README.md

@@ -6,11 +6,3 @@
 - [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
-
-- 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）
-    2. 超声波会在接触到目标后反射回sensor上，并产生一个低电平，主要就是检测这部分。
-  
-- [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

src/gd32e23x_it.c

@@ -33,7 +33,6 @@ OF SUCH DAMAGE.
 */
 
 #include "gd32e23x_it.h"
-#include <stdio.h>
 #include "main.h"
 #include "systick.h"
 #include "ultrasonic_driver.h"
@@ -119,15 +118,31 @@ void TIMER5_IRQHandler(void) {
     }
 }
 
+void TIMER14_IRQHandler(void)
+{
+    if (timer_flag_get(TIMER14, TIMER_FLAG_CH0))
+    {
+        timer_flag_clear(TIMER14, TIMER_FLAG_CH0);
+
+        uint32_t capture_value = timer_channel_capture_value_register_read(TIMER14, TIMER_CH_0);
+
+        timer_disable(TIMER14);
+    }
+}
+
 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
+        exti_interrupt_enable(EXTI_0);
+        timer_enable(TIMER14);
 
-        timer_counter_value_config(TIMER16, 0);
-        timer_enable(TIMER16);   // turn on timer to calculate the first ultrasonic echo time
+        /*
+         * GPIO Toggle will be delete when the project is ready
+         */
+        gpio_bit_toggle(GPIOA, GPIO_PIN_7);
+        /*******************************************************/
 
         timer_disable(TIMER15);
     }
@@ -138,11 +153,13 @@ void EXTI0_1_IRQHandler(void) {
     {
         exti_interrupt_flag_clear(EXTI_0);
 
-        capture_value = timer_channel_capture_value_register_read(TIMER16, TIMER_CH_0);
+        /*
+         * GPIO Toggle will be delete when the project is ready
+         */
+        gpio_bit_toggle(GPIOA, GPIO_PIN_5);
+        /*******************************************************/
 
-        // printf("aaa\n");
-
-        timer_disable(TIMER16);
+        // timer_event_software_generate(TIMER14, TIMER_EVENT_SRC_CH0G);
 
         exti_interrupt_disable(EXTI_0);
     }

src/main.c

@@ -15,8 +15,6 @@
 #define ULTRASONIC_CYCLES     0x05U
 #define ULTRASONIC_TRAN_US    50  // (ms)
 
-extern uint32_t capture_value;
-
 /*!
     \brief      main function
     \param[in]  none
@@ -33,7 +31,7 @@ int main(void)
 
 
     /* ---------- debug start ---------- */
-    ultrasonic_transmit_delay(250);
+    ultrasonic_transmit_delay();
     recevice_exti_config();
     ultrasonic_echo_timer_config();
 
@@ -53,8 +51,6 @@ int main(void)
         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);
     }
 }
 

src/ultrasonic_driver.c

@@ -124,6 +124,14 @@ void ultrasonic_pwm_out_cycles(const uint8_t cycles) {
 void ultrasonic_transmit_delay(const uint16_t micro_second) {
     rcu_periph_clock_enable(RCU_GPIOA);
 
+    /*
+     * GPIO Init will be delete when the project is ready
+     */
+    gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_7);
+    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_7);
+    gpio_bit_write(GPIOA, GPIO_PIN_7, SET);
+    /******************************************/
+
     rcu_periph_clock_enable(RCU_TIMER15);
     timer_deinit(TIMER15);
 
@@ -139,45 +147,58 @@ void ultrasonic_transmit_delay(const uint16_t micro_second) {
 
     timer_auto_reload_shadow_enable(TIMER15);  //使能自动影子重载
     timer_interrupt_enable(TIMER15, TIMER_INT_UP);  // 使能自动重载中断
-    nvic_irq_enable(TIMER15_IRQn, 1U);
+    nvic_irq_enable(TIMER15_IRQn, 2U);
 }
 
 void recevice_exti_config(void) {
     rcu_periph_clock_enable(RCU_GPIOA);
     rcu_periph_clock_enable(RCU_CFGCMP);
 
+    /*
+     * GPIO Init will be delete when the project is ready
+     */
+    gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_5);
+    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_5);
+    gpio_bit_write(GPIOA, GPIO_PIN_5, SET);
+    /******************************************/
+
+    // exti_deinit();
+
     gpio_mode_set(GPIOA, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_0);
-    nvic_irq_enable(EXTI0_1_IRQn, 0U);
+    nvic_irq_enable(EXTI0_1_IRQn, 1U);
     syscfg_exti_line_config(EXTI_SOURCE_GPIOA, EXTI_SOURCE_PIN0);
 
     exti_init(EXTI_0, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
     exti_flag_clear(EXTI_0);
 
-    // exti_interrupt_enable(EXTI_0);
+    exti_interrupt_enable(EXTI_0);
 }
 
 void ultrasonic_echo_timer_config(void)
 {
-    rcu_periph_clock_enable(RCU_TIMER16);
-    timer_deinit(TIMER16);
+    rcu_periph_clock_enable(RCU_TIMER14);
+    timer_deinit(TIMER14);
 
     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.period            =65535;
     timer_initpara.clockdivision     =TIMER_CKDIV_DIV1;
     timer_initpara.repetitioncounter =0;
-    timer_init(TIMER16, &timer_initpara);
+    timer_init(TIMER14, &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.icpolarity = TIMER_IC_POLARITY_RISING;
+    timer_icinitpara.icselection = TIMER_IC_SELECTION_DIRECTTI;
     timer_icinitpara.icprescaler = TIMER_IC_PSC_DIV1;
     timer_icinitpara.icfilter = 0x03; // 设置滤波器
-    timer_input_capture_config(TIMER16, TIMER_CH_0, &timer_icinitpara);
+    timer_input_capture_config(TIMER14, TIMER_CH_0, &timer_icinitpara);
 
-    // timer_enable(TIMER16);
+    timer_interrupt_enable(TIMER0, TIMER_INT_UP);
+    nvic_irq_enable(TIMER15_IRQn, 0U);
+
+    // timer_enable(TIMER0);
 }