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base: hulk:997637efcff753e3c829b80d10b07747e64a364a
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hulk:main hulk:dev hulk:feature-protocol hulk:feature-timer_channel hulk:feature-ultrasonic hulk:feature-ir_gd60914 hulk:feature-rs485
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compare: hulk:feature-protocol
Branches Tags
hulk:dev hulk:feature-protocol hulk:feature-timer_channel hulk:feature-ultrasonic hulk:feature-ir_gd60914 hulk:feature-rs485 hulk:main

20 Commits
997637efcf ... feature-pr

Author SHA1 Message Date
yelvlab
c11db2c9bf for debug 2025-01-23 10:35:12 +08:00
yelvlab
11cf546438 for debug 2025-01-22 09:26:20 +08:00
yelvlab
1dacace57a for debug 2025-01-20 21:03:59 +08:00
yelvlab
a546f7bf83 暂存 2025-01-20 14:45:52 +08:00
yelvlab
39d800cb1b 暂存 2025-01-20 11:12:05 +08:00
yelvlab
a5c1c857a9 暂存 2025-01-20 10:28:43 +08:00
yelvlab
7ffb8c0612 修改变量的声明位置和修饰符 2025-01-08 17:16:12 +08:00
yelvlab
7075fd16ea clean & update version 2025-01-08 14:04:18 +08:00
yelvlab
f7ef4b5af7 Merge branch 'feature-ultrasonic' into dev 
# Conflicts:
#	CMakeLists.txt
#	inc/main.h
#	inc/rs485_protocol.h
#	src/main.c
#	src/rs485_protocol.c
 2025-01-08 14:02:40 +08:00
yelvlab
e940c69d49 clean 2025-01-08 13:57:25 +08:00
yelvlab
b4901f5f37 alpha version 2025-01-08 13:54:46 +08:00
yelvlab
c9c1e00d6a 有问题版本，暂存 2025-01-08 13:54:42 +08:00
yelvlab
6dd053e217 update version IR development version 2025-01-08 13:53:13 +08:00
yelvlab
8a7baaf87a 修改通信协议部分，修改版型为0x04 2025-01-08 13:53:09 +08:00
yelvlab
1af7a98a5f 主函数中重复执行，500ms间隔获取温度数据 2025-01-08 13:51:49 +08:00
yelvlab
aee082068e 使用硬件IIC实现回去数据，并且，间隔缩小到300ms 2025-01-08 13:49:36 +08:00
yelvlab
a0ba0c6bd1 update version IR development version 2025-01-08 09:17:30 +08:00
yelvlab
389d480da7 修改通信协议部分，修改版型为0x04 2025-01-08 09:14:18 +08:00
yelvlab
c12273fd46 主函数中重复执行，500ms间隔获取温度数据 2025-01-08 00:35:20 +08:00
yelvlab
e86f8b0dd3 使用硬件IIC实现回去数据，并且，间隔缩小到300ms 2025-01-07 15:42:56 +08:00
17 changed files with 396 additions and 128 deletions
Expand all files Collapse all files

7
CMakeLists.txt
View File

@@ -6,8 +6,8 @@ set(PROJECT_NAME "XLSW_3DP_US-IR")
project(${PROJECT_NAME})
set(VERSION_MAJOR 0)
set(VERSION_MINOR 0)
set(VERSION_PATCH 1)
set(VERSION_MINOR 2)
set(VERSION_PATCH 0)
set(VERSION "V${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH}")
string(TIMESTAMP CURRENT_DATE "%Y-%m-%d")
@@ -16,7 +16,7 @@ set(OPT1 "_[12V]")
#set(OPT1 "_[SW_IIC]")
# Options 2
set(OPT2 "")
set(OPT2 "_[HW_IIC]")
#set(OPT2 "_[NO_LED]")
enable_language(C)
@@ -41,6 +41,7 @@ set(TARGET_C_SRC
${CMAKE_SOURCE_DIR}/src/fwdgt.c
${CMAKE_SOURCE_DIR}/src/rs485_protocol.c
${CMAKE_SOURCE_DIR}/src/ultrasonic_analog.c
${CMAKE_SOURCE_DIR}/src/gd60914.c
)
add_executable(${PROJECT_NAME} ${TARGET_C_SRC})

