STM32F411RE：程序冻结，超声波传感器不工作

如何解决STM32F411RE：程序冻结，超声波传感器不工作

我有一个使用 STM32F411RE 开发板的 C 语言程序，但我无法启动它，调试时它冻结了，但在我做一些小改动之前它就可以工作了。但是当它工作时，超声波传感器在它应该识别的时候没有识别任何物体。问题是代码与其他程序非常相似，可以做类似的事情并且完美地工作，但在这里我没有，我找不到解决方案。

该程序包含一个信号量，当传感器在 200 毫米处检测到物体时，该信号量会激活一个序列。顺序不太重要，关键是传感器，它计算是否有任何具有ultrasonidos 功能的对象，但我什至无法到达这一行，因为程序冻结或其他原因，即使我调试它。它应该用这两行打开两个 LED：

HAL_Delay(1000);
GPIOB->ODR |= GPIO_ODR_OD6_Msk;
GPIOA->ODR |= GPIO_ODR_OD7_Msk;

但甚至不是。完整代码如下：

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,* the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include <stdio.h>

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim11;
int pulsado = 0;
int contador = 0;
int volatile times = 0;
int cercanos = 0;
UART_HandleTypeDef huart2;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_TIM11_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
  int modo = 0;
  int control = 0;
  int counter_parpadeo = 0;
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals,Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */
  void ultrasonidos();
  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART2_UART_Init();
  MX_TIM11_Init();
  /* USER CODE BEGIN 2 */

  HAL_TIM_Base_Start_IT(&htim11);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
    HAL_Delay(1000);
    GPIOB->ODR |= GPIO_ODR_OD6_Msk; //Encender Verde Coches
    GPIOA->ODR |= GPIO_ODR_OD7_Msk; //Encender Rojo Peatones
    printf("SE INICIA Y SE PONEN EL VERDE DE COCHES Y EL ROJO DE PEATONES");
    printf("VA A ACTIVAR EL ULTRASONIDOS");
    ultrasonidos();
    printf("SE HA ACTIVADO EL ULTRASONIDOS");
    if (cercanos == 1)
    {
      printf("SE HAN DETECTADO OBJETOS CERCANOS");
      modo = 1;
      control = 1;
      counter_parpadeo = 0;
      while (control == 1)
      {
        switch (modo)
        {
        case 1:
          printf("SE INICIA EL CICLO");
          counter_parpadeo = 0;
          GPIOB->ODR &= ~GPIO_ODR_OD6_Msk; //Apagar verde coches
          GPIOC->ODR |= GPIO_ODR_OD7_Msk;  //Encender amarillo coches
          printf("AMARILLO COCHES");
          HAL_Delay(5000);
          modo = 2;
          break;
        case 2:
          printf("SEGUNDO FASE");
          GPIOC->ODR &= ~GPIO_ODR_OD7_Msk; //Apagar amarillo coches
          GPIOA->ODR |= GPIO_ODR_OD9_Msk;  //Encender rojo coches
          GPIOA->ODR &= ~GPIO_ODR_OD7_Msk; //Apagamos rojo peatones
          GPIOA->ODR |= GPIO_ODR_OD6_Msk;  //Encender verde peatones
          printf("VERDE PEATONES");
          HAL_Delay(5000);
          modo = 3;
          break;
        case 3:
        printf("TERCERA FASE");
          while (counter_parpadeo < 3)
          {
            GPIOA->ODR &= ~GPIO_ODR_OD6_Msk; //Apagar verde peatones
            HAL_Delay(100);
            GPIOA->ODR |= GPIO_ODR_OD6_Msk; //Encender verde peatones
            HAL_Delay(100);
            counter_parpadeo++;
          }
          printf("PARPADEO");
          HAL_Delay(5000);
          modo = 4;
          break;
        case 4:
          printf("CUARTA FASE");
          GPIOA->ODR &= ~GPIO_ODR_OD6_Msk; //Apagar verde peatones
          GPIOA->ODR &= ~GPIO_ODR_OD9_Msk; //Apagar rojo coches
          GPIOB->ODR |= GPIO_ODR_OD6_Msk;  //Encendemos verde coches
          GPIOA->ODR |= GPIO_ODR_OD7_Msk;  //Encendemos rojo peatones
          printf("VERDE COCHES");
          HAL_Delay(5000);
          modo = 1;
          control = 0;
          pulsado = 0;
          cercanos = 0;
          times = 0;
          break;
        }
      }
      /* USER CODE BEGIN 3 */
    }
    HAL_Delay(5000);
    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage 
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the CPU,AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 16;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU,AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct,FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief TIM11 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM11_Init(void)
{

  /* USER CODE BEGIN TIM11_Init 0 */

  /* USER CODE END TIM11_Init 0 */

  /* USER CODE BEGIN TIM11_Init 1 */

  /* USER CODE END TIM11_Init 1 */
  htim11.Instance = TIM11;
  htim11.Init.Prescaler = 83;
  htim11.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim11.Init.Period = 9;
  htim11.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  //htim11.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim11) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM11_Init 2 */

