hulk/xlsw_3dp_ultrasonic_300K
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add i2c_config

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This commit is contained in:
yelvlab
2024-09-27 00:12:13 +08:00
parent 9d7d0935ba
commit 9ce4cd2e44
7 changed files with 188 additions and 52 deletions
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90
src/ultrasonic_driver.c
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@@ -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