hulk/xlsw_3dp_ultrasonic_300K
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 2 Wiki Activity

Compare commits

base: hulk:9cdd0008a530a2441ad701b4ae7027235856dab7
Branches Tags
hulk:main
hulk:dev
hulk:US&IR
hulk:inputCaptureEXP
hulk:V0.0.13
hulk:V0.1.1
..
compare: hulk:7cb354967c55ced8777a86d390bad12dd8fc8448
Branches Tags
hulk:dev
hulk:main
hulk:US&IR
hulk:inputCaptureEXP
hulk:V0.0.13
hulk:V0.1.1

No commits in common. "9cdd0008a530a2441ad701b4ae7027235856dab7" and "7cb354967c55ced8777a86d390bad12dd8fc8448" have entirely different histories.
9cdd0008a5 ... 7cb354967c

3 changed files with 39 additions and 69 deletions
Show Stats Expand all files Collapse all files

50
inc/ultrasonic_driver.h
View File

@ -7,9 +7,6 @@
#include "gd32e23x.h" #include "gd32e23x.h"
#define ULTRASONIC_CYCLES 0x05U
#define ULTRASONIC_TRAN_US 100 // (ms)
#define LED_PORT GPIOA #define LED_PORT GPIOA
#define LED_PIN GPIO_PIN_9 #define LED_PIN GPIO_PIN_9
#define LED_RCU RCU_GPIOA #define LED_RCU RCU_GPIOA
@ -17,39 +14,22 @@
#define LED_TIMER TIMER5 #define LED_TIMER TIMER5
#define LED_IRQ TIMER5_IRQn #define LED_IRQ TIMER5_IRQn
#define USART_RCU RCU_USART0 #define USART_RCU RCU_USART0
#define USART_GPIO_RCU RCU_GPIOA #define USART_GPIO_RCU RCU_GPIOA
#define USARET_GPIO_PORT GPIOA #define USARET_GPIO_PORT GPIOA
#define USART_TX_PIN GPIO_PIN_2 #define USART_TX_PIN GPIO_PIN_2
#define USART_RX_PIN GPIO_PIN_3 #define USART_RX_PIN GPIO_PIN_3
#define USART0_PHY USART0 #define USART0_PHY USART0
#define USART_BAUDRATE 115200U #define USART_BAUDRATE 115200U
#define US_TRAN_GPIO_RCU RCU_GPIOB #define US_TRAN_GPIO_RCU RCU_GPIOB
#define US_TRAN_GPIO_PORT GPIOB #define US_TRAN_GPIO_PORT GPIOB
#define US_TRAN_PIN GPIO_PIN_1 #define US_TRAN_PIN GPIO_PIN_1
#define US_TRAN_AF GPIO_AF_0 #define US_TRAN_AF GPIO_AF_0
#define US_TRAN_RCU RCU_TIMER13 #define US_TRAN_RCU RCU_TIMER13
#define US_TRAN_TIMER TIMER13 #define US_TRAN_TIMER TIMER13
#define US_TRAN_CH TIMER_CH_0 #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
#define SOUND_SPEED 340 // m/s
#define TIME_CORRECTION_US 250
void led_config(void); void led_config(void);
void usart_config(void); void usart_config(void);
@ -62,6 +42,4 @@ void ultrasonic_transmit_delay(const uint16_t micro_second);
void recevice_exti_config(void); void recevice_exti_config(void);
void ultrasonic_echo_timer_config(void); void ultrasonic_echo_timer_config(void);
uint16_t calculate_distance(uint32_t us_value);
#endif //ULTRASONIC_DRIVER_H #endif //ULTRASONIC_DRIVER_H

14
src/main.c
View File

@ -12,8 +12,10 @@
#include "ultrasonic_driver.h" #include "ultrasonic_driver.h"
#define ULTRASONIC_CYCLES 0x05U
#define ULTRASONIC_TRAN_US 50 // (ms)
extern uint32_t capture_value; extern uint32_t capture_value;
uint16_t distance_uint16;
/*! /*!
\brief main function \brief main function
@ -28,12 +30,12 @@ int main(void)
/* configure ultrasonic board hardware */ /* configure ultrasonic board hardware */
ultrasonic_transmit_config(); ultrasonic_transmit_config();
ultrasonic_transmit_delay(TIME_CORRECTION_US);
recevice_exti_config();
ultrasonic_echo_timer_config();
/* ---------- debug start ---------- */ /* ---------- debug start ---------- */
ultrasonic_transmit_delay(250);
recevice_exti_config();
ultrasonic_echo_timer_config();
@ -53,8 +55,6 @@ int main(void)
// printf("Send ultra sonic driver signal!\r\n"); // printf("Send ultra sonic driver signal!\r\n");
delay_ms(2); delay_ms(2);
printf("cap_val:%ld\n", capture_value); printf("cap_val:%ld\n", capture_value);
distance_uint16 = calculate_distance(capture_value);
printf("Distance:%d\n", distance_uint16);
} }
} }

