给stm32f103c8t6写一份超声波避障的代码,超声波引脚为ECHO是PB0,Trig是PB1
时间: 2024-03-16 17:43:14 浏览: 32
好的,以下是基于STM32CubeIDE的超声波避障代码:
```c
#include "main.h"
#define TRIG_Pin GPIO_PIN_1
#define TRIG_GPIO_Port GPIOB
#define ECHO_Pin GPIO_PIN_0
#define ECHO_GPIO_Port GPIOB
TIM_HandleTypeDef htim2;
UART_HandleTypeDef huart1;
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_TIM2_Init(void);
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_USART1_UART_Init();
MX_TIM2_Init();
HAL_TIM_Base_Start(&htim2);
while (1)
{
uint32_t duration;
uint32_t distance;
// 发送超声波信号
HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_RESET);
HAL_Delay(2);
HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_SET);
HAL_Delay(10);
HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_RESET);
// 接收回波信号
while (!HAL_GPIO_ReadPin(ECHO_GPIO_Port, ECHO_Pin));
uint32_t start = TIM2->CNT;
while (HAL_GPIO_ReadPin(ECHO_GPIO_Port, ECHO_Pin));
uint32_t end = TIM2->CNT;
// 计算距离
duration = end - start;
distance = duration * 0.0343 / 2;
// 输出距离
char buf[32];
snprintf(buf, sizeof(buf), "Distance: %d cm\r\n", distance);
HAL_UART_Transmit(&huart1, (uint8_t *)buf, strlen(buf), HAL_MAX_DELAY);
HAL_Delay(100);
}
}
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.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();
}
}
static void MX_TIM2_Init(void)
{
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
htim2.Instance = TIM2;
htim2.Init.Prescaler = 72 - 1;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 0xFFFF;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
}
static void MX_USART1_UART_Init(void)
{
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
}
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : ECHO_Pin */
GPIO_InitStruct.Pin = ECHO_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(ECHO_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : TRIG_Pin */
GPIO_InitStruct.Pin = TRIG_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(TRIG_GPIO_Port, &GPIO_InitStruct);
}
```
代码中使用了定时器 TIM2 来计算超声波回波信号的时长,使用了串口 USART1 输出距离信息。需要注意的是,要在 CubeMX 中配置 TIM2 的时钟源为内部时钟,否则计算出的距离可能会不准确。