diff --git a/CMakeLists.txt b/CMakeLists.txt index 79bc5b4..ee44a95 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -12,7 +12,7 @@ set(VERSION "V${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH}") string(TIMESTAMP CURRENT_DATE "%Y-%m-%d") # Options 1 -set(OPT1 "") +set(OPT1 "_[12V]") #set(OPT1 "_[SW_IIC]") # Options 2 @@ -40,6 +40,7 @@ set(TARGET_C_SRC ${CMAKE_SOURCE_DIR}/src/i2c.c ${CMAKE_SOURCE_DIR}/src/fwdgt.c ${CMAKE_SOURCE_DIR}/src/rs485_protocol.c + ${CMAKE_SOURCE_DIR}/src/ultrasonic_analog.c ) add_executable(${PROJECT_NAME} ${TARGET_C_SRC}) diff --git a/inc/board_config.h b/inc/board_config.h index c45a322..c50bd57 100644 --- a/inc/board_config.h +++ b/inc/board_config.h @@ -9,6 +9,24 @@ // #define DEBUG_VERBOES +#define POWER_SUPPLY_12V +// #define POWER_SUPPLY_24V + +/******************************************************************************/ + +#ifdef POWER_SUPPLY_12V +#define POWER_VOLTAGE "12V" +#define TIME_CORRECTION_US 250 +#define CAPTURE_VALUE_MAX 515 +#elif defined(POWER_SUPPLY_24V) +#define POWER_VOLTAGE "24V" +#define TIME_CORRECTION_US 230 +#define CAPTURE_VALUE_MAX 550 +#else + #error "Please define either POWER_SUPPLY_12V or POWER_SUPPLY_24V" +#endif + + /******************************************************************************/ #define I2C_GPIO_RCU RCU_GPIOF @@ -38,9 +56,41 @@ #define LED_PORT GPIOA #define LED_PIN GPIO_PIN_9 #define LED_RCU RCU_GPIOA -#define LED_BLINK_TIMER_RCU RCU_TIMER16 -#define LED_BLINK_TIMER TIMER16 -#define LED_BLINK_IRQ TIMER16_IRQn +#define LED_BLINK_TIMER_RCU RCU_TIMER5 +#define LED_BLINK_TIMER TIMER5 +#define LED_BLINK_IRQ TIMER5_IRQn + +/******************************************************************************/ + + +#define US_TX_GPIO_RCU RCU_GPIOB +#define US_TX_GPIO_PORT GPIOB +#define US_TX_PIN GPIO_PIN_1 +#define US_TX_GPIO_AF GPIO_AF_0 +#define US_TX_RCU RCU_TIMER13 +#define US_TX_TIMER TIMER13 +#define US_TX_CH TIMER_CH_0 + +/******************************************************************************/ + +#define US_TX_DELAY_RCU RCU_TIMER15 +#define US_TX_DELAY_TIMER TIMER15 + +/******************************************************************************/ + +#define US_RX_GPIO_RCU RCU_GPIOA +#define US_RX_EXTI_RCU RCU_CFGCMP +#define US_RX_GPIO_PORT GPIOA +#define US_RX_GPIO_PIN GPIO_PIN_0 +#define US_RX_EXTI_IRQ EXTI0_1_IRQn +#define US_RX_GPIO_EXTI EXTI_0 +#define US_RX_EXTI_LINE EXTI_SOURCE_PIN0 + +/******************************************************************************/ + +#define US_ECHO_RCU RCU_TIMER16 +#define US_ECHO_TIMER TIMER16 +#define US_ECHO_CH TIMER_CH_0 /******************************************************************************/ diff --git a/inc/gd32e23x_it.h b/inc/gd32e23x_it.h index 70a4747..6407cc5 100644 --- a/inc/gd32e23x_it.h +++ b/inc/gd32e23x_it.h @@ -55,6 +55,6 @@ void PendSV_Handler(void); /* this function handles SysTick exception */ void SysTick_Handler(void); -void TIMER16_IRQHandler(void); +void TIMER5_IRQHandler(void); #endif /* GD32E23X_IT_H */ diff --git