【Stm32】HAL库使用HC_SR04

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint32_t Rising=0;
uint32_t Downing=0;
uint32_t Distance=0;
uint8_t Is_Flag=0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void hc_sr04(void);
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  MX_TIM9_Init();
  MX_TIM10_Init();
  /* USER CODE BEGIN 2 */
  //HAL_TIM_Base_Start(&htim10);
	HAL_TIM_IC_Start_IT(&htim9,TIM_CHANNEL_1);
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
		hc_sr04();
		
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
int fputc(int ch,FILE *f)
{
//采用轮询方式发送1字节数据，超时时间设置为无限等待
	HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,HAL_MAX_DELAY);
	return ch;
}
int fgetc(FILE *f)
{
	uint8_t ch;
// 采用轮询方式接收 1字节数据，超时时间设置为无限等待
	HAL_UART_Receive( &huart1,(uint8_t*)&ch,1, HAL_MAX_DELAY );
	return ch;
}
void delay_us(uint16_t time)
{
	HAL_TIM_Base_Start(&htim10);
	__HAL_TIM_SET_COUNTER(&htim10,0);
	
	while(__HAL_TIM_GET_COUNTER(&htim10)<time);
	HAL_TIM_Base_Stop(&htim10);
}
void hc_sr04(void)
{
	HAL_GPIO_WritePin(GPIOD,GPIO_PIN_11,GPIO_PIN_RESET);
	delay_us(2);
	HAL_GPIO_WritePin(GPIOD,GPIO_PIN_11,GPIO_PIN_SET);
	delay_us(20);
	HAL_GPIO_WritePin(GPIOD,GPIO_PIN_11,GPIO_PIN_RESET);
	HAL_TIM_IC_Start_IT(&htim9,TIM_CHANNEL_1);
	HAL_Delay(80);
	printf("距离是：%d ",Distance);
}
//int Distance(void)
//{
//	uint16_t Rising=0;
//	uint16_t Dowing=0;
//	
//}
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
{
  if(htim->Channel==TIM_CHANNEL_1)
	{	
		if(Is_Flag==0)
		{
			Is_Flag=1;
			Rising=HAL_TIM_ReadCapturedValue(&htim9,TIM_CHANNEL_1);
			__HAL_TIM_SET_CAPTUREPOLARITY(&htim9,TIM_CHANNEL_1,TIM_INPUTCHANNELPOLARITY_FALLING);
		}
		else if(Is_Flag==1)
		{
			Is_Flag=0;
			Downing=HAL_TIM_ReadCapturedValue(&htim9,TIM_CHANNEL_1);
			__HAL_TIM_SET_CAPTUREPOLARITY(&htim9,TIM_CHANNEL_1,TIM_INPUTCHANNELPOLARITY_RISING);
			__HAL_TIM_SET_COUNTER(&htim9,0);
		
		if(Rising<=Downing)
			Distance=(Downing-Rising)/58;
		else
			Distance=(65535-Rising+Downing)/58;
		HAL_TIM_IC_Stop_IT(&htim9,TIM_CHANNEL_1);
		}
	}
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */