hulk/xlsw_3dp_ultrasonic_300K
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first version OK!!!!!

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yelvlab 2024-09-25 15:42:11 +08:00
parent 392ccaba81
commit 6581d6ff88
4 changed files with 34 additions and 60 deletions
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8
README.md
View File

@ -6,3 +6,11 @@
- [x] PA2/PA3配置为USART0
- [x] LED配置存活状态闪烁
- [ ] 超声反射回波接受与精准计时
- 超声波反射回来后到sensor成功接收，GPIO上的反应主要分为两部分，
1. 超声波在发送时产生的余震，24V下大概为230us，12V下大概为210us。（前面所说的时间均为比较保守的时间）
2. 超声波会在接触到目标后反射回sensor上，并产生一个低电平，主要就是检测这部分。
- [x] 产生一个210-230us可调节的准确延时。（TIMER15配置为1us计一个数，设置重载为需要的时间，产生中断即可。）
- [x] 在产生指定时间的中断服务函数中，开启EXTI0（PA0,sensor信号接收引脚），开启TIMER14（计时计数器，1us计一个数，计算接收到外部中断的时间）
- [ ] 在外部中断服务函数中，产生一个事件或中断，进入到TIMER14的中断

33
src/gd32e23x_it.c
View File

@ -33,6 +33,7 @@ OF SUCH DAMAGE.
*/
#include "gd32e23x_it.h"
#include <stdio.h>
#include "main.h"
#include "systick.h"
#include "ultrasonic_driver.h"
@ -118,31 +119,15 @@ void TIMER5_IRQHandler(void) {
}
}
void TIMER14_IRQHandler(void)
{
if (timer_flag_get(TIMER14, TIMER_FLAG_CH0))
{
timer_flag_clear(TIMER14, TIMER_FLAG_CH0);
uint32_t capture_value = timer_channel_capture_value_register_read(TIMER14, TIMER_CH_0);
timer_disable(TIMER14);
}
}
void TIMER15_IRQHandler(void) {
if (timer_interrupt_flag_get(TIMER15, TIMER_INT_FLAG_UP) == SET)
{
timer_interrupt_flag_clear(TIMER15, TIMER_INT_FLAG_UP);
exti_interrupt_enable(EXTI_0);
timer_enable(TIMER14);
exti_interrupt_enable(EXTI_0); // turn on hardware external input interrupt
/*
* GPIO Toggle will be delete when the project is ready
*/
gpio_bit_toggle(GPIOA, GPIO_PIN_7);
/*******************************************************/
timer_counter_value_config(TIMER16, 0);
timer_enable(TIMER16); // turn on timer to calculate the first ultrasonic echo time
timer_disable(TIMER15);
}
@ -153,13 +138,11 @@ void EXTI0_1_IRQHandler(void) {
{
exti_interrupt_flag_clear(EXTI_0);
/*
* GPIO Toggle will be delete when the project is ready
*/
gpio_bit_toggle(GPIOA, GPIO_PIN_5);
/*******************************************************/
capture_value = timer_channel_capture_value_register_read(TIMER16, TIMER_CH_0);
// timer_event_software_generate(TIMER14, TIMER_EVENT_SRC_CH0G);
// printf("aaa\n");
timer_disable(TIMER16);
exti_interrupt_disable(EXTI_0);
}

8
src/main.c
View File

@ -13,7 +13,9 @@
#include "ultrasonic_driver.h"
#define ULTRASONIC_CYCLES 0x05U
#define ULTRASONIC_TRAN_US 50 // (ms)
#define ULTRASONIC_TRAN_US 1000 // (ms)
extern uint32_t capture_value;
/*!
\brief main function
@ -31,7 +33,7 @@ int main(void)
/* ---------- debug start ---------- */
ultrasonic_transmit_delay();
ultrasonic_transmit_delay(240);
recevice_exti_config();
ultrasonic_echo_timer_config();
@ -51,6 +53,8 @@ int main(void)
delay_ms(ULTRASONIC_TRAN_US);
ultrasonic_pwm_out_cycles(ULTRASONIC_CYCLES);
// printf("Send ultra sonic driver signal!\r\n");
delay_ms(2);
printf("cap_val:%ld\n", capture_value);
}
}

