revert 3ad18bf1f1

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

Reviewed-on: #1

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
 )
 

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_RCU            RCU_USART0
-#define RS485_PHY            (g_usart_config.usart_periph)
-#define RS485_IRQ            (g_usart_config.irq_type)
 #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);
+#define TIME_CORRECTION_US  230U
-uint8_t get_flash_size(void);
+#define CAPTURE_VALUE_MAX   550U
+
+/******************************************************************************/
 
 #endif //BOARD_CONFIG_H

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

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_TX_TIME               498U  // ms
-#define ULTRASONIC_MAX_TOF_RELOAD        1000U // 1000us
+#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

Src/board_config.c

@@ -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;
-}

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
+            case 1u: // M1: enable sensor report
-                // 启动超声波PWM发送
+                // g_ultrasonic_measure_done = false;
                 ultrasonic_pwm_out_cycles();
-                uint16_t timeout_count = 0;
+                gpio_bit_toggle(GPIOA, GPIO_PIN_0);
-                const uint16_t max_timeout = 150;
 
-                while (!g_ultrasonic_measure_done && timeout_count < max_timeout) {
+                while (g_ultrasonic_measure_done)
-                    delay_10us(1);  // 延时 10us
+                {
-                    timeout_count++;
+                    g_ultrasonic_measure_done = false;
+                    send_response(RESP_TYPE_OK, s_report_status_err, sizeof(s_report_status_err));
+                    return;
                 }
                 
-                // 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));
-                }
-                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));
-}

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)
+// /**
-{
+//   * @brief  This function handles TIMER15 interrupt request.
-    // CH0比较中断 (ULTRASONIC_TX_RINGDOWN_RELOAD)
+//   * @param[in]  none
-    if(timer_interrupt_flag_get(TIMER16, TIMER_INT_FLAG_CH0) != RESET) {
+//   * @param[out] none
-        timer_interrupt_flag_clear(TIMER16, TIMER_INT_FLAG_CH0);
+//   * @retval None
-        exti_interrupt_enable(US_RX_GPIO_EXTI);
+//   */
+// 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
     }
 
-    // UP更新中断 (ULTRASONIC_MAX_TOF_RELOAD)
+    if (timer_interrupt_flag_get(TIMER15, TIMER_INT_FLAG_UP)) {
-    if(timer_interrupt_flag_get(TIMER16, TIMER_INT_FLAG_UP) != RESET) {
+        timer_interrupt_flag_clear(TIMER15, TIMER_INT_FLAG_UP);
-        timer_interrupt_flag_clear(TIMER16, TIMER_INT_FLAG_UP);
+        timer_disable(TIMER15);
-        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 (RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_RBNE)) {
-    if(g_usart_config.usart_periph == USART0 && g_usart_config.irq_handler != 0) {
+        uint8_t data = usart_data_receive(USART0);
-        g_usart_config.irq_handler();  // 通过函数指针调用对应的处理函数
+        (void)uart_ring_buffer_put(data); // 缓冲满时丢弃，返回值可用于统计
-    }
-}
-
-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
     }
 }

Src/main.c

@@ -38,10 +38,11 @@ OF SUCH DAMAGE.
 #include "led.h"
 #include "command.h"
 #include <stdio.h>
+#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);
     }
 }

Src/syscalls.c

@@ -16,7 +16,6 @@
 #include <unistd.h>
 #include <sys/wait.h>
 #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) {}
+    while (usart_flag_get(USART0, USART_FLAG_TBE) == RESET) {}
-    usart_data_transmit(RS485_PHY, (uint8_t)ch);
+    usart_data_transmit(USART0, (uint8_t)ch);
     return ch;
 }

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
-    }
-}

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_interrupt_enable(TIMER15, TIMER_INT_CH1 | TIMER_INT_UP);
-    timer_channel_output_mode_config(US_ECHO_TIMER, TIMER_CH_0, TIMER_OC_MODE_TIMING);
+    nvic_irq_enable(TIMER15_IRQn, 0);
 
-    // 设置比较值
-    timer_channel_output_pulse_value_config(US_ECHO_TIMER, TIMER_CH_0, (ULTRASONIC_TX_RINGDOWN_RELOAD - 1));
 
-    // 清除中断标志
+    // timer_parameter_struct timer_initpara;
-    timer_interrupt_flag_clear(US_ECHO_TIMER, TIMER_INT_FLAG_CH0);
+    // timer_struct_para_init(&timer_initpara);
-    timer_interrupt_flag_clear(US_ECHO_TIMER, TIMER_INT_FLAG_UP);
+    // 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);
 
-    // 使能中断
+    // timer_ic_parameter_struct timer_icinitpara;
-    timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_UP);      // UP中断
+    // timer_channel_input_struct_para_init(&timer_icinitpara);
-    timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_CH0);     // CH0中断
+    // 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);
 
-    nvic_irq_enable(US_ECHO_TIMER_IRQ, 1U);
 
-    // 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;
+// }

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})