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超声波 HC-SR04 的使用 CubeMx + STM32F103C8T6 【含两个】

news 2025/5/22 1:12:25

HC-SR04 的使用

- 一、超声波模块介绍
- 二、工作原理介绍
- 三、接线方式
- 四、驱动方式
- - 方法一
  - 方法二
- 五、程序实现
- - 串口查看数据
  - 方法一
  - - HC_SR04.c
    - HC_SR04.h
    - main.c
    - main.h
    - 串口数据显示
  - 方法二
  - - main.c
    - main.h
- 六、数据处理

一、超声波模块介绍

HC-SR04 是一种常用的超声波测距模块。它通过发射超声波并测量这些波反射回来的时间来计算距离。模块的基本结构包括一个超声波发射器和一个接收器。发射器发出高频超声波，当这些波遇到物体后反射回来，接收器接收到这些反射波。根据超声波的传播时间和声速，模块可以计算出到物体的距离。它通常用于测距、避障等应用中。

用的是这两款第二款功能更多不贴电阻和上面这款没差别
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二、工作原理介绍

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三、接线方式

VCC–5V/3.3v【网上有看到一定得是5v 根据自己使用的模块来】
GND–GND
Trig – 板子上的OUTPUT引脚(用来发射超声波信号)
Echo-- 板子上的INPUT引脚(用来接收返回的超声波信号)

四、驱动方式

方法一

使用普通两个io 接Trig【OUTPUT】和Echo【INPUT】外用一个定时器计数【开中断】

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【不需要开自动重装载吗？】

方法二

使用双超声波
Trig使用普通io【OUTPUT】，Echo 使用定时器输入捕获功能并开中断
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五、程序实现

串口查看数据

头文件：#include “stdio.h”

ps:如果只使用串口功能不需要开中断
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int fputc(int c,FILE* s)
{HAL_UART_Transmit(&huart1,(const uint8_t*)&c,1,0xFFFF );return c;
}

方法一

HC_SR04.c

#include "main.h"
#include "HC_SR04.h"
#include "stm32f1xx_hal.h"
#include "stm32f1xx_it.h"
#include "gpio.h"
static float distance_result;
/*
*********************************************************
函数原型：void Delay_us(uint16_t time)
函数输入：无符号整形
函数输出：无
函数功能：利用定时器实现微秒级延时
*********************************************************
*/
void Delay_us(uint16_t time)
{uint16_t a1=TIM2->CNT;while(TIM2->CNT-a1<time);
}
/*
*********************************************************
函数原型：void HC_SR04_startrange(void)
函数输入：无
函数输出：无
函数功能：从trig引脚生成一个不小于10us的高电平触发测距，触发后模块自动产生8个40kHz方波，自动检测是否有信号返回
*********************************************************
*/
void HC_SR04_startrange(void)
{HAL_GPIO_WritePin(HC_SR04_Trig_Pin_GPIO_Port,HC_SR04_Trig_Pin_Pin,GPIO_PIN_SET);//HAL_Delay(5);Delay_us(10);HAL_GPIO_WritePin(HC_SR04_Trig_Pin_GPIO_Port,HC_SR04_Trig_Pin_Pin,GPIO_PIN_RESET);}
/*
*********************************************************
函数原型：uint16_t HC_SR04_gettime(void)
函数输入：无
函数输出：无符号整型
函数功能：通过定时器获取当前时间
*********************************************************
*/
uint16_t HC_SR04_gettime(void)
{uint32_t a;a=TIM2->CNT;return a;
}
/*
*********************************************************
函数原型：float HC_SR04_getdistance(void)
函数输入：无
函数输出：浮点型
函数功能：获取与目标之间的距离
*********************************************************
*/
float HC_SR04_getdistance(void)
{   uint16_t time_node1;uint16_t time_node2;uint16_t measure;HC_SR04_startrange();TIM2->CNT = 0;//有信号返回则通过IO口Echo输出高电平，高电平持续时间即为超声波从发射到返回的时间，测试距离=（ 高电平时间*声速(340m/s) ）/ 2 while(HAL_GPIO_ReadPin(HC_SR04_Echo_Pin_GPIO_Port,HC_SR04_Echo_Pin_Pin)==RESET);time_node1=HC_SR04_gettime();while(HAL_GPIO_ReadPin(HC_SR04_Echo_Pin_GPIO_Port,HC_SR04_Echo_Pin_Pin)==SET);time_node2=HC_SR04_gettime();measure=time_node2-time_node1;distance_result = measure * 17.0/1000;//距离=计数差值(us) / 1000000 * 340(m/s) * 100 / 2 = measure * 17/1000return distance_result;
}

