這篇文章主要介紹了STM32F429如何使用定時器多路HC-SR04超聲波輸入捕獲，具有一定借鑒價值，感興趣的朋友可以參考下，希望大家閱讀完這篇文章之后大有收獲，下面讓小編帶著大家一起了解一下。
網(wǎng)站建設(shè)哪家好，找創(chuàng)新互聯(lián)公司！專注于網(wǎng)頁設(shè)計、網(wǎng)站建設(shè)、微信開發(fā)、微信小程序開發(fā)、集團企業(yè)網(wǎng)站建設(shè)等服務(wù)項目。為回饋新老客戶創(chuàng)新互聯(lián)還提供了黃陂免費建站歡迎大家使用！
介紹
STMF429IGT開發(fā)板，通過定時器2接入2路超聲波模塊。使用Timer2的輸入捕獲功能來實現(xiàn)。超聲波模塊使用HC-SR04模組。
關(guān)于hc-sr04的工作原理這里不再介紹，請自行百度。廢話不多說，直接上代碼：
Timer2 GPIO配置代碼：
重慶分公司
重慶分公司
TIM_HandleTypeDef TIM2_Handler; //定時器2句柄
//timer2 gpio配置
void Timer2_Cap_Init(u32 arr,u16 psc)
{
//GPIO3?ê??ˉ
GPIO_InitTypeDef GPIO_InitStruct = {0};
__HAL_RCC_TIM2_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA5 ------> TIM2_CH1
PB3 ------> TIM2_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* TIM2 interrupt Init */
HAL_NVIC_SetPriority(TIM2_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
//TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
TIM2_Handler.Instance = TIM2;
TIM2_Handler.Init.Prescaler = psc;
TIM2_Handler.Init.CounterMode = TIM_COUNTERMODE_UP;
TIM2_Handler.Init.Period = arr;
TIM2_Handler.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
//下面幾句不能開啟，開啟后輸入捕獲異常
//HAL_TIM_Base_Init(&TIM2_Handler);
//sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
//HAL_TIM_ConfigClockSource(&TIM2_Handler, &sClockSourceConfig);
if (HAL_TIM_IC_Init(&TIM2_Handler) != HAL_OK)
{
//Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&TIM2_Handler, &sMasterConfig) != HAL_OK)
{
//Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING; //配置為上升沿檢測
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
//配置ch2
if (HAL_TIM_IC_ConfigChannel(&TIM2_Handler, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{
//Error_Handler();
}
//配置ch3
if (HAL_TIM_IC_ConfigChannel(&TIM2_Handler, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
{
//Error_Handler();
}
HAL_TIM_IC_Start_IT(&TIM2_Handler,TIM_CHANNEL_2); //開啟ch3輸入捕獲
HAL_TIM_IC_Start_IT(&TIM2_Handler,TIM_CHANNEL_1); //開啟ch2輸入捕獲
__HAL_TIM_ENABLE_IT(&TIM2_Handler,TIM_IT_UPDATE); //使能更新中斷
}輸入捕獲數(shù)值的獲?。?/p>
//TIM2CHx_CAPTURE_STA記錄捕獲狀態(tài)
//[7]:0,沒有捕獲 1，成功捕獲
//[6]:0,還沒捕獲到低電平 1.捕獲到低電平
//[5:0]:捕獲低電平溢出次數(shù)
u8 TIM2CH1_CAPTURE_STA=0; //輸入捕獲狀態(tài)
u32 TIM2CH1_CAPTURE_VAL; //輸入捕獲值(TIM2/TIM5是32位)
u32 TIM2CH1_count = 0;
u8 TIM2CH2_CAPTURE_STA=0; //輸入捕獲狀態(tài)
u32 TIM2CH2_CAPTURE_VAL; //輸入捕獲值(TIM2/TIM5是32位)
u32 TIM2CH2_count = 0;
//timer2中斷服務(wù)程序
void TIM2_IRQHandler(void)
{
HAL_TIM_IRQHandler(&TIM2_Handler);
}
//定時器更新中斷處理回調(diào)函數(shù)，該函數(shù)在HAL_TIM_IRQHandler()中被調(diào)用
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)//更新中斷發(fā)生時執(zhí)行
{
if(htim->Instance ==TIM2)
{
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)
{
if((TIM2CH1_CAPTURE_STA&0X80)==0)//還未成功捕獲
{
if(TIM2CH1_CAPTURE_STA&0X40)//捕獲到一次高電平
{
if((TIM2CH1_CAPTURE_STA&0X3F)==0X3F)//高電平太長，導(dǎo)致溢出了
{
TIM2CH1_CAPTURE_STA|=0X80; //標(biāo)記完成一次捕獲
TIM2CH1_CAPTURE_VAL=0XFFFFFFFF;
}
else
{
TIM2CH1_CAPTURE_STA++;
}
}
}
}
else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2)
{
if((TIM2CH2_CAPTURE_STA&0X80)==0)
