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base: hulk:be81eb0c2ef07c9a75d4e801b4efbe739388aab5
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hulk:main hulk:dev hulk:US&IR hulk:inputCaptureEXP
hulk:V0.0.13 hulk:V0.1.1
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hulk:dev hulk:main hulk:US&IR hulk:inputCaptureEXP
hulk:V0.0.13 hulk:V0.1.1

4 Commits
be81eb0c2e ... inputCaptu

Author SHA1 Message Date
yelvlab
f077443081 clean shit 2024-09-24 09:36:22 +08:00
yelvlab
0dbf154070 for test input capture PA9->PA6 TIMER0->TIMER2 2024-09-24 00:41:12 +08:00
yelvlab
899773fe1e fix include file name err 2024-09-23 21:44:45 +08:00
yelvlab
a3a5dc2af9 开发进行中：添加输入捕获实验支持 
在ultrasonic_driver项目中，此次提交标志着向主目录添加新的源文件和头文件，旨在支持输入捕获实验。修改了CMakeLists.txt以包含新的input_capture_exp.c文件，同时在src和inc目录下分别创建了相应的源码和头文件。此外，此次提交还引入了输入捕获相关的硬件配置和初始化例程，为后续的功能开发和测试奠定了基础。
 2024-09-23 21:01:30 +08:00
17 changed files with 211 additions and 1438 deletions
Expand all files Collapse all files

3
CMakeLists.txt
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@@ -19,8 +19,7 @@ set(TARGET_C_SRC
${CMAKE_SOURCE_DIR}/src/gd32e23x_it.c ${CMAKE_SOURCE_DIR}/src/gd32e23x_it.c
${CMAKE_SOURCE_DIR}/src/systick.c ${CMAKE_SOURCE_DIR}/src/systick.c
${CMAKE_SOURCE_DIR}/src/ultrasonic_driver.c ${CMAKE_SOURCE_DIR}/src/ultrasonic_driver.c
${CMAKE_SOURCE_DIR}/src/mlx90614.c ${CMAKE_SOURCE_DIR}/src/input_capture_exp.c
${CMAKE_SOURCE_DIR}/src/gd32e23x_hw_i2c.c
) )
add_executable(xlsw_3dp_ultrasonic_300K ${TARGET_C_SRC}) add_executable(xlsw_3dp_ultrasonic_300K ${TARGET_C_SRC})

12
README.md
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@@ -5,14 +5,4 @@
- [x] 超声驱动信号（300KHz 50%duty 5cycles）发送 - [x] 超声驱动信号（300KHz 50%duty 5cycles）发送
- [x] PA2/PA3配置为USART0 - [x] PA2/PA3配置为USART0
- [x] LED配置存活状态闪烁 - [x] LED配置存活状态闪烁
- [x] 超声反射回波接受与精准计时 - [ ] 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
- [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。

1
about_template.md
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@@ -15,6 +15,7 @@ set(TARGET_C_SRC
${CMAKE_SOURCE_DIR}/src/main.c ${CMAKE_SOURCE_DIR}/src/main.c
${CMAKE_SOURCE_DIR}/src/gd32e23x_it.c ${CMAKE_SOURCE_DIR}/src/gd32e23x_it.c
${CMAKE_SOURCE_DIR}/src/systick.c ${CMAKE_SOURCE_DIR}/src/systick.c
${CMAKE_SOURCE_DIR}/src/peripheral.c
) )
``` ```
## 关于链接脚本 ## 关于链接脚本

116
inc/gd32e23x_hw_i2c.h
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@@ -1,116 +0,0 @@
#ifndef GD32E23X_HW_I2C_H
#define GD32E23X_HW_I2C_H
// #define I2C1_ENABLE
#define I2C0_BUS_RCU RCU_I2C0
#define I2C0_GPIO_RCU RCU_GPIOF
#define I2C0_GPIO_PORT GPIOF
#define I2C0_GPIO_SDA_PIN GPIO_PIN_0
#define I2C0_GPIO_SCL_PIN GPIO_PIN_1
#define I2C0_GPIO_AF GPIO_AF_1
#define I2C0_SPEED 400000U
#define I2C0_DCTY I2C_DTCY_2
#define I2C0_ADDR7 0xA0
#ifdef I2C1_ENABLE
#define I2C1_BUS_RCU RCU_I2C1
#define I2C1_GPIO_RCU RCU_GPIOA
#define I2C1_GPIO_PORT GPIOA
#define I2C1_GPIO_SDA_PIN GPIO_PIN_1
#define I2C1_GPIO_SCL_PIN GPIO_PIN_0
#define I2C1_GPIO_AF GPIO_AF_4
#define I2C1_SPEED 400000U
#define I2C1_DCTY I2C_DTCY_2
#define I2C1_ADDR7 0xA1
#endif
#define I2C_TIME_OUT (uint16_t)(5000)
#define I2C_OK 1
#define I2C_FAIL 0
#define I2C_END 1
typedef enum {
I2C_START = 0,
I2C_SEND_ADDR,
I2C_CLEAR_ADDRESS_FLAG,
I2C_TRANSMIT_DATA,
I2C_STOP
} i2c_process_enum;
typedef struct
{
uint32_t i2c_gpio_rcu;
uint32_t i2c_gpio_port;
uint32_t i2c_gpio_sda_pin;
uint32_t i2c_gpio_scl_pin;
uint32_t i2c_gpio_af;
uint32_t i2c_speed;
uint32_t i2c_dcty;
uint32_t i2c_addr7;
}i2c_parameter_struct;
/**
* \brief Return codes for IIC APIs.
* @{
*/
#define IIC_SUCCESS 0
#define IIC_INVALID_ARGUMENT 1
#define IIC_ARBITRATION_LOST 2
#define IIC_NO_CHIP_FOUND 3
#define IIC_RECEIVE_OVERRUN 4
#define IIC_RECEIVE_NACK 5
#define IIC_SEND_OVERRUN 6
#define IIC_SEND_NACK 7
#define IIC_BUSY 8
#define IIC_ERROR_TIMEOUT 9
/**
* @}
*/
void i2c_master_initialize1(void);
void i2c_master_initialize3(void);
void i2c_master_init(void);
void i2c_master_deinit1(void);
void i2c_master_deinit3(void);
uint8_t i2c_master_read_register1(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue);
uint8_t i2c_master_read_register3(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue);
uint8_t i2c_master_read_register1_raw(unsigned char Address, unsigned short len, unsigned char *data);
uint8_t i2c_master_read_register3_raw(unsigned char Address, unsigned short len, unsigned char *data);
uint8_t i2c_master_write_register1(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue);
uint8_t i2c_master_write_register3(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue);
uint8_t i2c_master_write_register1_raw(unsigned char Address, unsigned short len, unsigned char *data);
uint8_t i2c_master_write_register3_raw(unsigned char Address, unsigned short len, unsigned char *data);
void i2c0_master_init(void);
int read_ir_mlx90614(void);
void i2c_struct_para_init(i2c_parameter_struct* initpara);
void i2c_init(uint32_t i2c_periph, i2c_parameter_struct* initpara);
void i2c0_config(void);
#endif /* GD32E23X_HW_I2C_H */

4
inc/gd32e23x_it.h
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@@ -49,8 +49,6 @@ void PendSV_Handler(void);
/* this function handles SysTick exception */ /* this function handles SysTick exception */
void SysTick_Handler(void); void SysTick_Handler(void);
void TIMER5_IRQHandler(void); void TIMER13_IRQHandler(void);
void TIMER15_IRQHandler(void);
void EXTI0_1_IRQHandler(void);
#endif /* GD32E23X_IT_H */ #endif /* GD32E23X_IT_H */

11
inc/input_capture_exp.h Normal file
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@@ -0,0 +1,11 @@
//
// Created by yelv1 on 24-9-23.
