重构代码结构（拆分为多文件），并添加了XLSW通信协议。
This commit is contained in:
parent
243b3bf0f2
commit
e16f44c6e1
@ -29,7 +29,9 @@ set(TARGET_C_SRC
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${CMAKE_SOURCE_DIR}/src/systick.c
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${CMAKE_SOURCE_DIR}/src/ultrasonic_driver.c
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${CMAKE_SOURCE_DIR}/src/mlx90614.c
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${CMAKE_SOURCE_DIR}/src/RS485.c
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${CMAKE_SOURCE_DIR}/src/rs485.c
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${CMAKE_SOURCE_DIR}/src/i2c.c
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${CMAKE_SOURCE_DIR}/src/led.c
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)
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add_executable(xlsw_3dp_ultrasonic_300K ${TARGET_C_SRC})
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16
inc/RS485.h
16
inc/RS485.h
@ -1,16 +0,0 @@
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//
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// Created by dell on 24-11-29.
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//
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#ifndef RS485_H
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#define RS485_H
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#include "gd32e23x_it.h"
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#include <stdbool.h>
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#include <string.h>
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#define RX_BUFFER_SIZE 64
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void process_command(char *cmd);
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#endif //RS485_H
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61
inc/i2c.h
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61
inc/i2c.h
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@ -0,0 +1,61 @@
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//
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// Created by dell on 24-12-25.
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//
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#ifndef I2C_H
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#define I2C_H
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#include "gd32e23x_it.h"
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#include "gd32e23x.h"
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#include "systick.h"
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#include "main.h"
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#include <stdbool.h>
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#include <string.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <math.h>
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/******************************************************************************/
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#define I2C_SPEED 20000
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#define RCU_GPIO_I2C RCU_GPIOF
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#define RCU_I2C RCU_I2C0
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#define I2C_PHY I2C0
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#define I2C_SCL_PORT GPIOF
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#define I2C_SCL_PIN GPIO_PIN_1
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#define I2C_SDA_PORT GPIOF
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#define I2C_SDA_PIN GPIO_PIN_0
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#define I2C_GPIO_AF GPIO_AF_1
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/******************************************************************************/
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#define I2C_TIME_OUT (uint16_t)(10000)
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#define I2C_OK 1
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#define I2C_FAIL 0
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#define I2C_END 1
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/******************************************************************************/
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typedef enum {
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I2C_START = 0,
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I2C_SEND_ADDRESS,
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I2C_CLEAR_ADDRESS_FLAG,
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I2C_TRANSMIT_DATA,
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I2C_STOP
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} i2c_process_enum;
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/******************************************************************************/
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void i2c_gpio_config(void);
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void i2c_config(void);
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void i2c_bus_reset(void);
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void i2c_scan(void);
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uint8_t i2c_write_16bits(uint8_t slave_addr, uint8_t reg_addr, uint8_t data[2]);
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uint8_t i2c_read_16bits(uint8_t slave_addr, uint8_t reg_addr, uint8_t *data);
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#endif //I2C_H
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30
inc/led.h
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30
inc/led.h
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@ -0,0 +1,30 @@
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//
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// Created by dell on 24-12-25.
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//
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#ifndef LED_H
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#define LED_H
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#include "gd32e23x_it.h"
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#include "gd32e23x.h"
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#include "systick.h"
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#include <stdbool.h>
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#include <string.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <math.h>
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/******************************************************************************/
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#define LED_PORT GPIOA
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#define LED_PIN GPIO_PIN_9
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#define LED_RCU RCU_GPIOA
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#define LED_TIMER_RCU RCU_TIMER5
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#define LED_TIMER TIMER5
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#define LED_IRQ TIMER5_IRQn
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/******************************************************************************/
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void led_config(void);
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#endif //LED_H
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@ -6,27 +6,19 @@
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#define MLX90614_H
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#include "gd32e23x.h"
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#include "i2c.h"
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#include "gd32e23x.h"
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#include "systick.h"
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#include <stdio.h>
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#define I2C_SPEED 100000
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#define IR_I2C I2C0
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#define RCU_IR_GPIO RCU_GPIOF
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#define RCU_I2C RCU_I2C0
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#define I2C_SCL_PORT GPIOF
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#define I2C_SCL_PIN GPIO_PIN_1
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#define I2C_SDA_PORT GPIOF
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#define I2C_SDA_PIN GPIO_PIN_0
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#define I2C_GPIO_AF GPIO_AF_1
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/******************************************************************************/
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#define I2C_TIME_OUT (uint16_t)(5000)
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#define MLX90614_ADDR (0x5A << 1)
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#define MLX90614_OBJ_TEMP_REG 0x07
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#define MLX90614_AMB_TEMP_REG 0x06
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#define SLAVE_ADDR (0x5A << 1)
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#define REG_ADDR_OBJ_TEMP 0x07
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#define REG_ADDR_AMB_TEMP 0x06
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/******************************************************************************/
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/* function declarations */
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/* this function configures I2C Peripheral & GPIO AF for I2C */
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void MLX90614_I2CConfig(void);
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/* this function reads object temperature */
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int MLX90614_GetObjectTemperature(void);
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uint16_t mlx90614_get_objrct_temperature(void);
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#endif //MLX90614_H
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59
inc/rs485.h
Normal file
59
inc/rs485.h
Normal file
@ -0,0 +1,59 @@
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//
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// Created by dell on 24-11-29.
