diff --git a/inc/mlx90614.h b/inc/mlx90614.h index 8134b73..313dc72 100644 --- a/inc/mlx90614.h +++ b/inc/mlx90614.h @@ -5,4 +5,7 @@ #ifndef MLX90614_H #define MLX90614_H +void i2c_config(void); +int read_ir_mlx90614(void); + #endif //MLX90614_H diff --git a/inc/systick.h b/inc/systick.h index b232627..537c429 100644 --- a/inc/systick.h +++ b/inc/systick.h @@ -24,6 +24,6 @@ void delay_ms(uint32_t count); /* delay a time in microseconds */ void delay_us(uint32_t count); -void delay_nop(void); +void delay_5_nop(void); #endif /* SYS_TICK_H */ \ No newline at end of file diff --git a/inc/ultrasonic_driver.h b/inc/ultrasonic_driver.h index 182a85d..b7aaffb 100644 --- a/inc/ultrasonic_driver.h +++ b/inc/ultrasonic_driver.h @@ -11,11 +11,11 @@ // #define POWER_SUPPLY_24V #ifdef POWER_SUPPLY_12V - #define TIME_CORRECTION_US 250 - #define CAPTURE_VALUE_MAX 515 +#define TIME_CORRECTION_US 250 +#define CAPTURE_VALUE_MAX 515 #elif defined(POWER_SUPPLY_24V) - #define TIME_CORRECTION_US 230 - #define CAPTURE_VALUE_MAX 550 +#define TIME_CORRECTION_US 230 +#define CAPTURE_VALUE_MAX 550 #else #error "Please define either POWER_SUPPLY_12V or POWER_SUPPLY_24V" #endif diff --git a/src/main.c b/src/main.c index 2c95257..5b4f33a 100644 --- a/src/main.c +++ b/src/main.c @@ -32,7 +32,7 @@ int main(void) /* ---------- debug start ---------- */ - + i2c_config(); /* ---------- debug end ---------- */ @@ -43,7 +43,7 @@ int main(void) delay_ms(2000); - while(1) + while (1) { delay_ms(ULTRASONIC_TRAN_US); @@ -59,11 +59,12 @@ int main(void) } /* retarget the C library printf function to the USART */ -int _write (int fd, char *pBuffer, int size) { +int _write(int fd, char* pBuffer, int size) +{ for (int i = 0; i < size; i++) { usart_data_transmit(USART0, (uint8_t)pBuffer[i]); - while(RESET == usart_flag_get(USART0, USART_FLAG_TBE)); + while (RESET == usart_flag_get(USART0, USART_FLAG_TBE)); } return size; } diff --git a/src/mlx90614.c b/src/mlx90614.c index 8d99213..98c24be 100644 --- a/src/mlx90614.c +++ b/src/mlx90614.c @@ -6,6 +6,128 @@ #include "gd32e23x.h" #include "systick.h" -int read_ir_mlx90614(void) { +void i2c_config(void) +{ + rcu_periph_clock_enable(RCU_I2C0); + rcu_periph_clock_enable(GPIOF); -} \ No newline at end of file + gpio_af_set(GPIOF, GPIO_AF_1, GPIO_PIN_0 | GPIO_PIN_1); + gpio_output_options_set(GPIOF, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, GPIO_PIN_0 | GPIO_PIN_1); + + i2c_clock_config(I2C0, 400000U, I2C_DTCY_2); + i2c_mode_addr_config(I2C0, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, 0xA0); + i2c_enable(I2C0); + i2c_ack_config(I2C0, I2C_ACK_ENABLE); + + nvic_irq_enable(I2C0_EV_IRQn, 2); + nvic_irq_enable(I2C0_ER_IRQn, 2); +} + +int read_ir_mlx90614(void) +{ + uint8_t Data[5]; + int inttemp_ir = 0; + uint32_t TIMEOUT = 0; + while (TIMEOUT < 10000 && i2c_flag_get(I2C0, I2C_FLAG_I2CBSY)) + TIMEOUT++; + if (TIMEOUT >= 10000) + { + //printf("ERROR0\r\n"); + return -410; + } + TIMEOUT = 0; + I2C_GenerateSTART(I2C0, ENABLE); + while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_MODE_SELECT)) + TIMEOUT++; + if (TIMEOUT >= 10000) + { + //printf("ERROR1\r\n"); + return -410; + } + // I2C_AcknowledgeConfig(I2C0,DISABLE); + TIMEOUT = 0; + I2C_Send7bitAddress(I2C0, 0XB4, I2C_Direction_Transmitter); + while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)) + TIMEOUT++; + if (TIMEOUT >= 