diff --git a/README.md b/README.md index a54e85d..ab5f47d 100644 --- a/README.md +++ b/README.md @@ -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 diff --git a/src/gd32e23x_it.c b/src/gd32e23x_it.c index 959897c..2292bfd 100644 --- a/src/gd32e23x_it.c +++ b/src/gd32e23x_it.c @@ -33,6 +33,7 @@ OF SUCH DAMAGE. */ #include "gd32e23x_it.h" +#include #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); } diff --git a/src/main.c b/src/main.c index 9f4e009..6833383 100644 --- a/src/main.c +++ b/src/main.c @@ -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); } } diff --git a/src/ultrasonic_driver.c b/src/ultrasonic_driver.c index 5e4fb79..fa96338 100644 --- a/src/ultrasonic_driver.c +++ b/src/ultrasonic_driver.c @@ -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); }