generated from hulk/gd32e23x_template_cmake_vscode
feat(VL53L4CD): 支持透过玻璃串扰补偿、串口校准命令与校准数据Flash存储
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/*!
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\file main.c
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\brief running LED
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\version 2025-02-10, V2.4.0, demo for GD32E23x
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*/
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/*
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Copyright (c) 2025, GigaDevice Semiconductor Inc.
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Redistribution and use in source and binary forms, with or without modification,
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Redistribution and use in source and binary forms, with or without modification,
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are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its contributors
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may be used to endorse or promote products derived from this software without
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3. Neither the name of the copyright holder nor the names of its contributors
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may be used to endorse or promote products derived from this software without
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specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
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INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
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NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
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OF SUCH DAMAGE.
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "gd32e23x.h"
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@@ -38,10 +38,100 @@ OF SUCH DAMAGE.
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#include "uart_ring_buffer.h"
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#include "led.h"
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#include "command.h"
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#include <stdio.h>
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#include "i2c.h"
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#include "board_config.h"
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#include "VL53L4CD_Driver.h"
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#include "calib_store.h"
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/*!
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\brief 向测距串口发送一个字节
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\param[in] byte: 待发送字节
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\param[out] none
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\retval none
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*/
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static void uart_put_byte(uint8_t byte)
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{
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while (usart_flag_get(UART_PHY, USART_FLAG_TBE) == RESET) {}
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usart_data_transmit(UART_PHY, byte);
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}
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/*!
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\brief 向测距串口发送以 NUL 结尾的字符串
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\param[in] s: 字符串指针
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\param[out] none
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\retval none
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*/
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static void uart_write_str(const char *s)
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{
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while (*s != '\0') {
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uart_put_byte((uint8_t)*s++);
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}
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}
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/*!
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\brief 以十进制输出无符号整数（替代 printf，节省 libc 体积）
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\param[in] value: 待输出的数值
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\param[out] none
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\retval none
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*/
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static void uart_write_u32(uint32_t value)
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{
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char temp[10];
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uint8_t i = 0U;
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if (value == 0U) {
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uart_put_byte('0');
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return;
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}
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while (value > 0U) {
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temp[i++] = (char)('0' + (value % 10U));
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value /= 10U;
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}
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while (i > 0U) {
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uart_put_byte((uint8_t)temp[--i]);
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}
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}
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/*!
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\brief 以十进制输出有符号整数
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\param[in] value: 待输出的数值
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\param[out] none
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\retval none
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*/
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static void uart_write_i32(int32_t value) __attribute__((unused));
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static void uart_write_i32(int32_t value)
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{
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uint32_t magnitude;
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if (value < 0) {
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uart_put_byte('-');
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magnitude = (uint32_t)(-value);
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} else {
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magnitude = (uint32_t)value;
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}
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uart_write_u32(magnitude);
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}
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/*!
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\brief 输出一帧测距结果，格式与原 printf 版本逐字节一致
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\param[in] r: 测距结果指针
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\param[out] none
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\retval none
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*/
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static void report_result(const vl53l4cd_result_t *r)
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{
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uart_write_str("Distance: ");
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uart_write_u32(r->distance_mm);
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uart_write_str(" mm | status: ");
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uart_write_u32(r->range_status);
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uart_write_str(" | signal: ");
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uart_write_u32(r->signal_rate_kcps);
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uart_write_str(" kcps | ambient: ");
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uart_write_u32(r->ambient_rate_kcps);
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uart_write_str(" kcps | sigma: ");
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uart_write_u32(r->sigma_mm);
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uart_write_str(" mm\r\n");
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}
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/*!
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\brief main function
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@@ -84,21 +174,41 @@ int main(void)
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if (vl53l4cd_calibrate_offset(VL53L4CD_CALIB_TARGET_MM,
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VL53L4CD_CALIB_SAMPLES,
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&cal_offset)) {
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printf("VL53L4CD offset calibrated: %d mm\r\n", cal_offset);
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uart_write_str("VL53L4CD offset calibrated: ");
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uart_write_i32(cal_offset);
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uart_write_str(" mm\r\n");
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} else {
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printf("VL53L4CD offset calibration failed\r\n");
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uart_write_str("VL53L4CD offset calibration failed\r\n");
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}
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#else
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(void)vl53l4cd_set_offset(VL53L4CD_CALIB_OFFSET_MM);
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int16_t stored_offset = 0;
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uint16_t stored_xtalk = 0;
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bool applied = false;
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#if VL53L4CD_PERSIST_CALIB == CFG_ENABLE
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/* Flash 末页有有效校准数据时优先生效（M105 保存 / M107 擦除） */
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if (calib_store_load(&stored_offset, &stored_xtalk)) {
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vl53l4cd_set_offset(stored_offset);
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vl53l4cd_set_xtalk(stored_xtalk);
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applied = true;
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}
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#endif
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if (!applied) {
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vl53l4cd_set_offset(VL53L4CD_CALIB_OFFSET_MM);
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#if VL53L4CD_GLASS_XTALK == CFG_ENABLE
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/* 透过玻璃安装：写入编译期固定串扰补偿 */
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vl53l4cd_set_xtalk(VL53L4CD_GLASS_XTALK_KCPS);
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#endif
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}
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#endif
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vl53l4cd_start_ranging();
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printf("VL53L4CD ready\r\n");
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uart_write_str("VL53L4CD ready\r\n");
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} else {
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printf("VL53L4CD init failed\r\n");
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uart_write_str("VL53L4CD init failed\r\n");
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}
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/* ========== Command Testing ========== */
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/* ========== */
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while(1){
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@@ -109,12 +219,10 @@ int main(void)
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vl53l4cd_clear_interrupt();
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if (vl53l4cd_get_result(&result)) {
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printf("Distance: %u mm | status: %u | signal: %lu kcps | ambient: %lu kcps | sigma: %u mm\r\n",
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result.distance_mm,
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result.range_status,
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(unsigned long)result.signal_rate_kcps,
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(unsigned long)result.ambient_rate_kcps,
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result.sigma_mm);
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command_set_last_result(&result); /* 供 M3 命令查询 */
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if (get_sensor_report_enabled()) {
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report_result(&result);
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}
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}
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delay_ms(500);
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}
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