From 3e42b474d140946c9b0d26dfcd0ae894d8813310 Mon Sep 17 00:00:00 2001 From: hulk Date: Mon, 25 Aug 2025 17:34:39 +0800 Subject: [PATCH] revert 3ad18bf1f164337f9180d4fa60e3d39b7e2c7769 revert Merge pull request 'dev' (#1) from dev into main Reviewed-on: https://gitea.hulk.wang/hulk/ultrasonic_cmake_vscode/pulls/1 --- CMakeLists.txt | 2 +- Inc/board_config.h | 41 +++++--------- Inc/command.h | 2 - Inc/ultrasonic_analog.h | 16 +++++- Src/board_config.c | 52 ------------------ Src/command.c | 67 +++++++--------------- Src/gd32e23x_it.c | 61 ++++++++++++-------- Src/main.c | 17 +++--- Src/syscalls.c | 5 +- Src/uart.c | 38 +------------ Src/ultrasonic_analog.c | 110 ++++++++++++++++++++++++------------- cmake/project_config.cmake | 4 +- 12 files changed, 174 insertions(+), 241 deletions(-) delete mode 100644 Src/board_config.c diff --git a/CMakeLists.txt b/CMakeLists.txt index 77d3200..dc5036d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -29,7 +29,7 @@ set(TARGET_SRC Src/led.c Src/uart_ring_buffer.c Src/command.c - Src/board_config.c + Src/i2c.c Src/ultrasonic_analog.c ) diff --git a/Inc/board_config.h b/Inc/board_config.h index 4089583..47b3c6e 100644 --- a/Inc/board_config.h +++ b/Inc/board_config.h @@ -1,10 +1,6 @@ #ifndef BOARD_CONFIG_H #define BOARD_CONFIG_H -#define GD32E23XF4 0x10 -#define GD32E23XF6 0x20 -#define GD32E23XF8 0x40 - /* >>>>>>>>>>>>>>>>>>>>[RS485 PHY DEFINE]<<<<<<<<<<<<<<<<<<<< */ // #define RS485_MAX13487 // RS485 PHY : MAX13487 (AutoDir) @@ -22,23 +18,6 @@ /******************************************************************************/ -/* Dynamic USART Configuration Structure */ -typedef struct { - uint32_t rcu_usart; - uint32_t usart_periph; - IRQn_Type irq_type; - void (*irq_handler)(void); // 函数指针：指向中断处理函数 -} usart_config_t; - -extern usart_config_t g_usart_config; -extern uint8_t g_mcu_flash_size; - -/* USART中断处理函数声明 */ -void usart0_irq_handler(void); -void usart1_irq_handler(void); - -/******************************************************************************/ - #define RCU_GPIO_I2C RCU_GPIOF #define RCU_I2C RCU_I2C0 #define I2C_SCL_PORT GPIOF @@ -57,15 +36,15 @@ void usart1_irq_handler(void); /******************************************************************************/ -#define RS485_RCU (g_usart_config.rcu_usart) -#define RS485_PHY (g_usart_config.usart_periph) -#define RS485_IRQ (g_usart_config.irq_type) +#define RS485_RCU RCU_USART0 #define RS485_GPIO_RCU RCU_GPIOA #define RS485_GPIO_PORT GPIOA -#define RS485_EN_PIN GPIO_PIN_1 #define RS485_TX_PIN GPIO_PIN_2 #define RS485_RX_PIN GPIO_PIN_3 +#define RS485_PHY USART0 #define RS485_BAUDRATE 115200U +#define RS485_EN_PIN GPIO_PIN_1 +#define RS485_IRQ USART0_IRQn /******************************************************************************/ @@ -79,6 +58,11 @@ void usart1_irq_handler(void); /******************************************************************************/ +#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 @@ -92,11 +76,12 @@ void usart1_irq_handler(void); #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 /******************************************************************************/ -void mcu_detect_and_config(void); -uint8_t get_flash_size(void); +#define TIME_CORRECTION_US 230U +#define CAPTURE_VALUE_MAX 550U + +/******************************************************************************/ #endif //BOARD_CONFIG_H diff --git a/Inc/command.h b/Inc/command.h index 514347d..d5b56f1 100644 --- a/Inc/command.h +++ b/Inc/command.h @@ -81,8 +81,6 @@ 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 diff --git a/Inc/ultrasonic_analog.h b/Inc/ultrasonic_analog.h index 5aa0140..ed6af7e 100644 --- a/Inc/ultrasonic_analog.h +++ b/Inc/ultrasonic_analog.h @@ -9,13 +9,23 @@ 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_RINGDOWN_RELOAD 240U // 240us -#define ULTRASONIC_MAX_TOF_RELOAD 1000U // 1000us +#define ULTRASONIC_TX_TIME 498U // ms +#define ULTRASONIC_MAX_TOF_RELOAD 1000U //us /**************************************************************************************************/ +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); -#endif // ULTRASONIC_ANALOG_H +// uint16_t ultrasonic_calc_distance(void); + +#endif // UART_H diff --git a/Src/board_config.c b/Src/board_config.c deleted file mode 100644 index a68f73e..0000000 --- a/Src/board_config.c +++ /dev/null @@ -1,52 +0,0 @@ -#include "gd32e23x.h" -#include "board_config.h" -#include "systick.h" - -/******************************************************************************/ - -#define FLASH_SIZE_ADDR (*(const uint8_t *)0x1FFFF7E0) // Flash base address - -/******************************************************************************/ - -/* 前向声明中断处理函数 */ -void usart0_irq_handler(void); -void usart1_irq_handler(void); - -usart_config_t g_usart_config = { - .rcu_usart = RCU_USART1, - .usart_periph = USART1, - .irq_type = USART1_IRQn, - .irq_handler = usart1_irq_handler // 初始化函数指针 -}; - -uint8_t g_mcu_flash_size = 0; - -void mcu_detect_and_config(void) { - g_mcu_flash_size = FLASH_SIZE_ADDR; - - switch (g_mcu_flash_size) { - case GD32E23XF4: - g_usart_config.rcu_usart = RCU_USART0; - g_usart_config.usart_periph = USART0; - g_usart_config.irq_type = USART0_IRQn; - g_usart_config.irq_handler = usart0_irq_handler; // 指向USART0处理函数 - break; - case GD32E23XF6: - g_usart_config.rcu_usart = RCU_USART1; - g_usart_config.usart_periph = USART1; - g_usart_config.irq_type = USART1_IRQn; - g_usart_config.irq_handler = usart1_irq_handler; // 指向USART1处理函数 - break; - default: // Default to GD32E23XF8 - g_usart_config.rcu_usart = RCU_USART1; - g_usart_config.usart_periph = USART1; - g_usart_config.irq_type = USART1_IRQn; - g_usart_config.irq_handler = usart1_irq_handler; // 指向USART1处理函数 - break; - } - -} - -uint8_t get_flash_size(void) { - return g_mcu_flash_size; -} diff --git a/Src/command.c b/Src/command.c index 18b9721..f7a3980 100644 --- a/Src/command.c +++ b/Src/command.c @@ -18,7 +18,6 @@ #include "board_config.h" #include "gd32e23x_usart.h" #include "ultrasonic_analog.h" -#include "systick.h" /* ============================================================================ * 协议格式说明 @@ -30,7 +29,7 @@ * @details * Host -> Device 命令帧格式： * [0] HEADER = 0xD5 // 包头标识 - * [1] BOARD_TYPE = 0x04 // 板卡类型标识 + * [1] BOARD_TYPE = 0x03 // 板卡类型标识 * [2] LEN = 数据区字节数 // 有效载荷长度 * [3..