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//
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#ifndef RS485_H
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#define RS485_H
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#include "gd32e23x_it.h"
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#include "gd32e23x.h"
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#include "systick.h"
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#include <stdbool.h>
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#include <string.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <sys/types.h>
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/******************************************************************************/
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#define RS485_RCU RCU_USART0
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#define RS485_GPIO_RCU RCU_GPIOA
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#define RS485_GPIO_PORT GPIOA
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#define RS485_TX_PIN GPIO_PIN_2
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#define RS485_RX_PIN GPIO_PIN_3
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#define RS485_PHY USART0
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#define RS485_BAUDRATE 115200U
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#define RS485_EN_PIN GPIO_PIN_4
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/******************************************************************************/
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#define RX_BUFFER_SIZE 32
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#define US_IR_PACKAGE_HEADER 0xD5
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#define US_IR_BOARD_TYPE 0x04
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#define US_IR_PACKAGE_LENGTH 0x02
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/******************************************************************************/
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typedef enum
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{
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VALIDATION_SUCCESS = 0,
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VALIDATION_CRC_ERROR = 1,
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VALIDATION_HEADER_ERROR = 2,
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VALIDATION_TYPE_ERROR = 4,
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VALIDATION_LENGTH_ERROR = 8
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} validation_result_t;
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/******************************************************************************/
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void rs485_config(void);
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void process_command(uint8_t* cmd, size_t length);
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uint8_t calculate_crc(uint8_t data[], uint8_t data_length);
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validation_result_t validate_package_crc(uint8_t* data, uint8_t data_length);
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validation_result_t validate_package_header(uint8_t* data);
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validation_result_t validate_package_type(uint8_t* data);
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validation_result_t validate_data_length(uint8_t* data);
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void ultrasonic_distance_value_report(void);
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void mlx90614_tempture_value_report(void);
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#endif //RS485_H
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@ -6,6 +6,7 @@
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#define ULTRASONIC_DRIVER_H
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#include "gd32e23x.h"
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#include "i2c.h"
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#define POWER_SUPPLY_12V
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// #define POWER_SUPPLY_24V
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@ -25,23 +26,6 @@
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#define ULTRASONIC_CYCLES 0x05U
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#define ULTRASONIC_TRAN_US 498 // (ms)
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#define LED_PORT GPIOA
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#define LED_PIN GPIO_PIN_9
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#define LED_RCU RCU_GPIOA
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#define LED_TIMER_RCU RCU_TIMER5
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#define LED_TIMER TIMER5
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#define LED_IRQ TIMER5_IRQn
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#define USART_RCU RCU_USART0
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#define USART_GPIO_RCU RCU_GPIOA
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#define USART_GPIO_PORT GPIOA
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#define USART_TX_PIN GPIO_PIN_2
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#define USART_RX_PIN GPIO_PIN_3
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#define USART0_PHY USART0
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#define USART_BAUDRATE 115200U
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#define USART_EN_PIN GPIO_PIN_4
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#define US_TRAN_GPIO_RCU RCU_GPIOB
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#define US_TRAN_GPIO_PORT GPIOB
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#define US_TRAN_PIN GPIO_PIN_1
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@ -65,15 +49,12 @@
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#define US_ECHO_TIMER TIMER16
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#define US_ECHO_CH TIMER_CH_0
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void led_config(void);
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void usart_config(void);
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void UltraSonic_GPIO_Config(void);
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void UltraSonic_Transmit_Config(void);
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void UltraSonic_PwmOut_Cycles(const uint8_t cycles);
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void UltraSonic_Transmit_Delay(const uint16_t micro_second);
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void UltraSonic_ReceExti_Config(void);
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void UltraSonic_EchoTimer_Config(void);
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void UltraSonic_Receive_Config(void);
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uint16_t UltraSonic_CalcDistance(uint32_t us_value);
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void ultrasonic_gpio_config(void);
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void ultrasonic_pwm_out_cycles(const uint8_t cycles);
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void ultrasonic_transmit_delay(const uint16_t micro_second);
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void ultrasonic_rece_exti_Config(void);
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void ultrasonic_echo_timer_config(void);
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void ultrasonic_receive_config(void);
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uint16_t ultrasonic_calc_distance(uint32_t us_value);
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#endif //ULTRASONIC_DRIVER_H
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35
src/RS485.c
35
src/RS485.c
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//
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// Created by dell on 24-11-29.
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//
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#include "RS485.h"
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#include "gd32e23x.h"
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#include "systick.h"
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#include <stdio.h>
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#include <stdlib.h>
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#define MAX_CMD_SIZE 16
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#define BUFSIZE 8
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extern uint16_t g_distance_uint16;
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extern int g_temperature_int;
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void process_command(char *cmd) {
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if (strncmp(cmd, "M1", 2) == 0) {
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// printf("M1 -=-=- OK!\r\n");
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printf("Distance: %d\r\n", g_distance_uint16);
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} else if (strncmp(cmd, "M2", 2) == 0) {
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// printf("M2 -=-=- OK!\r\n");
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printf("Temperature: %d\r\n", g_temperature_int);
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// } else if (strncmp(cmd, "M3", 2) == 0) {
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// char *param_str = cmd + 2; // Skip "M3"
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// int param = atoi(param_str + 1); // Skip "S" and convert to integer
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// if (param >= 0 && param <= 100) {
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// printf("M3 with parameter %d -=-=- OK!\r\n", param);
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// } else {
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// printf("Invalid parameter for M3 command!\r\n");
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// }
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} else {
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printf("Invalid Command!\r\n");
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}
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}
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@ -38,6 +38,7 @@ OF SUCH DAMAGE.
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#include "systick.h"
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#include "ultrasonic_driver.h"
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#include "rs485.h"
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#include "led.h"
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__IO uint32_t g_capture_value;
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@ -164,21 +165,25 @@ void EXTI0_1_IRQHandler(void) {
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}
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void USART0_IRQHandler(void) {
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if(RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_RBNE))
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{
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static uint8_t rx_index = 0;
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static uint8_t rx_buffer[RX_BUFFER_SIZE];
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if (RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_RBNE)) {
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usart_interrupt_flag_clear(USART0, USART_INT_FLAG_RBNE);
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uint8_t received_data = (uint8_t)usart_data_receive(USART0);
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uint8_t received_data = (uint8_t) usart_data_receive(USART0);
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// 将接收到的数据存储到缓冲区
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if(rx_index < RX_BUFFER_SIZE - 1) {
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if (rx_index < RX_BUFFER_SIZE - 1) {
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rx_buffer[rx_index++] = received_data;
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}
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// 检查是否接收到换行符，表示指令结束
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if(received_data == '\n') {
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rx_buffer[rx_index] = '\0'; // 添加字符串结束符
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process_command(rx_buffer); // 处理指令
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rx_index = 0; // 重置缓冲区索引
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}
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if (RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_IDLE)) {
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usart_interrupt_flag_clear(USART0, USART_INT_FLAG_IDLE);
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process_command(rx_buffer, rx_index); // 处理指令
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rx_index = 0; // 重置缓冲区索引
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return;
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}
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}
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473
src/i2c.c
Normal file
473
src/i2c.c
Normal file
@ -0,0 +1,473 @@
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//
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// Created by dell on 24-12-25.
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//
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#include "i2c.h"
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/*!
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\brief configure the GPIO ports
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\param[in] none
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\param[out] none
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\retval none
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*/
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void i2c_gpio_config(void) {
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/* enable IIC GPIO clock */
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rcu_periph_clock_enable(RCU_GPIO_I2C);
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/* connect I2C_SCL_PIN to I2C_SCL */
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gpio_af_set(I2C_SCL_PORT, I2C_GPIO_AF, I2C_SCL_PIN);
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/* connect I2C_SDA_PIN to I2C_SDA */
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gpio_af_set(I2C_SDA_PORT, I2C_GPIO_AF, I2C_SDA_PIN);
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/* configure GPIO pins of I2C */
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gpio_mode_set(I2C_SCL_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, I2C_SCL_PIN);
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gpio_output_options_set(I2C_SCL_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SCL_PIN);
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gpio_mode_set(I2C_SDA_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, I2C_SDA_PIN);
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gpio_output_options_set(I2C_SDA_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SDA_PIN);
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}
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/*!
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\brief configure the I2CX interface
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\param[in] none
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\param[out] none
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\retval none
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*/
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void i2c_config(void) {
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/* enable I2C clock */
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rcu_periph_clock_enable(RCU_I2C);
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/* configure I2C clock */
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i2c_clock_config(I2C_PHY, I2C_SPEED, I2C_DTCY_2);
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/* configure I2C address */
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i2c_mode_addr_config(I2C_PHY, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, 0xA0);
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/* enable I2CX */
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i2c_enable(I2C_PHY);
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/* enable acknowledge */
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i2c_ack_config(I2C_PHY, I2C_ACK_ENABLE);
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}
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/*!
