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- 2019-5-16
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两个超声波测距，用定时器计时算距离，但第二个数据一直是0，中断可执行，但计时不对，求大神指点，有偿
#include "UltrasonicWave.h"
#include "usart.h"
#include "timer.h"
#include "delay.h"
#define TRIG_PORT GPIOC //TRIG
#define ECHO_PORT GPIOC //ECHO
#define TRIG_PIN1 GPIO_Pin_8 //TRIG1
#define ECHO_PIN1 GPIO_Pin_7 //ECHO1
#define TRIG_PIN2 GPIO_Pin_13 //TRIG2
#define ECHO_PIN2 GPIO_Pin_12 //ECHO2
float d;
float e;
float UltrasonicWave_Distance1; //计算出的距离
float UltrasonicWave_Distance2; //计算出的距离
void UltrasonicWave_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable , ENABLE); //关闭jtag
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC|RCC_APB2Periph_AFIO, ENABLE);
GPIO_InitStructure.GPIO_Pin = TRIG_PIN1 | TRIG_PIN2; //PC8接TRIG
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //设为推挽输出模式
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(TRIG_PORT,&GPIO_InitStructure); //初始化外设GPIO
GPIO_InitStructure.GPIO_Pin = ECHO_PIN1 | ECHO_PIN2; //PC7接ECH0
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //设为输入
GPIO_Init(ECHO_PORT,&GPIO_InitStructure); //初始化GPIOC
//GPIOC.7 中断线以及中断初始化配置
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC,GPIO_PinSource7);
EXTI_InitStructure.EXTI_Line=EXTI_Line7;
EXTI_InitStructure.EXTI_Mode=EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger=EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd=ENABLE;
EXTI_Init(&EXTI_InitStructure); //根据EXTI_InitStruct中指定的参数初始化外设EXTI寄存器
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC,GPIO_PinSource12);
EXTI_InitStructure.EXTI_Line=EXTI_Line12;
EXTI_InitStructure.EXTI_Mode=EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger=EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd=ENABLE;
EXTI_Init(&EXTI_InitStructure); //根据EXTI_InitStruct中指定的参数初始化外设EXTI寄存器
NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn; //使能按键所在的外部中断通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; //抢占优先级2
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; //子优先级2
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能外部中断通道
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn; //使能按键所在的外部中断通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority =2; //抢占优先级2
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //子优先级2
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能外部中断通道
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
}
void EXTI9_5_IRQHandler(void)
{
delay_us(10); //延时10us
if(EXTI_GetITStatus(EXTI_Line7) != RESET)
{
TIM_Cmd(TIM2, ENABLE);
TIM_SetCounter(TIM2,0); //开启时钟
while(GPIO_ReadInputDataBit(ECHO_PORT,ECHO_PIN1)); //等待低电平
TIM_Cmd(TIM2, DISABLE); //定时器2失能
UltrasonicWave_Distance1=TIM_GetCounter(TIM2)*5*34/200.0; //计算距离&&UltrasonicWave_Distance<150
// if(UltrasonicWave_Distance1>0 && UltrasonicWave_Distance1<100)
// {
d=UltrasonicWave_Distance1;
printf("distance1:%f cm\r\n",UltrasonicWave_Distance1);
// }
EXTI_ClearITPendingBit(EXTI_Line7); //清除EXTI7线路挂起位
}
}
void EXTI15_10_IRQHandler(void)
{
delay_us(10); //延时10us
if(EXTI_GetITStatus(EXTI_Line12) != RESET)
{
TIM_Cmd(TIM3, ENABLE);
TIM_SetCounter(TIM3,0); //开启时钟
while(GPIO_ReadInputDataBit(ECHO_PORT,ECHO_PIN2)); //等待低电平
TIM_Cmd(TIM3, DISABLE); //定时器2失能
UltrasonicWave_Distance2=TIM_GetCounter(TIM3)*5*34/200.0; //计算距离&&UltrasonicWave_Distance<150
// if(UltrasonicWave_Distance2>0 && UltrasonicWave_Distance2<100)
// {
e=UltrasonicWave_Distance2;
printf("distance2:%f cm",UltrasonicWave_Distance2);
// }
EXTI_ClearITPendingBit(EXTI_Line12); //清除EXTI5线路挂起位
}
}
void UltrasonicWave_StartMeasure(void)
{
GPIO_SetBits(TRIG_PORT,TRIG_PIN1); //送>10US的高电平RIG_PORT,TRIG_PIN这两个在define中有?
GPIO_SetBits(TRIG_PORT,TRIG_PIN2);
delay_us(20); //延时20US
GPIO_ResetBits(TRIG_PORT,TRIG_PIN1);
GPIO_ResetBits(TRIG_PORT,TRIG_PIN2);
}
#include "timer.h"
#include "led.h"
//////////////////////////////////////////////////////////////////////////////////
//本程序只供学习使用，未经作者许可，不得用于其它任何用途
//ALIENTEK精英STM32开发板
//定时器 驱动代码
//正点原子@ALIENTEK
//技术论坛:www.openedv.com
//修改日期:2012/9/3
//版本：V1.0
//版权所有，盗版必究。
//Copyright(C) 广州市星翼电子科技有限公司 2009-2019
//All rights reserved
//////////////////////////////////////////////////////////////////////////////////
//通用定时器3中断初始化
//这里时钟选择为APB1的2倍，而APB1为36M
//arr：自动重装值。
//psc：时钟预分频数
//这里使用的是定时器3!
void TIM3_Int_Init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //时钟使能
TIM_TimeBaseStructure.TIM_Period = 4999; //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5000为500ms
TIM_TimeBaseStructure.TIM_Prescaler =(7199); //设置用来作为TIMx时钟频率除数的预分频值 10Khz的计数频率
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_ITConfig(TIM3, TIM_IT_Update | TIM_IT_Trigger, ENABLE );
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //TIM3中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级0级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //从优先级3级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
// TIM_Cmd(TIM3, ENABLE); //使能TIMx
}
void TIM2_Int_Init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //时钟使能
TIM_TimeBaseStructure.TIM_Period = 4999; //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5000为500ms
TIM_TimeBaseStructure.TIM_Prescaler =(7199); //设置用来作为TIMx时钟频率除数的预分频值 10Khz的计数频率
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_ITConfig( TIM2,TIM_IT_Update | TIM_IT_Trigger,ENABLE );
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; //TIM3中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级0级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //从优先级3级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
// TIM_Cmd(TIM2, ENABLE); //使能TIMx外设
}
void TIM2_IRQHandler(void) //TIM2中断
{
if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) //检查指定的TIM中断发生与否:TIM 中断源
{
TIM_ClearITPendingBit(TIM2, TIM_IT_Update ); //清除TIMx的中断待处理位:TIM 中断源
}
}
void TIM3_IRQHandler(void) //TIM2中断
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //检查指定的TIM中断发生与否:TIM 中断源
{
TIM_ClearITPendingBit(TIM3, TIM_IT_Update ); //清除TIMx的中断待处理位:TIM 中断源
}
}
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发表于 2019-8-24 17:15:01
