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98 lines
3.0 KiB
98 lines
3.0 KiB
#include "hcsr04.h"
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/**********************************************************************************************
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*函数名称：void HCSR04_GPIO_Configuration(void)
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*函数功能：超声波模块的IO口配置
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*输入参数：无
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*输出参数：无
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**********************************************************************************************/
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static void HCSR04_GPIO_Configuration(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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RCC_APB2PeriphClockCmd(HCSR_GPIO_CLK,ENABLE);
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RCC_APB1PeriphClockCmd(HCSR_TIM_CLK,ENABLE);
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GPIO_InitStructure.GPIO_Pin = TRIG_PIN;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//最高输出速率50MHz
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//推挽输出
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GPIO_Init(TRIG_GPIO, &GPIO_InitStructure);//初始化外设GPIOx寄存器
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GPIO_InitStructure.GPIO_Pin = ECHO_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//浮空输入
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GPIO_Init(ECHO_GPIO, &GPIO_InitStructure);//初始化外设GPIOx寄存器
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}
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/**********************************************************************************************
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*函数名称：void HCSR04_TIM_Configuration(void)
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*函数功能：超声波模块定时器的模式配置
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*输入参数：无
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*输出参数：无
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**********************************************************************************************/
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static void HCSR04_TIM_Configuration(void)
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{
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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TIM_TimeBaseStructure.TIM_Period = 65000;
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TIM_TimeBaseStructure.TIM_Prescaler = 71;
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseInit(HCSR_TIM, & TIM_TimeBaseStructure);
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TIM_SetCounter(HCSR_TIM,0);
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TIM_Cmd(HCSR_TIM,DISABLE);
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}
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/**********************************************************************************************
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*函数名称：void HCSR04_Init(void)
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*函数功能：超声波模块初始化
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*输入参数：无
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*输出参数：无
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**********************************************************************************************/
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void HCSR04_Init(void)
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{
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HCSR04_GPIO_Configuration();
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HCSR04_TIM_Configuration();
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}
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/**********************************************************************************************
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*函数名称：void HCSR04_Startup(void)
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*函数功能：超声波模块启动
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*输入参数：无
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*输出参数：无
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**********************************************************************************************/
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static void HCSR04_Startup(void)
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{
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TRIG_HIGH();
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delay_us(10);
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TRIG_LOW();
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}
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/**********************************************************************************************
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*函数名称：uint16_t HCSR04_WaitToConvert(void)
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*函数功能：超声波模块转换
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*输入参数：无
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*输出参数：测得的长度
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**********************************************************************************************/
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float HCSR04_WaitToConvert(void)
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{
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uint16_t nCount=0;
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uint16_t i=0;
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float Distance=0;
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HCSR04_Startup();
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while(ECHO_READ() == Bit_RESET)
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{
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i++;
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if(i>=50000) break;
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}
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TIM_Cmd(HCSR_TIM,ENABLE);
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while(ECHO_READ() == Bit_SET);
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TIM_Cmd(HCSR_TIM,DISABLE);
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nCount = TIM_GetCounter(HCSR_TIM);
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TIM_SetCounter(HCSR_TIM,0);
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Distance = 0.017f*nCount;
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return Distance;
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}
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