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\brief reset I2C bus
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\param[in] none
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\param[out] none
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\retval none
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*/
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void i2c_bus_reset(void) {
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i2c_deinit(I2C_PHY);
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/* configure SDA/SCL for GPIO */
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GPIO_BC(I2C_SCL_PORT) |= I2C_SCL_PIN;
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GPIO_BC(I2C_SDA_PORT) |= I2C_SDA_PIN;
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gpio_output_options_set(I2C_SCL_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, I2C_SCL_PIN);
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gpio_output_options_set(I2C_SDA_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, I2C_SDA_PIN);
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__NOP();
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__NOP();
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__NOP();
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__NOP();
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__NOP();
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GPIO_BOP(I2C_SCL_PORT) |= I2C_SCL_PIN;
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__NOP();
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__NOP();
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__NOP();
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__NOP();
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__NOP();
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GPIO_BOP(I2C_SDA_PORT) |= I2C_SDA_PIN;
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/* connect I2C_SCL_PIN to I2C_SCL */
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/* connect I2C_SDA_PIN to I2C_SDA */
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gpio_output_options_set(I2C_SCL_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SCL_PIN);
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gpio_output_options_set(I2C_SDA_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SDA_PIN);
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/* configure the I2CX interface */
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i2c_config();
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}
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/**
|
||||
* @brief 扫描I2C总线，查找连接的设备
|
||||
*
|
||||
* 该函数会扫描I2C总线上的所有地址（1到126），并尝试与每个地址进行通信。
|
||||
* 如果在某个地址上发现了设备，则会打印出该设备的地址。
|
||||
* 最后会打印出找到的设备总数。
|
||||
*/
|
||||
void i2c_scan(void) {
|
||||
uint32_t timeout;
|
||||
uint8_t address;
|
||||
int found_devices = 0;
|
||||
|
||||
printf("Scanning I2C bus...\r\n");
|
||||
|
||||
for (address = 1; address < 127; address++) {
|
||||
timeout = 0;
|
||||
|
||||
// 生成起始条件
|
||||
while (i2c_flag_get(I2C_PHY, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT))
|
||||
timeout++;
|
||||
if (timeout >= I2C_TIME_OUT) {
|
||||
continue; // 超时，跳过该地址
|
||||
}
|
||||
i2c_start_on_bus(I2C_PHY);
|
||||
timeout = 0;
|
||||
|
||||
// 等待起始条件发送完成
|
||||
while (!i2c_flag_get(I2C_PHY, I2C_FLAG_SBSEND) && (timeout < I2C_TIME_OUT))
|
||||
timeout++;
|
||||
if (timeout >= I2C_TIME_OUT) {
|
||||
continue; // 超时，跳过该地址
|
||||
}
|
||||
i2c_master_addressing(I2C_PHY, (address << 1), I2C_TRANSMITTER);
|
||||
timeout = 0;
|
||||
|
||||
// 等待地址发送完成
|
||||
while (!i2c_flag_get(I2C_PHY, I2C_FLAG_ADDSEND) && (timeout < I2C_TIME_OUT))
|
||||
timeout++;
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
i2c_flag_clear(I2C_PHY, I2C_FLAG_ADDSEND);
|
||||
printf("Found device at 0x%02X\r\n", address);
|
||||
found_devices++;
|
||||
}
|
||||
|
||||
// 生成停止条件
|
||||
i2c_stop_on_bus(I2C_PHY);
|
||||
|
||||
timeout = 0;
|
||||
|
||||
while (i2c_flag_get(I2C_PHY, I2C_FLAG_STPDET) && (timeout < I2C_TIME_OUT))
|
||||
timeout++;
|
||||
}
|
||||
|
||||
if (found_devices == 0) {
|
||||
printf("No I2C devices found.\r\n");
|
||||
} else {
|
||||
printf("Total %d I2C devices found.\r\n", found_devices);
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t i2c_write_16bits(uint8_t slave_addr, uint8_t reg_addr, uint8_t data[2]) {
|
||||
uint8_t state = I2C_START;
|
||||
uint16_t timeout = 0;
|
||||
uint8_t i2c_timeout_flag = 0;
|
||||
|
||||
/* enable acknowledge */
|
||||
i2c_ack_config(I2C_PHY, I2C_ACK_ENABLE);
|
||||
while (!(i2c_timeout_flag)) {
|
||||
switch (state) {
|
||||
case I2C_START:
|
||||
/* i2c master sends start signal only when the bus is idle */
|
||||
while (i2c_flag_get(I2C_PHY, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
i2c_start_on_bus(I2C_PHY);
|
||||
timeout = 0;
|
||||
state = I2C_SEND_ADDRESS;
|
||||
} else {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c bus is busy in WRITE BYTE!\n");
|
||||
#endif
|
||||
}
|
||||
break;
|
||||
case I2C_SEND_ADDRESS:
|
||||
/* i2c master sends START signal successfully */
|
||||
while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
i2c_master_addressing(I2C_PHY, slave_addr, I2C_TRANSMITTER);
|
||||
timeout = 0;
|
||||
state = I2C_CLEAR_ADDRESS_FLAG;
|
||||
} else {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master sends start signal timeout in WRITE BYTE!\n");
|
||||
#endif
|
||||
}
|
||||
break;
|
||||
case I2C_CLEAR_ADDRESS_FLAG:
|
||||
/* address flag set means i2c slave sends ACK */
|
||||
while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
i2c_flag_clear(I2C_PHY, I2C_FLAG_ADDSEND);
|
||||
timeout = 0;
|
||||
state = I2C_TRANSMIT_DATA;
|
||||
} else {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master clears address flag timeout in WRITE BYTE!\n");
|
||||
#endif
|
||||
}
|
||||
break;
|
||||
case I2C_TRANSMIT_DATA:
|
||||
/* wait until the transmit data buffer is empty */
|
||||
while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_TBE)) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
/* send IIC register address */
|
||||
i2c_data_transmit(I2C_PHY, reg_addr);
|
||||
timeout = 0;
|
||||
} else {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master sends data timeout in WRITE BYTE!\n");
|
||||
#endif
|
||||
}
|
||||
|
||||
/* wait until BTC bit is set */
|
||||
while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
/* send register MSB value */
|
||||
i2c_data_transmit(I2C_PHY, data[0]);
|
||||
timeout = 0;
|
||||
} else {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master sends MSB data timeout in WRITE BYTE!\n");
|
||||
#endif
|
||||
}
|
||||
|
||||
/* wait until BTC bit is set */
|
||||
while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
/* send register LSB value */
|
||||
i2c_data_transmit(I2C_PHY, data[1]);
|
||||
timeout = 0;
|
||||
state = I2C_STOP;
|
||||
} else {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master sends LSB data timeout in WRITE BYTE!\n");
|
||||
#endif
|
||||
}
|
||||
|
||||
/* wait until BTC bit is set */
|
||||
while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
state = I2C_STOP;
|
||||
timeout = 0;
|
||||
} else {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master sends data timeout in WRITE BYTE!\n");
