hulk/xlsw_3dp_ultrasonic_300K
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This commit is contained in:
yelvlab 2024-09-27 15:41:22 +08:00
parent d5814ddd62
commit 0bbec6209f
3 changed files with 28 additions and 17 deletions
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9
inc/ultrasonic_driver.h
View File

@ -62,14 +62,23 @@
#define US_ECHO_CH TIMER_CH_0 #define US_ECHO_CH TIMER_CH_0
void led_config(void); void led_config(void);
void usart_config(void); void usart_config(void);
void ultrasonic_config(void); void ultrasonic_config(void);
void ultrasonic_transmit_config(void); void ultrasonic_transmit_config(void);
void ultrasonic_pwm_out_cycles(const uint8_t cycles); void ultrasonic_pwm_out_cycles(const uint8_t cycles);
void ultrasonic_transmit_delay(const uint16_t micro_second); void ultrasonic_transmit_delay(const uint16_t micro_second);
void receive_exti_config(void); void receive_exti_config(void);
void ultrasonic_echo_timer_config(void); void ultrasonic_echo_timer_config(void);
void ultrasonic_receive_config(void); void ultrasonic_receive_config(void);
uint16_t calculate_distance(uint32_t us_value); uint16_t calculate_distance(uint32_t us_value);
#endif //ULTRASONIC_DRIVER_H #endif //ULTRASONIC_DRIVER_H

3
src/mlx90614.c
View File

@ -36,7 +36,8 @@ int read_ir_mlx90614(void)
return -410; return -410;
} }
TIMEOUT = 0; TIMEOUT = 0;
I2C_GenerateSTART(I2C0, ENABLE); // I2C_GenerateSTART(I2C0, ENABLE);
i2c_ack_config(I2C0, I2C_ACK_ENABLE);
while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_MODE_SELECT)) while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_MODE_SELECT))
TIMEOUT++; TIMEOUT++;
if (TIMEOUT >= 10000) if (TIMEOUT >= 10000)

33
src/systick.c
View File

@ -22,14 +22,13 @@ volatile static float count_1ms = 0;
* *
* ************************************************************************ * ************************************************************************
*/ */
void systick_config(void) void systick_config(void) {
{
//设置了 SysTick 定时器的时钟源为 HCLK/8 //设置了 SysTick 定时器的时钟源为 HCLK/8
systick_clksource_set(SYSTICK_CLKSOURCE_HCLK_DIV8); systick_clksource_set(SYSTICK_CLKSOURCE_HCLK_DIV8);
//计算了每微秒所需的 SysTick 计数值 //计算了每微秒所需的 SysTick 计数值
count_1us = (float)SystemCoreClock/8000000; count_1us = (float) SystemCoreClock / 8000000;
//计算了每毫秒所需的 SysTick 计数值 //计算了每毫秒所需的 SysTick 计数值
count_1ms = (float)count_1us * 1000; count_1ms = (float) count_1us * 1000;
} }
/** /**
@ -44,16 +43,15 @@ void delay_us(uint32_t count) {
uint32_t ctl; uint32_t ctl;
//设置 SysTick 计数器的装载值 //设置 SysTick 计数器的装载值
SysTick->LOAD = (uint32_t)(count * count_1us); SysTick->LOAD = (uint32_t) (count * count_1us);
//清零 SysTick 计数器，以确保计数器从零开始计数 //清零 SysTick 计数器，以确保计数器从零开始计数
SysTick->VAL = 0x0000U; SysTick->VAL = 0x0000U;
//使能 SysTick 定时器，开始进行计数 //使能 SysTick 定时器，开始进行计数
SysTick->CTRL = SysTick_CTRL_ENABLE_Msk; SysTick->CTRL = SysTick_CTRL_ENABLE_Msk;
//等待 SysTick 计数器的计数值达到装载值时退出 //等待 SysTick 计数器的计数值达到装载值时退出
do do {
{ ctl = SysTick->CTRL; //读取 CTRL 寄存器的值
ctl = SysTick->CTRL; //读取 CTRL 寄存器的值 } while ((ctl & SysTick_CTRL_ENABLE_Msk) && !(ctl & SysTick_CTRL_COUNTFLAG_Msk));
}while((ctl & SysTick_CTRL_ENABLE_Msk)&&!(ctl & SysTick_CTRL_COUNTFLAG_Msk));
//循环退出，禁用 SysTick 定时器 //循环退出，禁用 SysTick 定时器
SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk; SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk;
//将 SysTick 计数器的当前值清零，以便下次使用 //将 SysTick 计数器的当前值清零，以便下次使用
@ -72,16 +70,15 @@ void delay_ms(uint32_t count) {
uint32_t ctl; uint32_t ctl;
//设置 SysTick 计数器的装载值 //设置 SysTick 计数器的装载值
SysTick->LOAD = (uint32_t)(count * count_1ms); SysTick->LOAD = (uint32_t) (count * count_1ms);
//清零 SysTick 计数器，以确保计数器从零开始计数 //清零 SysTick 计数器，以确保计数器从零开始计数
SysTick->VAL = 0x0000U; SysTick->VAL = 0x0000U;
//使能 SysTick 定时器，开始进行计数 //使能 SysTick 定时器，开始进行计数
SysTick->CTRL = SysTick_CTRL_ENABLE_Msk; SysTick->CTRL = SysTick_CTRL_ENABLE_Msk;
//等待 SysTick 计数器的计数值达到装载值时退出 //等待 SysTick 计数器的计数值达到装载值时退出
do do {
{ ctl = SysTick->CTRL; //读取 CTRL 寄存器的值
ctl = SysTick->CTRL; //读取 CTRL 寄存器的值 } while ((ctl & SysTick_CTRL_ENABLE_Msk) && !(ctl & SysTick_CTRL_COUNTFLAG_Msk));
}while((ctl&SysTick_CTRL_ENABLE_Msk)&&!(ctl & SysTick_CTRL_COUNTFLAG_Msk));
//循环退出，禁用 SysTick 定时器 //循环退出，禁用 SysTick 定时器
SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk; SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk;
//将 SysTick 计数器的当前值清零，以便下次使用 //将 SysTick 计数器的当前值清零，以便下次使用
@ -97,5 +94,9 @@ void delay_ms(uint32_t count) {
* ************************************************************************ * ************************************************************************
*/ */
void delay_5_nop(void) { void delay_5_nop(void) {
__NOP();__NOP();__NOP();__NOP();__NOP(); __NOP();
} __NOP();
__NOP();
__NOP();
__NOP();
}