10000) + { + printf("ERROR2\r\n"); + return -410; + } + I2C_SendData(I2C0, 0x07); + + TIMEOUT = 0; + I2C_GenerateSTART(I2C0, ENABLE); + while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_MODE_SELECT)) + TIMEOUT++; + if (TIMEOUT >= 10000) + { + //printf("ERROR3\r\n"); + return -410; + } + TIMEOUT = 0; + I2C_Send7bitAddress(I2C0, 0XB4, I2C_Direction_Receiver); + while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED)) + TIMEOUT++; + if (TIMEOUT >= 10000) + { + //printf("ERROR4\r\n"); + return -410; + } + //I2C_AcknowledgeConfig(I2C0,DISABLE); + TIMEOUT = 0; + Data[0] = I2C_ReceiveData(I2C0); + while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED)) + TIMEOUT++; + if (TIMEOUT >= 10000) + { + //printf("ERROR5\r\n"); + return -410; + } + + TIMEOUT = 0; + Data[1] = I2C_ReceiveData(I2C0); + while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED)) + TIMEOUT++; + if (TIMEOUT >= 10000) + { + //printf("ERROR6\r\n"); + return -410; + } + + TIMEOUT = 0; + Data[2] = I2C_ReceiveData(I2C0); + while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED)) + TIMEOUT++; + if (TIMEOUT >= 10000) + { + //printf("ERROR7\r\n"); + return -410; + } + + + I2C_AcknowledgeConfig(I2C0, DISABLE); + Data[3] = I2C_ReceiveData(I2C0); + while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED)) + TIMEOUT++; + if (TIMEOUT >= 10000) + { + //printf("ERROR11\r\n"); + return -410; + } + + + I2C_GenerateSTOP(I2C0, ENABLE); + I2C_AcknowledgeConfig(I2C0, ENABLE); + //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); + // printf("temp:%d\r\n",inttemp_ir); + + + if (inttemp_ir < -400) + inttemp_ir = -400; + if (inttemp_ir > 850) + inttemp_ir = 850; + // + return inttemp_ir; +} diff --git a/src/systick.c b/src/systick.c index 568e079..a7dea8e 100644 --- a/src/systick.c +++ b/src/systick.c @@ -96,6 +96,6 @@ void delay_ms(uint32_t count) { * * ************************************************************************ */ -void delay_nop(void) { +void delay_5_nop(void) { __NOP();__NOP();__NOP();__NOP();__NOP(); } \ No newline at end of file diff --git a/src/ultrasonic_driver.c b/src/ultrasonic_driver.c index a6dcaa3..2e94639 100644 --- a/src/ultrasonic_driver.c +++ b/src/ultrasonic_driver.c @@ -6,7 +6,8 @@ #include "gd32e23x.h" #include "systick.h" -void led_config(void) { +void led_config(void) +{ rcu_periph_clock_enable(LED_RCU); gpio_mode_set(LED_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED_PIN); @@ -18,11 +19,11 @@ void led_config(void) { 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_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(LED_TIMER, &timer_initpara); timer_auto_reload_shadow_enable(LED_TIMER); @@ -33,7 +34,8 @@ void led_config(void) { nvic_irq_enable(LED_IRQ, 0); } -void usart_config(void) { +void usart_config(void) +{ rcu_periph_clock_enable(USART_GPIO_RCU); rcu_periph_clock_enable(USART_RCU); @@ -52,7 +54,8 @@ void usart_config(void) { usart_enable(USART0_PHY); } -void ultrasonic_config(void) { +void ultrasonic_config(void) +{ rcu_periph_clock_enable(US_TRAN_GPIO_RCU); gpio_mode_set(US_TRAN_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, US_TRAN_PIN); @@ -60,26 +63,26 @@ void ultrasonic_config(void) { gpio_af_set(US_TRAN_GPIO_PORT, US_TRAN_AF, US_TRAN_PIN); timer_oc_parameter_struct timer_ocinitpara; - timer_parameter_struct timer_initpara; + timer_parameter_struct timer_initpara; rcu_periph_clock_enable(US_TRAN_RCU); timer_deinit(US_TRAN_TIMER); 