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yelvlab 2024-09-27 18:22:57 +08:00
parent 0bbec6209f
commit 1cf43e0371
4 changed files with 38 additions and 53 deletions
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2
inc/mlx90614.h
View File

@ -5,6 +5,8 @@
#ifndef MLX90614_H #ifndef MLX90614_H
#define MLX90614_H #define MLX90614_H
#define I2C_EVENT_MASTER_MODE_SELECT ((uint32_t)(I2C_FLAG_I2CBSY | I2C_FLAG_MASTER | I2C_FLAG_RBNE))
void i2c_config(void); void i2c_config(void);
int read_ir_mlx90614(void); int read_ir_mlx90614(void);

9
inc/ultrasonic_driver.h
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@ -62,23 +62,14 @@
#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

47
src/mlx90614.c
View File

@ -5,9 +5,9 @@
#include "mlx90614.h" #include "mlx90614.h"
#include "gd32e23x.h" #include "gd32e23x.h"
#include "systick.h" #include "systick.h"
#include <stdio.h>
void i2c_config(void) void i2c_config(void) {
{
rcu_periph_clock_enable(RCU_I2C0); rcu_periph_clock_enable(RCU_I2C0);
rcu_periph_clock_enable(GPIOF); rcu_periph_clock_enable(GPIOF);
@ -23,35 +23,34 @@ void i2c_config(void)
nvic_irq_enable(I2C0_ER_IRQn, 2); nvic_irq_enable(I2C0_ER_IRQn, 2);
} }
int read_ir_mlx90614(void) int read_ir_mlx90614(void) {
{
uint8_t Data[5]; uint8_t Data[5];
int inttemp_ir = 0; int inttemp_ir = 0;
uint32_t TIMEOUT = 0; uint32_t TIMEOUT = 0;
while (TIMEOUT < 10000 && i2c_flag_get(I2C0, I2C_FLAG_I2CBSY)) while (TIMEOUT < 10000 && i2c_flag_get(I2C0, I2C_FLAG_I2CBSY))
TIMEOUT++; TIMEOUT++;
if (TIMEOUT >= 10000) if (TIMEOUT >= 10000) {
{
//printf("ERROR0\r\n"); //printf("ERROR0\r\n");
return -410; return -410;
} }
TIMEOUT = 0; TIMEOUT = 0;
// I2C_GenerateSTART(I2C0, ENABLE); // I2C_GenerateSTART(I2C0, ENABLE);
i2c_ack_config(I2C0, I2C_ACK_ENABLE); i2c_start_on_bus(I2C0);
while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_MODE_SELECT)) // while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_MODE_SELECT))
while (TIMEOUT < 10000 && !i2c_flag_get(I2C0, I2C_EVENT_MASTER_MODE_SELECT))
TIMEOUT++; TIMEOUT++;
if (TIMEOUT >= 10000) if (TIMEOUT >= 10000) {
{
//printf("ERROR1\r\n"); //printf("ERROR1\r\n");
return -410; return -410;
} }
// I2C_AcknowledgeConfig(I2C0,DISABLE); // I2C_AcknowledgeConfig(I2C0,DISABLE);
TIMEOUT = 0; TIMEOUT = 0;
I2C_Send7bitAddress(I2C0, 0XB4, I2C_Direction_Transmitter); // I2C_Send7bitAddress(I2C0, 0XB4, I2C_Direction_Transmitter);
while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)) i2c_master_addressing(I2C0, 0XB4, I2C_TRANSMITTER);
// while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
while (TIMEOUT < 10000 && !i2c_flag_get(I2C0, I2C_FLAG_TR))
TIMEOUT++; TIMEOUT++;
if (TIMEOUT >= 10000) if (TIMEOUT >= 10000) {
{
printf("ERROR2\r\n"); printf("ERROR2\r\n");
return -410; return -410;
} }
@ -61,8 +60,7 @@ int read_ir_mlx90614(void)
I2C_GenerateSTART(I2C0, ENABLE); I2C_GenerateSTART(I2C0, 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) {
{
//printf("ERROR3\r\n"); //printf("ERROR3\r\n");
return -410; return -410;
} }
@ -70,8 +68,7 @@ int read_ir_mlx90614(void)