(3+LEN-1)] 数据 // 命令数据，如 "M1", "M2S123" * [last] CRC = 校验码 // 从索引1到(last-1)的累加和低8位 @@ -155,6 +154,13 @@ static void send_response(uint8_t type, const uint8_t *payload, uint8_t len) // 等待发送完成 while (usart_flag_get(RS485_PHY, USART_FLAG_TC) == RESET) {} + // // 使用printf发送（通过重定向到串口） + // for (uint8_t i = 0; i < buf_len; i++) { + // printf("%c", buf[i]); + // } + + // // 刷新缓冲区 + // fflush(stdout); } /** @@ -247,25 +253,20 @@ void handle_command(const uint8_t *frame, uint8_t len) { if (cmd_index == cmd_len) { // 仅基础命令，如 M1, M2, M3 switch (base_cmd) { - case 1u: // M1: send ultrasonic driver single and respon raw data - // 启动超声波PWM发送 + case 1u: // M1: enable sensor report + // g_ultrasonic_measure_done = false; ultrasonic_pwm_out_cycles(); - uint16_t timeout_count = 0; - const uint16_t max_timeout = 150; - - while (!g_ultrasonic_measure_done && timeout_count < max_timeout) { - delay_10us(1); // 延时 10us - timeout_count++; - } + gpio_bit_toggle(GPIOA, GPIO_PIN_0); - // 根据等待结果发送不同的响应 - if (g_ultrasonic_measure_done) { - ultrasonic_distance_raw_value_report(); - } else { - static const uint8_t timeout_error_data[] = {0xFF, 0xFF }; - send_response(RESP_TYPE_OK, timeout_error_data, sizeof(timeout_error_data)); + while (g_ultrasonic_measure_done) + { + g_ultrasonic_measure_done = false; + send_response(RESP_TYPE_OK, s_report_status_err, sizeof(s_report_status_err)); + return; } - return; + + + case 2u: // M2: disable sensor report send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok)); @@ -309,6 +310,7 @@ void handle_command(const uint8_t *frame, uint8_t len) { { // case 100u: // // set_pwm(param_value); + // printf("Set PWM to %u\n", param_value); // return; default: @@ -416,32 +418,3 @@ void command_process(void) { } } } - -/** - * @brief 超声波测距原始值上报函数 - * @details 读取超声波测距的定时器计数值，计算距离并按协议格式发送响应包 - * 距离计算公式：距离(0.1mm) = 定时器计数值(us) * 17 - * 响应数据格式：4字节32位无符号整数，单位为0.1mm - * @note 定时器配置为1us计数，最大计时2000us，对应距离340mm - * @ingroup Command - */ -void ultrasonic_distance_raw_value_report(void) { - uint8_t raw_result[2]; - uint16_t raw_distance = 0; - - // 读取定时器计数值（微秒） - uint16_t timer_count_us = timer_counter_read(US_ECHO_TIMER); - - // 计算距离：定时器计数值 * 17 = 距离(0.1mm) - // 声速340m/s，往返距离，时间单位us - // 距离(mm) = (timer_count_us * 340) / (2 * 1000) = timer_count_us * 0.17 - // 距离(0.1mm) = timer_count_us * 1.7 ≈ timer_count_us * 17 / 10 - raw_distance = (uint16_t)timer_count_us * 17; - - // 将16位距离值分解为2个字节（大端序） - raw_result[0] = (uint8_t)(raw_distance >> 8); - raw_result[1] = (uint8_t)(raw_distance & 0xFF); - - // 发送响应包 - send_response(RESP_TYPE_OK, raw_result, sizeof(raw_result)); -} diff --git a/Src/gd32e23x_it.c b/Src/gd32e23x_it.c index dbe2d44..1712db6 100644 --- a/Src/gd32e23x_it.c +++ b/Src/gd32e23x_it.c @@ -38,7 +38,8 @@ OF SUCH DAMAGE. #include "uart_ring_buffer.h" #include "led.h" #include "ultrasonic_analog.h" -#include "board_config.h" + +extern uint16_t g_capture_value; /*! \brief this function handles NMI exception @@ -103,21 +104,39 @@ void SysTick_Handler(void) { delay_decrement(); } -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); - exti_interrupt_enable(US_RX_GPIO_EXTI); +// /** +// * @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 + } + + if (timer_interrupt_flag_get(TIMER15, TIMER_INT_FLAG_UP)) { + timer_interrupt_flag_clear(TIMER15, TIMER_INT_FLAG_UP); + timer_disable(TIMER15); } - // 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); - timer_disable(US_ECHO_TIMER); - } } + + /** * @brief This function handles external lines 0 to 1 interrupt request * @param[in] none @@ -128,12 +147,14 @@ 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; @@ -146,21 +167,15 @@ 