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重构超声波驱动器代码和更新头文件

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代码重构包括：- 在`main.c`中使用`ultrasonic_peripheral_config`替代`ultrasonic_config`进行超声波硬件配置。
- 在`ultrasonic_driver.c`中重命名并重新组织超声波配置函数，以提高模块化和可读性。
- 更新`usonic_driver.h`头文件，以匹配最新的函数命名和增加硬件配置的宏定义。

这些更改使代码更加清晰、易于理解和维护。同时，通过特定功能的宏定义，增强了代码的可配置性。
This commit is contained in:
yelvlab 2024-09-23 21:35:32 +08:00
parent 00aa50f15c
commit e26e1079d5
3 changed files with 64 additions and 52 deletions
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26
inc/usonic_driver.h
View File

@ -7,12 +7,32 @@
#include "gd32e23x.h"
#define LED_PORT GPIOA
#define LED_PIN GPIO_PIN_9
#define LED_RCU RCU_GPIOA
#define LED_TIMER TIMER13
#define LED_IRQ TIMER13_IRQn
#define USART_RCU RCU_USART0
#define USART_GPIO_RCU RCU_GPIOA
#define USARET_GPIO_PORT GPIOA
#define USART_TX_PIN GPIO_PIN_2
#define USART_RX_PIN GPIO_PIN_3
#define USART0_PHY USART0
#define USART_BAUDRATE 115200U
#define US_TRAN_GPIO_RCU RCU_GPIOB
#define US_TRAN_GPIO_PORT GPIOB
#define US_TRAN_PIN GPIO_PIN_1
#define US_TRAN_RCU RCU_TIMER2
#define US_TRAN_TIMER TIMER2
#define US_TRAN_CH TIMER_CH_3
void led_config(void);
void usart_config(void);
void ultrasonic_gpio_config(void);
void ultrasonic_timer_config(void);
void ultrasonic_config(void);
void ultrasonic_peripheral_config(void);
void ultrasonic_pwm_out_cycles(uint8_t cycles);
#endif //USONIC_DRIVER_H

2
src/main.c
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@ -25,7 +25,7 @@ int main(void)
/* configure systick */
systick_config();
/* configure ultrasonic board hardware */
ultrasonic_config();
ultrasonic_peripheral_config();
/* ---------- debug start ---------- */