45
src/ultrasonic_driver.c
View File

@ -124,14 +124,6 @@ void ultrasonic_pwm_out_cycles(const uint8_t cycles) {
void ultrasonic_transmit_delay(const uint16_t micro_second) {
rcu_periph_clock_enable(RCU_GPIOA);
/*
* GPIO Init will be delete when the project is ready
*/
gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_7);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_7);
gpio_bit_write(GPIOA, GPIO_PIN_7, SET);
/******************************************/
rcu_periph_clock_enable(RCU_TIMER15);
timer_deinit(TIMER15);
@ -147,58 +139,45 @@ void ultrasonic_transmit_delay(const uint16_t micro_second) {
timer_auto_reload_shadow_enable(TIMER15); //使能自动影子重载
timer_interrupt_enable(TIMER15, TIMER_INT_UP); // 使能自动重载中断
nvic_irq_enable(TIMER15_IRQn, 2U);
nvic_irq_enable(TIMER15_IRQn, 1U);
}
void recevice_exti_config(void) {
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_CFGCMP);
/*
* GPIO Init will be delete when the project is ready
*/
gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_5);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_5);
gpio_bit_write(GPIOA, GPIO_PIN_5, SET);
/******************************************/
// exti_deinit();
gpio_mode_set(GPIOA, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_0);
nvic_irq_enable(EXTI0_1_IRQn, 1U);
nvic_irq_enable(EXTI0_1_IRQn, 0U);
syscfg_exti_line_config(EXTI_SOURCE_GPIOA, EXTI_SOURCE_PIN0);
exti_init(EXTI_0, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
exti_flag_clear(EXTI_0);
exti_interrupt_enable(EXTI_0);
// exti_interrupt_enable(EXTI_0);
}
void ultrasonic_echo_timer_config(void)
{
rcu_periph_clock_enable(RCU_TIMER14);
timer_deinit(TIMER14);
rcu_periph_clock_enable(RCU_TIMER16);
timer_deinit(TIMER16);
timer_parameter_struct timer_initpara;
timer_struct_para_init(&timer_initpara);
timer_initpara.prescaler =71;
timer_initpara.alignedmode =TIMER_COUNTER_EDGE;
timer_initpara.counterdirection =TIMER_COUNTER_UP;
timer_initpara.period =65535;
timer_initpara.period =59999;
timer_initpara.clockdivision =TIMER_CKDIV_DIV1;
timer_initpara.repetitioncounter =0;
timer_init(TIMER14, &timer_initpara);
timer_init(TIMER16, &timer_initpara);
timer_ic_parameter_struct timer_icinitpara;
timer_channel_input_struct_para_init(&timer_icinitpara);
timer_icinitpara.icpolarity = TIMER_IC_POLARITY_RISING;
timer_icinitpara.icselection = TIMER_IC_SELECTION_DIRECTTI;
timer_icinitpara.icpolarity = TIMER_IC_POLARITY_BOTH_EDGE;
timer_icinitpara.icselection = TIMER_IC_SELECTION_INDIRECTTI;
timer_icinitpara.icprescaler = TIMER_IC_PSC_DIV1;
timer_icinitpara.icfilter = 0x03; // 设置滤波器
timer_input_capture_config(TIMER14, TIMER_CH_0, &timer_icinitpara);
timer_icinitpara.icfilter = 0x0A; // 设置滤波器
timer_input_capture_config(TIMER16, TIMER_CH_0, &timer_icinitpara);
timer_interrupt_enable(TIMER0, TIMER_INT_UP);
nvic_irq_enable(TIMER15_IRQn, 0U);
// timer_enable(TIMER0);
// timer_enable(TIMER16);
}