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fix commit

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yelvlab
2024-09-23 18:46:32 +08:00
commit 28a92dbd27
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src/ultrasonic_driver.c Normal file
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//
// Created by dell on 24-9-23.
//
#include "usonic_driver.h"
#include "gd32e23x.h"
#include "systick.h"
uint8_t speed_pwm = 30; //bldc default pwm is 30
void led_config(void)
{
rcu_periph_clock_enable(RCU_GPIOA);
gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_9);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);
gpio_bit_write(GPIOA, GPIO_PIN_9, SET);
rcu_periph_clock_enable(RCU_TIMER13);
timer_deinit(RCU_TIMER13);
timer_parameter_struct timer_initpara;
timer_struct_para_init(&timer_initpara);
timer_initpara.prescaler =7199;
timer_initpara.alignedmode =TIMER_COUNTER_EDGE;
timer_initpara.counterdirection =TIMER_COUNTER_UP;
timer_initpara.period =999;
timer_initpara.clockdivision =TIMER_CKDIV_DIV1;
timer_init(TIMER13, &timer_initpara);
timer_auto_reload_shadow_enable(TIMER13);
timer_interrupt_enable(TIMER13, TIMER_INT_UP);
nvic_irq_enable(TIMER13_IRQn, 0);
timer_enable(TIMER13);
}
void usart_config(void)
{
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_USART0);
gpio_af_set(GPIOA, GPIO_AF_1, GPIO_PIN_2 | GPIO_PIN_3);
/* configure USART Tx as alternate function push-pull */
gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO_PIN_2);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, GPIO_PIN_2);
gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO_PIN_3);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, GPIO_PIN_3);
/* USART configure */
usart_deinit(USART0);
usart_baudrate_set(USART0, 115200U);
usart_receive_config(USART0, USART_RECEIVE_ENABLE);
usart_transmit_config(USART0, USART_TRANSMIT_ENABLE);
usart_enable(USART0);
}
void ultrasonic_gpio_config(void)
{
rcu_periph_clock_enable(RCU_GPIOB);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_1);
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_1);
gpio_af_set(GPIOB, GPIO_AF_1, GPIO_PIN_1);
}
void ultrasonic_timer_config(void)
{
timer_oc_parameter_struct timer_ocinitpara;
timer_parameter_struct timer_initpara;
rcu_periph_clock_enable(RCU_TIMER2);
timer_deinit(TIMER2);
timer_struct_para_init(&timer_initpara);
timer_initpara.prescaler = 0;
timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
timer_initpara.counterdirection = TIMER_COUNTER_UP;
timer_initpara.period = 239;
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
timer_init(TIMER2, &timer_initpara);
timer_channel_output_struct_para_init(&timer_ocinitpara);
timer_ocinitpara.outputstate =TIMER_CCX_ENABLE;
timer_ocinitpara.outputnstate =TIMER_CCXN_DISABLE;
timer_ocinitpara.ocpolarity =TIMER_OC_POLARITY_HIGH;
timer_ocinitpara.ocnpolarity =TIMER_OCN_POLARITY_HIGH;
timer_ocinitpara.ocidlestate =TIMER_OC_IDLE_STATE_LOW;
timer_ocinitpara.ocnidlestate =TIMER_OCN_IDLE_STATE_LOW;
timer_channel_output_config(TIMER2, TIMER_CH_3, &timer_ocinitpara);
timer_channel_output_pulse_value_config(TIMER2, TIMER_CH_3, 120);
timer_channel_output_mode_config(TIMER2, TIMER_CH_3, TIMER_OC_MODE_PWM0);
timer_auto_reload_shadow_enable(TIMER2);
timer_interrupt_enable(TIMER2, TIMER_INT_UP);
// nvic_irq_enable(TIMER2_IRQn, 1);
// timer_enable(TIMER2);
}
void ultrasonic_config(void) {
led_config();
usart_config();
ultrasonic_gpio_config();
ultrasonic_timer_config();
}
void ultrasonic_pwm_out_cycles(uint8_t cycles) {
uint8_t current_cycle = 0;
timer_channel_output_pulse_value_config(TIMER2, TIMER_CH_3, 120);
timer_channel_output_mode_config(TIMER2, TIMER_CH_3, TIMER_OC_MODE_PWM1);
timer_enable(TIMER2);
while (current_cycle < cycles)
{
while (!timer_interrupt_flag_get(TIMER2, TIMER_INT_FLAG_UP));
timer_interrupt_flag_clear(TIMER2, TIMER_INT_FLAG_UP);
current_cycle ++;
}
// delay_nop();
timer_disable(TIMER2);
// if(gpio_output_bit_get(GPIOB, GPIO_PIN_1) == SET)
// {
// gpio_bit_reset(GPIOB, GPIO_PIN_1);
// }
}