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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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94
Src/ultrasonic_analog.c
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@@ -9,13 +9,6 @@ volatile bool g_ultrasonic_measure_done = false;
void ultrasonic_tx_init(void) {
// TODO
rcu_periph_clock_enable(RCU_GPIOA);
gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0);
gpio_output_options_set(GPIOA, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, GPIO_PIN_0);
gpio_bit_reset(GPIOA, GPIO_PIN_0);
rcu_periph_clock_enable(US_TX_GPIO_RCU);
gpio_mode_set(US_TX_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, US_TX_GPIO_PIN);
@@ -59,23 +52,32 @@ void ultrasonic_tx_init(void) {
timer_counter_value_config(US_TX_TIMER, 0);
timer_interrupt_enable(US_TX_TIMER, TIMER_INT_UP);
nvic_irq_enable(TIMER13_IRQn, 2);
nvic_irq_enable(TIMER13_IRQn, 2U);
}
void ultrasonic_pwm_out_cycles(void) {
g_ultrasonic_measure_done = false;
// 停止发射定时器
timer_disable(TIMER13);
timer_channel_output_state_config(TIMER13, TIMER_CH_0, TIMER_CCX_ENABLE);
// 重置并启动回波计时器
timer_disable(US_ECHO_TIMER);
// 重要：清除所有中断标志
// timer_interrupt_flag_clear(US_ECHO_TIMER, TIMER_INT_FLAG_CH0);
// timer_interrupt_flag_clear(US_ECHO_TIMER, TIMER_INT_FLAG_UP);
// 重置计数器
timer_counter_value_config(US_ECHO_TIMER, 0);
// 启动发射PWM
timer_enable(US_TX_TIMER);
// TODO 启动后续回波计时器
// timer_enable(US_ECHO_TIMER);
// 启动回波计时器
timer_enable(US_ECHO_TIMER);
}
void ultrasonic_receive_exti_config(void) {
@@ -88,75 +90,51 @@ void ultrasonic_receive_exti_config(void) {
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) {
// 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);
// 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.prescaler = 71; // 72MHz/72 = 1MHz (1us per count)
timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
timer_initpara.counterdirection = TIMER_COUNTER_UP;
// 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.period = (ULTRASONIC_MAX_TOF_RELOAD - 1);
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
// 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_auto_reload_shadow_disable(US_ECHO_TIMER);
// 配置输出比较通道0
timer_oc_parameter_struct timer_oc_initpara;
timer_channel_output_struct_para_init(&timer_oc_initpara);
// 禁用输出，仅用于内部比较中断
timer_oc_initpara.outputstate = TIMER_CCX_DISABLE;
timer_oc_initpara.outputstate = TIMER_CCX_ENABLE;
timer_oc_initpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
timer_channel_output_config(US_ECHO_TIMER, US_ECHO_CH, &timer_oc_initpara);
timer_channel_output_config(US_ECHO_TIMER, TIMER_CH_0, &timer_oc_initpara);
// 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);
// 配置输出比较模式
timer_channel_output_mode_config(US_ECHO_TIMER, TIMER_CH_0, 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);
// 设置比较值
timer_channel_output_pulse_value_config(US_ECHO_TIMER, TIMER_CH_0, (ULTRASONIC_TX_RINGDOWN_RELOAD - 1));
// 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
// 清除中断标志
timer_interrupt_flag_clear(US_ECHO_TIMER, TIMER_INT_FLAG_CH0);
timer_interrupt_flag_clear(US_ECHO_TIMER, TIMER_INT_FLAG_UP);
// 使能中断
timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_UP); // UP中断
timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_CH0); // CH0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);
nvic_irq_enable(US_ECHO_TIMER_IRQ, 1U);
// 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
// timer_single_pulse_mode_config(US_ECHO_TIMER, TIMER_SP_MODE_SINGLE);
}
void ultrasonic_config(void) {
ultrasonic_tx_init();
// ultrasonic_transmit_debounce_delay(TIME_CORRECTION_US);
// ultrasonic_receive_exti_config();
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;
// }