|
||||
#endif
|
||||
}
|
||||
break;
|
||||
case I2C_STOP:
|
||||
/* send a stop condition to I2C bus */
|
||||
i2c_stop_on_bus(I2C_PHY);
|
||||
/* i2c master sends STOP signal successfully */
|
||||
while ((I2C_CTL0(I2C_PHY) & I2C_CTL0_STOP) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
timeout = 0;
|
||||
state = I2C_END;
|
||||
i2c_timeout_flag = I2C_OK;
|
||||
} else {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master sends stop signal timeout in WRITE BYTE!\n");
|
||||
#endif
|
||||
}
|
||||
break;
|
||||
default:
|
||||
state = I2C_START;
|
||||
i2c_timeout_flag = I2C_OK;
|
||||
timeout = 0;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master sends start signal in WRITE BYTE.\n");
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
}
|
||||
return I2C_END;
|
||||
}
|
||||
|
||||
uint8_t i2c_read_16bits(uint8_t slave_addr, uint8_t reg_addr, uint8_t *data) {
|
||||
uint8_t state = I2C_START;
|
||||
uint8_t read_cycle = 0;
|
||||
uint16_t timeout = 0;
|
||||
uint8_t i2c_timeout_flag = 0;
|
||||
uint8_t number_of_byte = 2;
|
||||
|
||||
/* enable acknowledge */
|
||||
i2c_ack_config(I2C_PHY, I2C_ACK_ENABLE);
|
||||
|
||||
while (!(i2c_timeout_flag)) {
|
||||
switch (state) {
|
||||
case I2C_START:
|
||||
if (RESET == read_cycle) {
|
||||
/* i2c master sends start signal only when the bus is idle */
|
||||
while (i2c_flag_get(I2C_PHY, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
/* whether to send ACK or not for the next byte */
|
||||
i2c_ackpos_config(I2C_PHY, I2C_ACKPOS_NEXT);
|
||||
} else {
|
||||
// i2c_bus_reset();
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c bus is busy in READ!\n");
|
||||
#endif
|
||||
}
|
||||
}
|
||||
/* send the start signal */
|
||||
i2c_start_on_bus(I2C_PHY);
|
||||
timeout = 0;
|
||||
state = I2C_SEND_ADDRESS;
|
||||
break;
|
||||
case I2C_SEND_ADDRESS:
|
||||
/* i2c master sends START signal successfully */
|
||||
while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
if (RESET == read_cycle) {
|
||||
i2c_master_addressing(I2C_PHY, slave_addr, I2C_TRANSMITTER);
|
||||
state = I2C_CLEAR_ADDRESS_FLAG;
|
||||
} else {
|
||||
i2c_master_addressing(I2C_PHY, slave_addr, I2C_RECEIVER);
|
||||
i2c_ack_config(I2C_PHY, I2C_ACK_DISABLE);
|
||||
state = I2C_CLEAR_ADDRESS_FLAG;
|
||||
}
|
||||
timeout = 0;
|
||||
} else {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
read_cycle = RESET;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master sends start signal timeout in READ!\n");
|
||||
#endif
|
||||
}
|
||||
break;
|
||||
case I2C_CLEAR_ADDRESS_FLAG:
|
||||
/* address flag set means i2c slave sends ACK */
|
||||
while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
i2c_flag_clear(I2C_PHY, I2C_FLAG_ADDSEND);
|
||||
if ((SET == read_cycle) && (1 == number_of_byte)) {
|
||||
/* send a stop condition to I2C bus */
|
||||
i2c_stop_on_bus(I2C_PHY);
|
||||
}
|
||||
timeout = 0;
|
||||
state = I2C_TRANSMIT_DATA;
|
||||
} else {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
read_cycle = RESET;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master clears address flag timeout in READ!\n");
|
||||
#endif
|
||||
}
|
||||
break;
|
||||
case I2C_TRANSMIT_DATA:
|
||||
if (RESET == read_cycle) {
|
||||
/* wait until the transmit data buffer is empty */
|
||||
while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_TBE)) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
/* send the EEPROM's internal address to write to : only one byte address */
|
||||
i2c_data_transmit(I2C_PHY, reg_addr);
|
||||
timeout = 0;
|
||||
} else {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
read_cycle = RESET;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master wait data buffer is empty timeout in READ!\n");
|
||||
#endif
|
||||
}
|
||||
/* wait until BTC bit is set */
|
||||
while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
read_cycle = SET;
|
||||
} else {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
read_cycle = RESET;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master sends register address timeout in READ!\n");
|
||||
#endif
|
||||
}
|
||||
} else {
|
||||
while (number_of_byte) {
|
||||
timeout++;
|
||||
if (2 == number_of_byte) {
|
||||
/* wait until BTC bit is set */
|
||||
while (!i2c_flag_get(I2C_PHY, I2C_FLAG_BTC));
|
||||
/* send a stop condition to I2C bus */
|
||||
i2c_stop_on_bus(I2C_PHY);
|
||||
}
|
||||
/* wait until RBNE bit is set */
|
||||
if (i2c_flag_get(I2C_PHY, I2C_FLAG_RBNE)) {
|
||||
/* read a byte from the EEPROM */
|
||||
*data = i2c_data_receive(I2C_PHY);
|
||||
/* point to the next location where the byte read will be saved */
|
||||
data++;
|
||||
/* decrement the read bytes counter */
|
||||
number_of_byte--;
|
||||
timeout = 0;
|
||||
}
|
||||
if (timeout > I2C_TIME_OUT) {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
read_cycle = 0;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master sends data timeout in READ!\n");
|
||||
#endif
|
||||
}
|
||||
}
|
||||
timeout = 0;
|
||||
state = I2C_STOP;
|
||||
}
|
||||
break;
|
||||
case I2C_STOP:
|
||||
/* i2c master sends STOP signal successfully */
|
||||
while ((I2C_CTL0(I2C_PHY) & I2C_CTL0_STOP) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
timeout = 0;
|
||||
state = I2C_END;
|
||||
i2c_timeout_flag = I2C_OK;
|
||||
} else {
|
||||
timeout = 0;
|
||||
state = I2C_START;
|
||||
read_cycle = 0;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master sends stop signal timeout in READ!\n");
|
||||
#endif
|
||||
}
|
||||
break;
|
||||
default:
|
||||
state = I2C_START;
|
||||
read_cycle = 0;
|
||||
i2c_timeout_flag = I2C_OK;
|
||||
timeout = 0;
|
||||
#ifdef DEBUG_VERBOES
|
||||
printf("i2c master sends start signal in READ.\n");
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
}
|
||||
return I2C_END;
|
||||
}
|
||||
32
src/led.c
Normal file
32
src/led.c
Normal file
@ -0,0 +1,32 @@
|
||||
//
|
||||
// Created by dell on 24-12-25.
|
||||
//
|
||||
|
||||
#include "led.h"
|
||||
|
||||
void led_config(void) {
|
||||
rcu_periph_clock_enable(LED_RCU);
|
||||
|
||||
gpio_mode_set(LED_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED_PIN);
|
||||
gpio_output_options_set(LED_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED_PIN);
|
||||
gpio_bit_write(LED_PORT, LED_PIN, SET);
|
||||
|
||||
rcu_periph_clock_enable(LED_TIMER_RCU);
|
||||
timer_deinit(LED_TIMER);
|
||||
|
||||
timer_parameter_struct timer_initpara;
|
||||
timer_struct_para_init(&timer_initpara);
|
||||
timer_initpara.prescaler = 799;
|
||||
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);
|
||||
timer_interrupt_enable(LED_TIMER, TIMER_INT_UP);
|
||||
|
||||
timer_enable(LED_TIMER);
|
||||
|
||||
nvic_irq_enable(LED_IRQ, 2);
|
||||
}
|
||||
39
src/main.c
39
src/main.c
@ -9,13 +9,16 @@
|
||||
#include "gd32e23x.h"
|
||||
#include "systick.h"
|
||||
#include "gd32e23x_libopt.h"
|
||||
|
||||
#include "ultrasonic_driver.h"
|
||||
#include "mlx90614.h"
|
||||
#include "i2c.h"
|
||||
#include "led.h"
|
||||
#include "rs485.h"
|
||||
|
||||
extern uint32_t g_capture_value;
|
||||
|
||||
uint16_t g_distance_uint16;
|
||||
int g_temperature_int;
|
||||
uint16_t g_temperature_uint16;
|
||||
|
||||
/*!
