STM32--超声波模块(HC—SR04)（标准库+HAL库）

25-03-08 00:42

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一、HC-SR04工作原理

1）采用IO触发测距，给至少10us的高电平信号。

2）模块自动发送8个40KHz的方波，自动检测是否有信号返回。

3）有信号返回，通过IO输出一高电平，高电平持续时间就是超声波从发射到返回的时间声波从发

射到返回的时间。

4）HC-SR04超声波测距模块提供2cm~400cm的测距功能，精度达3mm。

二、实物介绍

以下图片截取自深圳市捷深科技有限公司的《HC-SR04超声波测距模块说明书》：

VCC 3.3-5V供电（推荐5V供电）

GND 接地

Trig 外部触发信号输入，输入一个高于10μs的高电平即可触发模块测距

Echo 回响信号输出，测距结束时此管脚输出一个低电平，电平宽度反映超声波往返时间之和

三、工作说明

1、触发信号Trig直接通过IO输出和延时给一个大于10us的高电平即可触发。

2、Echo引脚需要接收并记录高电平的持续时间。

3、在发送触发信号后，Echo响应后（上升沿）触发外部中断，开启定时器计时直到Echo变为低电

平，关闭定时器记录下计时时间。

4、实际应用，如果需要精确距离值，必需要考虑温度影响，做温度补偿。

distance = time * 0.017

距离=T*C/2(C 为声速)

声速温度公式:c=(330.45+0.61t/℃)m/s-1 (其中330.45是在0℃)

0℃声速:330.45m/s 20℃声速:342. 62m/s 40℃声速:354.85M/S

四、标准库工作代码

我一般使用标准库较少，使用代码时请注意检查

使用OLED显示，OLED使用可以看：

STM32--SPI&IIC使用OLED-CSDN博客

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1">

class="hljs-ln-code"> class="hljs-ln-line">uint32_t distance;

class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2">

 class="hljs-ln-code"> class="hljs-ln-line">while(1) class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">   distance = 0;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">   for(int i=0;i<10;++i)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">   {  //每次取10次测距数据,取平均值减少误差
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line">      GPIO_SetBits(GPIOA,GPIO_Pin_6);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">      Delay_us(15);               //需要提供至少10us的高电平
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">      GPIO_ResetBits(GPIOA,GPIO_Pin_6);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">      Delay_ms(70);              //每个周期至少需要等待60ms
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">      distance+=(times/5.8);     //获取单位为mm的距离
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">   }
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">   distance/=10;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">   OLED_ShowNum(2,1,distance,4);    //使用OLED显示
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line">}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line">//定时器中断函数
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line">//72MHz/72/100=1000,每秒定时器计数1000个,因此每个计数为100us
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line">void TIM2_IRQHandler(void)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line">   if(SET==TIM_GetITStatus(TIM2,TIM_FLAG_Update))
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line">   {
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="23"> class="hljs-ln-code"> class="hljs-ln-line">      number++; //每次中断将次数++
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="24"> class="hljs-ln-code"> class="hljs-ln-line">      TIM_ClearITPendingBit(TIM2,TIM_FLAG_Update);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="25"> class="hljs-ln-code"> class="hljs-ln-line">   }
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="26"> class="hljs-ln-code"> class="hljs-ln-line">}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="27"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="28"> class="hljs-ln-code"> class="hljs-ln-line">//外部中断函数,利用外部中断检测高低电平变化来控制定时器开关
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="29"> class="hljs-ln-code"> class="hljs-ln-line">void EXTI9_5_IRQHandler(void)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="30"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="31"> class="hljs-ln-code"> class="hljs-ln-line">   if(SET==EXTI_GetITStatus(EXTI_Line7))
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="32"> class="hljs-ln-code"> class="hljs-ln-line">   {
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="33"> class="hljs-ln-code"> class="hljs-ln-line">      if(flag==0)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="34"> class="hljs-ln-code"> class="hljs-ln-line">      {	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="35"> class="hljs-ln-code"> class="hljs-ln-line">         //上升沿即回响电平开始,打开计数器
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="36"> class="hljs-ln-code"> class="hljs-ln-line">         number=0;flag=1;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="37"> class="hljs-ln-code"> class="hljs-ln-line">         TIM_SetCounter(TIM2,0);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="38"> class="hljs-ln-code"> class="hljs-ln-line">         TIM_Cmd(TIM2,ENABLE);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="39"> class="hljs-ln-code"> class="hljs-ln-line">      }
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="40"> class="hljs-ln-code"> class="hljs-ln-line">      else
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="41"> class="hljs-ln-code"> class="hljs-ln-line">      {	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="42"> class="hljs-ln-code"> class="hljs-ln-line">         //下降沿即回响电平结束,统计高电平持续时长
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="43"> class="hljs-ln-code"> class="hljs-ln-line">         TIM_Cmd(TIM2,DISABLE);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="44"> class="hljs-ln-code"> class="hljs-ln-line">         flag=0;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="45"> class="hljs-ln-code"> class="hljs-ln-line">         times=number*100+TIM_GetCounter(TIM2);  //得到回响的高电平持续的us
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="46"> class="hljs-ln-code"> class="hljs-ln-line">      }
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="47"> class="hljs-ln-code"> class="hljs-ln-line">      EXTI_ClearITPendingBit(EXTI_Line7);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="48"> class="hljs-ln-code"> class="hljs-ln-line">   }
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="49"> class="hljs-ln-code"> class="hljs-ln-line">}