12
cmake/toolchain.cmake
View File

@@ -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

5
inc/board_config.h
View File

@@ -41,13 +41,14 @@
/******************************************************************************/
#define USART_GPIO_RCU RCU_GPIOA
#define USART_RCU RCU_USART0
#define USART_RCU RCU_USART1
#define USART_GPIO_PORT GPIOA
#define USART_GPIO_AF GPIO_AF_1
#define USART_TX_PIN GPIO_PIN_2
#define USART_RX_PIN GPIO_PIN_3
#define USART_PHY USART0
#define USART_PHY USART1
#define USART_PHY_BAUDRATE 115200U
#define USART_PHY_IRQ USART1_IRQn
#define RS485_EN_PORT GPIOA
#define RS485_EN_PIN GPIO_PIN_4

34
inc/gd60914.h Normal file
View File

@@ -0,0 +1,34 @@
//
// Created by dell on 25-1-7.
//
#ifndef GD60914_H
#define GD60914_H
#include "gd32e23x_it.h"
#include "gd32e23x.h"
#include "board_config.h"
#ifdef SOFTWARE_IIC
#include "soft_i2c.h"
#else
#include "i2c.h"
#endif
/******************************************************************************/
#define GD60914_ADDR (0x18 << 1)
/******************************************************************************/
#define GD60914_HUM_TEMP 0x1A
#define GD60914_OBJ_TEMP 0x1F
#define GD60914_AMB_TEMP 0x1E
#define GD60914_TEMP_REG 0x1C
void gd60914_get_object_tempture(void);
void gd60914_read_temp(void);
#endif //GD60914_H

2
inc/i2c.h
View File

@@ -19,7 +19,7 @@
/******************************************************************************/
#define I2C_SPEED 20000
#define I2C_SPEED 100000
#define I2C_TIME_OUT (uint16_t)(5000)
#define I2C_OK 1

2
inc/main.h
View File

@@ -43,7 +43,7 @@ OF SUCH DAMAGE.
#include "usart.h"
#include "fwdgt.h"
#include "board_config.h"
#include "ultrasonic_analog.h"
#include "gd60914.h"
#ifdef SOFTWARE_IIC
#include "soft_i2c.h"

32
inc/rs485_protocol.h
View File

@@ -13,17 +13,21 @@
#include "fwdgt.h"
#include <stddef.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "ultrasonic_analog.h"
/******************************************************************************/
#define RX_BUFFER_SIZE 32
#define PROTOCOL_PACKAGE_HEADER 0xD5
#define PROTOCOL_BOARD_TYPE 0x03
#define PROTOCOL_BOARD_TYPE 0x04
#define PROTOCOL_PACKAGE_LENGTH 0x02
#define PACKET_START_BYTE 0xD5
#define MAX_SERIAL_CMD_SIZE 16
#define BUF_SIZE 8
/******************************************************************************/
typedef enum
@@ -35,9 +39,21 @@ typedef enum
VALIDATION_LENGTH_ERROR = 8
} validation_result_t;
typedef enum {
PS_LEN,
PS_TYPE,
PS_PAYLOAD,
PS_CRC,
PS_NULL
}packet_state_t;
/******************************************************************************/
void process_command(uint8_t* cmd, size_t length);
// void process_command(uint8_t* cmd, size_t length);
bool code_seen(char code);
float code_value(void);
uint8_t calculate_crc(uint8_t data[], uint8_t data_length);
@@ -49,8 +65,14 @@ validation_result_t validate_package_type(uint8_t* data);
validation_result_t validate_data_length(uint8_t* data);
void gd60914_tempture_report(void);
void ultrasonic_distance_report(void);
void start_communication(void);
void get_command(void);
void prcess_command(void);
#endif //RS485_PROTOCOL_H

