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

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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

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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,
Channel5Edge = 0, Channel6Edge = 0, Channel7Edge = 0, Channel8Edge = 0;
uint16_t Channel1HighTime, Channel1RisingTime, Channel1FallingTime;
uint16_t Channel2HighTime, Channel2RisingTime, Channel2FallingTime;
uint16_t Channel3HighTime, Channel3RisingTime, Channel3FallingTime;
uint16_t Channel4HighTime, Channel4RisingTime, Channel4FallingTime;
uint16_t Channel5HighTime, Channel5RisingTime, Channel5FallingTime;
uint16_t Channel6HighTime, Channel6RisingTime, Channel6FallingTime;
uint16_t Channel7HighTime, Channel7RisingTime, Channel7FallingTime;
uint16_t Channel8HighTime, Channel8RisingTime, Channel8FallingTime;

复制代码

HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1); //开启捕获通道
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_3);
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_4);
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_1);
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_2);
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_3);
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)
{
/*防止未使用参数(s)编译警告*/
UNUSED(htim);
if(htim->Instance == htim2.Instance)
{
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)
{
if(Channel1Edge == 0) //捕获上升沿
{
Channel1RisingTime = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_1); //获取上升沿时间点
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_FALLING); //切换捕获极性
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1); //切换捕获极性后需重新启动
Channel1Edge = 1; //上升沿、下降沿捕获标志位
}
else if(Channel1Edge == 1) //捕获下降沿
{
Channel1FallingTime = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_1); //获取下降沿时间点
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING); //切换捕获极性
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1); //切换捕获极性后需重新启动
Channel1HighTime = Channel1FallingTime < Channel1RisingTime ? Channel1FallingTime + 0xffff - Channel1RisingTime + 1 : Channel1FallingTime - Channel1RisingTime;
//高电平持续时间 = 下降沿时间点 - 上升沿时间点
dis_fm = Channel1HighTime * 17 / 100; //计算超声波测量距离
printf("dis_fm = %d\r\n", dis_fm);
i++; //累加计数
Channel1Edge = 0; //一次采集完毕，清零
}
}
else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2)
{
if(Channel2Edge == 0)
{
Channel2RisingTime = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_2);
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_2, TIM_INPUTCHANNELPOLARITY_FALLING);
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
Channel2Edge = 1;
}
else if(Channel2Edge == 1)
{
Channel2FallingTime = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_2);
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_2, TIM_INPUTCHANNELPOLARITY_RISING);
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
Channel2HighTime = Channel2FallingTime < Channel2RisingTime ? Channel2FallingTime + 0xffff - Channel2RisingTime + 1 : Channel2FallingTime - Channel2RisingTime;
dis_fr = Channel2HighTime * 17 / 100;
printf("dis_fr = %d\r\n", dis_fr);
i++;
Channel2Edge = 0;
}
}
else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3)
{
if(Channel3Edge == 0)
{
Channel3RisingTime = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_3);
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_3, TIM_INPUTCHANNELPOLARITY_FALLING);
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_3);
Channel3Edge = 1;
}
else if(Channel3Edge == 1)
{
Channel3FallingTime = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_3);
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_3, TIM_INPUTCHANNELPOLARITY_RISING);
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_3);
Channel3HighTime = Channel3FallingTime < Channel3RisingTime ? Channel3FallingTime + 0xffff - Channel3RisingTime + 1 : Channel3FallingTime - Channel3RisingTime;
dis_br = Channel3HighTime * 17 / 100;
printf("dis_br = %d\r\n", dis_br);
i++;
Channel3Edge = 0;
}
}
else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_4)
{
if(Channel4Edge == 0)
{
Channel4RisingTime= HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_4);
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_4, TIM_INPUTCHANNELPOLARITY_FALLING);
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_4);
Channel4Edge = 1;
}
else if(Channel4Edge == 1)
{
Channel4FallingTime = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_4);
__HAL_TIM_SET_CAPTUREPOLARITY(&htim2, TIM_CHANNEL_4, TIM_INPUTCHANNELPOLARITY_RISING);
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_4);
Channel4HighTime = Channel4FallingTime < Channel4RisingTime ? Channel4FallingTime + 0xffff - Channel4RisingTime + 1 : Channel4FallingTime - Channel4RisingTime;
dis_ri = Channel4HighTime * 17 / 100;
printf("dis_ri = %d\r\n", dis_ri);
i++;
Channel4Edge = 0;
}
}
}
if(htim->Instance == htim4.Instance)
{
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)
{
if(Channel5Edge == 0)
{
Channel5RisingTime = HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_1);//获取上升沿时间点
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_FALLING);//切换捕获极性
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_1);
Channel5Edge = 1;
}
else if(Channel5Edge == 1)
{
Channel5FallingTime = HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_1);
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING);
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_1);
Channel5HighTime = Channel5FallingTime < Channel5RisingTime ? Channel5FallingTime + 0xffff - Channel5RisingTime + 1 : Channel5FallingTime - Channel5RisingTime;
dis_fl = Channel5HighTime * 17 / 100;
printf("dis_fl = %d\r\n", dis_fl);
i++;
Channel5Edge = 0;
}
}
else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2)
{
if(Channel6Edge == 0)
{
Channel6RisingTime = HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_2);
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_2, TIM_INPUTCHANNELPOLARITY_FALLING);
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_2);
Channel6Edge = 1;
}
else if(Channel6Edge == 1)
{
Channel6FallingTime = HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_2);
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_2, TIM_INPUTCHANNELPOLARITY_RISING);
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_2);
Channel6HighTime = Channel6FallingTime < Channel6RisingTime ? Channel6FallingTime + 0xffff - Channel6RisingTime + 1 : Channel6FallingTime - Channel6RisingTime;
dis_bl = Channel6HighTime * 17 / 100;
printf("dis_bl = %d\r\n", dis_bl);
i++;
Channel6Edge = 0;
}
}
else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3)
{
if(Channel7Edge == 0)
{
Channel7RisingTime = HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_3);
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_3, TIM_INPUTCHANNELPOLARITY_FALLING);
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_3);
Channel7Edge = 1;
}
else if(Channel7Edge == 1)
{
Channel7FallingTime = HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_3);
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_3, TIM_INPUTCHANNELPOLARITY_RISING);
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_3);
Channel7HighTime = Channel7FallingTime < Channel7RisingTime ? Channel7FallingTime + 0xffff - Channel7RisingTime + 1 : Channel7FallingTime - Channel7RisingTime;
dis_le = Channel7HighTime * 17 / 100;
printf("dis_le = %d\r\n", dis_le);
i++;
Channel7Edge = 0;
}
}
else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_4)
{
if(Channel8Edge == 0)
{
Channel8RisingTime= HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_4);
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_4, TIM_INPUTCHANNELPOLARITY_FALLING);
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_4);
Channel8Edge = 1;
}
else if(Channel8Edge == 1)
{
Channel8FallingTime = HAL_TIM_ReadCapturedValue(&htim4, TIM_CHANNEL_4);
__HAL_TIM_SET_CAPTUREPOLARITY(&htim4, TIM_CHANNEL_4, TIM_INPUTCHANNELPOLARITY_RISING);
HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_4);
Channel8HighTime = Channel8FallingTime < Channel8RisingTime ? Channel8FallingTime + 0xffff - Channel8RisingTime + 1 : Channel8FallingTime - Channel8RisingTime;
dis_bm = Channel8HighTime * 17 / 100;
printf("dis_bm = %d\r\n", dis_bm);
i++;
Channel8Edge = 0;
}
}
}
}