generated from hulk/gd32e23x_template_cmake_vscode
163 lines
5.8 KiB
C
163 lines
5.8 KiB
C
#include "ultrasonic_analog.h"
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#include "gd32e23x_usart.h"
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#include "gd32e23x_rcu.h"
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#include "gd32e23x_gpio.h"
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#include "board_config.h"
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#include "systick.h"
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volatile bool g_ultrasonic_measure_done = false;
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void ultrasonic_tx_init(void) {
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// TODO
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rcu_periph_clock_enable(RCU_GPIOA);
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gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0);
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gpio_output_options_set(GPIOA, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, GPIO_PIN_0);
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gpio_bit_reset(GPIOA, GPIO_PIN_0);
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rcu_periph_clock_enable(US_TX_GPIO_RCU);
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gpio_mode_set(US_TX_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, US_TX_GPIO_PIN);
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gpio_output_options_set(US_TX_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, US_TX_GPIO_PIN);
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gpio_af_set(US_TX_GPIO_PORT, US_TX_GPIO_AF, US_TX_GPIO_PIN);
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timer_oc_parameter_struct timer_ocinitpara;
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timer_parameter_struct timer_initpara;
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rcu_periph_clock_enable(US_TX_TIMER_RCU);
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timer_deinit(US_TX_TIMER);
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timer_struct_para_init(&timer_initpara);
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/* 配置为300kHz PWM输出 (72MHz/240) */
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timer_initpara.prescaler = 0; // 不分频
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
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timer_initpara.counterdirection = TIMER_COUNTER_UP;
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timer_initpara.period = 239; // 72MHz/300kHz - 1
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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timer_init(US_TX_TIMER, &timer_initpara);
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timer_channel_output_struct_para_init(&timer_ocinitpara);
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timer_ocinitpara.outputstate = TIMER_CCX_DISABLE;
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timer_ocinitpara.outputnstate = TIMER_CCXN_DISABLE;
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timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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timer_ocinitpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH;
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timer_ocinitpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW;
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timer_ocinitpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;
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timer_channel_output_config(US_TX_TIMER, US_TX_TIMER_CH, &timer_ocinitpara);
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/* config timer channel output mode */
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timer_channel_output_mode_config(US_TX_TIMER, US_TX_TIMER_CH, TIMER_OC_MODE_PWM0);
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/* config channel output pluse value (50% duty) */
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timer_channel_output_pulse_value_config(US_TX_TIMER, US_TX_TIMER_CH, 120);
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/* auto-reload preload enable */
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timer_auto_reload_shadow_enable(US_TX_TIMER);
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timer_counter_value_config(US_TX_TIMER, 0);
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timer_interrupt_enable(US_TX_TIMER, TIMER_INT_UP);
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nvic_irq_enable(TIMER13_IRQn, 2);
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}
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void ultrasonic_pwm_out_cycles(void) {
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g_ultrasonic_measure_done = false;
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timer_disable(TIMER13);
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timer_channel_output_state_config(TIMER13, TIMER_CH_0, TIMER_CCX_ENABLE);
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timer_enable(US_TX_TIMER);
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// TODO 启动后续回波计时器
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// timer_enable(US_ECHO_TIMER);
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}
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void ultrasonic_receive_exti_config(void) {
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rcu_periph_clock_enable(US_RX_GPIO_RCU);
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rcu_periph_clock_enable(US_RX_EXTI_RCU);
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gpio_mode_set(US_RX_GPIO_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, US_RX_GPIO_PIN);
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nvic_irq_enable(US_RX_EXTI_IRQ, 0U);
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syscfg_exti_line_config(EXTI_SOURCE_GPIOA, US_RX_EXTI_LINE);
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exti_init(US_RX_GPIO_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
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exti_flag_clear(US_RX_GPIO_EXTI);
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// exti_interrupt_enable(EXTI_0);
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}
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void ultrasonic_echo_timer_config(void) {
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// 使能TIMER16时钟
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rcu_periph_clock_enable(US_ECHO_RCU);
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// 复位定时器到默认状态
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timer_deinit(US_ECHO_TIMER);
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// 配置基本定时器参数
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timer_parameter_struct timer_initpara;
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timer_struct_para_init(&timer_initpara);
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// 设置分频器：72MHz ÷ 72 = 1MHz，每个计数 = 1us
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timer_initpara.prescaler = 71; // (72-1)，实际分频比为72
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
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timer_initpara.counterdirection = TIMER_COUNTER_UP;
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// 设置周期：999 (0-999共1000个计数) = 1000us = 1ms最大计时
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timer_initpara.period = 999; // 1000us重装载周期
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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// 初始化定时器基本参数
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timer_init(US_ECHO_TIMER, &timer_initpara);
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// 配置通道0用于240us比较中断（不是PWM输出，仅用于比较）
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timer_oc_parameter_struct timer_oc_initpara;
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timer_channel_output_struct_para_init(&timer_oc_initpara);
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// 禁用输出，仅用于内部比较中断
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timer_oc_initpara.outputstate = TIMER_CCX_DISABLE;
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timer_oc_initpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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timer_channel_output_config(US_ECHO_TIMER, US_ECHO_CH, &timer_oc_initpara);
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// 设置比较模式为时间比较（不是PWM模式）
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timer_channel_output_mode_config(US_ECHO_TIMER, US_ECHO_CH, TIMER_OC_MODE_TIMING);
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// 设置240us时触发比较中断（计数值239，因为从0开始计数）
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timer_channel_output_pulse_value_config(US_ECHO_TIMER, US_ECHO_CH, 239);
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// 启用比较中断（CH0）和重装载中断（UP）
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timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_CH0); // 240us比较中断
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timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_UP); // 1000us重装载中断
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// 配置NVIC中断优先级（设置为较高优先级1，确保及时响应）
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nvic_irq_enable(TIMER16_IRQn, 1);
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// 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
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}
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void ultrasonic_config(void) {
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ultrasonic_tx_init();
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// ultrasonic_transmit_debounce_delay(TIME_CORRECTION_US);
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// ultrasonic_receive_exti_config();
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ultrasonic_echo_timer_config();
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}
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// uint16_t ultrasonic_calc_distance(void) {
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// // while (!ultrasonicMeasurementDone);
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// // uint32_t us_value = timer_channel_capture_value_register_read(US_ECHO_TIMER, US_ECHO_CH);
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// uint16_t distance = (TIME_CORRECTION_US + g_capture_value) * 17;
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// /*
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// * (TIME_CORRECTION_US + us_value) * 340 m/s
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// * -----------------------------------------
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// * 1000 000
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// * ----------------------------------------------
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// * 2
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// */
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// return distance;
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// }
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