//
#ifndef INPUT_CAPTURE_EXP_H
#define INPUT_CAPTURE_EXP_H
void input_capture_config(void);
void pwm_config(void);
#endif //INPUT_CAPTURE_EXP_H

13
inc/mlx90614.h
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@@ -1,13 +0,0 @@
//
// Created by dell on 24-9-26.
//
#ifndef MLX90614_H
#define MLX90614_H
#define I2C_EVENT_MASTER_MODE_SELECT ((uint32_t)(I2C_FLAG_I2CBSY | I2C_FLAG_MASTER | I2C_FLAG_RBNE))
void i2c_config(void);
int read_ir_mlx90614(void);
#endif //MLX90614_H

2
inc/systick.h
View File

@@ -24,6 +24,6 @@ void delay_ms(uint32_t count);
/* delay a time in microseconds */ /* delay a time in microseconds */
void delay_us(uint32_t count); void delay_us(uint32_t count);
void delay_5_nop(void); void delay_nop(void);
#endif /* SYS_TICK_H */ #endif /* SYS_TICK_H */

69
inc/ultrasonic_driver.h
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@@ -7,69 +7,14 @@
#include "gd32e23x.h" #include "gd32e23x.h"
#define POWER_SUPPLY_12V #define USART_RCU RCU_USART0
// #define POWER_SUPPLY_24V #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
#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
#define LED_TIMER_RCU RCU_TIMER5
#define LED_TIMER TIMER5
#define LED_IRQ TIMER5_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_AF GPIO_AF_0
#define US_TRAN_RCU RCU_TIMER13
#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 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 receive_exti_config(void);
void ultrasonic_echo_timer_config(void);
void ultrasonic_receive_config(void);
uint16_t calculate_distance(uint32_t us_value);
#endif //ULTRASONIC_DRIVER_H #endif //ULTRASONIC_DRIVER_H

864
src/gd32e23x_hw_i2c.c
View File

@@ -1,864 +0,0 @@
#include <stdio.h>
#include <stdint.h>
#include "gd32e23x.h"
#include "systick.h"
#include "gd32e23x_hw_i2c.h"
#include "gd32e23x.h"
void i2c_struct_para_init(i2c_parameter_struct* initpara)
{
initpara->i2c_gpio_rcu = RCU_GPIOF;
initpara->i2c_gpio_port = GPIOF;
initpara->i2c_gpio_scl_pin = GPIO_PIN_1;
initpara->i2c_gpio_sda_pin = GPIO_PIN_0;
initpara->i2c_speed = 400000U;
initpara->i2c_dcty = I2C_DTCY_2;
initpara->i2c_addr7 = 0xA0;
}
void i2c_init(uint32_t i2c_periph, i2c_parameter_struct* initpara)
{
switch (i2c_periph){
case I2C0:
rcu_periph_clock_enable(RCU_I2C0);
rcu_periph_clock_enable(initpara->i2c_gpio_rcu);
gpio_af_set(I2C0_GPIO_PORT, I2C0_GPIO_AF, I2C0_GPIO_SDA_PIN | I2C0_GPIO_SCL_PIN);
gpio_output_options_set(I2C0_GPIO_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C0_GPIO_SDA_PIN | I2C0_GPIO_SCL_PIN);
i2c_clock_config(I2C0, I2C0_SPEED, I2C0_DCTY);
i2c_mode_addr_config(I2C0, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, I2C0_ADDR7);
i2c_enable(I2C0);
i2c_ack_config(I2C0, I2C_ACK_ENABLE);
break;
case I2C1:
break;
default:
break;
}
}
/*!
\brief Enable IIC0 & NVIC
\param[in] none
\param[out] none
\retval none
*/
void i2c_init(uint32_t i2c_periph)
{
switch (i2c_periph) {
case I2C0:
rcu_periph_clock_enable(RCU_I2C0);
rcu_periph_clock_enable(I2C0_GPIO_RCU);
gpio_af_set(I2C0_GPIO_PORT, I2C0_GPIO_AF, I2C0_GPIO_SDA_PIN | I2C0_GPIO_SCL_PIN);
gpio_output_options_set(I2C0_GPIO_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C0_GPIO_SDA_PIN | I2C0_GPIO_SCL_PIN);
i2c_clock_config(I2C0, I2C0_SPEED, I2C0_DCTY);
i2c_mode_addr_config(I2C0, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, I2C0_ADDR7);
i2c_enable(I2C0);
i2c_ack_config(I2C0, I2C_ACK_ENABLE);
break;
#ifdef I2C1_ENABLE
case I2C1:
rcu_periph_clock_enable(RCU_I2C1);
rcu_periph_clock_enable(I2C1_GPIO_RCU);
gpio_af_set(I2C1_GPIO_PORT, I2C1_GPIO_AF, I2C1_GPIO_SDA_PIN | I2C1_GPIO_SCL_PIN);
gpio_output_options_set(I2C1_GPIO_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C1_GPIO_SDA_PIN | I2C1_GPIO_SCL_PIN);
i2c_clock_config(I2C1, I2C1_SPEED, I2C1_DCTY);
i2c_mode_addr_config(I2C1, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, I2C1_ADDR7);
i2c_enable(I2C1);
i2c_ack_config(I2C1, I2C_ACK_ENABLE);
break;
#endif
default:
break;
}
}
void i2c_bus_reset(void)
{
i2c_deinit(I2C0);
/* configure SDA/SCL for GPIO */
GPIO_BC(I2C0_GPIO_PORT) |= I2C0_GPIO_SDA_PIN | I2C0_GPIO_SCL_PIN;
gpio_output_options_set(I2C0_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, I2C0_GPIO_SDA_PIN | I2C0_GPIO_SCL_PIN);
delay_5_nop();
/* stop signal */
GPIO_BOP(I2C0_GPIO_PORT) |= I2C0_GPIO_SCL_PIN;
delay_5_nop();
GPIO_BOP(I2C0_GPIO_PORT) |= I2C0_GPIO_SDA_PIN;
/* connect I2C_SCL_PIN to I2C_SCL */
/* connect I2C_SDA_PIN to I2C_SDA */
gpio_output_options_set(I2C0_GPIO_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C0_GPIO_SDA_PIN | I2C0_GPIO_SCL_PIN);
/* configure the I2CX interface */
i2c_init(I2C0);
}
/*!
