bootloader

CMakeLists.txt

@@ -29,7 +29,7 @@ set(TARGET_SRC
     Src/led.c
     Src/uart_ring_buffer.c
     Src/command.c
-    Src/i2c.c
+    Src/board_config.c
     Src/ultrasonic_analog.c
 )
 

Inc/board_config.h

@@ -1,6 +1,10 @@
 #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)
@@ -18,6 +22,31 @@
 
 /******************************************************************************/
 
+/* 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 MCU_CODE          23u
+
+#define FW_VERSION_MAJOR  0
+#define FW_VERSION_MINOR  0
+#define FW_VERSION_PATCH  3
+
+/******************************************************************************/
+
 #define RCU_GPIO_I2C         RCU_GPIOF
 #define RCU_I2C              RCU_I2C0
 #define I2C_SCL_PORT         GPIOF
@@ -36,15 +65,15 @@
 
 /******************************************************************************/
 
-#define RS485_RCU            RCU_USART0
+#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_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
 
 /******************************************************************************/
 
@@ -58,11 +87,6 @@
 
 /******************************************************************************/
 
-#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
@@ -76,12 +100,11 @@
 #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
 
 /******************************************************************************/
 
-#define TIME_CORRECTION_US  230U
+void mcu_detect_and_config(void);
-#define CAPTURE_VALUE_MAX   550U
+uint8_t get_flash_size(void);
-
-/******************************************************************************/
 
 #endif //BOARD_CONFIG_H

Inc/command.h

@@ -81,6 +81,8 @@ 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

@@ -9,23 +9,13 @@ 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_TIME               498U  // ms
+#define ULTRASONIC_TX_RINGDOWN_RELOAD    240U  // 240us
-#define ULTRASONIC_MAX_TOF_RELOAD        1000U //us
+#define ULTRASONIC_MAX_TOF_RELOAD        2000U // 1000us
 
 /**************************************************************************************************/
 
-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);
 
-// uint16_t ultrasonic_calc_distance(void);
+#endif // ULTRASONIC_ANALOG_H
-
-#endif // UART_H

Src/board_config.c

@@ -0,0 +1,52 @@
+#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

@@ -18,6 +18,7 @@
 #include "board_config.h"
 #include "gd32e23x_usart.h"
 #include "ultrasonic_analog.h"
+#include "systick.h"
 
 /* ============================================================================
  * 协议格式说明
@@ -29,7 +30,7 @@
  * @details 
  * Host -> Device 命令帧格式：
  *   [0] HEADER = 0xD5       // 包头标识
- *   [1] BOARD_TYPE = 0x03   // 板卡类型标识
+ *   [1] BOARD_TYPE = 0x04   // 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
@@ -71,6 +72,7 @@
 #define RESP_TYPE_HEADER_ERR      0xF2  /**< 包头错误 */
 #define RESP_TYPE_TYPE_ERR        0xF3  /**< 类型错误 */
 #define RESP_TYPE_LEN_ERR         0xF4  /**< 长度错误 */
+#define RESP_TYPE_DATA_ERR        0xF5  /**< 数据错误 */
 /** @} */
 
 /* ============================================================================
@@ -154,13 +156,6 @@ 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);
 }
 
 /**
@@ -231,7 +226,7 @@ void handle_command(const uint8_t *frame, uint8_t len) {
 
     // 命令必须以 'M' 开头
     if (cmd[0] != 'M'){
-        send_response(RESP_TYPE_TYPE_ERR, s_report_status_err, sizeof(s_report_status_err));
+        // send_response(RESP_TYPE_TYPE_ERR, s_report_status_err, sizeof(s_report_status_err));
         return;
     }
 
@@ -243,7 +238,7 @@ void handle_command(const uint8_t *frame, uint8_t len) {
     if (used_base_cmd == 0) 
     {
         // 'M' 后没有数字，格式错误
-        send_response(RESP_TYPE_LEN_ERR, s_report_status_err, sizeof(s_report_status_err));
+        // send_response(RESP_TYPE_LEN_ERR, s_report_status_err, sizeof(s_report_status_err));
         return;
     }
 
@@ -253,20 +248,25 @@ 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: enable sensor report
+            case 1u: // M1: send ultrasonic driver single and respon raw data
-                // g_ultrasonic_measure_done = false;
+                // 启动超声波PWM发送
                 ultrasonic_pwm_out_cycles();
-                gpio_bit_toggle(GPIOA, GPIO_PIN_0);
+                uint16_t timeout_count = 0;
-
+                const uint16_t max_timeout = 250;
-                while (g_ultrasonic_measure_done)
+                
-                {
+                while (!g_ultrasonic_measure_done && timeout_count < max_timeout) {
-                    g_ultrasonic_measure_done = false;
+                    delay_10us(1);  // 延时 10us
-                    send_response(RESP_TYPE_OK, s_report_status_err, sizeof(s_report_status_err));
+                    timeout_count++;
-                    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_DATA_ERR, 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));
@@ -284,6 +284,13 @@ void handle_command(const uint8_t *frame, uint8_t len) {
             //     send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
             //     return;
 
