使用cubmax和hal库开发
/* 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 "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define open 1
#define close 0
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
char flog = close;
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* 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 TIM2_Delay_us(uint16_t n_us)
{
/* 使能定时器2计数 */
__HAL_TIM_ENABLE(&htim2);
__HAL_TIM_SetCounter(&htim2, 0);
while(__HAL_TIM_GetCounter(&htim2) < ((1 * n_us)-1) );
/* 关闭定时器2计数 */
__HAL_TIM_DISABLE(&htim2);
}
double get_distance()
{
int cnt = 0;
//1. Trig ，给Trig端口至少10us的高电平
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_SET);//拉高
TIM2_Delay_us(20);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_RESET);//拉低
//2. echo由低电平跳转到高电平，表示开始发送波
//波发出去的那一下，开始启动定时器
while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_7) == GPIO_PIN_RESET);//等待输入电平拉高
HAL_TIM_Base_Start(&htim2);
__HAL_TIM_SetCounter(&htim2,0);//重置定时器为0
//3. 由高电平跳转回低电平，表示波回来了
while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_7) == GPIO_PIN_SET);//等待输入电平变低
//波回来的那一下，我们开始停止定时器
HAL_TIM_Base_Stop(&htim2);
//4. 计算出中间经过多少时间
cnt = __HAL_TIM_GetCounter(&htim2);
//5. 距离 = 速度 （340m/s）* 时间/2（计数1次表示1us）
return (cnt*340/2*0.000001*100); //单位：cm
}
void open_led()
{
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_8, GPIO_PIN_RESET);
}
void close_led()
{
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_8, GPIO_PIN_SET);
}
void init_sg90()
{
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 5);
}
void open_sg90()
{
if(flog == close)
{
flog = open;
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 15);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_4, GPIO_PIN_RESET);
HAL_Delay(100);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_4, GPIO_PIN_SET);
}
HAL_Delay(2000);
}
void close_sg90()
{
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_4, 5);
flog = close;
HAL_Delay(150);
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin == GPIO_PIN_0 || GPIO_Pin == GPIO_PIN_5)
{
if(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_0) == GPIO_PIN_RESET
|| HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_5) == GPIO_PIN_RESET)
{
open_led();
open_sg90();
}
}
}
/* 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 */
double distance = 0;
/* 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_TIM2_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
init_sg90();
HAL_NVIC_SetPriority(SysTick_IRQn,0,0);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
distance = get_distance();
if(distance < 5)
{
open_led();
open_sg90();
}
else
{
close_led();
close_sg90();
}
/* 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};
/** 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.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
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_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* 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 */