diff --git a/Inc/board_config.h b/Inc/board_config.h index a341040..46b6709 100644 --- a/Inc/board_config.h +++ b/Inc/board_config.h @@ -58,11 +58,6 @@ /******************************************************************************/ -#define US_TX_DELAY_RCU RCU_TIMER15 -#define US_TX_DELAY_TIMER TIMER15 - -/******************************************************************************/ - #define US_RX_GPIO_RCU RCU_GPIOB #define US_RX_EXTI_RCU RCU_CFGCMP #define US_RX_GPIO_PORT GPIOA @@ -76,6 +71,7 @@ #define US_ECHO_RCU RCU_TIMER16 #define US_ECHO_TIMER TIMER16 #define US_ECHO_CH TIMER_CH_0 +#define US_ECHO_TIMER_IRQ TIMER16_IRQn /******************************************************************************/ diff --git a/Src/command.c b/Src/command.c index e4e806a..9ef1150 100644 --- a/Src/command.c +++ b/Src/command.c @@ -259,11 +259,15 @@ void handle_command(const uint8_t *frame, uint8_t len) { // 启动超声波PWM发送 ultrasonic_pwm_out_cycles(); + + // 启动TIMER16用于240us精确计时 + timer_counter_value_config(TIMER16, 0); // 复位计数器 + timer_enable(TIMER16); // 启动定时器 // 等待超声测量完成，最多等待1ms (100次 * 10us) - // PWM发送约需16.7us (5周期 × 3.33us)，超时时间充足 + // TIMER16将在240us时设置g_ultrasonic_measure_done = true uint16_t timeout_count = 0; - const uint16_t max_timeout = 100; + const uint16_t max_timeout = 150; while (!g_ultrasonic_measure_done && timeout_count < max_timeout) { delay_10us(1); // 延时 10us @@ -277,7 +281,7 @@ void handle_command(const uint8_t *frame, uint8_t len) { // 测量完成，发送正常响应 send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok)); } else { - // 超时，发送读取错误包（理论上不应该发生，因为PWM只需16.7us） + // 超时，发送读取错误包（理论上不应该发生，因为TIMER16会在240us时触发） static const uint8_t timeout_error_data[] = { 0xFF, 0xFF, 0xFF, 0xFF }; send_response(RESP_TYPE_OK, timeout_error_data, sizeof(timeout_error_data)); } diff --git a/Src/gd32e23x_it.c b/Src/gd32e23x_it.c index ac2705c..2544d72 100644 --- a/Src/gd32e23x_it.c +++ b/Src/gd32e23x_it.c @@ -102,39 +102,30 @@ void SysTick_Handler(void) { delay_decrement(); } -// /** -// * @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); -// } -// } - -void TIMER15_IRQHandler(void) { - if (timer_interrupt_flag_get(TIMER15, TIMER_INT_FLAG_CH1)) { - timer_interrupt_flag_clear(TIMER15, TIMER_INT_FLAG_CH1); - // g_ultrasonic_measure_done = true; // TODO 测距命令发送回报标识位，最终不应在这里 - gpio_bit_set(GPIOA, GPIO_PIN_0); // TODO waiting for delete +void TIMER16_IRQHandler(void) { + // 处理通道0比较中断（240us时触发） + if (timer_interrupt_flag_get(TIMER16, TIMER_INT_FLAG_CH0)) { + timer_interrupt_flag_clear(TIMER16, TIMER_INT_FLAG_CH0); + + // 在240us时执行的操作 + g_ultrasonic_measure_done = true; // 设置测量完成标志 + + // TODO: 在这里可以执行其他240us时需要的操作 + // 例如：启动其他定时器、设置GPIO、记录时间戳等 } - if (timer_interrupt_flag_get(TIMER15, TIMER_INT_FLAG_UP)) { - timer_interrupt_flag_clear(TIMER15, TIMER_INT_FLAG_UP); - timer_disable(TIMER15); + // 处理重装载中断（1000us时触发，即超时） + if (timer_interrupt_flag_get(TIMER16, TIMER_INT_FLAG_UP)) { + timer_interrupt_flag_clear(TIMER16, TIMER_INT_FLAG_UP); + + // 