stm32智能垃圾桶项目之输入捕获

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已于 2024-08-13 10:17:59 修改

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分类专栏：单片机文章标签： stm32 单片机嵌入式硬件

于 2024-07-10 16:20:34 首次发布

本文链接：https://blog.csdn.net/weixin_72007132/article/details/140312698

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前言

在我上一篇文章stm32智能垃圾桶项目中，获取HC-SR04回响信号由外部中断结合定时器来完成，但是这种方法比较浪费单片机资源。本文章将通过定时器的输入捕获功能来实现对超声波回响信号计时。

值得注意的是，当我们遇到不具备输入捕获功能的单片机时，通过外部中断结合定时器来获取信号时长是我们的不错选择之一。

对于垃圾桶其他模块本文章将不做介绍，读者可以翻阅我的上一篇文章。

一、配置输入捕获

对于输入捕获的知识点这里不做介绍，推荐大家在哔哩哔哩观看ksysking教学视频。

另外还需要打开定时器2输出PWM控制SG90舵机以及打开定时器3以实现微秒级延时，仅需在stm32CubeMX中设置定时器2的PSC为720-1，ARR设置为2000-1即可配置输出周期为20ms，定时器3只需要打开内部时钟，将预分频器设置为72 - 1即可。

二、模块代码

1.微秒级延时

void Delay_us(uint16_t us)  //毫秒级延时
{
	uint16_t differ = 0xffff - us - 5;
	__HAL_TIM_SET_COUNTER(&htim3,differ);  //设定TIM3计数器起始值
	HAL_TIM_Base_Start(&htim3);  //启动定时器
	
	while(differ < 0xffff - 5)  //判断
	{  
		differ = __HAL_TIM_GET_COUNTER(&htim3);  //查询计数器的计数值
	}
	HAL_TIM_Base_Stop(&htim3);  //关闭定时器
}

2.hc_sr04.h

#ifndef __DRIVER_H__
#define __DRIVER_H__

#include "main.h"

#define Trig_ON  HAL_GPIO_WritePin(GPIOB,GPIO_PIN_15,GPIO_PIN_SET)
#define Trig_OFF HAL_GPIO_WritePin(GPIOB,GPIO_PIN_15,GPIO_PIN_RESET)

void Delay_us(uint16_t us);
void SR04_Trig(void);
uint32_t SR04_GetDistance(void);

#endif

3.hc_sr04.c

#include "hc_sr04.h"

extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim3;

int upEdge = 0;
int downEdge = 0;
int counter = 0;

uint32_t distance_cm = 0;

void Delay_us(uint16_t us)  //毫秒级延时
{
	uint16_t differ = 0xffff - us - 5;
	__HAL_TIM_SET_COUNTER(&htim3,differ);  //设定TIM3计数器起始值
	HAL_TIM_Base_Start(&htim3);  //启动定时器
	
	while(differ < 0xffff - 5)  //判断
	{  
		differ = __HAL_TIM_GET_COUNTER(&htim3);  //查询计数器的计数值
	}
	HAL_TIM_Base_Stop(&htim3);  //关闭定时器
}


/**
  * @brief  触发信号
  * @param  无
  * @retval 无
  */

void SR04_Trig(void)
{
	Trig_ON;
	Delay_us(10);
	Trig_OFF;
}

//捕获比较中断回调函数
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
{
	if(htim == &htim1 && htim -> Channel == HAL_TIM_ACTIVE_CHANNEL_2)  
    {
      upEdge = HAL_TIM_ReadCapturedValue(htim,TIM_CHANNEL_1);  //获取上升沿的计数捕获值
      downEdge = HAL_TIM_ReadCapturedValue(htim,TIM_CHANNEL_2);  //获取下降沿的计数捕获值

			//解决出现捕获完上升沿后遇到自动重装载，下降沿记录到比上升沿还小的值从而产生错误的问题
			if(upEdge < downEdge)
			{
				counter = downEdge - upEdge;
			}else
			{
				counter = 65535 - upEdge + downEdge;
			}
			
			distance_cm = counter * 0.000001 * 340 * 100 / 2;  //单位厘米
    }

	HAL_TIM_IC_Start(htim, TIM_CHANNEL_1);                        //重新开启输入捕获		
	HAL_TIM_IC_Start(htim, TIM_CHANNEL_2);                        //重新开启输入捕获
		
}

uint32_t SR04_GetDistance(void)
{
	return distance_cm;
}

三、项目代码

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include "hc_sr04.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
int SR04_tick = 0;  //记录时间
uint32_t distance = 0;  //所测距离
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */

	//开启PWM
	HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1);

    //开启定时器1并清空计数器
	HAL_TIM_Base_Start(&htim1);
	__HAL_TIM_SET_COUNTER(&htim1,0);
	
    //开启捕获通道1
	HAL_TIM_IC_Start(&htim1, TIM_CHANNEL_1);
	//当与设置极性相反电平到来时说明设定电平已经结束，需要开启中断并进行相应操作
	HAL_TIM_IC_Start_IT(&htim1,TIM_CHANNEL_2);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
		
		if(HAL_GetTick() - SR04_tick > 50)  //每个50ms发送一次超声波
		{
			SR04_tick = HAL_GetTick();

			SR04_Trig();  //触发信号
			Delay_us(20);

			distance = SR04_GetDistance();  //获取距离

			printf("distance:%d cm",distance);  //通过串口显示
			
		}
		
		if(distance < 5)
		{
			TIM2 -> CCR1 = 150;
			HAL_Delay(1000);
		}else
		{
			TIM2 -> CCR1 = 50;
			HAL_Delay(1000);
		}

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

代码部分做了注释，串口可以结合上一篇文章进行学习，如有疑问或者错误请私信作者。

四、效果图

总结

此智能垃圾桶项目虽然功能简单，但是对于超声波回响信号却使用了两种方法测得，一种是外部中断结合定时器，另一种是只用定时器。同一个问题用了不同方法解决，相信对大家的学习有所启迪和帮助。

项目中有些简单配置这里没有进行介绍，如果读者翻阅上一篇文章任无法配置可以私信作者。项目整体来说囊括了单片机的GPIO，中断，串口，定时器，这些是学习单片机除了通信协议外的重要内容，希望大家可以查缺补漏，掌握好这些内容。

同样，文章仅为作者学习总结所得，如有错误建议以及问题请私信作者。