a/inc/main.h b/inc/main.h index 22cd3d4..ebfdc0e 100644 --- a/inc/main.h +++ b/inc/main.h @@ -43,6 +43,7 @@ OF SUCH DAMAGE. #include "usart.h" #include "fwdgt.h" #include "board_config.h" +#include "ultrasonic_analog.h" #ifdef SOFTWARE_IIC #include "soft_i2c.h" diff --git a/inc/rs485_protocol.h b/inc/rs485_protocol.h index b358deb..b0d2702 100644 --- a/inc/rs485_protocol.h +++ b/inc/rs485_protocol.h @@ -14,6 +14,7 @@ #include #include #include +#include "ultrasonic_analog.h" /******************************************************************************/ @@ -48,4 +49,8 @@ validation_result_t validate_package_type(uint8_t* data); validation_result_t validate_data_length(uint8_t* data); + + +void ultrasonic_distance_report(void); + #endif //RS485_PROTOCOL_H diff --git a/inc/ultrasonic_analog.h b/inc/ultrasonic_analog.h new file mode 100644 index 0000000..d59ac3b --- /dev/null +++ b/inc/ultrasonic_analog.h @@ -0,0 +1,43 @@ +// +// Created by yelv1 on 24-12-31. +// + +#ifndef ULTRASONIC_ANALOG_H +#define ULTRASONIC_ANALOG_H + +#include "gd32e23x.h" +#include "systick.h" +#include "gd32e23x_libopt.h" +#include "board_config.h" +#include "usart.h" +#include "fwdgt.h" +#include +#include +#include +#include + +extern volatile bool ultrasonicMeasurementDone; + +/******************************************************************************/ + +#define ULTRASONIC_TX_CYCLES 0x05U +#define ULTRASONIC_TX_TIME 498 // (ms) + +/******************************************************************************/ + +void ultrasonic_gpio_config(void); + +void ultrasonic_pwm_out_cycles(const uint8_t cycles); + +void ultrasonic_transmit_delay(const uint16_t micro_second); + +void ultrasonic_rece_exti_config(void); + +void ultrasonic_echo_timer_config(void); + +void ultrasonic_config(void); + +uint32_t ultrasonic_calc_distance(void); + + +#endif //ULTRASONIC_ANALOG_H diff --git a/src/gd32e23x_it.c b/src/gd32e23x_it.c index 906adb9..a966685 100644 --- a/src/gd32e23x_it.c +++ b/src/gd32e23x_it.c @@ -34,6 +34,8 @@ OF SUCH DAMAGE. #include "gd32e23x_it.h" +__IO uint32_t g_capture_value; + /*! \brief this function handles NMI exception \param[in] none @@ -102,8 +104,7 @@ void SysTick_Handler(void) \param[out] none \retval none */ -void TIMER16_IRQHandler(void) -{ +void TIMER5_IRQHandler(void) { if (timer_interrupt_flag_get(LED_BLINK_TIMER, TIMER_INT_FLAG_UP) == SET) { timer_interrupt_flag_clear(LED_BLINK_TIMER, TIMER_INT_FLAG_UP); @@ -122,6 +123,40 @@ void TIMER16_IRQHandler(void) } } +/** + * @brief This function handles TIMER15 interrupt request. + * @param[in] none + * @param[out] none + * @retval None + */ +void TIMER15_IRQHandler(void) { + if (timer_interrupt_flag_get(US_TX_DELAY_TIMER, TIMER_INT_FLAG_UP) == SET) + { + timer_interrupt_flag_clear(US_TX_DELAY_TIMER, TIMER_INT_FLAG_UP); + exti_interrupt_enable(US_RX_GPIO_EXTI); // turn on hardware external input interrupt + timer_counter_value_config(US_ECHO_TIMER, 0); + timer_enable(US_ECHO_TIMER); // turn on timer to calculate the first ultrasonic echo time + timer_disable(US_TX_DELAY_TIMER); + } +} + +/** + * @brief This function handles external lines 0 to 1 interrupt request + * @param[in] none + * @param[out] none + * @retval None + */ +void EXTI0_1_IRQHandler(void) { + if (exti_interrupt_flag_get(US_RX_GPIO_EXTI) == SET) + { + exti_interrupt_flag_clear(US_RX_GPIO_EXTI); + g_capture_value = timer_channel_capture_value_register_read(US_ECHO_TIMER, US_ECHO_CH); + ultrasonicMeasurementDone = true; + timer_disable(US_ECHO_TIMER); + exti_interrupt_disable(US_RX_GPIO_EXTI); + } +} + void USART0_IRQHandler(void) { static uint8_t rx_index = 0; static uint8_t rx_buffer[RX_BUFFER_SIZE]; diff --git a/src/main.c b/src/main.c index bfce4af..34b0207 100644 --- a/src/main.c +++ b/src/main.c @@ -6,6 +6,9 @@ */ #include "main.h" +extern uint32_t g_capture_value; +uint16_t g_distance_uint16; + /*! \brief main function \param[in] none @@ -26,11 +29,19 @@ int main(void) printf("system start!\r\n"); + ultrasonic_config(); + // gpio_bit_write(RS485_EN_PORT, RS485_EN_PIN, RESET); while(1){ // printf("hello world!\r\n"); - // delay_ms(500); + delay_ms(50); + ultrasonic_pwm_out_cycles(ULTRASONIC_TX_CYCLES); + // delay_ms(2); + + + // g_distance_uint16 = ultrasonic_calc_distance(); + // printf("Distance: %d cm\r\n", g_distance_uint16); watchdog_reload(); } } diff --git a/src/rs485_protocol.c b/src/rs485_protocol.c index ea8ce98..165993c 100644 --- a/src/rs485_protocol.c +++ b/src/rs485_protocol.c @@ -18,8 +18,8 @@ void process_command(uint8_t *cmd, size_t length) { // printf("%d", length); sprintf(combined_str, "%c%c", cmd[3], cmd[4]); if (strcmp(combined_str, "M1") == 0) { - printf("%c%c%c%c%c%c", 0xB5, 0xF1, 0x02, 0x6F, 0x6B, 0xCC); - // eddy_current_value_report(); + + ultrasonic_distance_report(); } else if (strcmp(combined_str, "M2") == 0) { printf("%c%c%c%c%c%c%c", 0xB5, 0xF1, 0x02, 0x6F, 0x6B, 0x6B, 0xCC); // tempture_value_report(); @@ -90,3 +90,43 @@ validation_result_t validate_data_length(uint8_t *data) { return VALIDATION_LENGTH_ERROR; } } + +// void eddy_current_value_report(void) { +// static uint32_t eddy_current_value_uint32 = 0; +// +// eddy_current_value_uint32 = ldc1612_get_raw_channel_result(CHANNEL_0); +// +// package_data[0] = (eddy_current_value_uint32 >> 24) & 0xFF; +// package_data[1] = (eddy_current_value_uint32 >> 16) & 0xFF; +// package_data[2] = (eddy_current_value_uint32 >> 8) & 0xFF; +// package_data[3] = eddy_current_value_uint32 & 0xFF; +// +// uint8_t combined_data[7]; +// memcpy(combined_data, package_header, 3); +// memcpy(combined_data + 3, package_data, 4); +// +// printf("%c%c%c", package_header[0], package_header[1], package_header[2]); +// printf("%c%c%c%c", package_data[0], package_data[1], package_data[2], package_data[3]); +// printf("%c", calculate_crc(combined_data, 8)); +// } + +void ultrasonic_distance_report(void) { + static uint32_t distance_uint32 = 0; + static uint8_t package_header[3] = {0xB5, 0xF0, 0x04}; + static uint8_t package_data[4] = {0}; + + distance_uint32 = ultrasonic_calc_distance(); + + package_data[0] = (distance_uint32 >> 24) & 0xFF; + package_data[1] = (distance_uint32 >> 16) & 0xFF; + package_data[2] = (distance_uint32 >> 8) & 0xFF; + package_data[3] = distance_uint32 & 0xFF; + + uint8_t combined_data[7]; + memcpy(combined_data, package_header, 3); + memcpy(combined_data + 3, package_data, 4); + + printf("%c%c%c", package_header[0], package_header[1], package_header[2]); + printf("%c%c%c%c", package_data[0], package_data[1], package_data[2], package_data[3]); + printf("%c", calculate_crc(combined_data, 8)); +} diff --git a/src/ultrasonic_analog.c b/src/ultrasonic_analog.c new file mode 100644 index 0000000..70bd4af --- /dev/null +++ b/src/ultrasonic_analog.c @@ -0,0 +1,154 @@ +// +// Created by yelv1 on 24-12-31. +// + +#include "ultrasonic_analog.h" + +volatile bool ultrasonicMeasurementDone = false; +extern uint32_t g_capture_value; + +/*! + \brief configure ultrasonic gpio & timer13 ch0 pwm output + \param[in] none + \param[out] none + \retval none +*/ +void ultrasonic_gpio_config(void) { + rcu_periph_clock_enable(US_TX_GPIO_RCU); + + gpio_mode_set(US_TX_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, US_TX_PIN); + gpio_output_options_set(US_TX_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, US_TX_PIN); + gpio_af_set(US_TX_GPIO_PORT, US_TX_GPIO_AF, US_TX_PIN); + + timer_oc_parameter_struct timer_ocinitpara; + timer_parameter_struct timer_initpara; + + rcu_periph_clock_enable(US_TX_RCU); + timer_deinit(US_TX_TIMER); + + timer_struct_para_init(&timer_initpara); + timer_initpara.prescaler = 0; + timer_initpara.alignedmode = TIMER_COUNTER_EDGE; + timer_initpara.counterdirection = TIMER_COUNTER_UP; + timer_initpara.period = 239; + timer_initpara.clockdivision = TIMER_CKDIV_DIV1; + timer_init(US_TX_TIMER, &timer_initpara); + + timer_channel_output_struct_para_init(&timer_ocinitpara); + timer_ocinitpara.outputstate = TIMER_CCX_ENABLE; + timer_ocinitpara.outputnstate = TIMER_CCXN_DISABLE; + timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH; + timer_ocinitpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH; + timer_ocinitpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW; + timer_ocinitpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW; + timer_channel_output_config(US_TX_TIMER, US_TX_CH, &timer_ocinitpara); + + timer_channel_output_pulse_value_config(US_TX_TIMER, US_TX_CH, 120); + timer_channel_output_mode_config(US_TX_TIMER, US_TX_CH, TIMER_OC_MODE_PWM0); + timer_auto_reload_shadow_enable(US_TX_TIMER); + + timer_interrupt_enable(US_TX_TIMER, TIMER_INT_UP); +} + +void ultrasonic_pwm_out_cycles(const uint8_t cycles) { + ultrasonicMeasurementDone = false; + uint8_t current_cycle = 0; + + timer_channel_output_pulse_value_config(US_TX_TIMER, US_TX_CH, 120); + timer_channel_output_mode_config(US_TX_TIMER, US_TX_CH, TIMER_OC_MODE_PWM1); + timer_enable(US_TX_TIMER); + + timer_enable(US_TX_DELAY_TIMER); + + while (current_cycle < cycles) + { + while (!timer_interrupt_flag_get(US_TX_TIMER, TIMER_INT_FLAG_UP)); + timer_interrupt_flag_clear(US_TX_TIMER, TIMER_INT_FLAG_UP); + current_cycle++; + } + // delay_nop(); + timer_disable(US_TX_TIMER); +} + +/*! + \brief