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研发客服下面是关于stm32驱动超声波模块的一段代码，有需要的朋友可以复制参考，希望对大家能够有所帮助和启发。
#define HCSR04_PORT GPIOB
#define HCSR04_CLK RCC_APB2Periph_GPIOB
#define HCSR04_TRIG GPIO_Pin_8
#define HCSR04_ECHO GPIO_Pin_9
#define TRIG_Send(n) do{
if(n == 0)
GPIO_ResetBits(HCSR04_PORT,HCSR04_TRIG);
else if(n == 1)
GPIO_SetBits(HCSR04_PORT,HCSR04_TRIG);
}while(0)
#define ECHO_Reci GPIO_ReadInputDataBit(GPIOB,HCSR04_ECHO)
void UltrasonicInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(HCSR04_CLK, ENABLE);
//IO初始化
GPIO_InitStructure.GPIO_Pin = HCSR04_TRIG; //发送电平引脚
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//推挽输出
GPIO_Init(HCSR04_PORT, &GPIO_InitStructure);
GPIO_ResetBits(HCSR04_PORT,HCSR04_TRIG);
GPIO_InitStructure.GPIO_Pin = HCSR04_ECHO; //返回电平引脚
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//浮空输入
GPIO_Init(HCSR04_PORT, &GPIO_InitStructure);
GPIO_ResetBits(HCSR04_PORT,HCSR04_ECHO);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //生成用于定时器设置的结构体
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); //使能对应RCC时钟
//配置定时器基础结构体
TIM_DeInit(TIM6);
TIM_TimeBaseStructure.TIM_Period = (1000-1); //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 计数到1000为1ms
TIM_TimeBaseStructure.TIM_Prescaler =(72-1); //设置用来作为TIMx时钟频率除数的预分频值 1M的计数频率 1US计数
TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;//不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_ClearFlag(TIM6, TIM_FLAG_Update); //清除更新中断，免得一打开中断立即产生中断
TIM_ITConfig(TIM6,TIM_IT_Update,ENABLE); //打开定时器更新中断
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn; //选择串口1中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //抢占式中断优先级设置为1
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //响应式中断优先级设置为1
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能中断
NVIC_Init(&NVIC_InitStructure);
TIM_Cmd(TIM6,DISABLE);
}
//定时器6中断服务程序
u32 msHcCount = 0;
void TIM6_IRQHandler(void) //TIM6中断
{
if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) //检查TIM3更新中断发生与否
{
TIM_ClearITPendingBit(TIM6, TIM_IT_Update); //清除TIMx更新中断标志
msHcCount++;
}
}
static void OpenTimerForHc() //打开定时器
{
TIM_SetCounter(TIM6,0); //清除计数
msHcCount = 0;
TIM_Cmd(TIM6, ENABLE); //使能TIMx外设
}
static void CloseTimerForHc() //关闭定时器
{
TIM_Cmd(TIM6, DISABLE); //使能TIMx外设
}
//获取定时器时间
u32 GetEchoTimer(void)
{
u32 t = 0;
t = msHcCount*1000; //将MS转换成US
t += TIM_GetCounter(TIM6); //得到总的US
TIM6->CNT = 0; //将TIM6计数寄存器的计数值清零
return t;
}
//一次获取超声波测距数据 两次测距之间需要相隔一段时间，隔断回响信号
//为了消除余震的影响，取五次数据的平均值进行加权滤波。
float Hcsr04GetLength(void )
{
u32 t = 0;
int i = 0;
float lengthTemp = 0;
float sum = 0;
while(i!=5)
{
/*发送一个20ms的脉冲*/
TRIG_Send(1);
osDelay(20);
TRIG_Send(0);
while(ECHO_Reci == 0); //等待接收口高电平输出(超声波发出)
OpenTimerForHc(); //打开定时器
while(ECHO_Reci == 1); //等待超声波返回
CloseTimerForHc(); //关闭定时器
t = GetEchoTimer(); //获取时间,分辨率为1US
lengthTemp = ((float)t*17/1000.0);//cm
sum = lengthTemp + sum ;
i = i + 1;
}
lengthTemp = sum/5.0;
return lengthTemp;
}