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revert 3ad18bf1f1

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revert Merge pull request 'dev' (#1) from dev into main

Reviewed-on: #1
This commit is contained in:
hulk
2025-08-25 17:34:39 +08:00
parent 3ad18bf1f1
commit 3e42b474d1
12 changed files with 174 additions and 241 deletions
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110
Src/ultrasonic_analog.c
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@@ -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;
// }