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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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32
Src/gd32e23x_it.c
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@@ -102,27 +102,18 @@ void SysTick_Handler(void) {
delay_decrement();
}
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)) {
void TIMER16_IRQHandler(void)
{
// CH0比较中断 (ULTRASONIC_TX_RINGDOWN_RELOAD)
if(timer_interrupt_flag_get(TIMER16, TIMER_INT_FLAG_CH0) != RESET) {
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
exti_interrupt_enable(US_RX_GPIO_EXTI);
}
// 处理重装载中断（1000us时触发，即超时）
if (timer_interrupt_flag_get(TIMER16, TIMER_INT_FLAG_UP)) {
// UP更新中断 (ULTRASONIC_MAX_TOF_RELOAD)
if(timer_interrupt_flag_get(TIMER16, TIMER_INT_FLAG_UP) != RESET) {
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
timer_disable(US_ECHO_TIMER);
}
}
@@ -136,14 +127,12 @@ 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);
timer_disable(US_ECHO_TIMER);
g_ultrasonic_measure_done = true; // 超声转换完成,置位flag后有命令处理部分回包
exti_interrupt_disable(US_RX_GPIO_EXTI);
}
}
/* PWM周期计数器 - 使用ULTRASONIC_TX_CYCLES宏 */
volatile uint8_t pwm_cycle_count = 0;
@@ -156,7 +145,6 @@ void TIMER13_IRQHandler(void)
if(pwm_cycle_count >= (ULTRASONIC_TX_CYCLES)) {
timer_disable(TIMER13);
pwm_cycle_count = 0;
// g_ultrasonic_measure_done = true; // 注释掉，现在由TIMER16在240us时设置
}
}