update some err

README.md

@@ -5,7 +5,7 @@
 - [x] 超声驱动信号（300KHz 50%duty 5cycles）发送
 - [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
+- [x] 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）
@@ -14,3 +14,5 @@
 - [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
+- [x] TIMER14不存在F4x系列，改用TIMER16.
+- [x] 放弃上述流程，多一层中断层，直接在EXTI0的中断服务函数中，直接读取TIMER16的CH_0计数值。

inc/gd32e23x_it.h

@@ -49,6 +49,8 @@ void PendSV_Handler(void);
 /* this function handles SysTick exception */
 void SysTick_Handler(void);
 
-void TIMER13_IRQHandler(void);
+void TIMER5_IRQHandler(void);
+void TIMER15_IRQHandler(void);
+void EXTI0_1_IRQHandler(void);
 
 #endif /* GD32E23X_IT_H */

inc/ultrasonic_driver.h

@@ -7,6 +7,22 @@
 
 #include "gd32e23x.h"
 
+#define POWER_SUPPLY_12V
+// #define POWER_SUPPLY_24V
+
+#ifdef POWER_SUPPLY_12V
+    #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
+#else
+    #error "Please define either POWER_SUPPLY_12V or POWER_SUPPLY_24V"
+#endif
+
+#define ULTRASONIC_CYCLES   0x05U
+#define ULTRASONIC_TRAN_US  500  // (ms)
+
 #define LED_PORT            GPIOA
 #define LED_PIN             GPIO_PIN_9
 #define LED_RCU             RCU_GPIOA
@@ -31,15 +47,29 @@
 #define US_TRAN_TIMER        TIMER13
 #define US_TRAN_CH           TIMER_CH_0
 
+#define US_TRAN_DELAY_RCU     RCU_TIMER15
+#define US_TRAN_DELAY_TIMER   TIMER15
+
+#define US_FB_GPIO_RCU       RCU_GPIOA
+#define US_FB_EXTI_RCU       RCU_CFGCMP
+#define US_FB_GPIO_PORT      GPIOA
+#define US_FB_GPIO_PIN       GPIO_PIN_0
+#define US_FB_EXTI_IRQ       EXTI0_1_IRQn
+#define US_FB_GPIO_EXTI      EXTI_0
+
+#define US_ECHO_RCU          RCU_TIMER16
+#define US_ECHO_TIMER        TIMER16
+#define US_ECHO_CH           TIMER_CH_0
+
 void led_config(void);
 void usart_config(void);
 void ultrasonic_config(void);
 void ultrasonic_transmit_config(void);
 void ultrasonic_pwm_out_cycles(const uint8_t cycles);
-
-
 void ultrasonic_transmit_delay(const uint16_t micro_second);
 void recevice_exti_config(void);
 void ultrasonic_echo_timer_config(void);
+void ultrasonic_recevice_config(void);
+uint16_t calculate_distance(uint32_t us_value);
 
 #endif //ULTRASONIC_DRIVER_H

src/gd32e23x_it.c

@@ -123,12 +123,9 @@ 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); // turn on hardware external input interrupt
-
         timer_counter_value_config(TIMER16, 0);
         timer_enable(TIMER16);   // turn on timer to calculate the first ultrasonic echo time
-
         timer_disable(TIMER15);
     }
 }
@@ -137,13 +134,8 @@ void EXTI0_1_IRQHandler(void) {
     if (exti_interrupt_flag_get(EXTI_0) == SET)
     {
         exti_interrupt_flag_clear(EXTI_0);
-
         capture_value = timer_channel_capture_value_register_read(TIMER16, TIMER_CH_0);
-
-        // printf("aaa\n");
-
         timer_disable(TIMER16);
-
         exti_interrupt_disable(EXTI_0);
     }
 }

src/main.c

@@ -4,7 +4,7 @@
 
     \version 2024-02-22, V2.1.0, firmware for GD32E23x
 */
-#include "main.h"
+// #include "main.h"
 #include <stdio.h>
 #include "gd32e23x.h"
 #include "systick.h"
@@ -12,10 +12,8 @@
 
 #include "ultrasonic_driver.h"
 
-#define ULTRASONIC_CYCLES     0x05U
-#define ULTRASONIC_TRAN_US    50  // (ms)
-
 extern uint32_t capture_value;
+uint16_t distance_uint16;
 
 /*!
     \brief      main function
@@ -29,20 +27,16 @@ int main(void)
     systick_config();
     /* configure ultrasonic board hardware */
     ultrasonic_transmit_config();
-
+    ultrasonic_recevice_config();
-
 
     /* ---------- debug start ---------- */
-    ultrasonic_transmit_delay(250);
+
-    recevice_exti_config();
-    ultrasonic_echo_timer_config();
 
 
 
     /* ---------- debug end ---------- */
 
     printf("\r\n");
-    printf("START!\r\n");
     printf("XLSW-3DP-UltraSonic Analog 300K!\r\n");
     printf("\r\n");
 