\brief TWI1(IIC0) read data from the IIC Slave Device
\param[in] Address: the IIC Slave Device's IIC Device Address
\param[in] RegisterAddr: the IIC Slave Device's internal address to start reading from
\param[in] RegisterLen: number of bytes to reads from the IIC Slave Device
\param[in] RegisterValue: pointer to the buffer that receives the data read from the IIC Slave Device
\param[out] RegisterValue: pointer to the buffer that receives the data read from the IIC Slave Device
\retval IIC_SUCCESS
*/
uint8_t i2c_master_receive(uint32_t i2c_periph, uint8_t Dev_Address, uint8_t)
uint8_t i2c_master_read_register1(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue){
uint8_t state = I2C_START;
uint8_t read_cycle = 0;
uint16_t timeout = 0;
uint8_t i2c_timeout_flag = 0;
uint8_t IIC_SLAVE_ADDR = (Address << 1);
i2c_ack_config(I2C0, 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(I2C0, I2C_FLAG_I2CBSY) && (timeout < i2c_timeout_flag))
{
timeout ++;
}
if(timeout < I2C_TIME_OUT)
{
/* whether to send ACK or not for the next byte */
if(2 == RegisterLen) {
i2c_ackpos_config(I2C0, I2C_ACKPOS_NEXT);
}
} else {
i2c_bus_reset();
timeout = 0;
state = I2C_START;
printf("i2c bus is busy in READ!\n");
}
}
/* send the start signal */
i2c_start_on_bus(I2C0);
timeout = 0;
state = I2C_SEND_ADDR;
break;
case I2C_SEND_ADDR:
/* i2c master sends START signal successfully */
while((!i2c_flag_get(I2C0, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT))
{
timeout++;
}
if(timeout < I2C_TIME_OUT)
{
if(RESET == read_cycle)
{
i2c_master_addressing(I2C0, IIC_SLAVE_ADDR, I2C_TRANSMITTER);
state = I2C_CLEAR_ADDRESS_FLAG;
} else {
i2c_master_addressing(I2C0, IIC_SLAVE_ADDR, I2C_RECEIVER);
if(RegisterLen < 3) {
/* disable acknowledge */
i2c_ack_config(I2C0, I2C_ACK_DISABLE);
}
state = I2C_CLEAR_ADDRESS_FLAG;
}
timeout = 0;
} else {
timeout = 0;
state = I2C_START;
read_cycle = 0;
printf("i2c master sends start signal timeout in READ!\n");
}
break;
case I2C_CLEAR_ADDRESS_FLAG:
/* address flag set means i2c slave sends ACK */
while((!i2c_flag_get(I2C0, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT))
{
timeout++;
}
if(timeout < I2C_TIME_OUT)
{
i2c_flag_clear(I2C0, I2C_FLAG_ADDSEND);
if((SET == read_cycle) && (1 == RegisterLen)) {
/* send a stop condition to I2C bus */
i2c_stop_on_bus(I2C0);
}
timeout = 0;
state = I2C_TRANSMIT_DATA;
} else {
timeout = 0;
state = I2C_START;
read_cycle = 0;
printf("i2c master clears address flag timeout in READ!\n");
}
break;
case I2C_TRANSMIT_DATA:
if(RESET == read_cycle) {
/* wait until the transmit data buffer is empty */
while((!i2c_flag_get(I2C0, 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(I2C0, RegisterAddr);
timeout = 0;
} else {
timeout = 0;
state = I2C_START;
read_cycle = 0;
printf("i2c master wait data buffer is empty timeout in READ!\n");
}
/* wait until BTC bit is set */
while((!i2c_flag_get(I2C0, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
timeout++;
}
if(timeout < I2C_TIME_OUT) {
timeout = 0;
state = I2C_START;
read_cycle++;
} else {
timeout = 0;
state = I2C_START;
read_cycle = 0;
printf("i2c master sends i2c_master_read_register1 internal address timeout in READ!\n");
}
} else {
while(RegisterLen) {
timeout++;
if(3 == RegisterLen) {
/* wait until BTC bit is set */
while(!i2c_flag_get(I2C0, I2C_FLAG_BTC));
/* disable acknowledge */
i2c_ack_config(I2C0, I2C_ACK_DISABLE);
}
if(2 == RegisterLen) {
/* wait until BTC bit is set */
while(!i2c_flag_get(I2C0, I2C_FLAG_BTC));
/* send a stop condition to I2C bus */
i2c_stop_on_bus(I2C0);
}
/* wait until RBNE bit is set */
if(i2c_flag_get(I2C0, I2C_FLAG_RBNE)) {
/* read a byte from the EEPROM */
*RegisterValue = i2c_data_receive(I2C0);
/* point to the next location where the byte read will be saved */
RegisterValue++;
/* decrement the read bytes counter */
RegisterLen--;
timeout = 0;
}
if(timeout > I2C_TIME_OUT) {
timeout = 0;
state = I2C_START;
read_cycle = 0;
printf("i2c master sends data timeout in READ!\n");
}
}
timeout = 0;
state = I2C_STOP;
}
break;
case I2C_STOP:
/* i2c master sends STOP signal successfully */
while((I2C_CTL0(I2C0) & 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;
printf("i2c master sends stop signal timeout in READ!\n");
}
break;
default:
state = I2C_START;
read_cycle = 0;
i2c_timeout_flag = I2C_OK;
timeout = 0;
printf("i2c master sends start signal in READ.\n");
break;
}
}
return IIC_SUCCESS;
}
/*!
\brief TWI3(none) read data from the IIC Slave Device
\param[in] Address: the IIC Slave Device's IIC Device Address
\param[in] RegisterAddr: the IIC Slave Device's internal address to start reading from
\param[in] RegisterLen: number of bytes to reads from the IIC Slave Device
\param[in] RegisterValue: pointer to the buffer that receives the data read from the IIC Slave Device
\param[out] RegisterValue: pointer to the buffer that receives the data read from the IIC Slave Device
\retval IIC_SUCCESS
\note No TWI3(IIC3) - No operation - Error log.