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_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(US_TRAN_TIMER, &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_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(US_TRAN_TIMER, US_TRAN_CH, &timer_ocinitpara); timer_channel_output_pulse_value_config(US_TRAN_TIMER, US_TRAN_CH, 120); @@ -89,13 +92,15 @@ void ultrasonic_config(void) { timer_interrupt_enable(US_TRAN_TIMER, TIMER_INT_UP); } -void ultrasonic_transmit_config(void) { +void ultrasonic_transmit_config(void) +{ led_config(); usart_config(); ultrasonic_config(); } -void ultrasonic_pwm_out_cycles(const uint8_t cycles) { +void ultrasonic_pwm_out_cycles(const uint8_t cycles) +{ uint8_t current_cycle = 0; timer_channel_output_pulse_value_config(US_TRAN_TIMER, US_TRAN_CH, 120); @@ -108,7 +113,7 @@ void ultrasonic_pwm_out_cycles(const uint8_t cycles) { { while (!timer_interrupt_flag_get(US_TRAN_TIMER, TIMER_INT_FLAG_UP)); timer_interrupt_flag_clear(US_TRAN_TIMER, TIMER_INT_FLAG_UP); - current_cycle ++; + current_cycle++; } // delay_nop(); timer_disable(US_TRAN_TIMER); @@ -118,18 +123,19 @@ 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) +{ rcu_periph_clock_enable(US_TRAN_DELAY_RCU); timer_deinit(US_TRAN_DELAY_TIMER); 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 =micro_second - 1; - timer_initpara.clockdivision =TIMER_CKDIV_DIV1; - timer_initpara.repetitioncounter =0; + timer_initpara.prescaler = 71; + timer_initpara.alignedmode = TIMER_COUNTER_EDGE; + timer_initpara.counterdirection = TIMER_COUNTER_UP; + timer_initpara.period = micro_second - 1; + timer_initpara.clockdivision = TIMER_CKDIV_DIV1; + timer_initpara.repetitioncounter = 0; timer_init(US_TRAN_DELAY_TIMER, &timer_initpara); timer_auto_reload_shadow_enable(US_TRAN_DELAY_TIMER); @@ -137,7 +143,8 @@ void ultrasonic_transmit_delay(const uint16_t micro_second) { nvic_irq_enable(TIMER15_IRQn, 1U); } -void receive_exti_config(void) { +void receive_exti_config(void) +{ rcu_periph_clock_enable(US_FB_GPIO_RCU); rcu_periph_clock_enable(US_FB_EXTI_RCU); @@ -151,18 +158,19 @@ void receive_exti_config(void) { // exti_interrupt_enable(EXTI_0); } -void ultrasonic_echo_timer_config(void) { +void ultrasonic_echo_timer_config(void) +{ rcu_periph_clock_enable(US_ECHO_RCU); timer_deinit(US_ECHO_TIMER); 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 =59999; - timer_initpara.clockdivision =TIMER_CKDIV_DIV1; - timer_initpara.repetitioncounter =0; + timer_initpara.prescaler = 71; + timer_initpara.alignedmode = TIMER_COUNTER_EDGE; + timer_initpara.counterdirection = TIMER_COUNTER_UP; + timer_initpara.period = 59999; + timer_initpara.clockdivision = TIMER_CKDIV_DIV1; + timer_initpara.repetitioncounter = 0; timer_init(US_ECHO_TIMER, &timer_initpara); timer_ic_parameter_struct timer_icinitpara; @@ -174,13 +182,15 @@ void ultrasonic_echo_timer_config(void) { timer_input_capture_config(US_ECHO_TIMER, US_ECHO_CH, &timer_icinitpara); } -void ultrasonic_receive_config(void) { +void ultrasonic_receive_config(void) +{ ultrasonic_transmit_delay(TIME_CORRECTION_US); receive_exti_config(); ultrasonic_echo_timer_config(); } -uint16_t calculate_distance(uint32_t us_value) { +uint16_t calculate_distance(uint32_t us_value) +{ uint16_t distace = (TIME_CORRECTION_US + us_value) * 17; /* * (TIME_CORRECTION_US + us_value) * 340 m/s