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 } } } void USART0_IRQHandler(void) { - // 检查当前配置是否使用USART0，并且函数指针不为空 - if(g_usart_config.usart_periph == USART0 && g_usart_config.irq_handler != 0) { - g_usart_config.irq_handler(); // 通过函数指针调用对应的处理函数 - } -} - -void USART1_IRQHandler(void) { - // 检查当前配置是否使用USART1，并且函数指针不为空 - if(g_usart_config.usart_periph == USART1 && g_usart_config.irq_handler != 0) { - g_usart_config.irq_handler(); // 通过函数指针调用对应的处理函数 + if (RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_RBNE)) { + uint8_t data = usart_data_receive(USART0); + (void)uart_ring_buffer_put(data); // 缓冲满时丢弃，返回值可用于统计 } } diff --git a/Src/main.c b/Src/main.c index 9785e69..fbc34bd 100644 --- a/Src/main.c +++ b/Src/main.c @@ -38,10 +38,11 @@ OF SUCH DAMAGE. #include "led.h" #include "command.h" #include +#include "i2c.h" #include "board_config.h" #include "ultrasonic_analog.h" -// #define FLASH_SIZE_ADDR (*(const uint16_t *)0x1FFFF7E0) +volatile uint16_t g_capture_value; /*! \brief main function @@ -51,19 +52,14 @@ OF SUCH DAMAGE. */ int main(void) { - led_init(); - mcu_detect_and_config(); - setbuf(stdout, NULL); systick_config(); rs485_init(); + led_init(); ultrasonic_config(); - ultrasonic_pwm_out_cycles(); - - printf("Flash size: %d Kbytes\n", get_flash_size()); #ifdef DEBUG_VERBOSE char hello_world[] = {"Hello World!\r\n"}; @@ -79,7 +75,14 @@ int main(void) while(1){ + + // ultrasonic_pwm_out_cycles(); + + // delay_ms(10); command_process(); delay_ms(10); + // uint16_t ultrasonic_value = ultrasonic_calc_distance(); + // printf("ultrasonic value: %d", ultrasonic_value); + // delay_ms(10); } } diff --git a/Src/syscalls.c b/Src/syscalls.c index c1a1d8c..46beccf 100644 --- a/Src/syscalls.c +++ b/Src/syscalls.c @@ -16,7 +16,6 @@ #include #include #include "gd32e23x_usart.h" -#include "board_config.h" #undef errno extern int errno; @@ -165,7 +164,7 @@ int _execve(char *name, char **argv, char **env) // USART0 printf重定向实现 int __io_putchar(int ch) { // 等待发送缓冲区空 - while (usart_flag_get(RS485_PHY, USART_FLAG_TBE) == RESET) {} - usart_data_transmit(RS485_PHY, (uint8_t)ch); + while (usart_flag_get(USART0, USART_FLAG_TBE) == RESET) {} + usart_data_transmit(USART0, (uint8_t)ch); return ch; } diff --git a/Src/uart.c b/Src/uart.c index 013e5ea..6d699c9 100644 --- a/Src/uart.c +++ b/Src/uart.c @@ -3,7 +3,7 @@ #include "gd32e23x_rcu.h" #include "gd32e23x_gpio.h" #include "board_config.h" -#include "uart_ring_buffer.h" + void rs485_init(void) { @@ -37,7 +37,7 @@ void rs485_init(void) { usart_enable(RS485_PHY); - nvic_irq_enable(RS485_IRQ, 0); + nvic_irq_enable(USART0_IRQn, 0); usart_interrupt_enable(RS485_PHY, USART_INT_RBNE); // usart_interrupt_enable(RS485_PHY, USART_INT_IDLE); @@ -70,37 +70,3 @@ void rs485_init(void) { #endif // RS485_MAX13487 } - -/******************************************************************************/ -/* 具体的中断处理函数实现 */ -/******************************************************************************/ - -void usart0_irq_handler(void) { - // 处理USART0的接收中断 - if(usart_interrupt_flag_get(USART0, USART_INT_FLAG_RBNE)) { - uint8_t data = usart_data_receive(USART0); - // 使用原有的环形缓冲区处理逻辑 - (void)uart_ring_buffer_put(data); // 缓冲满时丢弃，返回值可用于统计 - } - - // 处理USART0的空闲中断 - if(usart_interrupt_flag_get(USART0, USART_INT_FLAG_IDLE)) { - usart_interrupt_flag_clear(USART0, USART_INT_FLAG_IDLE); - // 