88
src/ultrasonic_driver.c
View File

@ -10,11 +10,11 @@ uint8_t speed_pwm = 30; //bldc default pwm is 30
void led_config(void)
{
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(LED_RCU);
gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_9);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);
gpio_bit_write(GPIOA, GPIO_PIN_9, SET);
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(RCU_TIMER13);
timer_deinit(RCU_TIMER13);
@ -26,53 +26,47 @@ void led_config(void)
timer_initpara.counterdirection =TIMER_COUNTER_UP;
timer_initpara.period =999;
timer_initpara.clockdivision =TIMER_CKDIV_DIV1;
timer_init(TIMER13, &timer_initpara);
timer_init(LED_TIMER, &timer_initpara);
timer_auto_reload_shadow_enable(TIMER13);
timer_interrupt_enable(TIMER13, TIMER_INT_UP);
nvic_irq_enable(TIMER13_IRQn, 0);
timer_enable(TIMER13);
timer_auto_reload_shadow_enable(LED_TIMER);
timer_interrupt_enable(LED_TIMER, TIMER_INT_UP);
nvic_irq_enable(LED_IRQ, 0);
timer_enable(LED_TIMER);
}
void usart_config(void)
{
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_USART0);
rcu_periph_clock_enable(USART_GPIO_RCU);
rcu_periph_clock_enable(USART_RCU);
gpio_af_set(GPIOA, GPIO_AF_1, GPIO_PIN_2 | GPIO_PIN_3);
gpio_af_set(USARET_GPIO_PORT, GPIO_AF_1, GPIO_PIN_2 | GPIO_PIN_3);
/* configure USART Tx as alternate function push-pull */
gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO_PIN_2);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, GPIO_PIN_2);
gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO_PIN_3);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, GPIO_PIN_3);
gpio_mode_set(USARET_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_TX_PIN | USART_RX_PIN);
gpio_output_options_set(USARET_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, USART_TX_PIN | USART_RX_PIN);
/* USART configure */
usart_deinit(USART0);
usart_baudrate_set(USART0, 115200U);
usart_receive_config(USART0, USART_RECEIVE_ENABLE);
usart_transmit_config(USART0, USART_TRANSMIT_ENABLE);
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);
usart_enable(USART0_PHY);
}
void ultrasonic_gpio_config(void)
void ultrasonic_config(void)
{
rcu_periph_clock_enable(RCU_GPIOB);
rcu_periph_clock_enable(US_TRAN_GPIO_RCU);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_1);
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_1);
gpio_af_set(GPIOB, GPIO_AF_1, GPIO_PIN_1);
}
gpio_mode_set(US_TRAN_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, US_TRAN_PIN);
gpio_output_options_set(US_TRAN_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, US_TRAN_PIN);
gpio_af_set(US_TRAN_GPIO_PORT, GPIO_AF_1, US_TRAN_PIN);
void ultrasonic_timer_config(void)
{
timer_oc_parameter_struct timer_ocinitpara;
timer_parameter_struct timer_initpara;
rcu_periph_clock_enable(RCU_TIMER2);
timer_deinit(TIMER2);
rcu_periph_clock_enable(US_TRAN_RCU);
timer_deinit(US_TRAN_TIMER);
timer_struct_para_init(&timer_initpara);
timer_initpara.prescaler = 0;
@ -80,7 +74,7 @@ void ultrasonic_timer_config(void)
timer_initpara.counterdirection = TIMER_COUNTER_UP;
timer_initpara.period = 239;
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
timer_init(TIMER2, &timer_initpara);
timer_init(US_TRAN_TIMER, &timer_initpara);
timer_channel_output_struct_para_init(&timer_ocinitpara);
timer_ocinitpara.outputstate =TIMER_CCX_ENABLE;
@ -89,42 +83,40 @@ void ultrasonic_timer_config(void)
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(TIMER2, TIMER_CH_3, &timer_ocinitpara);
timer_channel_output_config(US_TRAN_TIMER, US_TRAN_CH, &timer_ocinitpara);
timer_channel_output_pulse_value_config(TIMER2, TIMER_CH_3, 120);
timer_channel_output_mode_config(TIMER2, TIMER_CH_3, TIMER_OC_MODE_PWM0);
timer_auto_reload_shadow_enable(TIMER2);
timer_channel_output_pulse_value_config(US_TRAN_TIMER, US_TRAN_CH, 120);
timer_channel_output_mode_config(US_TRAN_TIMER, US_TRAN_CH, TIMER_OC_MODE_PWM0);
timer_auto_reload_shadow_enable(US_TRAN_TIMER);
timer_interrupt_enable(TIMER2, TIMER_INT_UP);
timer_interrupt_enable(US_TRAN_TIMER, TIMER_INT_UP);
// nvic_irq_enable(TIMER2_IRQn, 1);
// timer_enable(TIMER2);
}
void ultrasonic_config(void) {
void ultrasonic_peripheral_config(void) {
led_config();
usart_config();
ultrasonic_gpio_config();
ultrasonic_timer_config();
ultrasonic_config();
}
void ultrasonic_pwm_out_cycles(uint8_t cycles) {
uint8_t current_cycle = 0;
timer_channel_output_pulse_value_config(TIMER2, TIMER_CH_3, 120);
timer_channel_output_mode_config(TIMER2, TIMER_CH_3, TIMER_OC_MODE_PWM1);
timer_enable(TIMER2);
timer_channel_output_pulse_value_config(US_TRAN_TIMER, US_TRAN_CH, 120);
timer_channel_output_mode_config(US_TRAN_TIMER, US_TRAN_CH, TIMER_OC_MODE_PWM1);
timer_enable(US_TRAN_TIMER);
while (current_cycle < cycles)
{
while (!timer_interrupt_flag_get(TIMER2, TIMER_INT_FLAG_UP));
timer_interrupt_flag_clear(TIMER2, TIMER_INT_FLAG_UP);
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 ++;
}
// delay_nop();
timer_disable(TIMER2);
timer_disable(US_TRAN_TIMER);
// if(gpio_output_bit_get(GPIOB, GPIO_PIN_1) == SET)
// {
// gpio_bit_reset(GPIOB, GPIO_PIN_1);
// }
}