达到最大时间（1ms），自动关闭定时器 + timer_disable(TIMER16); + + // TODO: 超时处理逻辑 + // 如果需要，可以在这里设置超时标志或执行其他清理操作 } - } - - /** * @brief This function handles external lines 0 to 1 interrupt request * @param[in] none @@ -165,7 +156,7 @@ void TIMER13_IRQHandler(void) if(pwm_cycle_count >= (ULTRASONIC_TX_CYCLES)) { timer_disable(TIMER13); pwm_cycle_count = 0; - g_ultrasonic_measure_done = true; // TODO 测距命令发送回报标识位，最终不应在这里 + // g_ultrasonic_measure_done = true; // 注释掉，现在由TIMER16在240us时设置 } } diff --git a/Src/ultrasonic_analog.c b/Src/ultrasonic_analog.c index 8fac0f0..b67aeb2 100644 --- a/Src/ultrasonic_analog.c +++ b/Src/ultrasonic_analog.c @@ -74,29 +74,10 @@ void ultrasonic_pwm_out_cycles(void) { timer_enable(US_TX_TIMER); // TODO 启动后续回波计时器 - // timer_enable(TIMER15); + // timer_enable(US_ECHO_TIMER); } -// 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); @@ -112,47 +93,51 @@ void ultrasonic_receive_exti_config(void) { } void ultrasonic_echo_timer_config(void) { + // 使能TIMER16时钟 rcu_periph_clock_enable(US_ECHO_RCU); + + // 复位定时器到默认状态 timer_deinit(US_ECHO_TIMER); + // 配置基本定时器参数 timer_parameter_struct timer_initpara; timer_struct_para_init(&timer_initpara); - timer_initpara.prescaler = 71; + + // 设置分频器：72MHz ÷ 72 = 1MHz，每个计数 = 1us + timer_initpara.prescaler = 71; // (72-1)，实际分频比为72 timer_initpara.alignedmode = TIMER_COUNTER_EDGE; timer_initpara.counterdirection = TIMER_COUNTER_UP; - timer_initpara.period = ULTRASONIC_MAX_TOF_RELOAD - 1; + + // 设置周期：999 (0-999共1000个计数) = 1000us = 1ms最大计时 + timer_initpara.period = 999; // 1000us重装载周期 timer_initpara.clockdivision = TIMER_CKDIV_DIV1; - timer_init(TIMER15, &timer_initpara); + + // 初始化定时器基本参数 + timer_init(US_ECHO_TIMER, &timer_initpara); + // 配置通道0用于240us比较中断（不是PWM输出，仅用于比较） timer_oc_parameter_struct timer_oc_initpara; timer_channel_output_struct_para_init(&timer_oc_initpara); - timer_oc_initpara.outputstate = TIMER_CCX_ENABLE; + + // 禁用输出，仅用于内部比较中断 + timer_oc_initpara.outputstate = TIMER_CCX_DISABLE; timer_oc_initpara.ocpolarity = TIMER_OC_POLARITY_HIGH; - timer_channel_output_config(TIMER15, TIMER_CH_1,&timer_oc_initpara); + timer_channel_output_config(US_ECHO_TIMER, US_ECHO_CH, &timer_oc_initpara); - timer_interrupt_enable(TIMER15, TIMER_INT_CH1 | TIMER_INT_UP); - nvic_irq_enable(TIMER15_IRQn, 0); - - - // 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 = ULTRASONIC_MAX_TOF_RELOAD; - // 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); + // 设置比较模式为时间比较（不是PWM模式） + timer_channel_output_mode_config(US_ECHO_TIMER, US_ECHO_CH, TIMER_OC_MODE_TIMING); + + // 设置240us时触发比较中断（计数值239，因为从0开始计数） + timer_channel_output_pulse_value_config(US_ECHO_TIMER, US_ECHO_CH, 239); + // 启用比较中断（CH0）和重装载中断（UP） + timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_CH0); // 240us比较中断 + timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_UP); // 1000us重装载中断 + + // 配置NVIC中断优先级（设置为较高优先级1，确保及时响应） + nvic_irq_enable(TIMER16_IRQn, 1); + // 注意：定时器配置完成但不启动，需要在其他地方调用timer_enable()启动 } void ultrasonic_config(void) {