在这里添加空闲中断处理逻辑 - } -} - -void usart1_irq_handler(void) { - // 处理USART1的接收中断 - if(usart_interrupt_flag_get(USART1, USART_INT_FLAG_RBNE)) { - uint8_t data = usart_data_receive(USART1); - // 使用原有的环形缓冲区处理逻辑 - (void)uart_ring_buffer_put(data); // 缓冲满时丢弃，返回值可用于统计 - } - - // 处理USART1的空闲中断 - if(usart_interrupt_flag_get(USART1, USART_INT_FLAG_IDLE)) { - usart_interrupt_flag_clear(USART1, USART_INT_FLAG_IDLE); - // 在这里添加空闲中断处理逻辑 - } -} diff --git a/Src/ultrasonic_analog.c b/Src/ultrasonic_analog.c index 1cb0fd7..957346e 100644 --- a/Src/ultrasonic_analog.c +++ b/Src/ultrasonic_analog.c @@ -6,9 +6,17 @@ #include "systick.h" volatile bool g_ultrasonic_measure_done = false; +extern uint32_t g_capture_value; 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); @@ -52,34 +60,42 @@ 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, 2U); + nvic_irq_enable(TIMER13_IRQn, 2); } 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); + timer_enable(TIMER15); - // 启动回波计时器 - 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); @@ -90,6 +106,8 @@ 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) { @@ -98,43 +116,61 @@ void ultrasonic_echo_timer_config(void) { timer_parameter_struct timer_initpara; timer_struct_para_init(&timer_initpara); - timer_initpara.prescaler = 71; // 72MHz/72 = 1MHz (1us per count) + timer_initpara.prescaler = 71; timer_initpara.alignedmode = TIMER_COUNTER_EDGE; timer_initpara.counterdirection = TIMER_COUNTER_UP; - timer_initpara.period = (ULTRASONIC_MAX_TOF_RELOAD - 1); + timer_initpara.period = ULTRASONIC_MAX_TOF_RELOAD - 1; timer_initpara.clockdivision = TIMER_CKDIV_DIV1; - timer_init(US_ECHO_TIMER, &timer_initpara); + timer_init(TIMER15, &timer_initpara); - 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); timer_oc_initpara.outputstate = TIMER_CCX_ENABLE; timer_oc_initpara.ocpolarity = TIMER_OC_POLARITY_HIGH; - timer_channel_output_config(US_ECHO_TIMER, TIMER_CH_0, &timer_oc_initpara); + timer_channel_output_config(TIMER15, TIMER_CH_1,&timer_oc_initpara); - // 配置输出比较模式 - timer_channel_output_mode_config(US_ECHO_TIMER, TIMER_CH_0, TIMER_OC_MODE_TIMING); - - // 设置比较值 - timer_channel_output_pulse_value_config(US_ECHO_TIMER, TIMER_CH_0, (ULTRASONIC_TX_RINGDOWN_RELOAD - 1)); + timer_interrupt_enable(TIMER15, TIMER_INT_CH1 | TIMER_INT_UP); + nvic_irq_enable(TIMER15_IRQn, 0); - // 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 - - nvic_irq_enable(US_ECHO_TIMER_IRQ, 1U); + // 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); + - // timer_single_pulse_mode_config(US_ECHO_TIMER, TIMER_SP_MODE_SINGLE); } void ultrasonic_config(void) { ultrasonic_tx_init(); - ultrasonic_receive_exti_config(); + // ultrasonic_transmit_debounce_delay(TIME_CORRECTION_US); + // 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; +// } diff --git a/cmake/project_config.cmake b/cmake/project_config.cmake index e2ca5e9..d7127e0 100644 --- a/cmake/project_config.cmake +++ b/cmake/project_config.cmake @@ -1,5 +1,5 @@ # Project basic info -set(PROJECT_NAME "ultrasonic-analog") +set(PROJECT_NAME "gd32e23x") set(VERSION_MAJOR 1) set(VERSION_MINOR 0) set(VERSION_PATCH 0) @@ -8,7 +8,7 @@ string(TIMESTAMP BUILD_DATE "%Y-%m-%d") # 编译条件（如IIC类型等） # set(IIC_TYPE "AutoDetectDriveCurrent") -set(IIC_TYPE "24V") +set(IIC_TYPE "HW-IIC") # 其它自定义宏 add_definitions(-DIIC_TYPE=${IIC_TYPE})