class="hide-preCode-box">

class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

五(1)、HAL--CubeMX配置

GPIO配置（Trig端口）：设置PA1为触发端（可更改为其他GPIO口）。单击芯片的PA1引脚会跳

出选择项，选择GPIO_Output，即为GPIO输出。

定时器配置（Echo端口）：为方便计算定时器的分频系数和定时周期，将APB1设置为50MHz。

先设置TIM2的通道1位直接模式输入捕获，在参数设置中设置预分频为71，通过计算分频器输出的

时钟信号频率为1000kHz，通过换算得到1us，极性为上升沿触发。设置完成后自动引出PA0引

脚，即为接收端引脚Echo，使能NVIC中断。

USART1配置：串口输出显示结果，设置为异步模式，波特率为115200Bits/s，

RX--PA10//TX--PA9

五(2)、HAL库工作代码

1、HCSR04.h

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">#ifndef __HCSR04_H
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line">#define __HCSR04_H
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">#include "main.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">//#include "tim.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">#include "stdio.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">#define TRIG_H  HAL_GPIO_WritePin(Trig_GPIO_Port,Trig_Pin,GPIO_PIN_SET)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">#define TRIG_L  HAL_GPIO_WritePin(Trig_GPIO_Port,Trig_Pin,GPIO_PIN_RESET)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">void delay_us(uint32_t us);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">void HCSR04_GetData(void);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">#endif class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