|
||||
\brief main function
|
||||
@ -27,38 +30,36 @@ int main(void)
|
||||
{
|
||||
/* configure systick */
|
||||
systick_config();
|
||||
/* configure ultrasonic board hardware */
|
||||
UltraSonic_Transmit_Config();
|
||||
UltraSonic_Receive_Config();
|
||||
|
||||
MLX90614_I2CConfig();
|
||||
|
||||
i2c_gpio_config();
|
||||
i2c_config();
|
||||
|
||||
led_config();
|
||||
|
||||
rs485_config();
|
||||
|
||||
|
||||
/* configure ultrasonic board hardware */
|
||||
ultrasonic_gpio_config();
|
||||
ultrasonic_receive_config();
|
||||
|
||||
/* ---------- debug start ---------- */
|
||||
|
||||
/* ---------- debug end ---------- */
|
||||
|
||||
// printf("\r\n");
|
||||
// printf("XLSW-3DP-UltraSonic Analog 300K! V0.1.14\r\n");
|
||||
// printf("\r\n");
|
||||
//
|
||||
// delay_ms(2000);
|
||||
|
||||
while (1)
|
||||
{
|
||||
delay_ms(ULTRASONIC_TRAN_US);
|
||||
UltraSonic_PwmOut_Cycles(ULTRASONIC_CYCLES);
|
||||
ultrasonic_pwm_out_cycles(ULTRASONIC_CYCLES);
|
||||
delay_ms(2);
|
||||
// printf("cap_val:%ld\t", g_capture_value);
|
||||
if (g_capture_value <= CAPTURE_VALUE_MAX) {
|
||||
g_distance_uint16 = UltraSonic_CalcDistance(g_capture_value);
|
||||
g_distance_uint16 = ultrasonic_calc_distance(g_capture_value);
|
||||
} else {
|
||||
g_distance_uint16 = 0x0000;
|
||||
}
|
||||
// const char* result = (g_capture_value <= CAPTURE_VALUE_MAX) ? "Distance: %d\t" : "Over Range\t";
|
||||
// printf(result, distance_uint16);
|
||||
|
||||
// printf("Temp:%d\n", MLX90614_GetObjectTemperature());
|
||||
g_temperature_int = MLX90614_GetObjectTemperature();
|
||||
g_temperature_uint16 = mlx90614_get_objrct_temperature();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
290
src/mlx90614.c
290
src/mlx90614.c
@ -3,9 +3,6 @@
|
||||
//
|
||||
|
||||
#include "mlx90614.h"
|
||||
#include "gd32e23x.h"
|
||||
#include "systick.h"
|
||||
#include <stdio.h>
|
||||
|
||||
/**
|
||||
* @brief This function configure the I2C peripheral & GPIO
|
||||
@ -13,24 +10,41 @@
|
||||
* @param[out] none
|
||||
* @retval None
|
||||
*/
|
||||
void MLX90614_I2CConfig(void) {
|
||||
rcu_periph_clock_enable(RCU_IR_GPIO);
|
||||
rcu_periph_clock_enable(RCU_I2C);
|
||||
// void MLX90614_I2CConfig(void) {
|
||||
// rcu_periph_clock_enable(RCU_IR_GPIO);
|
||||
// rcu_periph_clock_enable(RCU_I2C);
|
||||
//
|
||||
// gpio_af_set(I2C_SCL_PORT, I2C_GPIO_AF, I2C_SCL_PIN);
|
||||
// gpio_af_set(I2C_SDA_PORT, I2C_GPIO_AF, I2C_SDA_PIN);
|
||||
//
|
||||
// gpio_mode_set(I2C_SCL_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, I2C_SCL_PIN);
|
||||
// gpio_output_options_set(I2C_SCL_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SCL_PIN);
|
||||
//
|
||||
// gpio_mode_set(I2C_SDA_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, I2C_SDA_PIN);
|
||||
// gpio_output_options_set(I2C_SDA_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SDA_PIN);
|
||||
//
|
||||
// i2c_clock_config(IR_I2C, I2C_SPEED, I2C_DTCY_2);
|
||||
//
|
||||
// i2c_mode_addr_config(IR_I2C, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, SLAVE_ADDR);
|
||||
// i2c_enable(IR_I2C);
|
||||
// i2c_ack_config(IR_I2C, I2C_ACK_ENABLE);
|
||||
// }
|
||||
|
||||
gpio_af_set(I2C_SCL_PORT, I2C_GPIO_AF, I2C_SCL_PIN);
|
||||
gpio_af_set(I2C_SDA_PORT, I2C_GPIO_AF, I2C_SDA_PIN);
|
||||
uint16_t mlx90614_get_objrct_temperature(void) {
|
||||
uint8_t data[2] = {0};
|
||||
uint16_t tempRaw = 0;
|
||||
|
||||
gpio_mode_set(I2C_SCL_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, I2C_SCL_PIN);
|
||||
gpio_output_options_set(I2C_SCL_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SCL_PIN);
|
||||
i2c_read_16bits(MLX90614_ADDR, MLX90614_OBJ_TEMP_REG, data);
|
||||
|
||||
gpio_mode_set(I2C_SDA_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, I2C_SDA_PIN);
|
||||
gpio_output_options_set(I2C_SDA_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SDA_PIN);
|
||||
tempRaw = ((uint16_t) (data[1] << 8) | data[0]) * 2 - 27315 + 4000;
|
||||
// (Data[1] << 8) | data[0] * 0.02 -273.15 为避免浮点运算，直接放大100倍
|
||||
// 4000是为了避免负数
|
||||
|
||||
i2c_clock_config(IR_I2C, I2C_SPEED, I2C_DTCY_2);
|
||||
if (tempRaw > 12500) {
|
||||
tempRaw = 12500;
|
||||
}
|
||||
|
||||
i2c_mode_addr_config(IR_I2C, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, SLAVE_ADDR);
|
||||
i2c_enable(IR_I2C);
|
||||
i2c_ack_config(IR_I2C, I2C_ACK_ENABLE);
|
||||
return tempRaw;
|
||||
}
|
||||
|
||||
/**
|
||||
@ -39,125 +53,125 @@ void MLX90614_I2CConfig(void) {
|
||||
* @param[out] temp_raw: object temperature
|
||||
* @retval None
|
||||
*/
|
||||
int MLX90614_GetObjectTemperature(void) {
|
||||
uint8_t data[3] = {0};
|
||||
int temp_raw = 0;
|
||||
uint16_t timeout = 0;
|
||||
|
||||
i2c_ack_config(IR_I2C, I2C_ACK_ENABLE);
|
||||
|
||||
while (i2c_flag_get(IR_I2C, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) //判断IIC总线是否忙，发送起始信号
|
||||
timeout++;
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
i2c_start_on_bus(IR_I2C);
|
||||
timeout = 0;
|
||||
} else {
|
||||
printf("err\r\n");
|
||||
return -4100; // 超时返回错误
|
||||
}
|
||||
|
||||
while (!i2c_flag_get(IR_I2C, I2C_FLAG_SBSEND) && (timeout < I2C_TIME_OUT)) //判断起始位是否发送，设置sensor地址并设置为写
|
||||
timeout++;
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
