多个超声波测距问题

2019-08-17 09:34发布

网上的程序，在一个超声波模块的情况下可以用，我想把它改成多个超声波，不知怎么改，大神们帮我看看问题出在哪里。[mw_shl_code=c,true]#include "UltrasonicWave.h"
#include "usart.h"
#include "timer.h"
#include "delay.h"

#define TRIG_PORT    GPIOC //TRIG
#define ECHO_PORT    GPIOC //ECHO
#define TRIG1_PIN    GPIO_Pin_8 //TRIG1
#define ECHO1_PIN    GPIO_Pin_7 //ECHO1
#define TRIG2_PIN    GPIO_Pin_4 //TRIG2
#define ECHO2_PIN    GPIO_Pin_3 //ECHO2
#define TRIG3_PIN    GPIO_Pin_2 //TRIG3
#define ECHO3_PIN    GPIO_Pin_1 //ECHO3

float UltrasonicWave1_Distance;    //¼ÆËã3öμÄ¾ààë
float UltrasonicWave2_Distance;    //¼ÆËã3öμÄ¾ààë
float UltrasonicWave3_Distance;    //¼ÆËã3öμÄ¾ààë

/*
* oˉêyÃû￡oUltrasonicWave_Configuration
* Ãèêö  ￡o3¬éù2¨Ä￡¿éμÄ3õê¼»ˉ
* êäèë  ￡oÎT
* êä3ö  ￡oÎT
*/
void UltrasonicWave1_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable , ENABLE); //1Ø±Õjtag
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC|RCC_APB2Periph_AFIO, ENABLE);

  GPIO_InitStructure.GPIO_Pin = TRIG1_PIN;    //PC8½óTRIG
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;       //éèÎaíÆíìêä3öÄ￡ê½
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(TRIG_PORT, &GPIO_InitStructure);                   //3õê¼»ˉíaéèGPIO

  GPIO_InitStructure.GPIO_Pin = ECHO1_PIN;       //PC7½óECHO
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;    //éèÎaêäèë
  GPIO_Init(ECHO_PORT,&GPIO_InitStructure);    //3õê¼»ˉGPIOA

   //GPIOC.7    ÖD¶ÏÏßòÔ¼°ÖD¶Ï3õê¼»ˉÅäÖÃ
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC,GPIO_PinSource7);
EXTI_InitStructure.EXTI_Line=EXTI_Line7;
    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
    EXTI_Init(&EXTI_InitStructure); //¸ù¾YEXTI_InitStructÖDÖ¸¶¨μÄ2Îêy3õê¼»ˉíaéèEXTI¼Ä′æÆ÷

NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn; //ê1Äü°′¼üËùÔúμÄía2¿ÖD¶Ïí¨μà
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; //ÇàÕ¼óÅÏè¼¶2
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; //×óóÅÏè¼¶2
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //ê1Äüía2¿ÖD¶Ïí¨μà
    NVIC_Init(&NVIC_InitStructure);       //¸ù¾YNVIC_InitStructÖDÖ¸¶¨μÄ2Îêy3õê¼»ˉíaéèNVIC¼Ä′æÆ÷
}
//
void UltrasonicWave2_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable , ENABLE); //1Ø±Õjtag
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC|RCC_APB2Periph_AFIO, ENABLE);

  GPIO_InitStructure.GPIO_Pin = TRIG2_PIN;    //PC8½óTRIG
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;       //éèÎaíÆíìêä3öÄ￡ê½
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(TRIG_PORT, &GPIO_InitStructure);                   //3õê¼»ˉíaéèGPIO

  GPIO_InitStructure.GPIO_Pin = ECHO2_PIN;       //PC7½óECHO
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;    //éèÎaêäèë
  GPIO_Init(ECHO_PORT,&GPIO_InitStructure);    //3õê¼»ˉGPIOA

GPIO_EXTILineConfig(GPIO_PortSourceGPIOC,GPIO_PinSource3);
EXTI_InitStructure.EXTI_Line=EXTI_Line3;
    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
    EXTI_Init(&EXTI_InitStructure); //¸ù¾YEXTI_InitStructÖDÖ¸¶¨μÄ2Îêy3õê¼»ˉíaéèEXTI¼Ä′æÆ÷