44
src/ultrasonic_driver.c
View File

@ -122,8 +122,10 @@ 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); rcu_periph_clock_enable(RCU_GPIOA);
timer_deinit(US_TRAN_DELAY_TIMER);
rcu_periph_clock_enable(RCU_TIMER15);
timer_deinit(TIMER15);
timer_parameter_struct timer_initpara; timer_parameter_struct timer_initpara;
timer_struct_para_init(&timer_initpara); timer_struct_para_init(&timer_initpara);
@ -133,31 +135,31 @@ void ultrasonic_transmit_delay(const uint16_t micro_second) {
timer_initpara.period =micro_second - 1; timer_initpara.period =micro_second - 1;
timer_initpara.clockdivision =TIMER_CKDIV_DIV1; timer_initpara.clockdivision =TIMER_CKDIV_DIV1;
timer_initpara.repetitioncounter =0; timer_initpara.repetitioncounter =0;
timer_init(US_TRAN_DELAY_TIMER, &timer_initpara); timer_init(TIMER15, &timer_initpara);
timer_auto_reload_shadow_enable(US_TRAN_DELAY_TIMER); //使能自动影子重载 timer_auto_reload_shadow_enable(TIMER15); //使能自动影子重载
timer_interrupt_enable(US_TRAN_DELAY_TIMER, TIMER_INT_UP); // 使能自动重载中断 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, 1U);
} }
void recevice_exti_config(void) { void recevice_exti_config(void) {
rcu_periph_clock_enable(US_FB_GPIO_RCU); rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(US_FB_EXTI_RCU); rcu_periph_clock_enable(RCU_CFGCMP);
gpio_mode_set(US_FB_GPIO_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, US_FB_GPIO_PIN); gpio_mode_set(GPIOA, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_0);
nvic_irq_enable(US_FB_EXTI_IRQ, 0U); nvic_irq_enable(EXTI0_1_IRQn, 0U);
syscfg_exti_line_config(EXTI_SOURCE_GPIOA, EXTI_SOURCE_PIN0); syscfg_exti_line_config(EXTI_SOURCE_GPIOA, EXTI_SOURCE_PIN0);
exti_init(US_FB_GPIO_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING); exti_init(EXTI_0, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
exti_flag_clear(US_FB_GPIO_EXTI); exti_flag_clear(EXTI_0);
// exti_interrupt_enable(EXTI_0); // 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_parameter_struct timer_initpara;
timer_struct_para_init(&timer_initpara); timer_struct_para_init(&timer_initpara);
@ -167,7 +169,7 @@ void ultrasonic_echo_timer_config(void)
timer_initpara.period =59999; timer_initpara.period =59999;
timer_initpara.clockdivision =TIMER_CKDIV_DIV1; timer_initpara.clockdivision =TIMER_CKDIV_DIV1;
timer_initpara.repetitioncounter =0; timer_initpara.repetitioncounter =0;
timer_init(US_ECHO_TIMER, &timer_initpara); timer_init(TIMER16, &timer_initpara);
timer_ic_parameter_struct timer_icinitpara; timer_ic_parameter_struct timer_icinitpara;
timer_channel_input_struct_para_init(&timer_icinitpara); timer_channel_input_struct_para_init(&timer_icinitpara);
@ -175,17 +177,7 @@ void ultrasonic_echo_timer_config(void)
timer_icinitpara.icselection = TIMER_IC_SELECTION_INDIRECTTI; timer_icinitpara.icselection = TIMER_IC_SELECTION_INDIRECTTI;
timer_icinitpara.icprescaler = TIMER_IC_PSC_DIV1; timer_icinitpara.icprescaler = TIMER_IC_PSC_DIV1;
timer_icinitpara.icfilter = 0x03; // 设置滤波器 timer_icinitpara.icfilter = 0x03; // 设置滤波器
timer_input_capture_config(US_ECHO_TIMER, US_ECHO_CH, &timer_icinitpara); timer_input_capture_config(TIMER16, TIMER_CH_0, &timer_icinitpara);
}
uint16_t calculate_distance(uint32_t us_value) { // timer_enable(TIMER16);
uint16_t distace = (TIME_CORRECTION_US + us_value) * 17;
/*
* (TIME_CORRECTION_US + us_value) * 340 m/s
* -----------------------------------------
* 1000 000
* ----------------------------------------------
* 2
*/
return distace;
} }