{
if(TIM2CH2_CAPTURE_STA&0X40)
{
if((TIM2CH2_CAPTURE_STA&0X3F)==0X3F)
{
TIM2CH2_CAPTURE_STA|=0X80;
TIM2CH2_CAPTURE_VAL=0XFFFFFFFF;
}
else
{
TIM2CH2_CAPTURE_STA++;
}
}
}
}
}
}
//定時器輸入捕獲回調(diào)函數(shù)，會在HAL_TIM_IRQHandler（）中被調(diào)用
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)//捕獲中斷發(fā)生時執(zhí)行
{
if(htim->Instance ==TIM2)
{
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)
{
//printf("TIM_CHANNEL_1\n");
if((TIM2CH1_CAPTURE_STA&0X80)==0)//還未成功捕獲
{
if(TIM2CH1_CAPTURE_STA&0X40) //捕獲到一個下降沿
{
TIM2CH1_CAPTURE_STA|=0X80; //標(biāo)記成功捕獲到一次高電平脈寬
TIM2CH1_CAPTURE_VAL=HAL_TIM_ReadCapturedValue(&TIM2_Handler,TIM_CHANNEL_1) - TIM2CH1_count;//獲取當(dāng)前捕獲值
TIM_RESET_CAPTUREPOLARITY(&TIM2_Handler,TIM_CHANNEL_1); //清除原配置
//配置上升沿捕獲
TIM_SET_CAPTUREPOLARITY(&TIM2_Handler,TIM_CHANNEL_1,TIM_ICPOLARITY_RISING);
}
else //還未開始捕獲，第一次捕獲到上升沿
{
TIM2CH1_CAPTURE_STA=0; //清零
TIM2CH1_CAPTURE_VAL=0;
TIM2CH1_count = 0;
TIM2CH1_CAPTURE_STA|=0X40; //標(biāo)記捕獲到了上升沿
//記錄第一次捕獲值
TIM2CH1_count = HAL_TIM_ReadCapturedValue(&TIM2_Handler,TIM_CHANNEL_1);
TIM_RESET_CAPTUREPOLARITY(&TIM2_Handler,TIM_CHANNEL_1); //清除原配置
//設(shè)置為下降沿捕獲
TIM_SET_CAPTUREPOLARITY(&TIM2_Handler,TIM_CHANNEL_1,TIM_ICPOLARITY_FALLING);//
}
}
}
else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2)
{
//printf("TIM_CHANNEL_2\n");
if((TIM2CH2_CAPTURE_STA&0X80)==0)
{
if(TIM2CH2_CAPTURE_STA&0X40)
{
TIM2CH2_CAPTURE_STA|=0X80;
TIM2CH2_CAPTURE_VAL=HAL_TIM_ReadCapturedValue(&TIM2_Handler,TIM_CHANNEL_2)- TIM2CH2_count;
TIM_RESET_CAPTUREPOLARITY(&TIM2_Handler,TIM_CHANNEL_2);
TIM_SET_CAPTUREPOLARITY(&TIM2_Handler,TIM_CHANNEL_2,TIM_ICPOLARITY_RISING);//
}
else
{
TIM2CH2_CAPTURE_STA=0;
TIM2CH2_CAPTURE_VAL=0;
TIM2CH2_count = 0;
TIM2CH2_CAPTURE_STA|=0X40;
TIM2CH2_count = HAL_TIM_ReadCapturedValue(&TIM2_Handler,TIM_CHANNEL_2);
TIM_RESET_CAPTUREPOLARITY(&TIM2_Handler,TIM_CHANNEL_2);
TIM_SET_CAPTUREPOLARITY(&TIM2_Handler,TIM_CHANNEL_2,TIM_ICPOLARITY_FALLING);//
}
}
}
}
}HC_sr04 trig信號觸發(fā)，gpio配置，使用PC0來做觸發(fā)引腳：
//使用PC0觸發(fā)信號
void FFIntell_hcsr04_trig_gpio_init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
/*Configure GPIO pin : PC0 */
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_0, GPIO_PIN_RESET);
}調(diào)用，在初始化timer2 gpio初始化后，發(fā)送trig信號后，直接獲取數(shù)據(jù)即可
//發(fā)送trig信號
void FFIntell_hcsr04_trig()
{
__HAL_TIM_ENABLE(&TIM2_Handler);//使能定時器
PCout(0) = 1;
delay_us(20); //20us延時
PCout(0) = 0;
}
//獲取距離數(shù)據(jù)
int FFIntell_hcsr04_get_data(void)
{
//ch2獲取到了數(shù)據(jù)
if(TIM2CH1_CAPTURE_STA&0X80)
{
dist_info.ch2_distance = TIM2CH1_CAPTURE_VAL *0.058; //計算距離
TIM2CH1_CAPTURE_STA=0; //清狀態(tài)
}
if(TIM2CH2_CAPTURE_STA&0X80)
{
dist_info.ch3_distance = TIM2CH2_CAPTURE_VAL*0.058;
TIM2CH2_CAPTURE_STA=0;
}
__HAL_TIM_DISABLE(&TIM2_Handler); //關(guān)閉定時器
__HAL_TIM_SET_COUNTER(&TIM2_Handler, 0); //計數(shù)清零
return 0;
}通過上述配置可以很方便的擴展到4路輸入捕獲。
感謝你能夠認(rèn)真閱讀完這篇文章，希望小編分享的“STM32F429如何使用定時器多路HC-SR04超聲波輸入捕獲”這篇文章對大家有幫助，同時也希望大家多多支持創(chuàng)新互聯(lián)，關(guān)注創(chuàng)新互聯(lián)行業(yè)資訊頻道，更多相關(guān)知識等著你來學(xué)習(xí)!