2
inc/ultrasonic_analog.h
View File

@@ -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

17
inc/usart.h
View File

@@ -8,8 +8,25 @@
#include "gd32e23x.h"
#include "board_config.h"
#define RX_BUFFER_SIZE 64
typedef struct
{
unsigned char buffer[RX_BUFFER_SIZE];
volatile unsigned int head;
volatile unsigned int tail;
}ring_buffer_t;
static ring_buffer_t rx_buffer = {{0}, 0, 0}; // ring buffer for USART0
void usart_config(void);
void rs485_config(void);
void store_char(unsigned char data, ring_buffer_t *rx_buf);
uint16_t uart_available(void);
int uart_read(void);
#endif //USART_H

4
ld/gd32e23x_gcc.ld
View File

@@ -1,8 +1,8 @@
/* memory map */
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 16K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 4K
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 64K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 8K
}
ENTRY(Reset_Handler)

43
src/gd32e23x_it.c
View File

@@ -34,7 +34,8 @@ OF SUCH DAMAGE.
#include "gd32e23x_it.h"
__IO uint32_t g_capture_value;
extern uint16_t g_capture_value;
extern ring_buffer_t rx_buffer;
/*!
\brief this function handles NMI exception
@@ -117,7 +118,7 @@ void TIMER5_IRQHandler(void) {
} else {
//! turn off led & reconfig timer13 period to 1000(100ms)
gpio_bit_write(LED_PORT, LED_PIN, SET);
timer_autoreload_value_config(LED_BLINK_TIMER, 800);
timer_autoreload_value_config(LED_BLINK_TIMER, 8000);
}
led_status = !led_status;
}
@@ -157,26 +158,28 @@ void EXTI0_1_IRQHandler(void) {
}
}
void USART0_IRQHandler(void) {
static uint8_t rx_index = 0;
static uint8_t rx_buffer[RX_BUFFER_SIZE];
void USART1_IRQHandler(void) {
// static uint8_t rx_index = 0;
// static uint8_t rx_buffer[RX_BUFFER_SIZE];
if (RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_RBNE)) {
usart_interrupt_flag_clear(USART0, USART_INT_FLAG_RBNE);
uint8_t received_data = (uint8_t) usart_data_receive(USART0);
if (RESET != usart_interrupt_flag_get(USART_PHY, USART_INT_FLAG_RBNE)) {
// usart_interrupt_flag_clear(USART_PHY, USART_INT_FLAG_RBNE);
uint8_t received_data = (uint8_t) usart_data_receive(USART_PHY);
// printf("%c", received_data);
// 将接收到的数据存储到缓冲区
if (rx_index < RX_BUFFER_SIZE - 1) {
rx_buffer[rx_index++] = received_data;
}
}
if (RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_IDLE)) {
usart_interrupt_flag_clear(USART0, USART_INT_FLAG_IDLE);
process_command(rx_buffer, rx_index); // 处理指令
rx_index = 0; // 重置缓冲区索引
return;
// if (rx_index < RX_BUFFER_SIZE - 1) {
// rx_buffer[rx_index++] = received_data;
// }
store_char(received_data, &rx_buffer);
}
//
// if (RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_IDLE)) {
// usart_interrupt_flag_clear(USART0, USART_INT_FLAG_IDLE);
//
// process_command(rx_buffer, rx_index); // 处理指令
//
// rx_index = 0; // 重置缓冲区索引
// return;
// }
}