configure ultrasonic transmit debounce delay(timer15) 72MHz/72 = 1MHz 1us. + \param[in] micro_second: delay time in micro second + \param[out] none + \retval none +*/ +void ultrasonic_transmit_debounce_delay(const uint16_t micro_second) { + rcu_periph_clock_enable(US_TX_DELAY_RCU); + timer_deinit(US_TX_DELAY_TIMER); + + timer_parameter_struct timer_initpara; + timer_struct_para_init(&timer_initpara); + timer_initpara.prescaler = 71; + timer_initpara.alignedmode = TIMER_COUNTER_EDGE; + timer_initpara.counterdirection = TIMER_COUNTER_UP; + timer_initpara.period = micro_second - 1; + timer_initpara.clockdivision = TIMER_CKDIV_DIV1; + timer_initpara.repetitioncounter = 0; + timer_init(US_TX_DELAY_TIMER, &timer_initpara); + + timer_auto_reload_shadow_enable(US_TX_DELAY_TIMER); + timer_interrupt_enable(US_TX_DELAY_TIMER, TIMER_INT_UP); + nvic_irq_enable(TIMER15_IRQn, 1U); +} + +void ultrasonic_receive_exti_config(void) { + rcu_periph_clock_enable(US_RX_GPIO_RCU); + rcu_periph_clock_enable(US_RX_EXTI_RCU); + + gpio_mode_set(US_RX_GPIO_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, US_RX_GPIO_PIN); + nvic_irq_enable(US_RX_EXTI_IRQ, 0U); + syscfg_exti_line_config(EXTI_SOURCE_GPIOA, US_RX_EXTI_LINE); + + exti_init(US_RX_GPIO_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING); + exti_flag_clear(US_RX_GPIO_EXTI); + + // exti_interrupt_enable(EXTI_0); +} + +void ultrasonic_echo_timer_config(void) { + rcu_periph_clock_enable(US_ECHO_RCU); + timer_deinit(US_ECHO_TIMER); + + timer_parameter_struct timer_initpara; + timer_struct_para_init(&timer_initpara); + timer_initpara.prescaler = 71; + timer_initpara.alignedmode = TIMER_COUNTER_EDGE; + timer_initpara.counterdirection = TIMER_COUNTER_UP; + timer_initpara.period = 59999; + timer_initpara.clockdivision = TIMER_CKDIV_DIV1; + timer_initpara.repetitioncounter = 0; + timer_init(US_ECHO_TIMER, &timer_initpara); + + timer_ic_parameter_struct timer_icinitpara; + timer_channel_input_struct_para_init(&timer_icinitpara); + timer_icinitpara.icpolarity = TIMER_IC_POLARITY_BOTH_EDGE; + timer_icinitpara.icselection = TIMER_IC_SELECTION_INDIRECTTI; + timer_icinitpara.icprescaler = TIMER_IC_PSC_DIV1; + timer_icinitpara.icfilter = 0x03; + timer_input_capture_config(US_ECHO_TIMER, US_ECHO_CH, &timer_icinitpara); +} + +void ultrasonic_config(void) { + ultrasonic_gpio_config(); + ultrasonic_transmit_debounce_delay(TIME_CORRECTION_US); + ultrasonic_receive_exti_config(); + ultrasonic_echo_timer_config(); +} + +uint32_t ultrasonic_calc_distance(void) { + while (!ultrasonicMeasurementDone); + // uint32_t us_value = timer_channel_capture_value_register_read(US_ECHO_TIMER, US_ECHO_CH); + uint32_t distance = (TIME_CORRECTION_US + g_capture_value) * 17; + /* + * (TIME_CORRECTION_US + us_value) * 340 m/s + * ----------------------------------------- + * 1000 000 + * ---------------------------------------------- + * 2 + */ + return distance; +} \ No newline at end of file