如题目所示，两者貌似发生了冲突
#include "stm32f10x_gpio.h"
#include "stm32f10x_tim.h"
#include "common.h"
#include "ultrasonic.h"
unsigned int TIM1CH4_CAPTURE_STA;
//bit7:捕获完成标志
//bit6：捕获到高点平标志
//bit5~0：捕获到高电平后定时器溢出的次数
unsigned int TIM1CH4_CAPTURE_VAL;
// 超声波检测距离，单位cm
int Distance = 0;
int barrier_distance_left = 0;
int barrier_distance_front =0;
int barrier_distance_right =0;
// 超声波自检标识，0--模块没插上，1--模块正常
int UltraError = 0;
//PWM控制舵机
void TIM1_PWM_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure; //声明一个结构体变量，用来初始化GPIO
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;//声明一个结构体变量，用来初始化定时器
TIM_OCInitTypeDef TIM_OCInitStructure;//根据TIM_OCInitStruct中指定的参数初始化外设TIMx
/* 开启时钟 */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
/* 配置GPIO的模式和IO口 */
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_8;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;//复用推挽输出
GPIO_Init(GPIOA,&GPIO_InitStructure);
//TIM1定时器初始化
TIM_TimeBaseInitStructure.TIM_Period = 199;//900; //不分频,PWM 频率=72000/900=8Khz//设置自动重装载寄存器周期的值
TIM_TimeBaseInitStructure.TIM_Prescaler = 7199;//0;//设置用来作为TIMx时钟频率预分频值，100Khz计数频率
TIM_TimeBaseInitStructure.TIM_ClockDivision = 0;//设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
// 重复计数器的值，没用到不用管
TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0;
TIM_TimeBaseInit(TIM1, & TIM_TimeBaseInitStructure);
//PWM初始化
TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;//PWM输出使能
TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_Low;
TIM_OC1Init(TIM1,&TIM_OCInitStructure);
//TIM_OC4Init(TIM1,&TIM_OCInitStructure);
//注意此处初始化时TIM_OC2Init而不是TIM_OCInit，否则会出错。因为固件库的版本不一样。
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
//TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);//使能或者失能TIMx在CCR2上的预装载寄存器
TIM_Cmd(TIM1,ENABLE);//使能或者失能TIMx外设
// 主输出使能，当使用的是通用定时器时，这句不需要
TIM_CtrlPWMOutputs(TIM1, ENABLE);
}
/*
捕获模式初始化(超声波测距脉宽捕获)
*/
void TIM1_Cap_Init(void)
{
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); //使能TIM1时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //使能GPIOA时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //PA11 输入
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //PA2输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; //2M
GPIO_Init(GPIOA, &GPIO_InitStructure);
//初始化定时器1 TIM1
TIM_TimeBaseStructure.TIM_Period = 0xFFFF; //设定计数器自动重装值
TIM_TimeBaseStructure.TIM_Prescaler =72-1; //预分频器
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
//初始化TIM1输入捕获参数
TIM_ICInitStructure.TIM_Channel = TIM_Channel_4; //CC1S=03 选择输入端 IC3映射到TI1上
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //上升沿捕获
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;//配置输入分频,不分频
TIM_ICInitStructure.TIM_ICFilter = 0x00; //配置输入滤波器 不滤波
TIM_ICInit(TIM1, &TIM_ICInitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn|TIM1_UP_IRQn; //TIM1中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; //先占优先级2级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //从优先级0级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
TIM_ITConfig(TIM1,TIM_IT_Update|TIM_IT_CC4,ENABLE);//允许更新中断 ,允许CC3IE捕获中断
TIM_Cmd(TIM1,ENABLE ); //使能定时器1
}
void Read_Distane(void)
{
GPIO_SetBits(GPIOA, GPIO_Pin_2);
delay_us(20);
GPIO_ResetBits(GPIOA, GPIO_Pin_2);
if(TIM1CH4_CAPTURE_STA&0X80)//成功捕获到了一次高电平
{
Distance = TIM1CH4_CAPTURE_STA&0X3F;
Distance *= 65536; //溢出时间总和
Distance += TIM1CH4_CAPTURE_VAL; //得到总的高电平时间
Distance = Distance*170/10000;//超声波测距是测量声波发出去和反射回来是时间间隔，用微妙做单位。
//空气中的声速是每秒340米。一微妙时间声波传输的距离是340×0.000001=0.00034米=0.034厘米，除以2就是所测距离:0.017=1.7/100。这就是1.7的来历。
TIM1CH4_CAPTURE_STA=0; //开启下一次捕获
}
}
/*
捕获中断处理函数
*/
void TIM1_CC_IRQHandler(void)
{
if((TIM1CH4_CAPTURE_STA&0X80)==0)//还未完成一次脉冲捕获
{
if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET)
{
if(TIM1CH4_CAPTURE_STA&0X40)
{
if((TIM1CH4_CAPTURE_STA&0X3F)==0X3F)
{
TIM1CH4_CAPTURE_STA|=0X80;
TIM1CH4_CAPTURE_VAL=0XFFFF;
}
else TIM1CH4_CAPTURE_STA++;
}
}
if (TIM_GetITStatus(TIM1, TIM_IT_CC4) != RESET)//通道4捕获到事件
{
if(TIM1CH4_CAPTURE_STA&0X40){
TIM1CH4_CAPTURE_STA|=0X80; //标记已经捕获到下降沿
TIM1CH4_CAPTURE_VAL=TIM_GetCapture4(TIM1);
TIM_OC4PolarityConfig(TIM1,TIM_ICPolarity_Rising); //设置为上升沿捕获
}
else{
TIM1CH4_CAPTURE_STA=0;
TIM1CH4_CAPTURE_VAL=0;
TIM_SetCounter(TIM1,0);
TIM1CH4_CAPTURE_STA|=0X40; //标记已经捕获到上升沿
TIM_OC4PolarityConfig(TIM1,TIM_ICPolarity_Falling); // 设置为下降沿捕获
}
}
}
TIM_ClearITPendingBit(TIM1, TIM_IT_CC4|TIM_IT_Update);
}
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