51
src/gd60914.c Normal file
View File

@@ -0,0 +1,51 @@
//
// Created by dell on 25-1-7.
//
#include "gd60914.h"
void gd60914_get_object_tempture(void) {
#ifdef SOFTWARE_IIC
soft_i2c_config();
#else
i2c_config();
#endif
static uint8_t sensor_validation_data[2];
extern uint8_t g_temperature_uint8[2];
#ifdef SOFTWARE_IIC
soft_i2c_read_16bits(GD60914_ADDR, GD60914_OBJ_TEMP, data);
#else
i2c_read_16bits(GD60914_ADDR, GD60914_OBJ_TEMP, sensor_validation_data);
#endif
if (sensor_validation_data[0] != 0xAA || sensor_validation_data[1] != 0x55) {
#ifdef DEBUG_VERBOES
printf("sensor error\r\n");
#endif
return;
}
delay_ms(350);
#ifdef SOFTWARE_IIC
soft_i2c_read_16bits(GD60914_ADDR, GD60914_TEMP_REG, g_temperature_uint8);
#else
i2c_read_16bits(GD60914_ADDR, GD60914_TEMP_REG, g_temperature_uint8);
#endif
// printf("%d\r\n", g_temperature_uint8[1] << 8 | g_temperature_uint8[0]);
}
void gd60914_read_temp(void) {
uint8_t value[2] = {0};
#ifdef SOFTWARE_IIC
soft_i2c_read_16bits(GD60914_ADDR, GD60914_OBJ_TEMP, value);
#else
i2c_read_16bits(GD60914_ADDR, GD60914_TEMP_REG, value);
#endif
printf("%x %x\r\n", value[1], value[0]);
}

34
src/main.c
View File

@@ -6,8 +6,10 @@
*/
#include "main.h"
extern uint32_t g_capture_value;
uint16_t g_distance_uint16;
#include "newlib.h"
volatile uint8_t g_temperature_uint8[2] = {0};
volatile uint16_t g_capture_value;
/*!
\brief main function
@@ -25,32 +27,36 @@ int main(void)
/* configure LED */
led_blink_config();
/* configure FWDGT */
watchdog_init();
// watchdog_init();
// #ifdef SOFTWARE_IIC
// soft_i2c_config();
// #else
// i2c_config();
// #endif
printf("system start!\r\n");
ultrasonic_config();
// ultrasonic_config();
// gpio_bit_write(RS485_EN_PORT, RS485_EN_PIN, RESET);
while(1){
// printf("hello world!\r\n");
delay_ms(50);
// gd60914_get_object_tempture();
ultrasonic_pwm_out_cycles(ULTRASONIC_TX_CYCLES);
// delay_ms(2);
delay_ms(500);
start_communication();
printf("hello world!\r\n");
// ultrasonic_pwm_out_cycles(ULTRASONIC_TX_CYCLES);
// g_distance_uint16 = ultrasonic_calc_distance();
// printf("Distance: %d cm\r\n", g_distance_uint16);
watchdog_reload();
// watchdog_reload();
}
}
/* retarget the C library printf function to the USART */
int _write(int fd, char *pBuffer, int size) {
for (int i = 0; i < size; i++) {
usart_data_transmit(USART0, (uint8_t) pBuffer[i]);
while (RESET == usart_flag_get(USART0, USART_FLAG_TBE));
usart_data_transmit(USART1, (uint8_t) pBuffer[i]);
while (RESET == usart_flag_get(USART1, USART_FLAG_TBE));
}
return size;
}