NVIC_InitStructure.NVIC_IRQChannel = EXTI3_IRQn; //ê1Äü°′¼üËùÔúμÄía2¿ÖD¶Ïí¨μà
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; //ÇàÕ¼óÅÏè¼¶2
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; //×óóÅÏè¼¶2
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //ê1Äüía2¿ÖD¶Ïí¨μà
    NVIC_Init(&NVIC_InitStructure);       //¸ù¾YNVIC_InitStructÖDÖ¸¶¨μÄ2Îêy3õê¼»ˉíaéèNVIC¼Ä′æÆ÷
}
//
void UltrasonicWave3_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable , ENABLE); //1Ø±Õjtag
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC|RCC_APB2Periph_AFIO, ENABLE);

  GPIO_InitStructure.GPIO_Pin = TRIG3_PIN;    //PC8½óTRIG
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;       //éèÎaíÆíìêä3öÄ￡ê½
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(TRIG_PORT, &GPIO_InitStructure);                   //3õê¼»ˉíaéèGPIO

  GPIO_InitStructure.GPIO_Pin = ECHO3_PIN;       //PC7½óECHO
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;    //éèÎaêäèë
  GPIO_Init(ECHO_PORT,&GPIO_InitStructure);    //3õê¼»ˉGPIOA

GPIO_EXTILineConfig(GPIO_PortSourceGPIOC,GPIO_PinSource1);
EXTI_InitStructure.EXTI_Line=EXTI_Line1;
    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
    EXTI_Init(&EXTI_InitStructure); //¸ù¾YEXTI_InitStructÖDÖ¸¶¨μÄ2Îêy3õê¼»ˉíaéèEXTI¼Ä′æÆ÷

NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn; //ê1Äü°′¼üËùÔúμÄía2¿ÖD¶Ïí¨μà
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; //ÇàÕ¼óÅÏè¼¶2
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //×óóÅÏè¼¶2
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //ê1Äüía2¿ÖD¶Ïí¨μà
    NVIC_Init(&NVIC_InitStructure);       //¸ù¾YNVIC_InitStructÖDÖ¸¶¨μÄ2Îêy3õê¼»ˉíaéèNVIC¼Ä′æÆ÷
}

void EXTI9_5_IRQHandler(void)
{
delay_us(10);                         //Ñóê±10us
   if(EXTI_GetITStatus(EXTI_Line7) != RESET)
{
TIM_SetCounter(TIM2,0);
TIM_Cmd(TIM2, ENABLE);                                           //¿aÆôê±Öó

while(GPIO_ReadInputDataBit(ECHO_PORT,ECHO1_PIN));                //μè′yμíμçÆ½

TIM_Cmd(TIM2, DISABLE);                                        //¶¨ê±Æ÷2ê§Äü
UltrasonicWave1_Distance=TIM_GetCounter(TIM2)*34/20.0;    //¼ÆËã¾ààë&&UltrasonicWave_Distance<150

if((UltrasonicWave1_Distance>2)&&(UltrasonicWave1_Distance<20))
{
GPIO_ResetBits(GPIOA,GPIO_Pin_8);
GPIO_ResetBits(GPIOD,GPIO_Pin_2);
printf("distance1:%f cm ",UltrasonicWave1_Distance);
}else
{
GPIO_SetBits(GPIOA,GPIO_Pin_8);
GPIO_SetBits(GPIOD,GPIO_Pin_2);
}
EXTI_ClearITPendingBit(EXTI_Line7);  //Çå3yEXTI7ÏßÂ·1òÆeÎ»
}
}
//
void EXTI3_IRQHandler(void)
{
delay_us(10);                         //Ñóê±10us
   if(EXTI_GetITStatus(EXTI_Line3) != RESET)
{
TIM_SetCounter(TIM2,0);
TIM_Cmd(TIM2, ENABLE);                                           //¿aÆôê±Öó

