基于STM32CubeMX的8通道输入捕获超声波雷达测距经验

qq269843844 · 2019-06-10T07:41:53+00:00

本帖最后由 qq269843844 于 2019-6-10 15:41 编辑 ! S8 H5 @$ T6 m' m. S9 [6 a. N& k5 t9 S: h9 C 下面贴出主要代码和设置

基于STM32CubeMX的8通道输入捕获超声波雷达测距经验

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qq269843844 发布时间：2019-6-10 15:41

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本帖最后由 qq269843844 于 2019-6-10 15:41 编辑

下面贴出主要代码和设置

赞收藏 1 评论4 发布时间：2019-6-10 15:41

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qq269843844 回答时间：2019-6-10 15:41:54

本帖最后由 qq269843844 于 2019-6-10 11:57 编辑

$W~}Z_OGK{~@C1}UJJ@PX(U9.png$ W(_X6%Q3V3_6}2~%R[0}T.png

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qq269843844 回答时间：2019-6-10 15:41:55

本帖最后由 qq269843844 于 2019-6-10 12:00 编辑

uint8_t Channel1Edge = 0, Channel2Edge = 0, Channel3Edge = 0, Channel4Edge = 0,
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Channel5Edge = 0, Channel6Edge = 0, Channel7Edge = 0, Channel8Edge = 0;
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uint16_t Channel1HighTime, Channel1RisingTime, Channel1FallingTime;
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uint16_t Channel2HighTime, Channel2RisingTime, Channel2FallingTime;8 d( S$ S s7 [
uint16_t Channel3HighTime, Channel3RisingTime, Channel3FallingTime;
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uint16_t Channel4HighTime, Channel4RisingTime, Channel4FallingTime; A! X$ y( H) z% {
uint16_t Channel5HighTime, Channel5RisingTime, Channel5FallingTime;
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uint16_t Channel6HighTime, Channel6RisingTime, Channel6FallingTime;
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uint16_t Channel7HighTime, Channel7RisingTime, Channel7FallingTime;
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uint16_t Channel8HighTime, Channel8RisingTime, Channel8FallingTime;

复制代码

HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1); //开启捕获通道
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HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);% K6 [5 G9 X E' C5 O/ N v$ L
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_3);3 B+ V/ w5 P, `! G7 y2 r9 O
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_4);
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HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_1);) f0 r# x& C9 J9 Q! ~2 U" u
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_2);
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HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_3);7 @) W x5 J+ ]/ [0 ~# z
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_4);

复制代码

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qq269843844 回答时间：2019-6-10 15:41:56