2、HCSR04.c

 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="1"> class="hljs-ln-code"> class="hljs-ln-line">#include "HCSR04.h"
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="2"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="3"> class="hljs-ln-code"> class="hljs-ln-line">float distance;      //测量距离
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="4"> class="hljs-ln-code"> class="hljs-ln-line">uint32_t Buf[3] = {0};   //存放定时器计数值的数组
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="5"> class="hljs-ln-code"> class="hljs-ln-line">uint8_t  Cnt = 0;    //状态标志位
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="6"> class="hljs-ln-code"> class="hljs-ln-line">uint32_t high_time;   //超声波模块返回的高电平时间
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="7"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="8"> class="hljs-ln-code"> class="hljs-ln-line">//读取距离
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="9"> class="hljs-ln-code"> class="hljs-ln-line">void HCSR04_GetData(void)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="10"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="11"> class="hljs-ln-code"> class="hljs-ln-line">   switch(Cnt)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="12"> class="hljs-ln-code"> class="hljs-ln-line">   {
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="13"> class="hljs-ln-code"> class="hljs-ln-line">      case 0:
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="14"> class="hljs-ln-code"> class="hljs-ln-line">         TRIG_H;    //发送信号
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="15"> class="hljs-ln-code"> class="hljs-ln-line">         delay_us(30);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="16"> class="hljs-ln-code"> class="hljs-ln-line">         TRIG_L;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="17"> class="hljs-ln-code"> class="hljs-ln-line">       
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="18"> class="hljs-ln-code"> class="hljs-ln-line">         Cnt++;    //标志位为1
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="19"> class="hljs-ln-code"> class="hljs-ln-line">         __HAL_TIM_SET_CAPTUREPOLARITY(&htim2,TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="20"> class="hljs-ln-code"> class="hljs-ln-line">         HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);    //开启TIM2    
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="21"> class="hljs-ln-code"> class="hljs-ln-line">         //启动输入捕获或者:__HAL_TIM_ENABLE(&htim5);                                                                                    		
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="22"> class="hljs-ln-code"> class="hljs-ln-line">      break;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="23"> class="hljs-ln-code"> class="hljs-ln-line">      case 3:
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="24"> class="hljs-ln-code"> class="hljs-ln-line">         high_time = Buf[1]- Buf[0];    //计算高电平时间
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="25"> class="hljs-ln-code"> class="hljs-ln-line">         printf("\r\n----高电平时间-%d-us----\r\n",high_time);    //串口打印时间						
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="26"> class="hljs-ln-code"> class="hljs-ln-line">         distance=(high_time*0.034)/2;  //计算距离单位cm
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="27"> class="hljs-ln-code"> class="hljs-ln-line">         printf("\r\n-检测距离为-%.2f-cm-\r\n",distance);         //串口打印距离     
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="28"> class="hljs-ln-code"> class="hljs-ln-line">         Cnt = 0;  //清空标志位
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="29"> class="hljs-ln-code"> class="hljs-ln-line">         TIM2->CNT=0;     //清空计时器计数
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="30"> class="hljs-ln-code"> class="hljs-ln-line">      break;	
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="31"> class="hljs-ln-code"> class="hljs-ln-line">	}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="32"> class="hljs-ln-code"> class="hljs-ln-line">}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="33"> class="hljs-ln-code"> class="hljs-ln-line"> 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="34"> class="hljs-ln-code"> class="hljs-ln-line">//中断回调函数
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="35"> class="hljs-ln-code"> class="hljs-ln-line">void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="36"> class="hljs-ln-code"> class="hljs-ln-line">{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="37"> class="hljs-ln-code"> class="hljs-ln-line">	if(TIM2 == htim->Instance)// 判断触发的中断的定时器为TIM2
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="38"> class="hljs-ln-code"> class="hljs-ln-line">	{
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="39"> class="hljs-ln-code"> class="hljs-ln-line">		switch(Cnt)
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="40"> class="hljs-ln-code"> class="hljs-ln-line">        {
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="41"> class="hljs-ln-code"> class="hljs-ln-line">			case 1:
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="42"> class="hljs-ln-code"> class="hljs-ln-line">                //获取当前的捕获值
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="43"> class="hljs-ln-code"> class="hljs-ln-line">				Buf[0] = HAL_TIM_ReadCapturedValue(&htim2,TIM_CHANNEL_1);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="44"> class="hljs-ln-code"> class="hljs-ln-line">                //设置为下降沿捕获！！！
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="45"> class="hljs-ln-code"> class="hljs-ln-line">              __HAL_TIM_SET_CAPTUREPOLARITY(&htim2,TIM_CHANNEL_1,TIM_ICPOLARITY_FALLING);  													
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="46"> class="hljs-ln-code"> class="hljs-ln-line">				Cnt++;                                            
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="47"> class="hljs-ln-code"> class="hljs-ln-line">			break;              
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="48"> class="hljs-ln-code"> class="hljs-ln-line">			case 2:
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="49"> class="hljs-ln-code"> class="hljs-ln-line">                //获取当前的捕获值
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="50"> class="hljs-ln-code"> class="hljs-ln-line">				Buf[1] = HAL_TIM_ReadCapturedValue(&htim2,TIM_CHANNEL_1);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="51"> class="hljs-ln-code"> class="hljs-ln-line">				HAL_TIM_IC_Stop_IT(&htim2,TIM_CHANNEL_1); 
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="52"> class="hljs-ln-code"> class="hljs-ln-line">                //停止捕获或者: __HAL_TIM_DISABLE(&htim5);
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="53"> class="hljs-ln-code"> class="hljs-ln-line">				Cnt++;      //此时标志位为3
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="54"> class="hljs-ln-code"> class="hljs-ln-line">        break;
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="55"> class="hljs-ln-code"> class="hljs-ln-line">		}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="56"> class="hljs-ln-code"> class="hljs-ln-line">	}
 class="hljs-ln-numbers"> class="hljs-ln-line hljs-ln-n" data-line-number="57"> class="hljs-ln-code"> class="hljs-ln-line">} class="hide-preCode-box"> class="hljs-button signin active" data-title="登录复制" data-report-click="{"spm":"1001.2101.3001.4334"}" onclick="hljs.signin(event)">

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