{
	int pwmval=195;
	float length=0;
	HC_SR04Config();
	usart_init();
	motor_config();
	
	while(1)
	{
		pwmval=155;
		length=Getlength();
		printf("%.3f\r\n",length);//用串口打印检测距离
		ms_delay(500);
		
		if(length<15)
		{
			for(pwmval=195;pwmval>=155;pwmval-=15)
			{
				TIM_SetCompare2( TIM3, pwmval);//与crrx比较，输出高电平，舵机启动
				delay(5000);//开启5s
			}
		}
		else if(length>15)
		{
			TIM_SetCompare2( TIM3, pwmval-20);//舵机输出低电平，垃圾桶盖不开启
		}
	}
		 
   
}