  /* USER CODE END TIM11_Init 2 */
}

/**
  * @brief USART2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART2_UART_Init(void)
{

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 115200;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */
}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA,LD2_Pin | VerdeP_Pin | RojoP_Pin | RojoC_Pin,GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(AmarilloC_GPIO_Port,AmarilloC_Pin,GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(VerdeC_GPIO_Port,VerdeC_Pin,GPIO_PIN_RESET);

  /*Configure GPIO pin : B1_Pin */
  GPIO_InitStruct.Pin = B1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(B1_GPIO_Port,&GPIO_InitStruct);

  /*Configure GPIO pins : LD2_Pin VerdeP_Pin RojoP_Pin RojoC_Pin */
  GPIO_InitStruct.Pin = LD2_Pin | VerdeP_Pin | RojoP_Pin | RojoC_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA,&GPIO_InitStruct);

  /*Configure GPIO pin : AmarilloC_Pin */
  GPIO_InitStruct.Pin = AmarilloC_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(AmarilloC_GPIO_Port,&GPIO_InitStruct);

  /*Configure GPIO pin : PA8 */
  GPIO_InitStruct.Pin = GPIO_PIN_8;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOA,&GPIO_InitStruct);

  /*Configure GPIO pin : Boton_Pin */
  GPIO_InitStruct.Pin = Boton_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(Boton_GPIO_Port,&GPIO_InitStruct);

  /*Configure GPIO pin : VerdeC_Pin */
  GPIO_InitStruct.Pin = VerdeC_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(VerdeC_GPIO_Port,&GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI15_10_IRQn,0);
  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
}

/* USER CODE BEGIN 4 */
/*void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
  __disable_irq();
  if (GPIO_Pin == GPIO_PIN_10)
    pulsado = 1;
  __enable_irq();
}*/

void cambiarModoPin(int modo)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if (modo == 0) //Output
  {
    GPIO_InitStruct.Pin = GPIO_PIN_8;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA,&GPIO_InitStruct);
  }
  else if (modo == 1) //Input
  {
    GPIO_InitStruct.Pin = GPIO_PIN_8;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA,&GPIO_InitStruct);
  }
}

int __io_putchar(int ch)
{
  uint8_t c[1];
  c[0] = ch & 0x00FF;
  HAL_UART_Transmit(&huart2,&*c,1,100);
  return ch;
}

int _write(int file,char *ptr,int len)
{
  int DataIdx;
  for (DataIdx = 0; DataIdx < len; DataIdx++)
  {
    __io_putchar(*ptr++);
  }
  return len;
}

int calcularDistanciaCm(int veces)
{
  int distancia = 0;
  distancia = (veces * 10) / 58;
  printf("CALCULA DISTANCIA:");
  printf("%d",distancia);
  return distancia;
}

void ultrasonidos()
{
  int times2 = 0;
  int times3 = 0;
  cambiarModoPin(0); //Modo output
  times = 0;
  HAL_GPIO_WritePin(GPIOA,GPIO_PIN_8,GPIO_PIN_SET);
  printf("SE METE EN EL ULTRASONIDO");

  while(times >= 1){
    printf("DENTRO DEL WHILE DEL TIMES:");
    printf("%d",times);
  }
  printf("TIMES 1:");
  printf("%d",times);
  cambiarModoPin(1); //Modo Input

  while(!(GPIOA->IDR & GPIO_IDR_ID8_Msk)){

  }
  times2 = times;
  printf("TIMES 2:");
  printf("%d",times2);
  while((GPIOA->IDR & GPIO_IDR_ID8_Msk)) {

  }
  times3 = times;
  printf("TIMES 3:");
  printf("%d",times3);
    if (calcularDistanciaCm(times3-times2) < 20) {
        printf("HAY OBJETOS CERCA");
        cercanos = 1;
    }
  
}

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  if (htim->Instance == TIM11)
  {
    printf("SALTA LA EXCEPCION PARA SUMAR LOS TIMES");
    times++;
  }
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file,uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,tex: printf("Wrong parameters value: file %s on line %d\r\n",file,line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

解决方法

对于程序冻结问题，如果冻结发生在 HAL_Delay(100)，则表示未启用 Systick 中断，从而导致 HAL_Delay 内部无限循环。

在 SystemClock_Config() 之后添加此语句以启用 Systick 中断。

SET_BIT(SysTick->CTRL,SysTick_CTRL_TICKINT_Msk);

至于超声波传感器，我不确定您使用的是哪种传感器，HC SR04 有两个引脚，一个用于触发（输出引脚），另一个用于回波（输入引脚）。即使您需要单个 GPIO，而不是更改引脚类型以输入将 GPIO 配置为开漏，这样您就可以设置触发和读取，然后读取回波响应。让我知道结果。

STM32F411RE：程序冻结，超声波传感器不工作

如何解决STM32F411RE：程序冻结，超声波传感器不工作

解决方法

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