*/
uint8_t i2c_master_read_register3(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue){
__NOP();
#ifdef DEBUG_VERBOES
printf("\n[DebugVerboes]i2c_master_read_register3 @ i2c.c, no TWI3 \n");
#endif
return IIC_SUCCESS;
}
/*!
\brief TWI1(IIC0) read data from the IIC Slave Device
\param[in] Address: the IIC Slave Device's IIC Device Address
\param[in] len: number of bytes to reads from the IIC Slave Device
\param[in] data: pointer to the buffer that receives the data read from the IIC Slave Device
\param[out] data: pointer to the buffer that receives the data read from the IIC Slave Device
\retval IIC_SUCCESS
*/
uint8_t i2c_master_read_register1_raw(unsigned char Address, unsigned short len, unsigned char *data){
uint8_t state = I2C_START;
// uint8_t read_cycle = 0;
uint16_t timeout = 0;
uint8_t i2c_timeout_flag = 0;
unsigned char IIC_SLAVE_ADDR = (Address << 1);
i2c_ack_config(I2C0, 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(I2C0, I2C_FLAG_I2CBSY) && (timeout < i2c_timeout_flag))
{
timeout ++;
}
if(timeout < I2C_TIME_OUT)
{
/* whether to send ACK or not for the next byte */
if(2 == len) {
i2c_ackpos_config(I2C0, I2C_ACKPOS_NEXT);
}
} else {
i2c_bus_reset();
timeout = 0;
state = I2C_START;
printf("i2c bus is busy in READ!\n");
}
/* send the start signal */
i2c_start_on_bus(I2C0);
timeout = 0;
state = I2C_SEND_ADDR;
break;
case I2C_SEND_ADDR:
/* i2c master sends START signal successfully */
while((!i2c_flag_get(I2C0, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT))
{
timeout++;
}
if(timeout < I2C_TIME_OUT)
{
i2c_master_addressing(I2C0, IIC_SLAVE_ADDR, I2C_RECEIVER);
if(len < 3) {
/* disable acknowledge */
i2c_ack_config(I2C0, I2C_ACK_DISABLE);
}
state = I2C_CLEAR_ADDRESS_FLAG;
timeout = 0;
} else {
timeout = 0;
state = I2C_START;
// read_cycle = 0;
printf("i2c master sends start signal timeout in READ!\n");
}
break;
case I2C_CLEAR_ADDRESS_FLAG:
/* address flag set means i2c slave sends ACK */
while((!i2c_flag_get(I2C0, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT))
{
timeout++;
}
if(timeout < I2C_TIME_OUT)
{
i2c_flag_clear(I2C0, I2C_FLAG_ADDSEND);
timeout = 0;
state = I2C_TRANSMIT_DATA;
} else {
timeout = 0;
state = I2C_START;
// read_cycle = 0;
printf("i2c master clears address flag timeout in READ!\n");
}
break;
case I2C_TRANSMIT_DATA:
while(len) {
timeout++;
if(3 == len) {
/* wait until BTC bit is set */
while(!i2c_flag_get(I2C0, I2C_FLAG_BTC));
/* disable acknowledge */
i2c_ack_config(I2C0, I2C_ACK_DISABLE);
}
if(2 == len) {
/* wait until BTC bit is set */
while(!i2c_flag_get(I2C0, I2C_FLAG_BTC));
/* send a stop condition to I2C bus */
i2c_stop_on_bus(I2C0);
}
/* wait until RBNE bit is set */
if(i2c_flag_get(I2C0, I2C_FLAG_RBNE)) {
/* read a byte from the EEPROM */
*data = i2c_data_receive(I2C0);
/* point to the next location where the byte read will be saved */
data++;
/* decrement the read bytes counter */
len--;
timeout = 0;
}
if(timeout > I2C_TIME_OUT) {
timeout = 0;
state = I2C_START;
// read_cycle = 0;
printf("i2c master sends data timeout in READ!\n");
}
}
timeout = 0;
state = I2C_STOP;
// }
break;
case I2C_STOP:
/* i2c master sends STOP signal successfully */
while((I2C_CTL0(I2C0) & 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;
printf("i2c master sends stop signal timeout in READ!\n");
}
break;
default:
state = I2C_START;
// read_cycle = 0;
i2c_timeout_flag = I2C_OK;
timeout = 0;
printf("i2c master sends start signal in READ.\n");
break;
}
}
return IIC_SUCCESS;
}
/*!
\brief TWI3(none) read data from the IIC Slave Device with no regisiter address
\param[in] Address: the IIC Slave Device's IIC Device Address
\param[in] len: number of bytes to reads from the IIC Slave Device
\param[in] data: pointer to the buffer that receives the data read from the IIC Slave Device
\param[out] data: pointer to the buffer that receives the data read from the IIC Slave Device
\retval IIC_SUCCESS
\note No TWI3(IIC3) - No operation - Error log.
*/
uint8_t i2c_master_read_register3_raw(unsigned char Address, unsigned short len, unsigned char *data){
__NOP();
#ifdef DEBUG_VERBOES
printf("\n[DebugVerboes]i2c_master_read_register3_raw @ i2c.c, no TWI3 \n");
#endif
return IIC_SUCCESS;
}
/*!