243
src/rs485_protocol.c
View File

@@ -4,51 +4,83 @@
#include "rs485_protocol.h"
void process_command(uint8_t *cmd, size_t length) {
char combined_str[3];
validation_result_t validate = VALIDATION_SUCCESS;
extern uint8_t g_temperature_uint8[2];
validate = (validate_package_header(cmd) |
validate_package_type(cmd) |
validate_data_length(cmd) |
validate_package_crc(cmd, length));
static int buf_index_r = 0;
static int buf_index_w = 0;
static int buf_length = 0;
switch (validate) {
case VALIDATION_SUCCESS:
// printf("%d", length);
sprintf(combined_str, "%c%c", cmd[3], cmd[4]);
if (strcmp(combined_str, "M1") == 0) {
static char cmd_buffer[BUF_SIZE][MAX_SERIAL_CMD_SIZE];
static char serial_char = 0x00;
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();
} else if (strcmp(combined_str, "M3") == 0)
{
printf("%c%c%c%c%c%c", 0xB5, 0xF1, 0x02, 0x6F, 0x6B, 0xCC);
fwdgt_reset_mcu();
} else {
printf("%c%c%c%c%c%c%c", 0xB5, 0xF0, 0x03, 0x65, 0x72, 0x72, 0x3C);
return;
static int serial_count = 0;
static char *strchr_pointer = NULL;
static packet_state_t packet_state = PS_LEN;
// bool code_seen(char code) {
// // strchr_pointer = strchr(cmd_buffer[buf_index_r], code);
// return (strchr_pointer != NULL); //Return True if a character was found
// }
bool code_seen(char code) {
strchr_pointer = NULL;
for (int i = 0; cmd_buffer[buf_index_r][i] != '\0'; i++) {
if (cmd_buffer[buf_index_r][i] == code) {
strchr_pointer = &cmd_buffer[buf_index_r][i];
break;
}
break;
case VALIDATION_CRC_ERROR:
printf("%c%c%c%c%c%c%c", 0xB5, 0xF1, 0x03, 0x65, 0x72, 0x72, 0x3D);
break;
case VALIDATION_HEADER_ERROR:
printf("%c%c%c%c%c%c%c", 0xB5, 0xF2, 0x03, 0x65, 0x72, 0x72, 0x3E);
break;
case VALIDATION_TYPE_ERROR:
printf("%c%c%c%c%c%c%c", 0xB5, 0xF3, 0x03, 0x65, 0x72, 0x72, 0x3F);
break;
case VALIDATION_LENGTH_ERROR:
printf("%c%c%c%c%c%c%c", 0xB5, 0xF4, 0x03, 0x65, 0x72, 0x72, 0x40);
break;
default:
break;
}
return (strchr_pointer != NULL); // Return True if a character was found
}
float code_value(void) {
return (strtod(&cmd_buffer[buf_index_r][strchr_pointer - cmd_buffer[buf_index_r] + 1], NULL));
}
// void process_command(uint8_t *cmd, size_t length) {
// char combined_str[3];
// validation_result_t validate = VALIDATION_SUCCESS;
//
// validate = (validate_package_header(cmd) |
// validate_package_type(cmd) |
// validate_data_length(cmd) |
// validate_package_crc(cmd, length));
//
// switch (validate) {
// case VALIDATION_SUCCESS:
// // printf("%d", length);
// sprintf(combined_str, "%c%c", cmd[3], cmd[4]);
// if (strcmp(combined_str, "M1") == 0) {
// ultrasonic_distance_report();
// } else if (strcmp(combined_str, "M2") == 0) {
// gd60914_tempture_report();
// } else if (strcmp(combined_str, "M3") == 0)
// {
// printf("%c%c%c%c%c%c", 0xB5, 0xF1, 0x02, 0x6F, 0x6B, 0xCC);
// fwdgt_reset_mcu();
// } else {
// printf("%c%c%c%c%c%c%c", 0xB5, 0xF0, 0x03, 0x65, 0x72, 0x72, 0x3C);
// return;
// }
// break;
// case VALIDATION_CRC_ERROR:
// printf("%c%c%c%c%c%c%c", 0xB5, 0xF1, 0x03, 0x65, 0x72, 0x72, 0x3D);
// break;
// case VALIDATION_HEADER_ERROR:
// printf("%c%c%c%c%c%c%c", 0xB5, 0xF2, 0x03, 0x65, 0x72, 0x72, 0x3E);
// break;
// case VALIDATION_TYPE_ERROR:
// printf("%c%c%c%c%c%c%c", 0xB5, 0xF3, 0x03, 0x65, 0x72, 0x72, 0x3F);
// break;
// case VALIDATION_LENGTH_ERROR:
// printf("%c%c%c%c%c%c%c", 0xB5, 0xF4, 0x03, 0x65, 0x72, 0x72, 0x40);
// break;
// default:
// break;
// }
// }
uint8_t calculate_crc(uint8_t data[], uint8_t data_length) {
uint8_t crc = 0;
@@ -91,42 +123,121 @@ validation_result_t validate_data_length(uint8_t *data) {
}
}
// 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 gd60914_tempture_report(void) {
static uint8_t package_header[3] = {0xB5, 0xF0, 0x02};
uint8_t combined_data[5];
memcpy(combined_data, package_header, 3);
memcpy(combined_data + 3, g_temperature_uint8, 2);
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 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));
}
void start_communication(void) {
if (buf_length < (BUF_SIZE - 1)) {
get_command();
}
if (buf_length) {
printf("DONE！\r\n");
prcess_command();
buf_length--;
buf_index_r = (buf_index_r + 1) % BUF_SIZE;
}
}
void get_command(void) {
static uint8_t check_sum = 0;
static uint8_t packet_len ;
static uint8_t packet_type;
packet_state = PS_NULL;
serial_count = 0;
serial_char=0;
if (uart_available() > 0)
delay_ms(5);
while (uart_available() > 0 && buf_length < BUF_SIZE) {
delay_us(100);
serial_char = uart_read();
switch (packet_state) {
case PS_NULL:
if (serial_char == PACKET_START_BYTE) {
packet_state = PS_TYPE;
serial_count = 0;
check_sum = 0;
} else {
serial_count = 0;
}
break;
case PS_TYPE:
packet_type = serial_char;
check_sum += serial_char;
packet_state = PS_LEN;
break;
case PS_LEN:
check_sum += serial_char;
packet_len = serial_char;
packet_state = PS_PAYLOAD;
break;
case PS_PAYLOAD:
check_sum += serial_char;
cmd_buffer[buf_index_w][serial_count++] = serial_char;
if (serial_count >= packet_len) {
packet_state = PS_CRC;
}
break;
case PS_CRC:
packet_state = PS_NULL;
if (!serial_count || check_sum != serial_char) {
serial_count = 0;
return;
}
cmd_buffer[buf_index_w][serial_count] = 0;
buf_index_w = (buf_index_w + 1) % BUF_SIZE;
buf_length++;
serial_count = 0;
default:
break;
}
}
}
void prcess_command(void) {
if (code_seen('M')) {
switch ((int)code_value()) {
case 1:
// ultrasonic_distance_report();
printf("M1");
break;
case 2:
// gd60914_tempture_report();
printf("M2");
break;
default:
break;
}
}
}