HC_SR04.h

#ifndef _HC_SR04_H_
#define _HC_SR04_H_#include "main.h"
void Delay_us(uint16_t time);
void HC_SR04_startrange(void);
float HC_SR04_getdistance(void);
uint16_t HC_SR04_gettime(void);
#endif

main.c


/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "HC_SR04.h"
#include "stdio.h"/* USER CODE END Includes *//* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD *//* USER CODE END PTD *//* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD *//* USER CODE END PD *//* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM *//* USER CODE END PM *//* Private variables ---------------------------------------------------------*//* USER CODE BEGIN PV */
int fputc(int c,FILE* s)
{HAL_UART_Transmit(&huart1,(const uint8_t*)&c,1,0xFFFF );return c;
}/* 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 *//**************************************************************************///平滑数据处理
//使用平滑算法（如移动平均）来减少数据的波动。这样可以让测得的距离值更稳定。/**************************************************************************/#define SMOOTHING_FACTOR  7  // 平滑的历史值数量float smooth_dist(int current_dist) {static float history[SMOOTHING_FACTOR] = {0};static int index = 0;static int count = 0;float sum = 0;history[index] = current_dist;index = (index + 1) % SMOOTHING_FACTOR;if (count < SMOOTHING_FACTOR) count++;for (int i = 0; i < count; i++) {sum += history[i];}return sum / count;
}
/* USER CODE END 0 *//*** @brief  The application entry point.* @retval int*/
int main(void)
{/* USER CODE BEGIN 1 */float HC_SR04_distance = 0 ;/* USER CODE END 1 *//* MCU Configuration--------------------------------------------------------*//* Reset of all peripherals, Initializes the Flash interface and the Systick. */HAL_Init();/* USER CODE BEGIN Init *//* 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_USART1_UART_Init();/* USER CODE BEGIN 2 */HAL_TIM_Base_Start_IT(&htim2);/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while (1){/* USER CODE END WHILE *//* USER CODE BEGIN 3 */HC_SR04_distance=HC_SR04_getdistance();HC_SR04_distance= smooth_dist(HC_SR04_distance);HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,GPIO_PIN_RESET);//开灯printf("有人,目前距离为：%.2f cm\r\n",HC_SR04_distance);HAL_Delay(100);/* USER CODE BEGIN 3 */}/* USER CODE END 3 */
}

main.h

#define LED_Pin GPIO_PIN_13
#define LED_GPIO_Port GPIOC
#define HC_SR04_Trig_Pin_Pin GPIO_PIN_4
#define HC_SR04_Trig_Pin_GPIO_Port GPIOB
#define HC_SR04_Echo_Pin_Pin GPIO_PIN_5
#define HC_SR04_Echo_Pin_GPIO_Port GPIOB