\brief TWI1(IIC0) write data to the IIC Slave Device
\param[in] Address: the IIC Slave Device's IIC Device Address
\param[in] RegisterAddr: the IIC Slave Device's internal address to start writing to
\param[in] RegisterLen: number of bytes to write to the IIC Slave Device
\param[in] RegisterValue: pointer to the buffer that transfer the data write to the IIC Slave Device
\param[out] RegisterValue: pointer to the buffer that transfer the data write to the IIC Slave Device
\retval IIC_SUCCESS
*/
uint8_t i2c_master_write_register1(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue)
{
uint8_t state = I2C_START;
uint16_t timeout = 0;
uint8_t i2c_timeout_flag = 0;
unsigned char IIC_SLAVE_ADDR = (Address << 1);
/* enable acknowledge */
i2c_ack_config(I2C0, 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(I2C0, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) {
timeout++;
}
if(timeout < I2C_TIME_OUT) {
i2c_start_on_bus(I2C0);
timeout = 0;
state = I2C_SEND_ADDR;
} else {
i2c_bus_reset();
timeout = 0;
state = I2C_START;
printf("i2c bus is busy in WRITE!\n");
}
break;
case I2C_SEND_ADDR:
/* i2c master sends START signal successfully */
while((!i2c_flag_get(I2C0, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT)) {
timeout++;
}
if(timeout < I2C_TIME_OUT) {
i2c_master_addressing(I2C0, IIC_SLAVE_ADDR, I2C_TRANSMITTER);
timeout = 0;
state = I2C_CLEAR_ADDRESS_FLAG;
} else {
timeout = 0;
state = I2C_START;
printf("i2c master sends start signal timeout in WRITE!\n");
}
break;
case I2C_CLEAR_ADDRESS_FLAG:
/* address flag set means i2c slave sends ACK */
while((!i2c_flag_get(I2C0, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT)) {
timeout++;
}
if(timeout < I2C_TIME_OUT) {
i2c_flag_clear(I2C0, I2C_FLAG_ADDSEND);
timeout = 0;
state = I2C_TRANSMIT_DATA;
} else {
timeout = 0;
state = I2C_START;
printf("i2c master clears address flag timeout in WRITE!\n");
}
break;
case I2C_TRANSMIT_DATA:
/* wait until the transmit data buffer is empty */
while((!i2c_flag_get(I2C0, 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(I2C0, RegisterAddr);
timeout = 0;
} else {
timeout = 0;
state = I2C_START;
printf("i2c master sends i2c_master_write_register1 internal address timeout in WRITE!\n");
}
/* wait until BTC bit is set */
while((!i2c_flag_get(I2C0, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
timeout++;
}
if(timeout < I2C_TIME_OUT) {
timeout = 0;
} else {
timeout = 0;
state = I2C_START;
printf("i2c master sends data timeout in WRITE!\n");
}
while(RegisterLen--) {
i2c_data_transmit(I2C0, *RegisterValue);
/* point to the next byte to be written */
RegisterValue++;
/* wait until BTC bit is set */
while((!i2c_flag_get(I2C0, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
timeout++;
}
if(timeout < I2C_TIME_OUT) {
timeout = 0;
} else {
timeout = 0;
state = I2C_START;
printf("i2c master sends data timeout in WRITE!\n");
}
}
timeout = 0;
state = I2C_STOP;
break;
case I2C_STOP:
/* send a stop condition to I2C bus */
i2c_stop_on_bus(I2C0);
/* i2c master sends STOP signal successfully */
while((I2C_CTL0(I2C0) & 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;
printf("i2c master sends stop signal timeout in WRITE!\n");
}
break;
default:
state = I2C_START;
i2c_timeout_flag = I2C_OK;
timeout = 0;
printf("i2c master sends start signal in WRITE.\n");
break;
}
}
return IIC_SUCCESS;
}
/*!
\brief TWI1(IIC0) write data to the IIC Slave Device with no regisiter address
\param[in] Address: the IIC Slave Device's IIC Device Address
\param[in] len: number of bytes to write to the IIC Slave Device
\param[in] data: pointer to the buffer that transfer the data write to the IIC Slave Device
\param[out] data: pointer to the buffer that transfer the data write to the IIC Slave Device
\retval IIC_SUCCESS
*/
uint8_t i2c_master_write_register1_raw(unsigned char Address, unsigned short len, unsigned char *data){
uint8_t state = I2C_START;
uint16_t timeout = 0;
uint8_t i2c_timeout_flag = 0;
unsigned char IIC_SLAVE_ADDR = (Address << 1);
/* enable acknowledge */
i2c_ack_config(I2C0, 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(I2C0, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) {
timeout++;
}
if(timeout < I2C_TIME_OUT) {
i2c_start_on_bus(I2C0);
timeout = 0;
state = I2C_SEND_ADDR;
} else {
i2c_bus_reset();
timeout = 0;
state = I2C_START;
printf("i2c bus is busy in WRITE!\n");
}
break;
case I2C_SEND_ADDR:
/* i2c master sends START signal successfully */
while((!i2c_flag_get(I2C0, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT)) {
timeout++;
}
if(timeout < I2C_TIME_OUT) {
i2c_master_addressing(I2C0, IIC_SLAVE_ADDR, I2C_TRANSMITTER);
timeout = 0;
state = I2C_CLEAR_ADDRESS_FLAG;
} else {
timeout = 0;
state = I2C_START;
printf("i2c master sends start signal timeout in WRITE!\n");
}
break;
case I2C_CLEAR_ADDRESS_FLAG:
/* address flag set means i2c slave sends ACK */
while((!i2c_flag_get(I2C0, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT)) {
timeout++;
}
if(timeout < I2C_TIME_OUT) {
i2c_flag_clear(I2C0, I2C_FLAG_ADDSEND);
timeout = 0;
state = I2C_TRANSMIT_DATA;
} else {
timeout = 0;
state = I2C_START;
printf("i2c master clears address flag timeout in WRITE!\n");
}
break;
case I2C_TRANSMIT_DATA:
/* wait until the transmit data buffer is empty */
while((!i2c_flag_get(I2C0, I2C_FLAG_TBE)) && (timeout < I2C_TIME_OUT)) {
timeout++;
}
while(len--) {
i2c_data_transmit(I2C0, *data);
/* point to the next byte to be written */
data++;
/* wait until BTC bit is set */
while((!i2c_flag_get(I2C0, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
timeout++;
}
if(timeout < I2C_TIME_OUT) {
timeout = 0;
} else {
timeout = 0;
state = I2C_START;
printf("i2c master sends data timeout in WRITE!\n");
}
}
timeout = 0;
state = I2C_STOP;
break;
case I2C_STOP:
/* send a stop condition to I2C bus */
i2c_stop_on_bus(I2C0);
/* i2c master sends STOP signal successfully */
while((I2C_CTL0(I2C0) & 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;
printf("i2c master sends stop signal timeout in WRITE!\n");
}
break;
default:
state = I2C_START;
i2c_timeout_flag = I2C_OK;
timeout = 0;
printf("i2c master sends start signal in WRITE.\n");
break;
}
}
return IIC_SUCCESS;
}
int read_ir_mlx90614(void)
{
uint8_t Data[5];
int inttemp_ir=0;
uint32_t TIMEOUT=0;
while(TIMEOUT<10000&&i2c_flag_get(I2C0,I2C_FLAG_I2CBSY))
TIMEOUT++;
if(TIMEOUT>=10000)
{
//printf("ERROR0\r\n");
return -410;
}
TIMEOUT=0;
I2C_GenerateSTART(I2C0,ENABLE);
while(TIMEOUT<10000&&!I2C_CheckEvent(I2C0,I2C_EVENT_MASTER_MODE_SELECT))
TIMEOUT++;
if(TIMEOUT>=10000)