while(GPIO_ReadInputDataBit(ECHO_PORT,ECHO2_PIN));                //μè′yμíμçÆ½

TIM_Cmd(TIM2, DISABLE);                                        //¶¨ê±Æ÷2ê§Äü
UltrasonicWave2_Distance=TIM_GetCounter(TIM2)*34/20.0;    //¼ÆËã¾ààë&&UltrasonicWave_Distance<150

if((UltrasonicWave2_Distance>2)&&(UltrasonicWave2_Distance<20))
{
GPIO_ResetBits(GPIOA,GPIO_Pin_8);
GPIO_ResetBits(GPIOD,GPIO_Pin_2);
printf("distance2:%f cm ",UltrasonicWave2_Distance);
}else
{
GPIO_SetBits(GPIOA,GPIO_Pin_8);
GPIO_SetBits(GPIOD,GPIO_Pin_2);
}
EXTI_ClearITPendingBit(EXTI_Line3);  //Çå3yEXTI7ÏßÂ·1òÆeÎ»
}
}
//
void EXTI1_IRQHandler(void)
{
delay_us(10);                         //Ñóê±10us
   if(EXTI_GetITStatus(EXTI_Line1) != RESET)
{
TIM_SetCounter(TIM2,0);
TIM_Cmd(TIM2, ENABLE);                                           //¿aÆôê±Öó

while(GPIO_ReadInputDataBit(ECHO_PORT,ECHO3_PIN));                //μè′yμíμçÆ½

TIM_Cmd(TIM2, DISABLE);                                        //¶¨ê±Æ÷2ê§Äü
UltrasonicWave3_Distance=TIM_GetCounter(TIM2)*34/20.0;    //¼ÆËã¾ààë&&UltrasonicWave_Distance<150

if((UltrasonicWave3_Distance>2)&&(UltrasonicWave3_Distance<20))
{
GPIO_ResetBits(GPIOA,GPIO_Pin_8);
GPIO_ResetBits(GPIOD,GPIO_Pin_2);
printf("distance3:%f cm ",UltrasonicWave3_Distance);
}else
{
GPIO_SetBits(GPIOA,GPIO_Pin_8);
GPIO_SetBits(GPIOD,GPIO_Pin_2);
}
EXTI_ClearITPendingBit(EXTI_Line1);  //Çå3yEXTI7ÏßÂ·1òÆeÎ»
}
}

/*
* oˉêyÃû￡oUltrasonicWave_StartMeasure
* Ãèêö  ￡o¿aê¼2a¾à￡¬·￠Ëíò»¸ö>10usμÄÂö3å￡¬è»oó2aá¿·μ»ØμÄ¸ßμçÆ½ê±¼ä
* êäèë  ￡oÎT
* êä3ö  ￡oÎT
*/
void UltrasonicWave1_StartMeasure(void)
{
  GPIO_SetBits(TRIG_PORT,TRIG1_PIN);    //Ëí>10USμÄ¸ßμçÆ½￡TRIG_PORT,TRIG_PINÕaá½¸öÔúdefineÖDóD?
  delay_us(20);                         //Ñóê±20US
  GPIO_ResetBits(TRIG_PORT,TRIG1_PIN);

}
//
void UltrasonicWave2_StartMeasure(void)
{
  GPIO_SetBits(TRIG_PORT,TRIG2_PIN);    //Ëí>10USμÄ¸ßμçÆ½￡TRIG_PORT,TRIG_PINÕaá½¸öÔúdefineÖDóD?
  delay_us(20);                         //Ñóê±20US
  GPIO_ResetBits(TRIG_PORT,TRIG2_PIN);

}
//
void UltrasonicWave3_StartMeasure(void)
{
  GPIO_SetBits(TRIG_PORT,TRIG3_PIN);    //Ëí>10USμÄ¸ßμçÆ½￡TRIG_PORT,TRIG_PINÕaá½¸öÔúdefineÖDóD?
  delay_us(20);                         //Ñóê±20US
  GPIO_ResetBits(TRIG_PORT,TRIG3_PIN);

}
[/mw_shl_code]

