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Merge branch 'feature-ultrasonic' into dev

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# Conflicts:
#	CMakeLists.txt
#	inc/main.h
#	inc/rs485_protocol.h
#	src/main.c
#	src/rs485_protocol.c
This commit is contained in:
yelvlab 2025-01-08 14:02:40 +08:00
commit f7ef4b5af7
10 changed files with 332 additions and 23 deletions
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5
CMakeLists.txt
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@ -12,11 +12,11 @@ set(VERSION "V${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH}")
string(TIMESTAMP CURRENT_DATE "%Y-%m-%d")
# Options 1
set(OPT1 "_[HW_IIC]")
set(OPT1 "_[12V]")
#set(OPT1 "_[SW_IIC]")
# Options 2
set(OPT2 "")
set(OPT2 "_[HW_IIC]")
#set(OPT2 "_[NO_LED]")
enable_language(C)
@ -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
${CMAKE_SOURCE_DIR}/src/gd60914.c
)

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

56
inc/board_config.h
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@ -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
/******************************************************************************/

2
inc/gd32e23x_it.h
View File

@ -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 */

3
inc/rs485_protocol.h
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@ -14,6 +14,7 @@
#include <stddef.h>
#include <stdio.h>
#include <string.h>
#include "ultrasonic_analog.h"
/******************************************************************************/
@ -50,4 +51,6 @@ validation_result_t validate_data_length(uint8_t* data);
void gd60914_tempture_report(void);
void ultrasonic_distance_report(void);
#endif //RS485_PROTOCOL_H

43
inc/ultrasonic_analog.h Normal file
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@ -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);
uint16_t ultrasonic_calc_distance(void);
#endif //ULTRASONIC_ANALOG_H

39
src/gd32e23x_it.c
View File

@ -34,6 +34,8 @@ OF SUCH DAMAGE.
#include "gd32e23x_it.h"
__IO uint16_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];

14
src/main.c
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@ -8,6 +8,9 @@
volatile uint8_t g_temperature_uint8[2] = {0};
extern uint16_t g_capture_value;
uint16_t g_distance_uint16;
/*!
\brief main function
\param[in] none
@ -34,12 +37,15 @@ 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);
gd60914_get_object_tempture();
// delay_ms(100);
// printf("%d\r\n", g_temperature_uint8[1] << 8 | g_temperature_uint8[0]);
delay_ms(50);
ultrasonic_pwm_out_cycles(ULTRASONIC_TX_CYCLES);
watchdog_reload();
}

27
src/rs485_protocol.c
View File

@ -20,10 +20,8 @@ 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();
} else if (strcmp(combined_str, "M2") == 0)
{
ultrasonic_distance_report();
} else if (strcmp(combined_str, "M2") == 0) {
gd60914_tempture_report();
} else if (strcmp(combined_str, "M3") == 0)
{
@ -103,4 +101,23 @@ void gd60914_tempture_report(void) {
printf("%c%c%c", package_header[0], package_header[1], package_header[2]);
printf("%c%c", g_temperature_uint8[1], g_temperature_uint8[0]);
printf("%c", calculate_crc(combined_data, 6));
}
}
void ultrasonic_distance_report(void) {
static uint16_t distance_uint16 = 0;
static uint8_t package_header[3] = {0xB5, 0xF0, 0x02};
static uint8_t package_data[4] = {0};
distance_uint16 = ultrasonic_calc_distance();
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, 2);
printf("%c%c%c", package_header[0], package_header[1], package_header[2]);
printf("%c%c", package_data[0], package_data[1]);
printf("%c", calculate_crc(combined_data, 6));
}

154
src/ultrasonic_analog.c Normal file
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@ -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();
}
uint16_t ultrasonic_calc_distance(void) {
while (!ultrasonicMeasurementDone);
// uint32_t us_value = timer_channel_capture_value_register_read(US_ECHO_TIMER, US_ECHO_CH);
uint16_t distance = (TIME_CORRECTION_US + g_capture_value) * 17;
/*
* (TIME_CORRECTION_US + us_value) * 340 m/s
* -----------------------------------------
* 1000 000
* ----------------------------------------------
* 2
*/
return distance;
}