Page 281 - MDP2022-2

/* Private user code
---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void delay (uint16_t time)
{
__HAL_TIM_SET_COUNTER(&htim3, 0);
while (__HAL_TIM_GET_COUNTER (&htim3) < time);
}

void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
{
if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)
{
if (Is_First_Captured==0)
{
IC_Val1 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
Is_First_Captured = 1;

__HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1,
TIM_INPUTCHANNELPOLARITY_FALLING);
}

else if (Is_First_Captured==1)
{
IC_Val2 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
__HAL_TIM_SET_COUNTER(htim, 0);

if (IC_Val2 > IC_Val1)
{
Difference = IC_Val2-IC_Val1;
}

else if (IC_Val1 > IC_Val2)
{
Difference = (0xffff - IC_Val1) + IC_Val2;
}

Distance = Difference * .034/2;
Is_First_Captured = 0;