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yelvlab
2025-08-19 23:24:29 +08:00
parent 1247429882
commit c5eb3ab534
9 changed files with 365 additions and 28 deletions
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33
Src/command.c
View File

@@ -17,6 +17,7 @@
#include <stdio.h>
#include "board_config.h"
#include "gd32e23x_usart.h"
#include "ultrasonic_analog.h"
/* ============================================================================
* 协议格式说明
@@ -52,7 +53,7 @@
/** @name 协议帧标识符
* @{ */
#define PROTOCOL_PACKAGE_HEADER 0xD5 /**< 命令帧包头标识 */
#define PROTOCOL_BOARD_TYPE 0x03 /**< 板卡类型标识 */
#define PROTOCOL_BOARD_TYPE 0x04 /**< 板卡类型标识 */
/** @} */
/** @name 命令长度限制
@@ -82,6 +83,8 @@ static const uint8_t s_report_status_ok[] = { 'o', 'k' }; /**< 成功响应
static const uint8_t s_report_status_err[] = { 'e','r','r' }; /**< 错误响应数据 */
/** @} */
extern volatile bool g_ultrasonic_measure_done;
/* ============================================================================
* 公共接口函数
* ============================================================================ */
@@ -251,20 +254,31 @@ void handle_command(const uint8_t *frame, uint8_t len) {
// 仅基础命令，如 M1, M2, M3
switch (base_cmd) {
case 1u: // M1: enable sensor report
send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
return;
// g_ultrasonic_measure_done = false;
ultrasonic_pwm_out_cycles();
gpio_bit_toggle(GPIOA, GPIO_PIN_0);
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;
}
case 2u: // M2: disable sensor report
send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
return;
case 3u:
send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
return;
// case 3u:
//
// return;
case 4u:
send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
return;
// case 4u:
//
// return;
// case 201u: // M201命令
// send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
@@ -404,4 +418,3 @@ void command_process(void) {
}
}
}

74
Src/gd32e23x_it.c
View File

@@ -37,6 +37,9 @@ OF SUCH DAMAGE.
#include "uart.h"
#include "uart_ring_buffer.h"
#include "led.h"
#include "ultrasonic_analog.h"
extern uint16_t g_capture_value;
/*!
\brief this function handles NMI exception
@@ -101,9 +104,78 @@ void SysTick_Handler(void) {
delay_decrement();
}
// /**
// * @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);
}
}
/**
* @brief This function handles external lines 0 to 1 interrupt request
* @param[in] none
* @param[out] none
* @retval None
*/
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);
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;
void TIMER13_IRQHandler(void)
{
if(SET == timer_interrupt_flag_get(TIMER13, TIMER_INT_FLAG_UP)) {
timer_interrupt_flag_clear(TIMER13, TIMER_INT_FLAG_UP);
pwm_cycle_count++;
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) {
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
}
}
}

23
Src/main.c
View File

@@ -40,6 +40,9 @@ OF SUCH DAMAGE.
#include <stdio.h>
#include "i2c.h"
#include "board_config.h"
#include "ultrasonic_analog.h"
volatile uint16_t g_capture_value;
/*!
\brief main function
@@ -49,12 +52,14 @@ OF SUCH DAMAGE.
*/
int main(void)
{
setbuf(stdout, NULL);
systick_config();
rs485_init();
led_init();
ultrasonic_config();
#ifdef DEBUG_VERBOSE
char hello_world[] = {"Hello World!\r\n"};
@@ -68,16 +73,16 @@ int main(void)
while (usart_flag_get(RS485_PHY, USART_FLAG_TC) == RESET) {}
#endif
i2c_config();
#ifdef DEBUG_VERBOSE
i2c_scan();
i2c_bus_reset();
#endif
while(1){
// ultrasonic_pwm_out_cycles();
// delay_ms(10);
command_process();
delay_ms(10);
delay_ms(10);
// uint16_t ultrasonic_value = ultrasonic_calc_distance();
// printf("ultrasonic value: %d", ultrasonic_value);
// delay_ms(10);
}
}

176
Src/ultrasonic_analog.c Normal file
View File

@@ -0,0 +1,176 @@
#include "ultrasonic_analog.h"
#include "gd32e23x_usart.h"
#include "gd32e23x_rcu.h"
#include "gd32e23x_gpio.h"
#include "board_config.h"
#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);
gpio_output_options_set(US_TX_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, US_TX_GPIO_PIN);
gpio_af_set(US_TX_GPIO_PORT, US_TX_GPIO_AF, US_TX_GPIO_PIN);
timer_oc_parameter_struct timer_ocinitpara;
timer_parameter_struct timer_initpara;
rcu_periph_clock_enable(US_TX_TIMER_RCU);
timer_deinit(US_TX_TIMER);
timer_struct_para_init(&timer_initpara);
/* 配置为300kHz PWM输出 (72MHz/240) */
timer_initpara.prescaler = 0; // 不分频
timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
timer_initpara.counterdirection = TIMER_COUNTER_UP;
timer_initpara.period = 239; // 72MHz/300kHz - 1
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
timer_init(US_TX_TIMER, &timer_initpara);
timer_channel_output_struct_para_init(&timer_ocinitpara);
timer_ocinitpara.outputstate = TIMER_CCX_DISABLE;
timer_ocinitpara.outputnstate = TIMER_CCXN_DISABLE;
timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
timer_ocinitpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH;
timer_ocinitpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW;
timer_ocinitpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;
timer_channel_output_config(US_TX_TIMER, US_TX_TIMER_CH, &timer_ocinitpara);
/* config timer channel output mode */
timer_channel_output_mode_config(US_TX_TIMER, US_TX_TIMER_CH, TIMER_OC_MODE_PWM0);
/* config channel output pluse value (50% duty) */
timer_channel_output_pulse_value_config(US_TX_TIMER, US_TX_TIMER_CH, 120);
/* auto-reload preload enable */
timer_auto_reload_shadow_enable(US_TX_TIMER);
timer_counter_value_config(US_TX_TIMER, 0);
timer_interrupt_enable(US_TX_TIMER, TIMER_INT_UP);
nvic_irq_enable(TIMER13_IRQn, 2);
}
void ultrasonic_pwm_out_cycles(void) {
g_ultrasonic_measure_done = false;
timer_disable(TIMER13);
timer_channel_output_state_config(TIMER13, TIMER_CH_0, TIMER_CCX_ENABLE);
timer_enable(US_TX_TIMER);
timer_enable(TIMER15);
}
// 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);
gpio_mode_set(US_RX_GPIO_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, US_RX_GPIO_PIN);
nvic_irq_enable(US_RX_EXTI_IRQ, 0U);
syscfg_exti_line_config(EXTI_SOURCE_GPIOA, US_RX_EXTI_LINE);
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) {
rcu_periph_clock_enable(US_ECHO_RCU);
timer_deinit(US_ECHO_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 = ULTRASONIC_MAX_TOF_RELOAD - 1;
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
timer_init(TIMER15, &timer_initpara);
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(TIMER15, TIMER_CH_1,&timer_oc_initpara);
timer_interrupt_enable(TIMER15, TIMER_INT_CH1 | TIMER_INT_UP);
nvic_irq_enable(TIMER15_IRQn, 0);
// 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);
}
void ultrasonic_config(void) {
ultrasonic_tx_init();
// 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;
// }