2
src/soft_i2c.c
View File

@@ -11,7 +11,7 @@
\retval none
*/
void soft_i2c_delay(void) {
delay_us(20); // Adjust delay as needed
delay_us(1); // Adjust delay as needed
/* delay to freq
* 15KHz: delay_us(20);
* 65KHz: delay_us(1);

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
* -----------------------------------------

30
src/usart.c
View File

@@ -27,11 +27,10 @@ void usart_config(void)
usart_receive_config(USART_PHY, USART_RECEIVE_ENABLE);
usart_transmit_config(USART_PHY, USART_TRANSMIT_ENABLE);
usart_enable(USART_PHY);
nvic_irq_enable(USART0_IRQn, 0);
nvic_irq_enable(USART_PHY_IRQ, 0);
usart_interrupt_enable(USART_PHY, USART_INT_RBNE);
usart_interrupt_enable(USART_PHY, USART_INT_IDLE);
// usart_interrupt_enable(USART_PHY, USART_INT_IDLE);
usart_enable(USART_PHY);
}
/**
@@ -47,4 +46,27 @@ void rs485_config(void)
gpio_output_options_set(RS485_EN_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, RS485_EN_PIN);
gpio_bit_write(RS485_EN_PORT, RS485_EN_PIN, SET); //auto dircetion control
}
void store_char(unsigned char data, ring_buffer_t *rx_buf) {
uint16_t i = (unsigned int)(rx_buf->head + 1) % RX_BUFFER_SIZE;
if (i != rx_buf->tail) {
rx_buf->buffer[rx_buf->head] = data;
rx_buf->head = i;
}
}
uint16_t uart_available(void) {
return (unsigned int)(RX_BUFFER_SIZE + rx_buffer.head - rx_buffer.tail) % RX_BUFFER_SIZE;
}
int uart_read(void) {
if (rx_buffer.head == rx_buffer.tail) {
return -1;
} else {
unsigned char c = rx_buffer.buffer[rx_buffer.tail];
rx_buffer.tail = (unsigned int)(rx_buffer.tail + 1) % RX_BUFFER_SIZE;
return c;
}
}