STM32+蓝牙模块+超声波模块+QT

背景

倒车的时候有时不注意撞到了后面，那有没有办法检测障碍物并通知我呢。

我想了一个不太成熟的方法，就当作自娱自乐了，，，，

使用超声波测距，当作与障碍物的距离。然后STM32把测出的距离通过蓝牙模块传到手机并发出声音。由于不会安卓的编程，就用电脑实现了。

使用的设备

硬件

HC-SR04
HC-04
STM32F103C8T6

软件

pyside6

硬件电路

text 复制代码

HC-SR04超声波模块  STM32F103    HC-04蓝牙模块   STM32F103 (和前面的是一个，不好画图所以分开了) 
┌────────────┐   ┌─────────┐   ┌─────────┐   ┌─────────┐
│    VCC     │───│ 3.3V    │   │   VCC   │───│ 3.3V    │
│    Trig    │───│ PB0     │   │   GND   │───│ GND     │
│    Echo    │───│ PA8     │   │   TXD   │───│ PA10(RX)│
│    GND     │───│ GND     │   │   RXD   │───│ PA9(TX) │
└────────────┘   │         │   │   EN    │───│ 3.3V    │
                 └─────────┘   └─────────┘   └─────────┘

代码

STM32

c 复制代码

#include "stm32f10x.h"
#include "LED.h"
#include "app_timer.h"
#include "Delay.h"
#include "math.h"
#include "OLED.h"
#include <stdio.h>
#define TRIG GPIOB

/**
Echo 		PA8
Trigger PB0
LED 		PA1
*/
void GPIOB_0_init() {
		// Trigger引脚
		RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
	
		GPIO_InitTypeDef GPIO_InitStruct;
		GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
		GPIO_InitStruct.GPIO_Pin = GPIO_Pin_0;
		GPIO_InitStruct.GPIO_Speed = GPIO_Speed_10MHz;
		GPIO_Init(TRIG, &GPIO_InitStruct);
}


void timer_init(void) {
		RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
	
	
		TIM_TimeBaseInitTypeDef TIM_TIM_TimeBaseInitStruct;
		TIM_TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;
		TIM_TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
		TIM_TIM_TimeBaseInitStruct.TIM_Period = 65535;
		TIM_TIM_TimeBaseInitStruct.TIM_Prescaler = 71;
		TIM_TimeBaseInit(TIM1, &TIM_TIM_TimeBaseInitStruct);
	
	
		// Echo 引脚
		RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	
		GPIO_InitTypeDef GPIO_InitStruct;
		GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IPD;
		GPIO_InitStruct.GPIO_Pin = GPIO_Pin_8;
		GPIO_Init(GPIOA, &GPIO_InitStruct);
	
		TIM_ICInitTypeDef TIM_ICInitStruct;
		TIM_ICInitStruct.TIM_Channel = TIM_Channel_1;
		TIM_ICInitStruct.TIM_ICFilter = 0;
		TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Rising;
		TIM_ICInitStruct.TIM_ICPrescaler = TIM_ICPSC_DIV1;
		TIM_ICInitStruct.TIM_ICSelection = TIM_ICSelection_DirectTI;
	
		TIM_ICInit(TIM1, &TIM_ICInitStruct);
		
		
		TIM_ICInitStruct.TIM_Channel = TIM_Channel_2;
		TIM_ICInitStruct.TIM_ICFilter = 0;
		TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Falling;
		TIM_ICInitStruct.TIM_ICPrescaler = TIM_ICPSC_DIV1;
		TIM_ICInitStruct.TIM_ICSelection = TIM_ICSelection_IndirectTI; // 间接选择
	
		TIM_ICInit(TIM1, &TIM_ICInitStruct);
}

// 串口初始化函数
void USART1_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    USART_InitTypeDef USART_InitStructure;
    
    // 使能时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA, ENABLE);
    
    // 配置TX引脚 (PA9)
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    
    // 配置RX引脚 (PA10)
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    
    // 配置串口参数
    USART_InitStructure.USART_BaudRate = 9600;
    USART_InitStructure.USART_WordLength = USART_WordLength_8b;
    USART_InitStructure.USART_StopBits = USART_StopBits_1;
    USART_InitStructure.USART_Parity = USART_Parity_No;
    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
    USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
    
    USART_Init(USART1, &USART_InitStructure);
    USART_Cmd(USART1, ENABLE);
}

// 串口发送字符函数
void USART1_SendChar(char ch)
{
    USART_SendData(USART1, (uint8_t) ch);
    while (USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
}

// 串口发送字符串函数
void USART1_SendString(char *str)
{
    while (*str) {
        USART1_SendChar(*str++);
    }
}

//// 重写printf的fputc函数，支持串口输出
//int fputc(int ch, FILE *f)
//{
//    USART1_SendChar(ch);
//    return ch;
//}

int main(void)
{
	
	OLED_Init();
	
	OLED_ShowString(1, 1, "current dis:");

	
	
	GPIOB_0_init();
	// LED 显示
	LED_Init();
	LED1_OFF();
	
	timer_init();
	USART1_Init();  // 初始化串口
	USART1_SendString("Distance Unit: meter");
	
	Delay_ms(5000);
	
	while(1) {
		TIM_SetCounter(TIM1, 0);
		
		TIM_ClearFlag(TIM1, TIM_FLAG_CC1);
		TIM_ClearFlag(TIM1, TIM_FLAG_CC2);
		
		TIM_Cmd(TIM1, ENABLE);
		
		GPIO_WriteBit(TRIG, GPIO_Pin_0, Bit_SET);
		Delay_us(20);
		GPIO_WriteBit(TRIG, GPIO_Pin_0, Bit_RESET);
		
		while(TIM_GetFlagStatus(TIM1, TIM_FLAG_CC1) == RESET) {
			;
		}
		
		while(TIM_GetFlagStatus(TIM1, TIM_FLAG_CC2) == RESET) {
			;
		}
		
		TIM_Cmd(TIM1, DISABLE);
		
		// 换算
		float distance = (TIM_GetCapture2(TIM1) - TIM_GetCapture1(TIM1)) * 1e-6 * 340.0f / 2;
		
		if (distance < 1.0) {
				LED1_ON();
		} else {
				LED1_OFF();
		}
		OLED_ShowString(2, 1, "          ");
		char str[20]; // 确保缓冲区足够大
		sprintf(str, "%fmm", distance * 100.0f);
		OLED_ShowString(2, 3, str);
		
		// 串口发送距离数据
    char uart_buffer[50];
    sprintf(uart_buffer, "%.2f", distance * 100.0f);
    USART1_SendString(uart_buffer);
		
		Delay_ms(1000);
	}
}

UI界面
https://gitee.com/blue_serial/blue_serial_ui

测距蓝牙输出