+            case 999u: //M999: 输出固件版本号（vMCU_CODE.FW_VERSION_MAJOR.FW_VERSION_MINOR.FW_VERSION_PATCH）
+                char version_str[16];
+                int n = snprintf(version_str, sizeof(version_str), "v%u.%u.%u.%u", MCU_CODE, FW_VERSION_MAJOR, FW_VERSION_MINOR, FW_VERSION_PATCH);
+                send_response(RESP_TYPE_OK, (uint8_t *)version_str, (uint8_t)n);
+                // send_response(RESP_TYPE_OK, (uint8_t *)"v23.0.0.3", 9);
+                return;
+
             default:
                 // 其它无参数命令在此扩展（示例：M100）处理逻辑该如何待定
                 // send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
@@ -291,7 +298,7 @@ void handle_command(const uint8_t *frame, uint8_t len) {
                 break;
         }
         // 未在处理列表的无参数基础命令，回复错误
-        send_response(RESP_TYPE_TYPE_ERR, s_report_status_err, sizeof(s_report_status_err));
+        // send_response(RESP_TYPE_TYPE_ERR, s_report_status_err, sizeof(s_report_status_err));
         return;
     }
 
@@ -302,7 +309,7 @@ void handle_command(const uint8_t *frame, uint8_t len) {
         const uint8_t used_param_cmd = parse_uint_dec(&cmd[cmd_index], (uint8_t)(cmd_len - cmd_index), &param_value);
         if (used_param_cmd == 0) {
             // 'S' 后没有数字，格式错误
-            send_response(RESP_TYPE_LEN_ERR, s_report_status_err, sizeof(s_report_status_err));
+            // send_response(RESP_TYPE_LEN_ERR, s_report_status_err, sizeof(s_report_status_err));
             return;
         }
 
@@ -310,13 +317,12 @@ 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:
             break;
         }
-        send_response(RESP_TYPE_TYPE_ERR, s_report_status_err, sizeof(s_report_status_err));
+        // send_response(RESP_TYPE_TYPE_ERR, s_report_status_err, sizeof(s_report_status_err));
     }
 }
 
@@ -396,14 +402,14 @@ void command_process(void) {
             #endif
 
             if (verification_status && cmd_buf[1] != PROTOCOL_BOARD_TYPE) {
-                send_response(RESP_TYPE_TYPE_ERR, s_report_status_err, sizeof(s_report_status_err));
+                // send_response(RESP_TYPE_TYPE_ERR, s_report_status_err, sizeof(s_report_status_err));
                 verification_status = false;
             }
             if (verification_status) {
                 uint8_t crc_calc = command_sum_crc_calc(cmd_buf, expected_cmd_len);
                 uint8_t crc_recv = cmd_buf[expected_cmd_len - 1];
                 if (crc_calc != crc_recv) {
-                    send_response(RESP_TYPE_CRC_ERR, s_report_status_err, sizeof(s_report_status_err));
+                    // send_response(RESP_TYPE_CRC_ERR, s_report_status_err, sizeof(s_report_status_err));
                     verification_status = false;
                 }
             }
@@ -418,3 +424,39 @@ 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);
+
+    if (timer_count_us < ULTRASONIC_TX_RINGDOWN_RELOAD) {
+        // 超出最大计时范围，返回错误
+        send_response(RESP_TYPE_DATA_ERR, s_report_status_err, sizeof(s_report_status_err));
+        return;
+    }
+
+    // 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));
+    return;
+}

Src/gd32e23x_it.c

@@ -38,8 +38,7 @@ 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
@@ -104,39 +103,21 @@ void SysTick_Handler(void) {
     delay_decrement();
 }
 
-// /**
+void TIMER16_IRQHandler(void)
-//   * @brief  This function handles TIMER15 interrupt request.
+{
-//   * @param[in]  none
+    // CH0比较中断 (ULTRASONIC_TX_RINGDOWN_RELOAD)
-//   * @param[out] none
+    if(timer_interrupt_flag_get(TIMER16, TIMER_INT_FLAG_CH0) != RESET) {
-//   * @retval None
+        timer_interrupt_flag_clear(TIMER16, TIMER_INT_FLAG_CH0);
-//   */
+        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
-    }
-
-    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
@@ -147,14 +128,12 @@ 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;
 
