hulk/XLSW_3DP_US-IR
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alpha version

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yelvlab 2025-01-08 13:47:24 +08:00
parent c9c1e00d6a
commit b4901f5f37
6 changed files with 19 additions and 21 deletions
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12
cmake/toolchain.cmake
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@ -94,12 +94,12 @@ set(TARGET_CFLAGS_HARDWARE "-mcpu=cortex-m23 -mfloat-abi=soft -mthumb -mthumb-in
#set(CMAKE_C_FLAGS_DEBUG "-DDEBUG=0 -O0 -g")
#set(CMAKE_CXX_FLAGS_DEBUG "-DDEBUG=0 -O0 -g")
#set(CMAKE_ASM_FLAGS_DEBUG "-DDEBUG=0 -O0 -g")
set(CMAKE_C_FLAGS_DEBUG "-DDEBUG=0 -O2 -g")
set(CMAKE_CXX_FLAGS_DEBUG "-DDEBUG=0 -O2 -g")
set(CMAKE_ASM_FLAGS_DEBUG "-DDEBUG=0 -O2 -g")
#set(CMAKE_C_FLAGS_DEBUG "-DDEBUG=0 -Os -g")
#set(CMAKE_CXX_FLAGS_DEBUG "-DDEBUG=0 -Os -g")
#set(CMAKE_ASM_FLAGS_DEBUG "-DDEBUG=0 -Os -g")
#set(CMAKE_C_FLAGS_DEBUG "-DDEBUG=0 -O2 -g")
#set(CMAKE_CXX_FLAGS_DEBUG "-DDEBUG=0 -O2 -g")
#set(CMAKE_ASM_FLAGS_DEBUG "-DDEBUG=0 -O2 -g")
set(CMAKE_C_FLAGS_DEBUG "-DDEBUG=0 -Os -g")
set(CMAKE_CXX_FLAGS_DEBUG "-DDEBUG=0 -Os -g")
set(CMAKE_ASM_FLAGS_DEBUG "-DDEBUG=0 -Os -g")
# RELEASE
set(CMAKE_C_FLAGS_RELEASE "-DNDEBUG -O3") # -flto

2
inc/ultrasonic_analog.h
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@ -37,7 +37,7 @@ void ultrasonic_echo_timer_config(void);
void ultrasonic_config(void);
uint32_t ultrasonic_calc_distance(void);
uint16_t ultrasonic_calc_distance(void);
#endif //ULTRASONIC_ANALOG_H

2
src/gd32e23x_it.c
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@ -34,7 +34,7 @@ OF SUCH DAMAGE.
#include "gd32e23x_it.h"
__IO uint32_t g_capture_value;
__IO uint16_t g_capture_value;
/*!
\brief this function handles NMI exception

2
src/main.c
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@ -8,7 +8,7 @@
volatile uint8_t g_temperature_uint8[2] = {0};
extern uint32_t g_capture_value;
extern uint16_t g_capture_value;
uint16_t g_distance_uint16;
/*!

18
src/rs485_protocol.c
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@ -122,22 +122,20 @@ void gd60914_tempture_report(void) {
// }
void ultrasonic_distance_report(void) {
static uint32_t distance_uint32 = 0;
static uint8_t package_header[3] = {0xB5, 0xF0, 0x04};
static uint16_t distance_uint16 = 0;
static uint8_t package_header[3] = {0xB5, 0xF0, 0x02};
static uint8_t package_data[4] = {0};
distance_uint32 = ultrasonic_calc_distance();
distance_uint16 = 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;
package_data[0] = (distance_uint16 >> 8) & 0xFF;
package_data[1] = distance_uint16 & 0xFF;
uint8_t combined_data[7];
memcpy(combined_data, package_header, 3);
memcpy(combined_data + 3, package_data, 4);
memcpy(combined_data + 3, package_data, 2);
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));
printf("%c%c", package_data[0], package_data[1]);
printf("%c", calculate_crc(combined_data, 6));
}

4
src/ultrasonic_analog.c
View File

@ -139,10 +139,10 @@ void ultrasonic_config(void) {
ultrasonic_echo_timer_config();
}
uint32_t ultrasonic_calc_distance(void) {
uint16_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;
uint16_t distance = (TIME_CORRECTION_US + g_capture_value) * 17;
/*
* (TIME_CORRECTION_US + us_value) * 340 m/s
* -----------------------------------------