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super_sonic.c
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super_sonic.c
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/***
Copyright (c) 2016
All rights reserved.
文件名称：pulse_capture.c
文件标识：pulse_capture
摘 要：TIM4 GPIOB 6// 7 8 9
触发引脚 TIM4 GPIOB6
采样捕捉引脚 TIM4 GPIOB7
当前版本：
作 者：
完成日期：
取代版本：
原作者 ：
完成日期：
***/
#include "super_sonic.h"
_Pulse pulse;
volatile u16 Speed = 0;
//#define Trig_pin GPIO_Pin_7
//#define Echo_pin GPIO_Pin_0
u16 TIM4CH_CAPTURE_Rise[PWM_NUM];
u16 TIM4CH_CAPTURE_Drop[PWM_NUM];
/***
初始化 触发引脚 采样捕捉引脚
硬件配置为TIM4 GPIOB6 GPIOB7
***/
void SupperSonic_Init(void)
{
TIM4_Trig_Config();
TIM4_Cap_Init();
}
/*
* 函数名：TIM4_Mode_Config
* 描述 ：配置TIM4输出的PWM信号的模式，如周期、极性、占空比
* 输入 ：无
* 输出 ：12us高电平，周期5.069ms
* 调用 ：内部调用
*/
void TIM4_Trig_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* PWM信号电平跳变值 */
u16 CCR2_Val = 12;
/* TIM3 clock enable */
//PCLK1经过2倍频后作为TIM3的时钟源等于72MHz
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
/* GPIOA and GPIOB clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
/*GPIOA Configuration: TIM3 channel 1 and 2 as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // 复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* -----------------------------------------------------------------------
TIM4 Configuration: generate 4 PWM signals with 4 different duty cycles:
TIM4CLK = 72 MHz, Prescaler = 0x0, TIM3 counter clock = 72 MHz
TIM4 ARR Register = 999 => TIM4 Frequency = TIM4 counter clock/(ARR + 1)
TIM4 Frequency = 72 KHz.
TIM4 Channel1 duty cycle = (TIM4_CCR1/ TIM4_ARR)* 100 = 50%
TIM4 Channel2 duty cycle = (TIM4_CCR2/ TIM4_ARR)* 100 = 37.5%
TIM4 Channel3 duty cycle = (TIM4_CCR3/ TIM4_ARR)* 100 = 25%
TIM4 Channel4 duty cycle = (TIM4_CCR4/ TIM4_ARR)* 100 = 12.5%
----------------------------------------------------------------------- */
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 5000-1; //设置脉冲周期 = Prescaler刻度 * Period
TIM_TimeBaseStructure.TIM_Prescaler = 72; //设置预分频：72分频，也就是计时刻度72Mhz/72
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1 ; //设置时钟分频系数：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //配置为PWM模式1
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR2_Val; //设置跳变值，当计数器计数到这个值时，电平发生跳变
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //当定时器计数值小于CCR1_Val时为高电平
TIM_OC2Init(TIM4, &TIM_OCInitStructure); //使能通道2
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM4, ENABLE); // 使能TIM4重载寄存器ARR
/* TIM4 enable counter */
TIM_Cmd(TIM4, ENABLE); //使能定时器4
}
void TIM4_Cap_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_ICInitTypeDef TIM4_ICInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //使能TIM4时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //使能GPIOB时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;// | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_ResetBits(GPIOB,GPIO_Pin_6);
//初始化定时器4 TIM4
TIM_TimeBaseStructure.TIM_Period = 0XFFFF; //设定计数器自动重装值
TIM_TimeBaseStructure.TIM_Prescaler =71; //预分频器
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
//初始化TIM4输入捕获参数
TIM4_ICInitStructure.TIM_Channel = TIM_Channel_1; //CC1S=01 选择输入端 IC1映射到TI1上
TIM4_ICInitStructure.TIM_ICPolarity =TIM_ICPolarity_Rising; //上升沿捕获
TIM4_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; //映射到TI1上
TIM4_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //配置输入分频,不分频
TIM4_ICInitStructure.TIM_ICFilter = 0x00; //IC1F=0000 配置输入滤波器 不滤波
TIM_ICInit(TIM4, &TIM4_ICInitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM4, TIM_IT_CC1, ENABLE);
TIM_Cmd(TIM4,ENABLE);
}
void TIM4_IRQHandler(void)
{
static u16 Drop_Capture = 0;
static u16 Rise_Capture = 0;
static u16 Rise1 = 0;
static u16 Rise2 = 0;
static u16 Distance1 = 0;
static u16 Distance2 = 0;
static u16 Delta_Distance = 0;
static u8 i = 0;
static u8 j = 0;
if (TIM_GetITStatus(TIM4, TIM_IT_CC1) != RESET) //捕获1发生捕获事件
{
TIM_ClearITPendingBit(TIM4, TIM_IT_CC1); //清除中断标志位
if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_6) == 1)
{
TIM_OC1PolarityConfig(TIM4,TIM_ICPolarity_Falling); //CC1P=1 设置为下降沿捕获
Rise_Capture=TIM_GetCapture1(TIM4);
if(i == 0)
{
Rise1 = Rise_Capture;
i = 1;
}
else
{
Rise2 = Rise_Capture;
i = 0;
}
pulse.period = (Rise1>Rise2)?(Rise1-Rise2):(Rise2-Rise1);//us
//Delta.dis =
//Speed = Delta.dis/pulse.period
Speed = Delta_Distance*1000/5069;// um*1000/us == m/s*1000 == mm/s
}
else
{
TIM_OC1PolarityConfig(TIM4,TIM_ICPolarity_Rising); //CC1P=0 设置为上升沿捕获
Drop_Capture=TIM_GetCapture1(TIM4);
if(Rise_Capture>Drop_Capture) pulse.width = 65535-Rise_Capture + Drop_Capture;
else pulse.width = Drop_Capture - Rise_Capture;
if(j == 0)
{
Distance1 = pulse.width;
j = 1;
}
else
{
Distance2 = pulse.width;
j = 0;
}
Delta_Distance = ((Distance1>Distance2)?(Distance1-Distance2):(Distance2-Distance1))*170;//um
}
}
}