void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim); d1 c4 }1 D1 U$ V
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/*防止未使用参数(s)编译警告*/4 @) X( p8 y' T! x# O0 q
UNUSED(htim);
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if(htim->Instance == htim2.Instance). t0 ?# D o+ {8 c5 T
{
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if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1). z6 p3 ^! ~: Z% l; R
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if(Channel1Edge == 0) //捕获上升沿
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{
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Channel1RisingTime = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_1); //获取上升沿时间点2 C- L- C0 U6 ]; J
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_FALLING); //切换捕获极性
- ]1 B" A# g0 e* B" l) t1 z: I% \# f
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1); //切换捕获极性后需重新启动
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Channel1Edge = 1; //上升沿、下降沿捕获标志位+ z; m3 a( }. z- b% {
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else if(Channel1Edge == 1) //捕获下降沿
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Channel1FallingTime = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_1); //获取下降沿时间点1 N K2 ~( c# U/ L) f9 M
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING); //切换捕获极性
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HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1); //切换捕获极性后需重新启动: N3 g. A7 n$ ^& }" O2 ]
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Channel1HighTime = Channel1FallingTime < Channel1RisingTime ? Channel1FallingTime + 0xffff - Channel1RisingTime + 1 : Channel1FallingTime - Channel1RisingTime;5 y/ `; h; b \- Z0 K" @9 w8 ]
//高电平持续时间 = 下降沿时间点 - 上升沿时间点5 U6 Z d2 q2 ^( k( y0 J) T
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dis_fm = Channel1HighTime * 17 / 100; //计算超声波测量距离8 Q8 J8 @. a4 h
printf("dis_fm = %d\r\n", dis_fm);
$ N2 x0 d' x+ [, w
i++; //累加计数
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Channel1Edge = 0; //一次采集完毕，清零3 c5 Z; D S2 U |# O' t# Q
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else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2)
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{
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if(Channel2Edge == 0)' |* r( o N1 v5 z, X
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Channel2RisingTime = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_2);6 ~" O5 ? p7 e; ~/ c, Q4 [( C
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_2, TIM_INPUTCHANNELPOLARITY_FALLING);) k" C) N r. P# d9 U
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);3 Z! _% V: _( X1 Y
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Channel2Edge = 1;/ t& A- V5 B0 l: Y- C7 w; F* I
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else if(Channel2Edge == 1)
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Channel2FallingTime = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_2); 1 h) E, w; j" k; q5 U% ^2 {
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_2, TIM_INPUTCHANNELPOLARITY_RISING);: }8 O7 ~! D6 Z
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);% @+ {! d$ ]8 s4 c
# S2 I0 r8 E. ?
Channel2HighTime = Channel2FallingTime < Channel2RisingTime ? Channel2FallingTime + 0xffff - Channel2RisingTime + 1 : Channel2FallingTime - Channel2RisingTime;# g7 M6 u1 h' t) M2 Q: o
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dis_fr = Channel2HighTime * 17 / 100;8 R6 a5 `9 w' G4 t. ^7 ]
printf("dis_fr = %d\r\n", dis_fr);
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i++;
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Channel2Edge = 0;3 F* G4 {* l4 W& a
}
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}
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else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3), v: l& {; C' `4 B
{
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if(Channel3Edge == 0)
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Channel3RisingTime = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_3);5 r, v, [( d1 n; P1 z' z
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_3, TIM_INPUTCHANNELPOLARITY_FALLING);2 O4 Z9 A* j: U3 C$ t) Q+ P8 N6 e
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_3);
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Channel3Edge = 1;/ U6 O4 r8 X3 `8 f
}
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else if(Channel3Edge == 1)
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{
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Channel3FallingTime = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_3); 9 [. r) k% u- }( k' q8 j
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_3, TIM_INPUTCHANNELPOLARITY_RISING);% R; x6 E9 g/ L M1 Z& q- B+ A; C
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_3);
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Channel3HighTime = Channel3FallingTime < Channel3RisingTime ? Channel3FallingTime + 0xffff - Channel3RisingTime + 1 : Channel3FallingTime - Channel3RisingTime;$ U7 W" D9 x; H3 {; t2 O
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dis_br = Channel3HighTime * 17 / 100;1 z1 l2 T. Y8 Z' P+ T# `
printf("dis_br = %d\r\n", dis_br);
% k" q) b, i2 \. f, @$ p) v; g
i++; , s p, t" t4 {9 R& z: x2 W
Channel3Edge = 0;
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else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_4)6 K8 `% z$ i3 T5 h6 n
{
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if(Channel4Edge == 0)
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{
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Channel4RisingTime= HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_4);7 W& {4 U/ U7 J6 S) u4 r
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_4, TIM_INPUTCHANNELPOLARITY_FALLING);
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HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_4);
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Channel4Edge = 1;
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else if(Channel4Edge == 1)
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{
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Channel4FallingTime = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_4);
% v; Q& h y: w' [3 z
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_4, TIM_INPUTCHANNELPOLARITY_RISING);
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HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_4);$ f+ F( L4 n0 J4 U0 m" T! H; }
. \8 E6 J3 d" f& [+ l3 L4 {
Channel4HighTime = Channel4FallingTime < Channel4RisingTime ? Channel4FallingTime + 0xffff - Channel4RisingTime + 1 : Channel4FallingTime - Channel4RisingTime;
