超声波雷达--IO方式驱动

原创已于 2024-05-09 14:21:16 修改 · 453 阅读

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于 2024-05-09 14:17:06 首次发布

1.超声波雷达驱动.h文件

采用一个定时器10us一次进行检测

#include "stdint.h"


extern TIM_HandleTypeDef htim16;
#define Driver_Radar_ITStart()			HAL_TIM_Base_Start_IT(&htim16)
#define Driver_Radar_ITStop()			HAL_TIM_Base_Stop_IT(&htim16)
#define Driver_Radar_Cnt_Clear()		__HAL_TIM_SET_COUNTER(&htim16, 0)

#define Driver_Radar1_Trig_Port			GPIOB
#define Driver_Radar1_Echo_Port			GPIOB

#define Driver_Radar1_Trig_Pin			GPIO_PIN_11
#define Driver_Radar1_Echo_Pin			GPIO_PIN_10

#define Driver_Radar_Set				GPIO_PIN_SET
#define Driver_Radar_Reset				GPIO_PIN_RESET

#define Driver_Radar_Start_Time			10			//触发信号时间 -- 10us*100
#define Driver_Radar_Time_Out			24000		//检测最大为4m，时间约为0.24s
#define Driver_Radar_Error_Time			4000		//测试时发送出现莫名其妙的大数值一般就是雷达太近了
#define Driver_Radar_Normal				0x00		//正常模式
#define Driver_Radar_Trig_Off			0x01		//触发信号关闭模式
#define Driver_Radar_Cheak_Ready		0x02		//检测信号准备
#define Driver_Radar_Cheak				0x03		//检测信号模式


typedef enum
{
	Radar_1 = 0,
	
	Radar_Max
} Driver_Radar_TypeDef;


typedef struct
{
	volatile uint8_t Ctrl;
	volatile uint32_t time;
	uint32_t cheak_time;
	uint32_t pin_number;
	void (*Radat_On)(void);
	void (*Radat_Off)(void);
	uint8_t (*Radat_Read)(void);
} Driver_Radar_Struct;

2.超声波雷达驱动.c文件

//雷达1开启
static void Driver_Radar_1_On(void)
{
	HAL_GPIO_WritePin(Driver_Radar1_Trig_Port, Driver_Radar1_Trig_Pin, Driver_Radar_Set);
}

//雷达1关闭
static void Driver_Radar_1_Off(void)
{
	HAL_GPIO_WritePin(Driver_Radar1_Trig_Port, Driver_Radar1_Trig_Pin, Driver_Radar_Reset);
}

//雷达1读数据
static uint8_t Driver_Radar_1_Read(void)
{
	return HAL_GPIO_ReadPin(Driver_Radar1_Echo_Port, Driver_Radar1_Echo_Pin);
}

static Driver_Radar_Struct radar[Radar_Max] = 
{
	//控制信号	触发时间		检测时间		引脚号					触发信号开			触发信号关			检测信号读取
	{0, 		0,  		0, 			Driver_Radar1_Echo_Pin, Driver_Radar_1_On, 	Driver_Radar_1_Off, Driver_Radar_1_Read},
};


/*********************************************************************
 * @fn      Driver_Radar_Start
 *
 * @brief   雷达启动.
 *
 * @param   none
 *
 * @return  none
 */
void Driver_Radar_Start(uint8_t ID)
{
	if(ID < Radar_Max)
	{
		if(radar[ID].Ctrl == Driver_Radar_Normal)
		{
			radar[ID].time = 0;
			radar[ID].Ctrl = Driver_Radar_Trig_Off;
			radar[ID].Radat_On();
			Driver_Radar_Cnt_Clear();
			Driver_Radar_ITStart();
		}
	}
}


/*********************************************************************
 * @fn      Driver_Radar_Read
 *
 * @brief   读取雷达数值.
 *
 * @param   none
 *
 * @return  none
 */
uint16_t Driver_Radar_Read(uint8_t ID)
{
	return radar[ID].cheak_time;
}


/*********************************************************************
 * @fn      Driver_Radar_Cheak_Callback
 *
 * @brief   雷达检测.
 *
 * @param   none
 *
 * @return  none
 */
void Driver_Radar_Cheak_Callback(uint16_t GPIO_Pin)
{
	for(Driver_Radar_TypeDef i = Radar_1; i < Radar_Max; i++)
	{
		if(GPIO_Pin == radar[i].pin_number)
		{
			if(radar[i].Radat_Read() == Driver_Radar_Set)
			{
				radar[i].time = 0;
				radar[i].Ctrl = Driver_Radar_Cheak;
			}
			else if(radar[i].Radat_Read() == Driver_Radar_Reset)
			{
				radar[i].cheak_time = radar[i].time;
				if(radar[i].cheak_time >= Driver_Radar_Error_Time)
				{
					radar[i].cheak_time = 0;
				}
				radar[i].time = 0;
				radar[i].Ctrl = Driver_Radar_Normal;
			}
		}
	}
}


/*********************************************************************
 * @fn      HAL_TIM_PeriodElapsedCallback
 *
 * @brief   定时器回调函数 -- 10us一次.
 *
 * @param   none
 *
 * @return  none
 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
	uint8_t radar_open_num = 0;
	
	if(htim->Instance == TIM16)
	{
		for(Driver_Radar_TypeDef i = Radar_1; i < Radar_Max; i++)
		{
			switch(radar[i].Ctrl)
			{
				case Driver_Radar_Normal:		//正常等待模式
					if(++radar_open_num >= Radar_Max)
					{
						Driver_Radar_ITStop();
					}
					break;
				
				case Driver_Radar_Trig_Off:		//信号触发模式
					if(radar[i].time++ >= Driver_Radar_Start_Time)
					{
						radar[i].Ctrl = Driver_Radar_Cheak_Ready;
						radar[i].time = 0;
						radar[i].Radat_Off();
					}
					break;
				
				case Driver_Radar_Cheak_Ready:	//数据等待校验模式

					break;
				
				case Driver_Radar_Cheak:		//数据检测模式
					radar[i].time++;
					break;
						
				default:
					break;
			}
		}
	}
}

3.例程

static uint16_t radar_val = 0;

Driver_Radar_Start(Radar_1);	//开启雷达
radar_val = Driver_Radar_Read(Radar_1)*17/10;