i2c_master_addressing(IR_I2C, SLAVE_ADDR, I2C_TRANSMITTER);
|
||||
timeout = 0;
|
||||
} else {
|
||||
return -4100; // 超时返回错误
|
||||
}
|
||||
|
||||
while (!i2c_flag_get(IR_I2C, I2C_FLAG_ADDSEND) && (timeout < I2C_TIME_OUT))
|
||||
timeout++;
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
i2c_flag_clear(IR_I2C, I2C_FLAG_ADDSEND);
|
||||
timeout = 0;
|
||||
} else {
|
||||
return -4100; // 超时返回错误
|
||||
}
|
||||
|
||||
while (!i2c_flag_get(IR_I2C, I2C_FLAG_TBE) && (timeout < I2C_TIME_OUT)) //判断地址是否发送完成，然后发送寄存器地址
|
||||
timeout++;
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
i2c_data_transmit(IR_I2C, REG_ADDR_OBJ_TEMP);
|
||||
timeout = 0;
|
||||
// i2c_start_on_bus(IR_I2C);
|
||||
} else {
|
||||
return -4100; // 超时返回错误
|
||||
}
|
||||
|
||||
while (i2c_flag_get(IR_I2C, I2C_FLAG_BTC) && (timeout < I2C_TIME_OUT)) //判断发送缓冲器是否为空，为空后（发送完毕）重新发送开始信号
|
||||
timeout++;
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
i2c_start_on_bus(IR_I2C);
|
||||
timeout = 0;
|
||||
} else {
|
||||
return -4100; // 超时返回错误
|
||||
}
|
||||
|
||||
while (!i2c_flag_get(IR_I2C, I2C_FLAG_SBSEND) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
i2c_master_addressing(IR_I2C, SLAVE_ADDR, I2C_RECEIVER);
|
||||
timeout = 0;
|
||||
} else {
|
||||
return -4100; // 超时返回错误
|
||||
}
|
||||
|
||||
while (!i2c_flag_get(IR_I2C, I2C_FLAG_ADDSEND) && (timeout < I2C_TIME_OUT))
|
||||
timeout++;
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
i2c_flag_clear(IR_I2C, I2C_FLAG_ADDSEND);
|
||||
timeout = 0;
|
||||
} else {
|
||||
return -4100; // 超时返回错误
|
||||
}
|
||||
|
||||
// 读取第一个字节的数据
|
||||
while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
data[0] = i2c_data_receive(IR_I2C);
|
||||
timeout = 0;
|
||||
} else {
|
||||
return -4100; // 超时返回错误
|
||||
}
|
||||
|
||||
// 读取第二个字节的数据
|
||||
while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
data[1] = i2c_data_receive(IR_I2C);
|
||||
timeout = 0;
|
||||
} else {
|
||||
return -4100; // 超时返回错误
|
||||
}
|
||||
|
||||
i2c_ack_config(IR_I2C, I2C_ACK_DISABLE); // 关闭发送ACK，它会在下一个字节完成后发送NAK
|
||||
|
||||
// 读取第三个字节的数据
|
||||
while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
|
||||
timeout++;
|
||||
}
|
||||
if (timeout < I2C_TIME_OUT) {
|
||||
data[2] = i2c_data_receive(IR_I2C);
|
||||
timeout = 0;
|
||||
} else {
|
||||
return -4100; // 超时返回错误
|
||||
}
|
||||
|
||||
i2c_stop_on_bus(IR_I2C);
|
||||
|
||||
temp_raw = ((uint16_t) (data[1] << 8) | data[0]) * 2 - 27315;
|
||||
// (Data[1] << 8) | data[0] * 0.02 -273.15 为避免浮点运算，直接放大100倍
|
||||
|
||||
if (temp_raw > 8500) {
|
||||
temp_raw = 8500;
|
||||
}
|
||||
if (temp_raw < -4000) {
|
||||
temp_raw = -4000;
|
||||
}
|
||||
|
||||
return temp_raw;
|
||||
}
|
||||
// int MLX90614_GetObjectTemperature(void) {
|
||||
// uint8_t data[3] = {0};
|
||||
// int temp_raw = 0;
|
||||
// uint16_t timeout = 0;
|
||||
//
|
||||
// i2c_ack_config(IR_I2C, I2C_ACK_ENABLE);
|
||||
//
|
||||
// while (i2c_flag_get(IR_I2C, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) //判断IIC总线是否忙，发送起始信号
|
||||
// timeout++;
|
||||
// if (timeout < I2C_TIME_OUT) {
|
||||
// i2c_start_on_bus(IR_I2C);
|
||||
// timeout = 0;
|
||||
// } else {
|
||||
// printf("err\r\n");
|
||||
// return -4100; // 超时返回错误
|
||||
// }
|
||||
//
|
||||
// while (!i2c_flag_get(IR_I2C, I2C_FLAG_SBSEND) && (timeout < I2C_TIME_OUT)) //判断起始位是否发送，设置sensor地址并设置为写
|
||||
// timeout++;
|
||||
// if (timeout < I2C_TIME_OUT) {
|
||||
// i2c_master_addressing(IR_I2C, SLAVE_ADDR, I2C_TRANSMITTER);
|
||||
// timeout = 0;
|
||||
// } else {
|
||||
// return -4100; // 超时返回错误
|
||||
// }
|
||||
//
|
||||
// while (!i2c_flag_get(IR_I2C, I2C_FLAG_ADDSEND) && (timeout < I2C_TIME_OUT))
|
||||
// timeout++;
|
||||
// if (timeout < I2C_TIME_OUT) {
|
||||
// i2c_flag_clear(IR_I2C, I2C_FLAG_ADDSEND);
|
||||
// timeout = 0;
|
||||
// } else {
|
||||
// return -4100; // 超时返回错误
|
||||
// }
|
||||
//
|
||||
// while (!i2c_flag_get(IR_I2C, I2C_FLAG_TBE) && (timeout < I2C_TIME_OUT)) //判断地址是否发送完成，然后发送寄存器地址
|
||||
// timeout++;
|
||||
// if (timeout < I2C_TIME_OUT) {
|
||||
// i2c_data_transmit(IR_I2C, REG_ADDR_OBJ_TEMP);
|
||||
// timeout = 0;
|
||||
// // i2c_start_on_bus(IR_I2C);
|
||||
// } else {
|
||||
// return -4100; // 超时返回错误
|
||||
// }
|
||||
//
|
||||
// while (i2c_flag_get(IR_I2C, I2C_FLAG_BTC) && (timeout < I2C_TIME_OUT)) //判断发送缓冲器是否为空，为空后（发送完毕）重新发送开始信号
|
||||
// timeout++;
|
||||
// if (timeout < I2C_TIME_OUT) {
|
||||
// i2c_start_on_bus(IR_I2C);
|
||||
// timeout = 0;
|
||||
// } else {
|
||||
// return -4100; // 超时返回错误
|
||||
// }
|
||||
//
|
||||
// while (!i2c_flag_get(IR_I2C, I2C_FLAG_SBSEND) && (timeout < I2C_TIME_OUT)) {
|
||||
// timeout++;
|
||||
// }
|
||||
// if (timeout < I2C_TIME_OUT) {
|
||||
// i2c_master_addressing(IR_I2C, SLAVE_ADDR, I2C_RECEIVER);
|
||||
// timeout = 0;
|
||||
// } else {
|
||||
// return -4100; // 超时返回错误
|
||||
// }
|
||||
//
|
||||
// while (!i2c_flag_get(IR_I2C, I2C_FLAG_ADDSEND) && (timeout < I2C_TIME_OUT))
|
||||
// timeout++;
|
||||
// if (timeout < I2C_TIME_OUT) {
|
||||
// i2c_flag_clear(IR_I2C, I2C_FLAG_ADDSEND);
|
||||
// timeout = 0;
|
||||
// } else {
|
||||
// return -4100; // 超时返回错误
|
||||
// }
|
||||
//
|
||||
// // 读取第一个字节的数据
|
||||
// while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