{
//printf("ERROR1\r\n");
return -410;
}
// I2C_AcknowledgeConfig(I2C0,DISABLE);
TIMEOUT=0;
I2C_Send7bitAddress(I2C0,0XB4,I2C_Direction_Transmitter);
while(TIMEOUT<10000&&!I2C_CheckEvent(I2C0,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
TIMEOUT++;
if(TIMEOUT>=10000)
{
printf("ERROR2\r\n");
return -410;
}
I2C_SendData(I2C0,0x07);
TIMEOUT=0;
I2C_GenerateSTART(I2C0,ENABLE);
while(TIMEOUT<10000&&!I2C_CheckEvent(I2C0,I2C_EVENT_MASTER_MODE_SELECT))
TIMEOUT++;
if(TIMEOUT>=10000)
{
//printf("ERROR3\r\n");
return -410;
}
TIMEOUT=0;
I2C_Send7bitAddress(I2C0,0XB4,I2C_Direction_Receiver);
while(TIMEOUT<10000&&!I2C_CheckEvent(I2C0,I2C_EVENT_MASTER_BYTE_RECEIVED ))
TIMEOUT++;
if(TIMEOUT>=10000)
{
//printf("ERROR4\r\n");
return -410;
}
//I2C_AcknowledgeConfig(I2C0,DISABLE);
TIMEOUT=0;
Data[0]=I2C_ReceiveData(I2C0);
while(TIMEOUT<10000&&!I2C_CheckEvent(I2C0,I2C_EVENT_MASTER_BYTE_RECEIVED))
TIMEOUT++;
if(TIMEOUT>=10000)
{
//printf("ERROR5\r\n");
return -410;
}
TIMEOUT=0;
Data[1]=I2C_ReceiveData(I2C0);
while(TIMEOUT<10000&&!I2C_CheckEvent(I2C0,I2C_EVENT_MASTER_BYTE_RECEIVED))
TIMEOUT++;
if(TIMEOUT>=10000)
{
//printf("ERROR6\r\n");
return -410;
}
TIMEOUT=0;
Data[2]=I2C_ReceiveData(I2C0);
while(TIMEOUT<10000&&!I2C_CheckEvent(I2C0,I2C_EVENT_MASTER_BYTE_RECEIVED))
TIMEOUT++;
if(TIMEOUT>=10000)
{
//printf("ERROR7\r\n");
return -410;
}
I2C_AcknowledgeConfig(I2C0,DISABLE);
Data[3]=I2C_ReceiveData(I2C0);
while(TIMEOUT<10000&&!I2C_CheckEvent(I2C0,I2C_EVENT_MASTER_BYTE_RECEIVED))
TIMEOUT++;
if(TIMEOUT>=10000)
{
//printf("ERROR11\r\n");
return -410;
}
I2C_GenerateSTOP(I2C0,ENABLE);
I2C_AcknowledgeConfig(I2C0,ENABLE);
//printf("data:%x,%x,%x\r\n",Data[0],Data[1],Data[2]);
inttemp_ir=(int)((Data[0]+Data[1]*255)*0.2-2731.5);
// printf("temp:%d\r\n",inttemp_ir);
if(inttemp_ir<-400)
inttemp_ir=-400;
if(inttemp_ir>850)
inttemp_ir=850;
//
return inttemp_ir;
}

40
src/gd32e23x_it.c
View File

@@ -33,12 +33,8 @@ OF SUCH DAMAGE.
*/ */
#include "gd32e23x_it.h" #include "gd32e23x_it.h"
#include <stdio.h>
#include "main.h" #include "main.h"
#include "systick.h" #include "systick.h"
#include "ultrasonic_driver.h"
__IO uint32_t capture_value;
/*! /*!
\brief this function handles NMI exception \brief this function handles NMI exception
@@ -102,40 +98,6 @@ void SysTick_Handler(void)
{ {
} }
void TIMER5_IRQHandler(void) { void TIMER2_IRQHandler(void) {
if (timer_interrupt_flag_get(LED_TIMER, TIMER_INT_FLAG_UP) == SET)
{
timer_interrupt_flag_clear(LED_TIMER, TIMER_INT_FLAG_UP);
static uint8_t led_status = 0;
if (led_status)
{
gpio_bit_write(LED_PORT, LED_PIN, RESET);
timer_autoreload_value_config(LED_TIMER, 19200);
} else {
gpio_bit_write(LED_PORT, LED_PIN, SET);
timer_autoreload_value_config(LED_TIMER, 800);
}
led_status = !led_status;
}
}
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);
}
}
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);
timer_disable(TIMER16);
exti_interrupt_disable(EXTI_0);
}
} }

105
src/input_capture_exp.c Normal file
View File

@@ -0,0 +1,105 @@
//
// Created by yelv1 on 24-9-23.
//
#include "input_capture_exp.h"
#include "gd32e23x.h"
/*
* TIMER0-CH2(PA9) output 1K 50%duty
* TIMER2 CH0(PA6) input capture
*/
void input_capture_config(void)
{
rcu_periph_clock_enable(RCU_GPIOA);
gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_6);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_6);
gpio_af_set(GPIOA, GPIO_AF_1, GPIO_PIN_6);
timer_ic_parameter_struct timer_icinitpara;
timer_parameter_struct timer_initpara;
/* enable the TIMER clock */
rcu_periph_clock_enable(RCU_TIMER2);
/* disable a TIMER */
timer_deinit(TIMER2);
/* initialize TIMER init parameter struct */
timer_struct_para_init(&timer_initpara);
/* TIMER2 configuration */
timer_initpara.prescaler = 71;
timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
timer_initpara.counterdirection = TIMER_COUNTER_UP;
timer_initpara.period = 65535;
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
timer_init(TIMER2, &timer_initpara);
/* TIMER2 configuration */
/* initialize TIMER channel input parameter struct */
timer_channel_input_struct_para_init(&timer_icinitpara);
/* TIMER2 CH0 input capture configuration */
timer_icinitpara.icpolarity = TIMER_IC_POLARITY_RISING;
timer_icinitpara.icselection = TIMER_IC_SELECTION_DIRECTTI;
timer_icinitpara.icprescaler = TIMER_IC_PSC_DIV1;
timer_icinitpara.icfilter = 0x0;
timer_input_capture_config(TIMER2,TIMER_CH_0,&timer_icinitpara);
/* auto-reload preload enable */
timer_auto_reload_shadow_enable(TIMER2);
/* clear channel 0 interrupt bit */
timer_interrupt_flag_clear(TIMER2,TIMER_INT_FLAG_CH0);
/* channel 0 interrupt enable */
timer_interrupt_enable(TIMER2,TIMER_INT_CH0);
/* TIMER2 counter enable */
timer_enable(TIMER2);
nvic_irq_enable(TIMER2_IRQn, 0);
}
/*
* GPIOB-1 PWM output
* TIMER13_CH0(AF0)
*/
void pwm_config(void)
{
timer_oc_parameter_struct timer_ocinitpara;
timer_parameter_struct timer_initpara;
rcu_periph_clock_enable(RCU_GPIOA);
gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_9);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);
gpio_af_set(GPIOA, GPIO_AF_2, GPIO_PIN_9);
rcu_periph_clock_enable(RCU_TIMER0);
timer_deinit(TIMER0);
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 = 999;
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
timer_init(TIMER0, &timer_initpara);
timer_channel_output_struct_para_init(&timer_ocinitpara);
timer_ocinitpara.outputstate = TIMER_CCX_ENABLE;
timer_ocinitpara.outputnstate = TIMER_CCXN_DISABLE;
timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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(TIMER0, TIMER_CH_1, &timer_ocinitpara);
timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_1, 500);
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM1);
timer_channel_output_shadow_config(TIMER0, TIMER_CH_1, TIMER_OC_SHADOW_DISABLE);
timer_primary_output_config(TIMER0, ENABLE);
timer_auto_reload_shadow_enable(TIMER0);
timer_enable(TIMER0);
}

39
src/main.c
View File

@@ -4,17 +4,16 @@
\version 2024-02-22, V2.1.0, firmware for GD32E23x \version 2024-02-22, V2.1.0, firmware for GD32E23x
*/ */
// #include "main.h" #include "main.h"
#include <stdio.h> #include <stdio.h>
#include "gd32e23x.h" #include "gd32e23x.h"
#include "systick.h" #include "systick.h"
#include "gd32e23x_libopt.h" #include "gd32e23x_libopt.h"
#include "ultrasonic_driver.h" #include "ultrasonic_driver.h"
#include "mlx90614.h" #include "input_capture_exp.h"
extern uint32_t capture_value; #define ULTRASONIC_CYCLES 0x05U
uint16_t distance_uint16;
/*! /*!
