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#include <HC-SR04.h>

static void initPins() {

GPIO_InitTypeDef GPIO_InitStructure;

GPIO_InitStructure.GPIO_Pin = US_TRIG_PIN;

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;

GPIO_Init(US_TRIG_PORT, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = US_ECHO_PIN;

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;

GPIO_Init(US_ECHO_PORT, &GPIO_InitStructure);

void HCSR04_Init() {

//Enable Clock();

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

initPins();

//////////////////////////////////////////////////////

RCC_ClocksTypeDef RCC_ClocksStatus;

RCC_GetClocksFreq(&RCC_ClocksStatus);
 uint16_t prescaler = RCC_ClocksStatus.SYSCLK_Frequency / 1000000 - 1; //1 tick = 1us =
0.1724mm

TIM_DeInit(US_TIMER);

TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;

TIM_TimeBaseInitStruct.TIM_Prescaler = prescaler;

TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;

TIM_TimeBaseInitStruct.TIM_Period = 0xFFFF;

TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;

TIM_TimeBaseInit(US_TIMER, &TIM_TimeBaseInitStruct);

TIM_OCInitTypeDef TIM_OCInitStruct;

TIM_OCStructInit(&TIM_OCInitStruct);

TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1;

TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;

TIM_OCInitStruct.TIM_Pulse = 15; //us

TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;

TIM_OC3Init(US_TIMER, &TIM_OCInitStruct);

TIM_ICInitTypeDef TIM_ICInitStruct;

TIM_ICInitStruct.TIM_Channel = TIM_Channel_1;

TIM_ICInitStruct.TIM_ICPolarity = TIM_ICPolarity_Rising;

TIM_ICInitStruct.TIM_ICSelection = TIM_ICSelection_DirectTI;

TIM_ICInitStruct.TIM_ICPrescaler = TIM_ICPSC_DIV1;

TIM_ICInitStruct.TIM_ICFilter = 0;

TIM_PWMIConfig(US_TIMER, &TIM_ICInitStruct);

TIM_SelectInputTrigger(US_TIMER, US_TIMER_TRIG_SOURCE);

TIM_SelectMasterSlaveMode(US_TIMER, TIM_MasterSlaveMode_Enable);
 TIM_CtrlPWMOutputs(US_TIMER, ENABLE);

TIM_ClearFlag(US_TIMER, TIM_FLAG_Update);

u16 HCSR04_GetDistance() {

(US_TIMER)->CNT = 0;

TIM_Cmd(US_TIMER, ENABLE);

while(!TIM_GetFlagStatus(US_TIMER, TIM_FLAG_Update));

TIM_Cmd(US_TIMER, DISABLE);

TIM_ClearFlag(US_TIMER, TIM_FLAG_Update);

return (TIM_GetCapture2(US_TIMER)-TIM_GetCapture1(US_TIMER))*0.177;
//////mm=//=>cm=T*0.0177=(1s/58)