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下面是网上一个超声波的情况：
[mw_shl_code=c,true]#define TRIG_PORT    GPIOC //TRIG
#define ECHO_PORT    GPIOC //ECHO
#define TRIG_PIN    GPIO_Pin_8 //TRIG
#define ECHO_PIN    GPIO_Pin_7 //ECHO

float UltrasonicWave_Distance;    //¼ÆËã3öμÄ¾ààë

/*
* oˉêyÃû￡oUltrasonicWave_Configuration
* Ãèêö  ￡o3¬éù2¨Ä￡¿éμÄ3õê¼»ˉ
* êäèë  ￡oÎT
* êä3ö  ￡oÎT
*/
void UltrasonicWave_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable , ENABLE); //1Ø±Õjtag
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC|RCC_APB2Periph_AFIO, ENABLE);

  GPIO_InitStructure.GPIO_Pin = TRIG_PIN;    //PC8½óTRIG
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;       //éèÎaíÆíìêä3öÄ￡ê½
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(TRIG_PORT, &GPIO_InitStructure);                   //3õê¼»ˉíaéèGPIO

  GPIO_InitStructure.GPIO_Pin = ECHO_PIN;       //PC7½óECH0
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;    //éèÎaêäèë
  GPIO_Init(ECHO_PORT,&GPIO_InitStructure);    //3õê¼»ˉGPIOA

   //GPIOC.7    ÖD¶ÏÏßòÔ¼°ÖD¶Ï3õê¼»ˉÅäÖÃ
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC,GPIO_PinSource7);

   EXTI_InitStructure.EXTI_Line=EXTI_Line7;
    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
    EXTI_Init(&EXTI_InitStructure); //¸ù¾YEXTI_InitStructÖDÖ¸¶¨μÄ2Îêy3õê¼»ˉíaéèEXTI¼Ä′æÆ÷

NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn; //ê1Äü°′¼üËùÔúμÄía2¿ÖD¶Ïí¨μà
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; //ÇàÕ¼óÅÏè¼¶2
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; //×óóÅÏè¼¶2
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //ê1Äüía2¿ÖD¶Ïí¨μà
    NVIC_Init(&NVIC_InitStructure);       //¸ù¾YNVIC_InitStructÖDÖ¸¶¨μÄ2Îêy3õê¼»ˉíaéèNVIC¼Ä′æÆ÷
}

void EXTI9_5_IRQHandler(void)
{
delay_us(10);                         //Ñóê±10us
   if(EXTI_GetITStatus(EXTI_Line7) != RESET)
{
TIM_SetCounter(TIM2,0);
TIM_Cmd(TIM2, ENABLE);                                           //¿aÆôê±Öó

while(GPIO_ReadInputDataBit(ECHO_PORT,ECHO_PIN));                   //μè′yμíμçÆ½

TIM_Cmd(TIM2, DISABLE);                                  //¶¨ê±Æ÷2ê§Äü
UltrasonicWave_Distance=TIM_GetCounter(TIM2)*5*34/200.0;    //¼ÆËã¾ààë&&UltrasonicWave_Distance<150

if(UltrasonicWave_Distance>0)
{
printf("distance:%f cm",UltrasonicWave_Distance);
}

EXTI_ClearITPendingBit(EXTI_Line7);  //Çå3yEXTI7ÏßÂ·1òÆeÎ»
}

}

/*
* oˉêyÃû￡oUltrasonicWave_StartMeasure
* Ãèêö  ￡o¿aê¼2a¾à￡¬·￠Ëíò»¸ö>10usμÄÂö3å￡¬è»oó2aá¿·μ»ØμÄ¸ßμçÆ½ê±¼ä
* êäèë  ￡oÎT
* êä3ö  ￡oÎT
*/
void UltrasonicWave_StartMeasure(void)
{
  GPIO_SetBits(TRIG_PORT,TRIG_PIN);    //Ëí>10USμÄ¸ßμçÆ½￡TRIG_PORT,TRIG_PINÕaá½¸öÔúdefineÖDóD?
  delay_us(20);                         //Ñóê±20US
  GPIO_ResetBits(TRIG_PORT,TRIG_PIN);

}[/mw_shl_code]

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