|
||||
// timeout++;
|
||||
// }
|
||||
// if (timeout < I2C_TIME_OUT) {
|
||||
// data[0] = i2c_data_receive(IR_I2C);
|
||||
// timeout = 0;
|
||||
// } else {
|
||||
// return -4100; // 超时返回错误
|
||||
// }
|
||||
//
|
||||
// // 读取第二个字节的数据
|
||||
// while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
|
||||
// timeout++;
|
||||
// }
|
||||
// if (timeout < I2C_TIME_OUT) {
|
||||
// data[1] = i2c_data_receive(IR_I2C);
|
||||
// timeout = 0;
|
||||
// } else {
|
||||
// return -4100; // 超时返回错误
|
||||
// }
|
||||
//
|
||||
// i2c_ack_config(IR_I2C, I2C_ACK_DISABLE); // 关闭发送ACK，它会在下一个字节完成后发送NAK
|
||||
//
|
||||
// // 读取第三个字节的数据
|
||||
// while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
|
||||
// timeout++;
|
||||
// }
|
||||
// if (timeout < I2C_TIME_OUT) {
|
||||
// data[2] = i2c_data_receive(IR_I2C);
|
||||
// timeout = 0;
|
||||
// } else {
|
||||
// return -4100; // 超时返回错误
|
||||
// }
|
||||
//
|
||||
// i2c_stop_on_bus(IR_I2C);
|
||||
//
|
||||
// temp_raw = ((uint16_t) (data[1] << 8) | data[0]) * 2 - 27315;
|
||||
// // (Data[1] << 8) | data[0] * 0.02 -273.15 为避免浮点运算，直接放大100倍
|
||||
//
|
||||
// if (temp_raw > 8500) {
|
||||
// temp_raw = 8500;
|
||||
// }
|
||||
// if (temp_raw < -4000) {
|
||||
// temp_raw = -4000;
|
||||
// }
|
||||
//
|
||||
// return temp_raw;
|
||||
// }
|
||||
|
||||
145
src/rs485.c
Normal file
145
src/rs485.c
Normal file
@ -0,0 +1,145 @@
|
||||
//
|
||||
// Created by dell on 24-11-29.
|
||||
//
|
||||
|
||||
#include "RS485.h"
|
||||
|
||||
extern uint16_t g_distance_uint16;
|
||||
extern uint16_t g_temperature_uint16;
|
||||
|
||||
uint8_t package_header[3] = {0xB5, 0xF0, 0x02};
|
||||
uint8_t package_data[2] = {0};
|
||||
|
||||
void rs485_config(void) {
|
||||
rcu_periph_clock_enable(RS485_GPIO_RCU);
|
||||
rcu_periph_clock_enable(RS485_RCU);
|
||||
|
||||
gpio_af_set(RS485_GPIO_PORT, GPIO_AF_1, GPIO_PIN_2 | GPIO_PIN_3);
|
||||
|
||||
/* configure USART Tx&Rx as alternate function push-pull */
|
||||
gpio_mode_set(RS485_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, RS485_TX_PIN | RS485_RX_PIN);
|
||||
gpio_output_options_set(RS485_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, RS485_TX_PIN | RS485_RX_PIN);
|
||||
|
||||
/* configure RS485 EN Pin */
|
||||
gpio_mode_set(RS485_GPIO_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, RS485_EN_PIN);
|
||||
gpio_output_options_set(RS485_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, RS485_EN_PIN);
|
||||
gpio_bit_write(RS485_GPIO_PORT, RS485_EN_PIN, SET);
|
||||
|
||||
/* USART configure */
|
||||
usart_deinit(RS485_PHY);
|
||||
usart_baudrate_set(RS485_PHY, RS485_BAUDRATE);
|
||||
usart_receive_config(RS485_PHY, USART_RECEIVE_ENABLE);
|
||||
usart_transmit_config(RS485_PHY, USART_TRANSMIT_ENABLE);
|
||||
|
||||
usart_enable(RS485_PHY);
|
||||
|
||||
nvic_irq_enable(USART0_IRQn, 0);
|
||||
usart_interrupt_enable(RS485_PHY, USART_INT_RBNE);
|
||||
usart_interrupt_enable(RS485_PHY, USART_INT_IDLE);
|
||||
}
|
||||
|
||||
void process_command(uint8_t *cmd, size_t length) {
|
||||
char combined_str[3];
|
||||
validation_result_t validate = VALIDATION_SUCCESS;
|
||||
|
||||
validate = (validate_package_header(cmd) |
|
||||
validate_package_type(cmd) |
|
||||
validate_data_length(cmd) |
|
||||
validate_package_crc(cmd, length));
|
||||
|
||||
switch (validate) {
|
||||
case VALIDATION_SUCCESS:
|
||||
sprintf(combined_str, "%c%c", cmd[3], cmd[4]);
|
||||
if (strcmp(combined_str, "M1") == 0) {
|
||||
ultrasonic_distance_value_report();
|
||||
} else if (strcmp(combined_str, "M2") == 0) {
|
||||
mlx90614_tempture_value_report();
|
||||
} else {
|
||||
printf("%c%c%c%c%c%c%c", 0xB5, 0xF0, 0x03, 0x65, 0x72, 0x72, 0x3C);
|
||||
return;
|
||||
}
|
||||
break;
|
||||
case VALIDATION_CRC_ERROR:
|
||||
printf("%c%c%c%c%c%c%c", 0xB5, 0xF0, 0x03, 0x65, 0x72, 0x72, 0x3F);
|
||||
break;
|
||||
case VALIDATION_HEADER_ERROR:
|
||||
printf("%c%c%c%c%c%c%c", 0xB5, 0xF3, 0x03, 0x65, 0x72, 0x72, 0x3F);
|
||||
break;
|
||||
case VALIDATION_TYPE_ERROR:
|
||||
printf("%c%c%c%c%c%c%c", 0xB5, 0xF4, 0x03, 0x65, 0x72, 0x72, 0x3F);
|
||||
break;
|
||||
case VALIDATION_LENGTH_ERROR:
|
||||
printf("%c%c%c%c%c%c%c", 0xB5, 0xF2, 0x03, 0x65, 0x72, 0x72, 0x3F);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t calculate_crc(uint8_t data[], uint8_t data_length) {
|
||||
uint8_t crc = 0;
|
||||
|
||||
for (uint8_t i = 1; i < data_length - 1; i++) {
|
||||
crc += data[i];
|
||||
}
|
||||
|
||||
return (uint8_t) (crc & 0xFF);
|
||||
}
|
||||
|
||||
validation_result_t validate_package_crc(uint8_t *data, uint8_t data_length) {
|
||||
if (data[data_length - 1] == calculate_crc(data, data_length) && data_length == 3 + data[2] + 1) {
|
||||
return VALIDATION_SUCCESS;
|
||||
} else {
|
||||
return VALIDATION_CRC_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
validation_result_t validate_package_header(uint8_t *data) {
|
||||
if (data[0] == US_IR_PACKAGE_HEADER) {
|
||||
return VALIDATION_SUCCESS;
|
||||
} else {
|
||||
return VALIDATION_HEADER_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
validation_result_t validate_package_type(uint8_t *data) {
|
||||
if (data[1] == US_IR_BOARD_TYPE) {
|
||||
return VALIDATION_SUCCESS;
|
||||
} else {
|
||||