I2C_Send7bitAddress(I2C0, 0XB4, I2C_Direction_Receiver); I2C_Send7bitAddress(I2C0, 0XB4, I2C_Direction_Receiver);
while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED)) while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED))
TIMEOUT++; TIMEOUT++;
if (TIMEOUT >= 10000) if (TIMEOUT >= 10000) {
{
//printf("ERROR4\r\n"); //printf("ERROR4\r\n");
return -410; return -410;
} }
@ -80,8 +77,7 @@ int read_ir_mlx90614(void)
Data[0] = I2C_ReceiveData(I2C0); Data[0] = I2C_ReceiveData(I2C0);
while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED)) while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED))
TIMEOUT++; TIMEOUT++;
if (TIMEOUT >= 10000) if (TIMEOUT >= 10000) {
{
//printf("ERROR5\r\n"); //printf("ERROR5\r\n");
return -410; return -410;
} }
@ -90,8 +86,7 @@ int read_ir_mlx90614(void)
Data[1] = I2C_ReceiveData(I2C0); Data[1] = I2C_ReceiveData(I2C0);
while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED)) while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED))
TIMEOUT++; TIMEOUT++;
if (TIMEOUT >= 10000) if (TIMEOUT >= 10000) {
{
//printf("ERROR6\r\n"); //printf("ERROR6\r\n");
return -410; return -410;
} }
@ -100,8 +95,7 @@ int read_ir_mlx90614(void)
Data[2] = I2C_ReceiveData(I2C0); Data[2] = I2C_ReceiveData(I2C0);
while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED)) while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED))
TIMEOUT++; TIMEOUT++;
if (TIMEOUT >= 10000) if (TIMEOUT >= 10000) {
{
//printf("ERROR7\r\n"); //printf("ERROR7\r\n");
return -410; return -410;
} }
@ -111,8 +105,7 @@ int read_ir_mlx90614(void)
Data[3] = I2C_ReceiveData(I2C0); Data[3] = I2C_ReceiveData(I2C0);
while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED)) while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED))
TIMEOUT++; TIMEOUT++;
if (TIMEOUT >= 10000) if (TIMEOUT >= 10000) {
{
//printf("ERROR11\r\n"); //printf("ERROR11\r\n");
return -410; return -410;
} }
@ -121,7 +114,7 @@ int read_ir_mlx90614(void)
I2C_GenerateSTOP(I2C0, ENABLE); I2C_GenerateSTOP(I2C0, ENABLE);
I2C_AcknowledgeConfig(I2C0, ENABLE); I2C_AcknowledgeConfig(I2C0, ENABLE);
//printf("data:%x,%x,%x\r\n",Data[0],Data[1],Data[2]); //printf("data:%x,%x,%x\r\n",Data[0],Data[1],Data[2]);
inttemp_ir = (int)((Data[0] + Data[1] * 255) * 0.2 - 2731.5); inttemp_ir = (int) ((Data[0] + Data[1] * 255) * 0.2 - 2731.5);
// printf("temp:%d\r\n",inttemp_ir); // printf("temp:%d\r\n",inttemp_ir);

31
src/systick.c
View File

@ -22,13 +22,14 @@ 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;
} }
/** /**
@ -43,15 +44,16 @@ 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 {
} while ((ctl & SysTick_CTRL_ENABLE_Msk) && !(ctl & SysTick_CTRL_COUNTFLAG_Msk)); ctl = SysTick->CTRL; //读取 CTRL 寄存器的值
}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
@ -70,15 +72,16 @@ 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 {
} while ((ctl & SysTick_CTRL_ENABLE_Msk) && !(ctl & SysTick_CTRL_COUNTFLAG_Msk)); ctl = SysTick->CTRL; //读取 CTRL 寄存器的值
}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
@ -94,9 +97,5 @@ 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();
} }