generated from hulk/gd32e23x_template_cmake_vscode
141 lines
4.9 KiB
C
141 lines
4.9 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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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, 2U);
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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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// 停止发射定时器
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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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// 重置并启动回波计时器
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timer_disable(US_ECHO_TIMER);
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// 重要：清除所有中断标志
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// timer_interrupt_flag_clear(US_ECHO_TIMER, TIMER_INT_FLAG_CH0);
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// timer_interrupt_flag_clear(US_ECHO_TIMER, TIMER_INT_FLAG_UP);
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// 重置计数器
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timer_counter_value_config(US_ECHO_TIMER, 0);
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// 启动发射PWM
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timer_enable(US_TX_TIMER);
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// 启动回波计时器
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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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}
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void ultrasonic_echo_timer_config(void) {
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rcu_periph_clock_enable(US_ECHO_RCU);
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timer_deinit(US_ECHO_TIMER);
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timer_parameter_struct timer_initpara;
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timer_struct_para_init(&timer_initpara);
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timer_initpara.prescaler = 71; // 72MHz/72 = 1MHz (1us per count)
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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 = (ULTRASONIC_MAX_TOF_RELOAD - 1);
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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timer_init(US_ECHO_TIMER, &timer_initpara);
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timer_auto_reload_shadow_disable(US_ECHO_TIMER);
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// 配置输出比较通道0
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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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timer_oc_initpara.outputstate = TIMER_CCX_ENABLE;
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timer_oc_initpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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timer_channel_output_config(US_ECHO_TIMER, TIMER_CH_0, &timer_oc_initpara);
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// 配置输出比较模式
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timer_channel_output_mode_config(US_ECHO_TIMER, TIMER_CH_0, TIMER_OC_MODE_TIMING);
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// 设置比较值
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timer_channel_output_pulse_value_config(US_ECHO_TIMER, TIMER_CH_0, (ULTRASONIC_TX_RINGDOWN_RELOAD - 1));
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// 清除中断标志
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timer_interrupt_flag_clear(US_ECHO_TIMER, TIMER_INT_FLAG_CH0);
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timer_interrupt_flag_clear(US_ECHO_TIMER, TIMER_INT_FLAG_UP);
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// 使能中断
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timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_UP); // UP中断
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timer_interrupt_enable(US_ECHO_TIMER, TIMER_INT_CH0); // CH0中断
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nvic_irq_enable(US_ECHO_TIMER_IRQ, 1U);
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// timer_single_pulse_mode_config(US_ECHO_TIMER, TIMER_SP_MODE_SINGLE);
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}
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void ultrasonic_config(void) {
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ultrasonic_tx_init();
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ultrasonic_receive_exti_config();
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ultrasonic_echo_timer_config();
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}
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