基于STM32F103ZET6單片機的超聲波程序（兩個超聲波）

ID:200005 · 發(fā)表于 2017-5-12 16:49

分享一個超聲波的程序，實測可用。

單片機源程序如下:

#include "tim_wave.h"
#include "systick.h"
#include "usart.h"
#include "bsp_led.h"
#include "wave3.h"
// 中斷優(yōu)先級配置
static void GENERAL_TIM_NVIC_Config(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0); // 設置中斷組為0
NVIC_InitStructure.NVIC_IRQChannel = WAVE_TIM_IRQ ; // 設置中斷來源
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; // 設置主優(yōu)先級為 0
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; // 設置搶占優(yōu)先級為3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
static void GENERAL_TIM_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
// 輸入捕獲通道 GPIO 初始化
RCC_APB2PeriphClockCmd(WAVE1_TIM_CH1_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin = WAVE1_TIM_CH1_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(WAVE1_TIM_CH1_PORT, &GPIO_InitStructure);
/*-----------------------------------------------------------------------------------------------------------------*/
RCC_APB2PeriphClockCmd(WAVE2_TIM_CH1_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin = WAVE2_TIM_CH1_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(WAVE2_TIM_CH1_PORT, &GPIO_InitStructure);
/*-----------------------------------------------------------------------------------------------------------------*/
}
///*
// * 注意：TIM_TimeBaseInitTypeDef結構體里面有5個成員，TIM6和TIM7的寄存器里面只有
// * TIM_Prescaler和TIM_Period，所以使用TIM6和TIM7的時候只需初始化這兩個成員即可，
// * 另外三個成員是通用定時器和高級定時器才有.
// *-----------------------------------------------------------------------------
// *typedef struct
// *{ TIM_Prescaler 都有
// * TIM_CounterMode TIMx,x[6,7]沒有，其他都有
// * TIM_Period 都有
// * TIM_ClockDivision TIMx,x[6,7]沒有，其他都有
// * TIM_RepetitionCounter TIMx,x[1,8,15,16,17]才有
// *}TIM_TimeBaseInitTypeDef;
// *-----------------------------------------------------------------------------
// */
/* ---------------- PWM信號周期和占空比的計算--------------- */
// ARR ：自動重裝載寄存器的值
// CLK_cnt：計數(shù)器的時鐘，等于 Fck_int / (psc+1) = 72M/(psc+1)
// PWM 信號的周期 T = ARR * (1/CLK_cnt) = ARR*(PSC+1) / 72M
// 占空比P=CCR/(ARR+1)
static void GENERAL_TIM_Mode_Config(void)
{
// 開啟定時器時鐘,即內(nèi)部時鐘CK_INT=72M
WAVE_TIM_APBxClock_FUN(WAVE_TIM_CLK,ENABLE);
/*--------------------時基結構體初始化-------------------------*/
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
// 自動重裝載寄存器的值，累計TIM_Period+1個頻率后產(chǎn)生一個更新或者中斷
TIM_TimeBaseStructure.TIM_Period=WAVE_TIM_PERIOD;
// 驅(qū)動CNT計數(shù)器的時鐘 = Fck_int/(psc+1)
TIM_TimeBaseStructure.TIM_Prescaler= WAVE_TIM_PSC;
// 時鐘分頻因子，配置死區(qū)時間時需要用到
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
// 計數(shù)器計數(shù)模式，設置為向上計數(shù)
TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
// 重復計數(shù)器的值，沒用到不用管
TIM_TimeBaseStructure.TIM_RepetitionCounter=0;
// 初始化定時器
TIM_TimeBaseInit(WAVE_TIM, &TIM_TimeBaseStructure);
/*--------------------輸入捕獲結構體初始化-------------------*/
TIM_ICInitTypeDef TIM_ICInitStructure;
// 配置輸入捕獲的通道，需要根據(jù)具體的GPIO來配置
TIM_ICInitStructure.TIM_Channel = WAVE1_TIM_CHANNEL_x;