串口数据显示

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方法二

main.c

/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
#include "string.h"
/* USER CODE END Includes *//* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
uint8_t   TIM2CH1_CAPTURE_STA;		//输入捕获状态		    				
uint16_t	TIM2CH1_CAPTURE_VAL;  	//输入捕获值	
uint8_t   TIM3CH1_CAPTURE_STA;		//输入捕获状态		    				
uint16_t	TIM3CH1_CAPTURE_VAL;	  //输入捕获值	
/* USER CODE END PTD *//* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD *//* USER CODE END PD *//* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM *//* USER CODE END PM *//* Private variables ---------------------------------------------------------*//* USER CODE BEGIN PV */
int fputc(int c,FILE* s)
{HAL_UART_Transmit(&huart1,(const uint8_t*)&c,1,0xFFFF );return c;
}/* 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 *//* USER CODE END 0 *//*** @brief  The application entry point.* @retval int*/
int main(void)
{/* USER CODE BEGIN 1 */float len=0;uint16_t dis = 0;uint32_t time=0;float len3=0;uint16_t dis3 = 0;uint32_t time3=0;/* USER CODE END 1 *//* MCU Configuration--------------------------------------------------------*//* Reset of all peripherals, Initializes the Flash interface and the Systick. */HAL_Init();/* USER CODE BEGIN Init *//* 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_TIM3_Init();MX_USART1_UART_Init();/* USER CODE BEGIN 2 */HAL_TIM_IC_Start_IT(&htim2,TIM_CHANNEL_1);   //开启TIM2的捕获通道1，并且开启捕获中断HAL_TIM_IC_Start_IT(&htim3,TIM_CHANNEL_1);   //开启TIM3的捕获通道1，并且开启捕获中断__HAL_TIM_ENABLE_IT(&htim2,TIM_IT_UPDATE);   //使能更新中断__HAL_TIM_ENABLE_IT(&htim3,TIM_IT_UPDATE);   //使能更新中断/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE *///printf("123\r\n");while (1){/* USER CODE END WHILE *//* USER CODE BEGIN 3 */ch1_capture();  ch3_capture();   //printf("TIM2 Capture STA: %02X\n", TIM2CH1_CAPTURE_STA);if(TIM2CH1_CAPTURE_STA&0X80)           //成功捕获到了一次高电平{time=TIM2CH1_CAPTURE_STA&0X3F; time*=65536;		 	    	        //溢出时间总和time+=TIM2CH1_CAPTURE_VAL; 			//得到总的高电平时间len=time*0.17;dis = (uint16_t)len;printf("v1=%d\r\n",dis); // while(HAL_OK != HAL_UART_Transmit(&huart1, (uint8_t *)str, strlen(str), 5000));TIM2CH1_CAPTURE_STA=0;          //开启下一次捕获}if(TIM3CH1_CAPTURE_STA&0X80)           //成功捕获到了一次高电平{time3=TIM3CH1_CAPTURE_STA&0X3F; time3*=65536;		 	    	        //溢出时间总和time3+=TIM3CH1_CAPTURE_VAL; 			//得到总的高电平时间len3=time3*0.17;dis3 = (uint16_t)len3;printf("v2=%d\r\n",dis3); //  sprintf(str3,"v2=%d\r\n",dis3); // while(HAL_OK != HAL_UART_Transmit(&huart1, (uint8_t *)str3, strlen(str3), 5000));TIM3CH1_CAPTURE_STA=0;          //开启下一次捕获}HAL_Delay(100);}/* 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 */
void ch1_capture(void)
{  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET); delay_us(20);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);
}void ch3_capture(void)
{   HAL_GPIO_WritePin(GPIOA, GPIO_PIN_3, GPIO_PIN_RESET);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_3, GPIO_PIN_SET); delay_us(20);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_3, GPIO_PIN_RESET);
}void delay_us(uint32_t us)
{// 预计算循环次数，根据你的处理器频率调整volatile uint32_t count;while (us-- > 0){count = 8; // 根据处理器频率和指令执行时间调整while (count-- > 0);}
}//定时器更新中断（计数溢出）中断处理回调函数， 该函数在HAL_TIM_IRQHandler中会被调用