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dis_ri = Channel4HighTime * 17 / 100;' [* V8 z" A) |* w& C7 O7 U% H+ i
printf("dis_ri = %d\r\n", dis_ri);6 I. T4 Q0 n( u. @- p
i++;
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Channel4Edge = 0;
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}
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if(htim->Instance == htim4.Instance)4 x4 n' A. ]" y9 ~/ r
{* x( H9 B8 r- K4 r) P! W
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)
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{
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if(Channel5Edge == 0), E! H; _; p4 {8 W2 L/ S
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Channel5RisingTime = HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_1);//获取上升沿时间点
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__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_FALLING);//切换捕获极性- [! c- ^0 T0 b- F2 ~6 k
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_1);
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Channel5Edge = 1;
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}
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else if(Channel5Edge == 1)! C' \% Y( f- U+ \! e. U. x
{2 R- K+ U8 {& f% `! x. a* S
Channel5FallingTime = HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_1); : w% `3 Z r! A2 [ L6 D. ] w
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING);$ O& `& g# U q; H# Q7 {2 v
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_1);
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: s7 Z5 ]) I7 U9 P
Channel5HighTime = Channel5FallingTime < Channel5RisingTime ? Channel5FallingTime + 0xffff - Channel5RisingTime + 1 : Channel5FallingTime - Channel5RisingTime;: J6 W4 k) v, G) U3 B% q/ d }
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dis_fl = Channel5HighTime * 17 / 100;
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printf("dis_fl = %d\r\n", dis_fl);' I: e( b$ F. w9 Q
i++; 6 k6 M# m7 H& s6 G8 o
Channel5Edge = 0;6 p$ o0 W. q! {5 K. w- `; X
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}
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else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2)( M7 x3 D% E* Q( T: K; `: I( o
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if(Channel6Edge == 0)* ]5 d! P5 i7 W) @) p) P- ~
{
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Channel6RisingTime = HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_2);
# v! ]- i% B) ^# l, X
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_2, TIM_INPUTCHANNELPOLARITY_FALLING);
/ ~) l3 @! G e- \- Y
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_2);/ x5 a& Z5 o! C. m- i3 e( W# w
6 x( c8 L1 ~0 w& L# F0 a! z
Channel6Edge = 1;
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else if(Channel6Edge == 1)
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{% h5 [/ `, Q& v
Channel6FallingTime = HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_2);
. b3 P* ~1 j: V) w" K. R
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_2, TIM_INPUTCHANNELPOLARITY_RISING);
& z: n8 g, {9 j5 U, ], @9 ]9 y7 G# M
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_2);( [* r+ a# a& Q- g" ^6 e, c# L
, P3 Y& q9 R( _) K
Channel6HighTime = Channel6FallingTime < Channel6RisingTime ? Channel6FallingTime + 0xffff - Channel6RisingTime + 1 : Channel6FallingTime - Channel6RisingTime;" b$ s" V* j% F& T5 N; k) U% i
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dis_bl = Channel6HighTime * 17 / 100;! l. W( M+ E8 P. T5 b
printf("dis_bl = %d\r\n", dis_bl);
* j1 I5 D; J: Y7 I# l
i++;
1 a9 |0 C7 B1 G" B6 G* {" e
Channel6Edge = 0;: B( _3 D4 J5 k% _/ K7 }* r" p4 i
}
4 Z3 M5 c* h3 S( ^( _6 Y7 p
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else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3)
0 ]( B0 ^, `8 r2 \: j2 h
{
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if(Channel7Edge == 0)
( e6 w1 \) [7 V- r: N4 N
{
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Channel7RisingTime = HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_3);1 H' R8 g4 [3 z; C1 ]! @
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_3, TIM_INPUTCHANNELPOLARITY_FALLING);
5 i2 M6 }* y# I3 Z' R4 ~
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_3);' c. K, F/ B% M; l" T+ A9 [, R
Channel7Edge = 1;' [0 f7 d V# [3 M
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else if(Channel7Edge == 1)
7 [% ~7 H3 o8 Z& m: @1 F& B/ @
{2 R# R( v2 r7 w0 |4 e
Channel7FallingTime = HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_3); : M! c; u' J: D6 M7 f; H+ B& R4 j
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_3, TIM_INPUTCHANNELPOLARITY_RISING);9 z" k ^$ {1 B- t$ D
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_3);8 [. X9 V4 C& x0 n2 s
& u% X; r+ b0 S( Y( s/ ?0 E& P. D
Channel7HighTime = Channel7FallingTime < Channel7RisingTime ? Channel7FallingTime + 0xffff - Channel7RisingTime + 1 : Channel7FallingTime - Channel7RisingTime;# X* {6 `' a& r! @, B+ z
9 N L! j& U# V3 j0 ^
dis_le = Channel7HighTime * 17 / 100;
4 k4 L% f9 m: i; _
printf("dis_le = %d\r\n", dis_le);- Q( B% G+ b0 v2 t1 d3 W
i++; 8 \9 y3 D2 j3 s4 u1 ~: w y
Channel7Edge = 0;
0 E. B$ h' r, R# N
}0 b# S) k/ Y, L, v, W
}+ }( L) r4 v' L2 _" e( Q, ]' A
else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_4)8 P0 [! C4 j+ m! f
{ K9 K2 v( o: X! Y8 l
if(Channel8Edge == 0)
8 q3 E5 o) q+ M9 f; j3 h( u
{5 G8 m8 O) H7 f" w* j7 H/ J6 H
Channel8RisingTime= HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_4);- G \1 v! d& M; _
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_4, TIM_INPUTCHANNELPOLARITY_FALLING);1 @! Q9 m, Y9 Z+ v! W& ~2 Q
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_4);
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Channel8Edge = 1;
2 F) p3 B* h0 K* e1 r' P# \ e
}
% q( [. a! u0 v1 D
else if(Channel8Edge == 1)- ?3 X @' Z) ]+ u1 a; z5 i5 D2 J* I
{
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Channel8FallingTime = HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_4);
3 L( `0 m% O% Y4 N0 Z# P/ O( A% A
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_4, TIM_INPUTCHANNELPOLARITY_RISING);
4 ~; l( n0 E! L( t* @
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_4);
" B7 u+ S/ u# h ?
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Channel8HighTime = Channel8FallingTime < Channel8RisingTime ? Channel8FallingTime + 0xffff - Channel8RisingTime + 1 : Channel8FallingTime - Channel8RisingTime;
/ D5 }- g' J1 j" ], s! ]
& M5 Z+ m+ Y m
dis_bm = Channel8HighTime * 17 / 100;) Y q+ `5 g0 r3 g
printf("dis_bm = %d\r\n", dis_bm);
% N" ]' i. K! n: w9 e! F2 ]/ H5 l8 m
i++;! o9 x/ J, p$ [8 K; f& m
Channel8Edge = 0;) d9 L( ~' W& F7 d9 R$ y4 q
}
6 b5 f+ i3 s' n8 ^4 ?
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}
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}