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Simplify the use of timers, timer13 sends ultrasonic waves, timer16 counts (debounce time and flight time)

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The ultrasonic transducer is driven only after each command is issued.
This commit is contained in:
yelvlab
2025-08-25 17:05:47 +08:00
parent 16c5a31a63
commit 2d752eed5e
8 changed files with 98 additions and 136 deletions
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17
Inc/board_config.h
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@@ -36,15 +36,15 @@
/******************************************************************************/
#define RS485_RCU RCU_USART1
#define RS485_RCU RCU_USART0
#define RS485_GPIO_RCU RCU_GPIOA
#define RS485_GPIO_PORT GPIOA
#define RS485_TX_PIN GPIO_PIN_2
#define RS485_RX_PIN GPIO_PIN_3
#define RS485_PHY USART1
#define RS485_PHY USART0
#define RS485_BAUDRATE 115200U
#define RS485_EN_PIN GPIO_PIN_1
#define RS485_IRQ USART1_IRQn
#define RS485_IRQ USART0_IRQn
/******************************************************************************/
@@ -58,6 +58,11 @@
/******************************************************************************/
#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
@@ -68,6 +73,7 @@
/******************************************************************************/
// 修改为TIMER15相关定义
#define US_ECHO_RCU RCU_TIMER16
#define US_ECHO_TIMER TIMER16
#define US_ECHO_CH TIMER_CH_0
@@ -75,9 +81,4 @@
/******************************************************************************/
#define TIME_CORRECTION_US 230U
#define CAPTURE_VALUE_MAX 550U
/******************************************************************************/
#endif //BOARD_CONFIG_H

2
Inc/command.h
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@@ -81,6 +81,8 @@ void command_process(void);
*/
void handle_command(const uint8_t *cmd, uint8_t len);
void ultrasonic_distance_raw_value_report(void);
/** @} */ // end of Command group
#endif // COMMAND_H

16
Inc/ultrasonic_analog.h
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@@ -9,23 +9,13 @@ extern volatile bool g_ultrasonic_measure_done;
/**************************************************************************************************/
#define ULTRASONIC_TX_CYCLES 5U /* 发送5个PWM周期驱动换能器 */
#define ULTRASONIC_TX_TIME 498U // ms
#define ULTRASONIC_MAX_TOF_RELOAD 1000U //us
#define ULTRASONIC_TX_RINGDOWN_RELOAD 240U // 240us
#define ULTRASONIC_MAX_TOF_RELOAD 1000U // 1000us
/**************************************************************************************************/
void ultrasonic_tx_init(void);
void ultrasonic_pwm_out_cycles(void);
// 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 // UART_H
#endif // ULTRASONIC_ANALOG_H