// 輸入捕獲信號的極性配置
TIM_ICInitStructure.TIM_ICPolarity = WAVE_TIM_STRAT_ICPolarity;
// 輸入通道和捕獲通道的映射關系，有直連和非直連兩種
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
// 輸入的需要被捕獲的信號的分頻系數(shù)
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
// 輸入的需要被捕獲的信號的濾波系數(shù)
TIM_ICInitStructure.TIM_ICFilter = 0;
// 定時器輸入捕獲初始化
TIM_ICInit(WAVE_TIM, &TIM_ICInitStructure);
/*---------------------------------------------------------------------------------------------------------------*/
TIM_ICInitStructure.TIM_Channel = WAVE2_TIM_CHANNEL_x;
// 輸入捕獲信號的極性配置
TIM_ICInitStructure.TIM_ICPolarity = WAVE_TIM_STRAT_ICPolarity;
// 輸入通道和捕獲通道的映射關系，有直連和非直連兩種
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
// 輸入的需要被捕獲的信號的分頻系數(shù)
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
// 輸入的需要被捕獲的信號的濾波系數(shù)
TIM_ICInitStructure.TIM_ICFilter = 0;
// 定時器輸入捕獲初始化
TIM_ICInit(WAVE_TIM, &TIM_ICInitStructure);
/*---------------------------------------------------------------------------------------------------------------*/
// 清除更新和捕獲中斷標志位
TIM_ClearFlag(WAVE_TIM, TIM_FLAG_Update|WAVE1_TIM_IT_CCx|WAVE2_TIM_IT_CCx);
// 開啟更新和捕獲中斷
TIM_ITConfig (WAVE_TIM, TIM_IT_Update |WAVE1_TIM_IT_CCx|WAVE2_TIM_IT_CCx, ENABLE );
// 使能計數(shù)器
TIM_Cmd(WAVE_TIM, ENABLE);
}
static void WAVE_TRIG_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure; //定義TRIG_GPIO結構體
RCC_APB2PeriphClockCmd(WAVE1_TRIG_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin = WAVE1_TRIG_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(WAVE1_TRIG_GPIO_PORT, &GPIO_InitStructure);
/*------------------------------------------------------------------------------------------------------------------*/
RCC_APB2PeriphClockCmd(WAVE2_TRIG_GPIO_CLK, ENABLE);
GPIO_InitStructure.GPIO_Pin = WAVE2_TRIG_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(WAVE2_TRIG_GPIO_PORT, &GPIO_InitStructure);
/*------------------------------------------------------------------------------------------------------------------*/
}
void WAVE_Start(void)
{
//Time_Start();
GPIO_SetBits(WAVE1_TRIG_GPIO_PORT,WAVE1_TRIG_GPIO_PIN);
GPIO_SetBits(WAVE2_TRIG_GPIO_PORT,WAVE2_TRIG_GPIO_PIN);
SysTick_Delay_us(20);
GPIO_ResetBits(WAVE1_TRIG_GPIO_PORT,WAVE1_TRIG_GPIO_PIN);
GPIO_ResetBits(WAVE2_TRIG_GPIO_PORT,WAVE2_TRIG_GPIO_PIN);
//SysTick_Delay_ms(20);
}
extern float Distance1,Distance2;
extern u8 W1_TIM3CH1_CAPTURE_STA,W2_TIM3CH1_CAPTURE_STA; //輸入捕獲狀態(tài)
//bit7:捕獲完成標志
//bit6：捕獲到高點平標志
//bit5~0：捕獲到高電平后定時器溢出的次數(shù)
extern u32 W1_TIM3CH1_CAPTURE_VAL,W2_TIM3CH1_CAPTURE_VAL;//輸入捕獲值
uint32_t time1,time2;
void Dis_Print(void)
{
if(W1_TIM3CH1_CAPTURE_STA&0X80) //成功捕獲到了一次高電平
{
time1=W1_TIM3CH1_CAPTURE_STA&0X3F;
time1*=5000; //溢出時間總和
time1+=W1_TIM3CH1_CAPTURE_VAL; //得到總的高電平時間
Distance1=time1*340/200.0;
//printf("Distance1:%f cm\r\n",Distance1);
//printf("Time1:%d s\r\n",time1);
W1_TIM3CH1_CAPTURE_STA=0; //開啟下一次捕獲
}
if(W2_TIM3CH1_CAPTURE_STA&0X80) //成功捕獲到了一次高電平
{
time2=W2_TIM3CH1_CAPTURE_STA&0X3F;
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