return VALIDATION_TYPE_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
validation_result_t validate_data_length(uint8_t *data) {
|
||||
if (data[2] == US_IR_PACKAGE_LENGTH) {
|
||||
return VALIDATION_SUCCESS;
|
||||
} else {
|
||||
return VALIDATION_LENGTH_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
void ultrasonic_distance_value_report(void) {
|
||||
package_data[0] = (g_distance_uint16 >> 8) & 0xFF;
|
||||
package_data[1] = g_distance_uint16 & 0xFF;
|
||||
|
||||
uint8_t combined_data[5];
|
||||
memcpy(combined_data, package_header, 3);
|
||||
memcpy(combined_data + 3, package_data, 2);
|
||||
|
||||
printf("%c%c%c", package_header[0], package_header[1], package_header[2]);
|
||||
printf("%c%c", package_data[0], package_data[1]);
|
||||
printf("%c", calculate_crc(combined_data, 5));
|
||||
}
|
||||
|
||||
void mlx90614_tempture_value_report(void) {
|
||||
package_data[0] = (g_temperature_uint16 >> 8) & 0xFF;
|
||||
package_data[1] = g_temperature_uint16 & 0xFF;
|
||||
|
||||
uint8_t combined_data[7];
|
||||
memcpy(combined_data, package_header, 3);
|
||||
memcpy(combined_data + 3, package_data, 2);
|
||||
|
||||
printf("%c%c%c", package_header[0], package_header[1], package_header[2]);
|
||||
printf("%c%c", package_data[0], package_data[1]);
|
||||
printf("%c", calculate_crc(combined_data, 5));
|
||||
}
|
||||
@ -6,63 +6,7 @@
|
||||
#include "gd32e23x.h"
|
||||
#include "systick.h"
|
||||
|
||||
void led_config(void)
|
||||
{
|
||||
rcu_periph_clock_enable(LED_RCU);
|
||||
|
||||
gpio_mode_set(LED_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED_PIN);
|
||||
gpio_output_options_set(LED_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED_PIN);
|
||||
gpio_bit_write(LED_PORT, LED_PIN, SET);
|
||||
|
||||
rcu_periph_clock_enable(LED_TIMER_RCU);
|
||||
timer_deinit(LED_TIMER);
|
||||
|
||||
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(LED_TIMER, &timer_initpara);
|
||||
|
||||
timer_auto_reload_shadow_enable(LED_TIMER);
|
||||
timer_interrupt_enable(LED_TIMER, TIMER_INT_UP);
|
||||
|
||||
timer_enable(LED_TIMER);
|
||||
|
||||
nvic_irq_enable(LED_IRQ, 0);
|
||||
}
|
||||
|
||||
void usart_config(void)
|
||||
{
|
||||
rcu_periph_clock_enable(USART_GPIO_RCU);
|
||||
rcu_periph_clock_enable(USART_RCU);
|
||||
|
||||
gpio_af_set(USART_GPIO_PORT, GPIO_AF_1, GPIO_PIN_2 | GPIO_PIN_3);
|
||||
|
||||
/* configure USART Tx&Rx as alternate function push-pull */
|
||||
gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_TX_PIN | USART_RX_PIN);
|
||||
gpio_output_options_set(USART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, USART_TX_PIN | USART_RX_PIN);
|
||||
|
||||
/* configure RS485 EN Pin */
|
||||
gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, USART_EN_PIN);
|
||||
gpio_output_options_set(USART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, USART_EN_PIN);
|
||||
gpio_bit_write(USART_GPIO_PORT, USART_EN_PIN, SET);
|
||||
|
||||
/* USART configure */
|
||||
usart_deinit(USART0_PHY);
|
||||
usart_baudrate_set(USART0_PHY, USART_BAUDRATE);
|
||||
usart_receive_config(USART0_PHY, USART_RECEIVE_ENABLE);
|
||||
usart_transmit_config(USART0_PHY, USART_TRANSMIT_ENABLE);
|
||||
|
||||
usart_enable(USART0_PHY);
|
||||
|
||||
nvic_irq_enable(USART0_IRQn, 0);
|
||||
usart_interrupt_enable(USART0_PHY, USART_INT_RBNE);
|
||||
}
|
||||
|
||||
void UltraSonic_GPIO_Config(void)
|
||||
void ultrasonic_gpio_config(void)
|
||||
{
|
||||
rcu_periph_clock_enable(US_TRAN_GPIO_RCU);
|
||||
|
||||
@ -100,14 +44,7 @@ void UltraSonic_GPIO_Config(void)
|
||||
timer_interrupt_enable(US_TRAN_TIMER, TIMER_INT_UP);
|
||||
}
|
||||
|
||||
void UltraSonic_Transmit_Config(void)
|
||||
{
|
||||
led_config();
|
||||
usart_config();
|
||||
UltraSonic_GPIO_Config();
|
||||
}
|
||||
|
||||
void UltraSonic_PwmOut_Cycles(const uint8_t cycles)
|
||||
void ultrasonic_pwm_out_cycles(const uint8_t cycles)
|
||||
{
|
||||
uint8_t current_cycle = 0;
|
||||
|
||||
@ -131,7 +68,7 @@ void UltraSonic_PwmOut_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);
|
||||
@ -151,7 +88,7 @@ void UltraSonic_Transmit_Delay(const uint16_t micro_second)
|
||||
nvic_irq_enable(TIMER15_IRQn, 1U);
|
||||
}
|
||||
|
||||
void UltraSonic_ReceExti_Config(void)
|
||||
void ultrasonic_rece_exti_Config(void)
|
||||
{
|
||||
rcu_periph_clock_enable(US_FB_GPIO_RCU);
|
||||
rcu_periph_clock_enable(US_FB_EXTI_RCU);
|
||||
@ -166,7 +103,7 @@ void UltraSonic_ReceExti_Config(void)
|
||||
// exti_interrupt_enable(EXTI_0);
|
||||
}
|
||||
|
||||
void UltraSonic_EchoTimer_Config(void)
|
||||
void ultrasonic_echo_timer_config(void)
|
||||
{
|
||||
rcu_periph_clock_enable(US_ECHO_RCU);
|
||||
timer_deinit(US_ECHO_TIMER);
|
||||
@ -190,14 +127,14 @@ void UltraSonic_EchoTimer_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);
|
||||
UltraSonic_ReceExti_Config();
|
||||
UltraSonic_EchoTimer_Config();
|
||||
ultrasonic_transmit_delay(TIME_CORRECTION_US);
|
||||
ultrasonic_rece_exti_Config();
|
||||
ultrasonic_echo_timer_config();
|
||||
}
|
||||
|
||||
uint16_t UltraSonic_CalcDistance(uint32_t us_value)
|
||||
uint16_t ultrasonic_calc_distance(uint32_t us_value)
|
||||
{
|
||||
uint16_t distace = (TIME_CORRECTION_US + us_value) * 17;
|
||||
/*
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user