有问题版本，暂存

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})

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_RCU  RCU_TIMER5
-#define LED_BLINK_TIMER      TIMER16
+#define LED_BLINK_TIMER      TIMER5
-#define LED_BLINK_IRQ        TIMER16_IRQn
+#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
 
 /******************************************************************************/
 

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 */

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"

inc/rs485_protocol.h

@@ -14,6 +14,7 @@
 #include <stddef.h>
 #include <stdio.h>
 #include <string.h>
+#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

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 <stddef.h>
+#include <stdio.h>
+#include <string.h>
+#include <stdbool.h>
+
+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

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];

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();
     }
 }

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));
+}

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;
+}