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hulk merged 7 commits from dev into main 2025-08-25 17:32:31 +08:00
Conversation 0 Commits 7 Files Changed 12 +59 -83
4 changed files with 59 additions and 83 deletions
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6
Inc/board_config.h
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@@ -58,11 +58,6 @@
/******************************************************************************/
#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
@@ -76,6 +71,7 @@
#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
/******************************************************************************/

10
Src/command.c
View File

@@ -259,11 +259,15 @@ void handle_command(const uint8_t *frame, uint8_t len) {
// 启动超声波PWM发送
ultrasonic_pwm_out_cycles();
// 启动TIMER16用于240us精确计时
timer_counter_value_config(TIMER16, 0); // 复位计数器
timer_enable(TIMER16); // 启动定时器
// 等待超声测量完成，最多等待1ms (100次 * 10us)
// PWM发送约需16.7us (5周期 × 3.33us)，超时时间充足
// TIMER16将在240us时设置g_ultrasonic_measure_done = true
uint16_t timeout_count = 0;
const uint16_t max_timeout = 100;
const uint16_t max_timeout = 150;
while (!g_ultrasonic_measure_done && timeout_count < max_timeout) {
delay_10us(1); // 延时 10us
@@ -277,7 +281,7 @@ void handle_command(const uint8_t *frame, uint8_t len) {
// 测量完成，发送正常响应
send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
} else {
// 超时，发送读取错误包（理论上不应该发生，因为PWM只需16.7us）
// 超时，发送读取错误包（理论上不应该发生，因为TIMER16会在240us时触发）
static const uint8_t timeout_error_data[] = { 0xFF, 0xFF, 0xFF, 0xFF };
send_response(RESP_TYPE_OK, timeout_error_data, sizeof(timeout_error_data));
}

49
Src/gd32e23x_it.c
View File

@@ -102,39 +102,30 @@ 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
void TIMER16_IRQHandler(void) {
// 处理通道0比较中断（240us时触发）
if (timer_interrupt_flag_get(TIMER16, TIMER_INT_FLAG_CH0)) {
timer_interrupt_flag_clear(TIMER16, TIMER_INT_FLAG_CH0);
// 在240us时执行的操作
g_ultrasonic_measure_done = true; // 设置测量完成标志
// TODO: 在这里可以执行其他240us时需要的操作
// 例如：启动其他定时器、设置GPIO、记录时间戳等
}
if (timer_interrupt_flag_get(TIMER15, TIMER_INT_FLAG_UP)) {
timer_interrupt_flag_clear(TIMER15, TIMER_INT_FLAG_UP);
timer_disable(TIMER15);
// 处理重装载中断（1000us时触发，即超时）
if (timer_interrupt_flag_get(TIMER16, TIMER_INT_FLAG_UP)) {
timer_interrupt_flag_clear(TIMER16, TIMER_INT_FLAG_UP);
// 达到最大时间（1ms），自动关闭定时器
timer_disable(TIMER16);
// TODO: 超时处理逻辑
// 如果需要，可以在这里设置超时标志或执行其他清理操作
}
}
/**
* @brief This function handles external lines 0 to 1 interrupt request
* @param[in] none
@@ -165,7 +156,7 @@ 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
// g_ultrasonic_measure_done = true; // 注释掉，现在由TIMER16在240us时设置
}
}

77
Src/ultrasonic_analog.c
View File

@@ -74,29 +74,10 @@ void ultrasonic_pwm_out_cycles(void) {
timer_enable(US_TX_TIMER);
// TODO 启动后续回波计时器
// timer_enable(TIMER15);
// 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);
@@ -112,47 +93,51 @@ void ultrasonic_receive_exti_config(void) {
}
void ultrasonic_echo_timer_config(void) {
// 使能TIMER16时钟
rcu_periph_clock_enable(US_ECHO_RCU);
// 复位定时器到默认状态
timer_deinit(US_ECHO_TIMER);
// 配置基本定时器参数
timer_parameter_struct timer_initpara;
timer_struct_para_init(&timer_initpara);
timer_initpara.prescaler = 71;
// 设置分频器：72MHz ÷ 72 = 1MHz，每个计数 = 1us
timer_initpara.prescaler = 71; // (72-1)，实际分频比为72
timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
timer_initpara.counterdirection = TIMER_COUNTER_UP;
timer_initpara.period = ULTRASONIC_MAX_TOF_RELOAD - 1;
// 设置周期：999 (0-999共1000个计数) = 1000us = 1ms最大计时
timer_initpara.period = 999; // 1000us重装载周期
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
timer_init(TIMER15, &timer_initpara);
// 初始化定时器基本参数
timer_init(US_ECHO_TIMER, &timer_initpara);
// 配置通道0用于240us比较中断（不是PWM输出，仅用于比较）
timer_oc_parameter_struct timer_oc_initpara;
timer_channel_output_struct_para_init(&timer_oc_initpara);
timer_oc_initpara.outputstate = TIMER_CCX_ENABLE;
// 禁用输出，仅用于内部比较中断
timer_oc_initpara.outputstate = TIMER_CCX_DISABLE;
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, US_ECHO_CH, &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);
// 设置比较模式为时间比较（不是PWM模式）
timer_channel_output_mode_config(US_ECHO_TIMER, US_ECHO_CH, TIMER_OC_MODE_TIMING);
// 设置240us时触发比较中断（计数值239，因为从0开始计数）
timer_channel_output_pulse_value_config(US_ECHO_TIMER, US_ECHO_CH, 239);
// 启用比较中断（CH0）和重装载中断（UP）
timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_CH0); // 240us比较中断
timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_UP); // 1000us重装载中断
// 配置NVIC中断优先级（设置为较高优先级1，确保及时响应）
nvic_irq_enable(TIMER16_IRQn, 1);
// 注意：定时器配置完成但不启动，需要在其他地方调用timer_enable()启动
}
void ultrasonic_config(void) {