\brief main function \brief main function
@@ -27,44 +26,40 @@ int main(void)
/* configure systick */ /* configure systick */
systick_config(); systick_config();
/* configure ultrasonic board hardware */ /* configure ultrasonic board hardware */
ultrasonic_transmit_config(); // ultrasonic_config();
ultrasonic_receive_config(); usart_config();
input_capture_config();
pwm_config();
/* ---------- debug start ---------- */ /* ---------- debug start ---------- */
i2c_config();
/* ---------- debug end ---------- */ /* ---------- debug end ---------- */
printf("\r\n"); printf("\r\n");
printf("XLSW-3DP-UltraSonic Analog 300K!\r\n"); printf("START!\r\n");
printf("Input Capture Test!\r\n");
printf("\r\n"); printf("\r\n");
delay_ms(2000); while(1)
while (1)
{ {
delay_ms(ULTRASONIC_TRAN_US); printf("Input Capture Test!\r\n");
delay_ms(500);
ultrasonic_pwm_out_cycles(ULTRASONIC_CYCLES);
delay_ms(2);
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 */ /* 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++) for (int i = 0; i < size; i++)
{ {
usart_data_transmit(USART0, (uint8_t)pBuffer[i]); usart_data_transmit(USART0, (uint8_t)pBuffer[i]);
while (RESET == usart_flag_get(USART0, USART_FLAG_TBE)); while(RESET == usart_flag_get(USART0, USART_FLAG_TBE));
} }
return size; return size;
} }

127
src/mlx90614.c
View File

@@ -1,127 +0,0 @@
//
// Created by dell on 24-9-26.
//
#include "mlx90614.h"
#include "gd32e23x.h"
#include "systick.h"
#include <stdio.h>
void i2c_config(void) {
rcu_periph_clock_enable(RCU_I2C0);
rcu_periph_clock_enable(GPIOF);
gpio_af_set(GPIOF, GPIO_AF_1, GPIO_PIN_0 | GPIO_PIN_1);
gpio_output_options_set(GPIOF, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, GPIO_PIN_0 | GPIO_PIN_1);
i2c_clock_config(I2C0, 400000U, I2C_DTCY_2);
i2c_mode_addr_config(I2C0, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, 0xA0);
i2c_enable(I2C0);
i2c_ack_config(I2C0, I2C_ACK_ENABLE);
nvic_irq_enable(I2C0_EV_IRQn, 2);
nvic_irq_enable(I2C0_ER_IRQn, 2);
}
int read_ir_mlx90614(void) {
uint8_t Data[5];
int inttemp_ir = 0;
uint32_t TIMEOUT = 0;
while (TIMEOUT < 10000 && i2c_flag_get(I2C0, I2C_FLAG_I2CBSY))
TIMEOUT++;
if (TIMEOUT >= 10000) {
//printf("ERROR0\r\n");
return -410;
}
TIMEOUT = 0;
// I2C_GenerateSTART(I2C0, ENABLE);
i2c_start_on_bus(I2C0);
// while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_MODE_SELECT))
while (TIMEOUT < 10000 && !i2c_flag_get(I2C0, I2C_EVENT_MASTER_MODE_SELECT))
TIMEOUT++;
if (TIMEOUT >= 10000) {
//printf("ERROR1\r\n");
return -410;
}
// I2C_AcknowledgeConfig(I2C0,DISABLE);
TIMEOUT = 0;
// I2C_Send7bitAddress(I2C0, 0XB4, I2C_Direction_Transmitter);
i2c_master_addressing(I2C0, 0XB4, I2C_TRANSMITTER);
// while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
while (TIMEOUT < 10000 && !i2c_flag_get(I2C0, I2C_FLAG_TR))
TIMEOUT++;
if (TIMEOUT >= 10000) {
printf("ERROR2\r\n");
return -410;
}
I2C_SendData(I2C0, 0x07);
TIMEOUT = 0;
I2C_GenerateSTART(I2C0, ENABLE);
while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_MODE_SELECT))
TIMEOUT++;
if (TIMEOUT >= 10000) {
//printf("ERROR3\r\n");
return -410;
}
TIMEOUT = 0;
I2C_Send7bitAddress(I2C0, 0XB4, I2C_Direction_Receiver);
while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED))
TIMEOUT++;
if (TIMEOUT >= 10000) {
//printf("ERROR4\r\n");
return -410;
}
//I2C_AcknowledgeConfig(I2C0,DISABLE);
TIMEOUT = 0;
Data[0] = I2C_ReceiveData(I2C0);
while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED))
TIMEOUT++;
if (TIMEOUT >= 10000) {
//printf("ERROR5\r\n");
return -410;
}
TIMEOUT = 0;
Data[1] = I2C_ReceiveData(I2C0);
while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED))
TIMEOUT++;
if (TIMEOUT >= 10000) {
//printf("ERROR6\r\n");
return -410;
}
TIMEOUT = 0;
Data[2] = I2C_ReceiveData(I2C0);
while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED))
TIMEOUT++;
if (TIMEOUT >= 10000) {
//printf("ERROR7\r\n");
return -410;
}
I2C_AcknowledgeConfig(I2C0, DISABLE);
Data[3] = I2C_ReceiveData(I2C0);
while (TIMEOUT < 10000 && !I2C_CheckEvent(I2C0, I2C_EVENT_MASTER_BYTE_RECEIVED))
TIMEOUT++;
if (TIMEOUT >= 10000) {
//printf("ERROR11\r\n");
return -410;
}
I2C_GenerateSTOP(I2C0, ENABLE);
I2C_AcknowledgeConfig(I2C0, ENABLE);
//printf("data:%x,%x,%x\r\n",Data[0],Data[1],Data[2]);
inttemp_ir = (int) ((Data[0] + Data[1] * 255) * 0.2 - 2731.5);
// printf("temp:%d\r\n",inttemp_ir);
if (inttemp_ir < -400)
inttemp_ir = -400;
if (inttemp_ir > 850)
inttemp_ir = 850;
//
return inttemp_ir;
}

63
src/peripheral.c Normal file
View File

@@ -0,0 +1,63 @@
//
// Created by yelv1 on 24-9-22.