@@ -51,16 +45,20 @@ int main(void)
     while(1)
     {
         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);
+        printf("cap_val:%ld\t", capture_value);
+
+        const char* result = (capture_value <= CAPTURE_VALUE_MAX) ? "Distance: %d\n" : "Over Range\n";
+        distance_uint16 = calculate_distance(capture_value);
+        printf(result, distance_uint16);
     }
 }
 
 /* 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]);

src/ultrasonic_driver.c

@@ -6,8 +6,7 @@
 #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);
@@ -34,8 +33,7 @@ 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);
 
@@ -54,8 +52,7 @@ 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);
@@ -122,10 +119,8 @@ void ultrasonic_pwm_out_cycles(const uint8_t cycles) {
 }
 
 void ultrasonic_transmit_delay(const uint16_t micro_second) {
-    rcu_periph_clock_enable(RCU_GPIOA);
+    rcu_periph_clock_enable(US_TRAN_DELAY_RCU);
-
+    timer_deinit(US_TRAN_DELAY_TIMER);
-    rcu_periph_clock_enable(RCU_TIMER15);
-    timer_deinit(TIMER15);
 
     timer_parameter_struct timer_initpara;
     timer_struct_para_init(&timer_initpara);
@@ -135,31 +130,30 @@ void ultrasonic_transmit_delay(const uint16_t micro_second) {
     timer_initpara.period            =micro_second - 1;
     timer_initpara.clockdivision     =TIMER_CKDIV_DIV1;
     timer_initpara.repetitioncounter =0;
-    timer_init(TIMER15, &timer_initpara);
+    timer_init(US_TRAN_DELAY_TIMER, &timer_initpara);
 
-    timer_auto_reload_shadow_enable(TIMER15);  //使能自动影子重载
+    timer_auto_reload_shadow_enable(US_TRAN_DELAY_TIMER);
-    timer_interrupt_enable(TIMER15, TIMER_INT_UP);  // 使能自动重载中断
+    timer_interrupt_enable(US_TRAN_DELAY_TIMER, TIMER_INT_UP);
     nvic_irq_enable(TIMER15_IRQn, 1U);
 }
 
 void recevice_exti_config(void) {
-    rcu_periph_clock_enable(RCU_GPIOA);
+    rcu_periph_clock_enable(US_FB_GPIO_RCU);
-    rcu_periph_clock_enable(RCU_CFGCMP);
+    rcu_periph_clock_enable(US_FB_EXTI_RCU);
 
-    gpio_mode_set(GPIOA, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_0);
+    gpio_mode_set(US_FB_GPIO_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, US_FB_GPIO_PIN);
-    nvic_irq_enable(EXTI0_1_IRQn, 0U);
+    nvic_irq_enable(US_FB_EXTI_IRQ, 0U);
     syscfg_exti_line_config(EXTI_SOURCE_GPIOA, EXTI_SOURCE_PIN0);
 
-    exti_init(EXTI_0, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
+    exti_init(US_FB_GPIO_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
-    exti_flag_clear(EXTI_0);
+    exti_flag_clear(US_FB_GPIO_EXTI);
 
     // exti_interrupt_enable(EXTI_0);
 }
 
-void ultrasonic_echo_timer_config(void)
+void ultrasonic_echo_timer_config(void) {
-{
+    rcu_periph_clock_enable(US_ECHO_RCU);
-    rcu_periph_clock_enable(RCU_TIMER16);
+    timer_deinit(US_ECHO_TIMER);
-    timer_deinit(TIMER16);
 
     timer_parameter_struct timer_initpara;
     timer_struct_para_init(&timer_initpara);
@@ -169,15 +163,31 @@ void ultrasonic_echo_timer_config(void)
     timer_initpara.period            =59999;
     timer_initpara.clockdivision     =TIMER_CKDIV_DIV1;
     timer_initpara.repetitioncounter =0;
-    timer_init(TIMER16, &timer_initpara);
+    timer_init(US_ECHO_TIMER, &timer_initpara);
 
     timer_ic_parameter_struct timer_icinitpara;
     timer_channel_input_struct_para_init(&timer_icinitpara);
     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_icinitpara.icfilter = 0x03;
-    timer_input_capture_config(TIMER16, TIMER_CH_0, &timer_icinitpara);
+    timer_input_capture_config(US_ECHO_TIMER, US_ECHO_CH, &timer_icinitpara);
-
+}
-    // timer_enable(TIMER16);
+
+void ultrasonic_recevice_config(void) {
+    ultrasonic_transmit_delay(TIME_CORRECTION_US);
+    recevice_exti_config();
+    ultrasonic_echo_timer_config();
+}
+
+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
+     *  -----------------------------------------
+     *                  1000 000
+     *  ----------------------------------------------
+     *                          2
+     */
+    return distace;
 }