@@ -167,15 +146,21 @@ 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) {
-    if (RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_RBNE)) {
+    // 检查当前配置是否使用USART0，并且函数指针不为空
-        uint8_t data = usart_data_receive(USART0);
+    if(g_usart_config.usart_periph == USART0 && g_usart_config.irq_handler != 0) {
-        (void)uart_ring_buffer_put(data); // 缓冲满时丢弃，返回值可用于统计
+        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
     }
 }

Src/main.c

@@ -38,11 +38,10 @@ OF SUCH DAMAGE.
 #include "led.h"
 #include "command.h"
 #include <stdio.h>
-#include "i2c.h"
 #include "board_config.h"
 #include "ultrasonic_analog.h"
 
-volatile uint16_t g_capture_value;
+// #define FLASH_SIZE_ADDR   (*(const uint16_t *)0x1FFFF7E0)
 
 /*!
     \brief      main function
@@ -52,14 +51,21 @@ volatile uint16_t g_capture_value;
 */
 int main(void)
 {
+    nvic_vector_table_set(NVIC_VECTTAB_FLASH, 0x2000); // 设置向量表偏移地址为0x2000
+
+    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"};
@@ -75,14 +81,7 @@ 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

@@ -16,6 +16,7 @@
 #include <unistd.h>
 #include <sys/wait.h>
 #include "gd32e23x_usart.h"
+#include "board_config.h"
 
 #undef errno
 extern int errno;
@@ -164,7 +165,7 @@ 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(USART0, USART_FLAG_TBE) == RESET) {}
+    while (usart_flag_get(RS485_PHY, USART_FLAG_TBE) == RESET) {}
-    usart_data_transmit(USART0, (uint8_t)ch);
+    usart_data_transmit(RS485_PHY, (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(USART0_IRQn, 0);
+    nvic_irq_enable(RS485_IRQ, 0);
     usart_interrupt_enable(RS485_PHY, USART_INT_RBNE);
     // usart_interrupt_enable(RS485_PHY, USART_INT_IDLE);
 
@@ -70,3 +70,37 @@ 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

@@ -6,17 +6,9 @@
 #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);
@@ -60,42 +52,34 @@ 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);
-    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);
@@ -106,8 +90,6 @@ 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) {
@@ -116,61 +98,43 @@ void ultrasonic_echo_timer_config(void) {
 
     timer_parameter_struct timer_initpara;
     timer_struct_para_init(&timer_initpara);
-    timer_initpara.prescaler = 71;
+    timer_initpara.prescaler = 71;                  // 72MHz/72 = 1MHz (1us per count)
     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(TIMER15, &timer_initpara);
+    timer_init(US_ECHO_TIMER, &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(TIMER15, TIMER_CH_1,&timer_oc_initpara);
+    timer_channel_output_config(US_ECHO_TIMER, TIMER_CH_0, &timer_oc_initpara);
 
-    timer_interrupt_enable(TIMER15, TIMER_INT_CH1 | TIMER_INT_UP);
+    // 配置输出比较模式
-    nvic_irq_enable(TIMER15_IRQn, 0);
+    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));
 
+    // 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);
 
-    // timer_parameter_struct timer_initpara;
+    // 使能中断
-    // timer_struct_para_init(&timer_initpara);
+    timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_UP);      // UP中断
-    // timer_initpara.prescaler = 71;
+    timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_CH0);     // CH0中断
-    // timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
+    
-    // timer_initpara.counterdirection = TIMER_COUNTER_UP;
+    nvic_irq_enable(US_ECHO_TIMER_IRQ, 1U);
-    // 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_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;
-// }

cmake/project_config.cmake

@@ -1,14 +1,14 @@
 # Project basic info
-set(PROJECT_NAME "gd32e23x")
+set(PROJECT_NAME "ultrasonic-analog")
-set(VERSION_MAJOR 1)
+set(VERSION_MAJOR 0)
 set(VERSION_MINOR 0)
-set(VERSION_PATCH 0)
+set(VERSION_PATCH 3)
 set(VERSION "V${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH}")
 string(TIMESTAMP BUILD_DATE "%Y-%m-%d")
 
 # 编译条件（如IIC类型等）
 # set(IIC_TYPE "AutoDetectDriveCurrent")
-set(IIC_TYPE "HW-IIC")
+set(IIC_TYPE "24V")
 
 # 其它自定义宏
 add_definitions(-DIIC_TYPE=${IIC_TYPE})