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分享一个超声波的程序,实测可用。
单片机源程序如下:
- #include "tim_wave.h"
- #include "systick.h"
- #include "usart.h"
- #include "bsp_led.h"
- #include "wave3.h"
- // 中断优先级配置
- static void GENERAL_TIM_NVIC_Config(void)
- {
- NVIC_InitTypeDef NVIC_InitStructure;
-
- NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0); // 设置中断组为0
-
- NVIC_InitStructure.NVIC_IRQChannel = WAVE_TIM_IRQ ; // 设置中断来源
-
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; // 设置主优先级为 0
-
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; // 设置抢占优先级为3
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
- NVIC_Init(&NVIC_InitStructure);
- }
- static void GENERAL_TIM_GPIO_Config(void)
- {
- GPIO_InitTypeDef GPIO_InitStructure;
- // 输入捕获通道 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结构体里面有5个成员,TIM6和TIM7的寄存器里面只有
- // * TIM_Prescaler和TIM_Period,所以使用TIM6和TIM7的时候只需初始化这两个成员即可,
- // * 另外三个成员是通用定时器和高级定时器才有.
- // *-----------------------------------------------------------------------------
- // *typedef struct
- // *{ TIM_Prescaler 都有
- // * TIM_CounterMode TIMx,x[6,7]没有,其他都有
- // * TIM_Period 都有
- // * TIM_ClockDivision TIMx,x[6,7]没有,其他都有
- // * TIM_RepetitionCounter TIMx,x[1,8,15,16,17]才有
- // *}TIM_TimeBaseInitTypeDef;
- // *-----------------------------------------------------------------------------
- // */
- /* ---------------- PWM信号 周期和占空比的计算--------------- */
- // ARR :自动重装载寄存器的值
- // CLK_cnt:计数器的时钟,等于 Fck_int / (psc+1) = 72M/(psc+1)
- // PWM 信号的周期 T = ARR * (1/CLK_cnt) = ARR*(PSC+1) / 72M
- // 占空比P=CCR/(ARR+1)
- static void GENERAL_TIM_Mode_Config(void)
- {
- // 开启定时器时钟,即内部时钟CK_INT=72M
- WAVE_TIM_APBxClock_FUN(WAVE_TIM_CLK,ENABLE);
- /*--------------------时基结构体初始化-------------------------*/
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- // 自动重装载寄存器的值,累计TIM_Period+1个频率后产生一个更新或者中断
- TIM_TimeBaseStructure.TIM_Period=WAVE_TIM_PERIOD;
- // 驱动CNT计数器的时钟 = Fck_int/(psc+1)
- TIM_TimeBaseStructure.TIM_Prescaler= WAVE_TIM_PSC;
- // 时钟分频因子 ,配置死区时间时需要用到
- TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;
- // 计数器计数模式,设置为向上计数
- TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
- // 重复计数器的值,没用到不用管
- TIM_TimeBaseStructure.TIM_RepetitionCounter=0;
- // 初始化定时器
- TIM_TimeBaseInit(WAVE_TIM, &TIM_TimeBaseStructure);
- /*--------------------输入捕获结构体初始化-------------------*/
- TIM_ICInitTypeDef TIM_ICInitStructure;
- // 配置输入捕获的通道,需要根据具体的GPIO来配置
- TIM_ICInitStructure.TIM_Channel = WAVE1_TIM_CHANNEL_x;
- // 输入捕获信号的极性配置
- TIM_ICInitStructure.TIM_ICPolarity = WAVE_TIM_STRAT_ICPolarity;
- // 输入通道和捕获通道的映射关系,有直连和非直连两种
- TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
- // 输入的需要被捕获的信号的分频系数
- TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
- // 输入的需要被捕获的信号的滤波系数
- TIM_ICInitStructure.TIM_ICFilter = 0;
- // 定时器输入捕获初始化
- TIM_ICInit(WAVE_TIM, &TIM_ICInitStructure);
- /*---------------------------------------------------------------------------------------------------------------*/
- TIM_ICInitStructure.TIM_Channel = WAVE2_TIM_CHANNEL_x;
- // 输入捕获信号的极性配置
- TIM_ICInitStructure.TIM_ICPolarity = WAVE_TIM_STRAT_ICPolarity;
- // 输入通道和捕获通道的映射关系,有直连和非直连两种
- TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
- // 输入的需要被捕获的信号的分频系数
- TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
- // 输入的需要被捕获的信号的滤波系数
- TIM_ICInitStructure.TIM_ICFilter = 0;
- // 定时器输入捕获初始化
- TIM_ICInit(WAVE_TIM, &TIM_ICInitStructure);
- /*---------------------------------------------------------------------------------------------------------------*/
- // 清除更新和捕获中断标志位
- TIM_ClearFlag(WAVE_TIM, TIM_FLAG_Update|WAVE1_TIM_IT_CCx|WAVE2_TIM_IT_CCx);
- // 开启更新和捕获中断
- TIM_ITConfig (WAVE_TIM, TIM_IT_Update |WAVE1_TIM_IT_CCx|WAVE2_TIM_IT_CCx, ENABLE );
-
- // 使能计数器
- TIM_Cmd(WAVE_TIM, ENABLE);
- }
- static void WAVE_TRIG_Config(void)
- {
-
- GPIO_InitTypeDef GPIO_InitStructure; //定义TRIG_GPIO结构体
-
- 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; //输入捕获状态
- //bit7:捕获完成标志
- //bit6:捕获到高点平标志
- //bit5~0:捕获到高电平后定时器溢出的次数
- extern u32 W1_TIM3CH1_CAPTURE_VAL,W2_TIM3CH1_CAPTURE_VAL;//输入捕获值
- uint32_t time1,time2;
- void Dis_Print(void)
- {
- if(W1_TIM3CH1_CAPTURE_STA&0X80) //成功捕获到了一次高电平
- {
- time1=W1_TIM3CH1_CAPTURE_STA&0X3F;
- time1*=5000; //溢出时间总和
- time1+=W1_TIM3CH1_CAPTURE_VAL; //得到总的高电平时间
- Distance1=time1*340/200.0;
- //printf("Distance1:%f cm\r\n",Distance1);
- //printf("Time1:%d s\r\n",time1);
- W1_TIM3CH1_CAPTURE_STA=0; //开启下一次捕获
- }
- if(W2_TIM3CH1_CAPTURE_STA&0X80) //成功捕获到了一次高电平
- {
- time2=W2_TIM3CH1_CAPTURE_STA&0X3F;
- ……………………
- …………限于本文篇幅 余下代码请从51黑下载附件…………
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