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)//更新中断（溢出）发生时执行
{if(htim->Instance == htim2.Instance){if((TIM2CH1_CAPTURE_STA&0X80)==0)				//还未成功捕获上升沿{if(TIM2CH1_CAPTURE_STA&0X40)				//已经捕获到高电平了{if((TIM2CH1_CAPTURE_STA&0X3F)==0X3F)	//高电平太长了{TIM2CH1_CAPTURE_STA|=0X80;			//标记成功捕获了一次TIM2CH1_CAPTURE_VAL=0XFFFF;}else TIM2CH1_CAPTURE_STA++;}	 }	}if(htim->Instance == htim3.Instance){if((TIM3CH1_CAPTURE_STA&0X80)==0)				//还未成功捕获上升沿{if(TIM3CH1_CAPTURE_STA&0X40)				//已经捕获到高电平了{if((TIM3CH1_CAPTURE_STA&0X3F)==0X3F)	//高电平太长了{TIM3CH1_CAPTURE_STA|=0X80;			//标记成功捕获了一次TIM3CH1_CAPTURE_VAL=0XFFFF;}else TIM3CH1_CAPTURE_STA++;}	 }	}
}//定时器输入捕获中断处理回调函数，该函数在HAL_TIM_IRQHandler中会被调用
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)//捕获中断发生时执行
{if(htim->Instance == TIM2){if((TIM2CH1_CAPTURE_STA&0X80)==0)				//还未成功捕获{if(TIM2CH1_CAPTURE_STA&0X40)				//捕获到一个下降沿 		{	  			TIM2CH1_CAPTURE_STA|=0X80;				//标记成功捕获到一次高电平脉宽TIM2CH1_CAPTURE_VAL=HAL_TIM_ReadCapturedValue(&htim2,TIM_CHANNEL_1);//获取当前的捕获值.TIM_RESET_CAPTUREPOLARITY(&htim2,TIM_CHANNEL_1);   //一定要先清除原来的设置！！TIM_SET_CAPTUREPOLARITY(&htim2,TIM_CHANNEL_1,TIM_ICPOLARITY_RISING);//配置TIM2通道1上升沿捕获}else  										//还未开始,第一次捕获上升沿{TIM2CH1_CAPTURE_STA=0;					//清空 TIM2CH1_CAPTURE_VAL=0;TIM2CH1_CAPTURE_STA|=0X40;				//标记捕获到了上升沿__HAL_TIM_DISABLE(&htim2);      	//关闭定时器2__HAL_TIM_SET_COUNTER(&htim2,0);TIM_RESET_CAPTUREPOLARITY(&htim2,TIM_CHANNEL_1);   //一定要先清除原来的设置！！TIM_SET_CAPTUREPOLARITY(&htim2,TIM_CHANNEL_1,TIM_ICPOLARITY_FALLING);//定时器2通道1设置为下降沿捕获__HAL_TIM_ENABLE(&htim2);		//使能定时器2}		    // printf("TIM2 Capture STA: %02X\n", TIM2CH1_CAPTURE_STA);}	}if(htim->Instance == htim3.Instance){if((TIM3CH1_CAPTURE_STA&0X80)==0)				//还未成功捕获{if(TIM3CH1_CAPTURE_STA&0X40)				//捕获到一个下降沿 		{	  			TIM3CH1_CAPTURE_STA|=0X80;				//标记成功捕获到一次高电平脉宽TIM3CH1_CAPTURE_VAL=HAL_TIM_ReadCapturedValue(&htim3,TIM_CHANNEL_1);//获取当前的捕获值.TIM_RESET_CAPTUREPOLARITY(&htim3,TIM_CHANNEL_1);   //一定要先清除原来的设置！！TIM_SET_CAPTUREPOLARITY(&htim3,TIM_CHANNEL_1,TIM_ICPOLARITY_RISING);//配置TIM2通道1上升沿捕获}else  										//还未开始,第一次捕获上升沿{TIM3CH1_CAPTURE_STA=0;					//清空 TIM3CH1_CAPTURE_VAL=0;TIM3CH1_CAPTURE_STA|=0X40;				//标记捕获到了上升沿__HAL_TIM_DISABLE(&htim3);      	//关闭定时器2__HAL_TIM_SET_COUNTER(&htim3,0);TIM_RESET_CAPTUREPOLARITY(&htim3,TIM_CHANNEL_1);   //一定要先清除原来的设置！！TIM_SET_CAPTUREPOLARITY(&htim3,TIM_CHANNEL_1,TIM_ICPOLARITY_FALLING);//定时器2通道1设置为下降沿捕获__HAL_TIM_ENABLE(&htim3);		//使能定时器2}		    }}	}/* 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 */

main.h

#define Echo1_Pin GPIO_PIN_0
#define Echo1_GPIO_Port GPIOA
#define Trig1_Pin GPIO_PIN_1
#define Trig1_GPIO_Port GPIOA
#define Trig2_Pin GPIO_PIN_3
#define Trig2_GPIO_Port GPIOA
#define Echo2_Pin GPIO_PIN_6
#define Echo2_GPIO_Port GPIOA

六、数据处理

数据处理还存在问题 后续找到更好的更新

/**************************************************************************///平滑数据处理
//使用平滑算法（如移动平均）来减少数据的波动。这样可以让测得的距离值更稳定。/**************************************************************************/#define SMOOTHING_FACTOR  5  // 平滑的历史值数量float smooth_dist(int current_dist) {static float history[SMOOTHING_FACTOR] = {0};static int index = 0;static int count = 0;float sum = 0;history[index] = current_dist;index = (index + 1) % SMOOTHING_FACTOR;if (count < SMOOTHING_FACTOR) count++;for (int i = 0; i < count; i++) {sum += history[i];}return sum / count;
}