//
#include "peripheral.h"
#include "gd32e23x.h"
void usart_config(void)
{
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_USART0);
gpio_af_set(GPIOA, GPIO_AF_1, GPIO_PIN_3);
gpio_af_set(GPIOA, GPIO_AF_1, 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(GPIOA, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO_PIN_2);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, GPIO_PIN_2);
usart_deinit(USART0);
usart_baudrate_set(USART0, 115200U);
usart_receive_config(USART0, USART_RECEIVE_ENABLE);
usart_transmit_config(USART0, USART_TRANSMIT_ENABLE);
usart_enable(USART0);
gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_4);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_4);
gpio_bit_write(GPIOA, GPIO_PIN_4, SET);
}
/*!
\brief led blink configuration
\param[in] none
\param[out] none
\retval none
*/
void led_blink_config(void)
{
rcu_periph_clock_enable(RCU_GPIOB);
gpio_mode_set(GPIOB, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_1);
gpio_output_options_set(GPIOB, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, GPIO_PIN_1);
gpio_bit_write(GPIOB, GPIO_PIN_1, SET);
rcu_periph_clock_enable(RCU_TIMER13);
timer_deinit(RCU_TIMER13);
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(TIMER13, &timer_initpara);
timer_auto_reload_shadow_enable(TIMER13);
timer_interrupt_enable(TIMER13, TIMER_INT_UP);
nvic_irq_enable(TIMER13_IRQn, 0);
timer_enable(TIMER13);
}

2
src/systick.c
View File

@@ -96,6 +96,6 @@ void delay_ms(uint32_t count) {
* *
* ************************************************************************ * ************************************************************************
*/ */
void delay_5_nop(void) { void delay_nop(void) {
__NOP();__NOP();__NOP();__NOP();__NOP(); __NOP();__NOP();__NOP();__NOP();__NOP();
} }

176
src/ultrasonic_driver.c
View File

@@ -6,34 +6,6 @@
#include "gd32e23x.h" #include "gd32e23x.h"
#include "systick.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) void usart_config(void)
{ {
rcu_periph_clock_enable(USART_GPIO_RCU); rcu_periph_clock_enable(USART_GPIO_RCU);
@@ -53,151 +25,3 @@ void usart_config(void)
usart_enable(USART0_PHY); usart_enable(USART0_PHY);
} }
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);
gpio_output_options_set(US_TRAN_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, US_TRAN_PIN);
gpio_af_set(US_TRAN_GPIO_PORT, US_TRAN_AF, US_TRAN_PIN);
timer_oc_parameter_struct timer_ocinitpara;
timer_parameter_struct timer_initpara;
rcu_periph_clock_enable(US_TRAN_RCU);
timer_deinit(US_TRAN_TIMER);
timer_struct_para_init(&timer_initpara);
timer_initpara.prescaler = 0;
timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
timer_initpara.counterdirection = TIMER_COUNTER_UP;
timer_initpara.period = 239;
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
timer_init(US_TRAN_TIMER, &timer_initpara);
timer_channel_output_struct_para_init(&timer_ocinitpara);
timer_ocinitpara.outputstate = TIMER_CCX_ENABLE;
timer_ocinitpara.outputnstate = TIMER_CCXN_DISABLE;
timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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(US_TRAN_TIMER, US_TRAN_CH, &timer_ocinitpara);
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(US_TRAN_TIMER, TIMER_INT_UP);
}
void ultrasonic_transmit_config(void)
{
led_config();
usart_config();
ultrasonic_config();
}
void ultrasonic_pwm_out_cycles(const uint8_t cycles)
{
uint8_t current_cycle = 0;
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);
timer_enable(TIMER15);
while (current_cycle < cycles)
{
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(US_TRAN_TIMER);
// if(gpio_output_bit_get(GPIOB, GPIO_PIN_1) == SET)
// {
// gpio_bit_reset(GPIOB, GPIO_PIN_1);
// }
}
void ultrasonic_transmit_delay(const uint16_t micro_second)
{
rcu_periph_clock_enable(US_TRAN_DELAY_RCU);
timer_deinit(US_TRAN_DELAY_TIMER);
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 = micro_second - 1;
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
timer_initpara.repetitioncounter = 0;
timer_init(US_TRAN_DELAY_TIMER, &timer_initpara);
timer_auto_reload_shadow_enable(US_TRAN_DELAY_TIMER);
timer_interrupt_enable(US_TRAN_DELAY_TIMER, TIMER_INT_UP);
nvic_irq_enable(TIMER15_IRQn, 1U);
}
void receive_exti_config(void)
{
rcu_periph_clock_enable(US_FB_GPIO_RCU);
rcu_periph_clock_enable(US_FB_EXTI_RCU);
gpio_mode_set(US_FB_GPIO_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, US_FB_GPIO_PIN);
nvic_irq_enable(US_FB_EXTI_IRQ, 0U);
syscfg_exti_line_config(EXTI_SOURCE_GPIOA, EXTI_SOURCE_PIN0);
exti_init(US_FB_GPIO_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
exti_flag_clear(US_FB_GPIO_EXTI);
// exti_interrupt_enable(EXTI_0);
}
void ultrasonic_echo_timer_config(void)
{
rcu_periph_clock_enable(US_ECHO_RCU);
timer_deinit(US_ECHO_TIMER);
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.clockdivision = TIMER_CKDIV_DIV1;
timer_initpara.repetitioncounter = 0;
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;
timer_input_capture_config(US_ECHO_TIMER, US_ECHO_CH, &timer_icinitpara);
}
void ultrasonic_receive_config(void)
{
ultrasonic_transmit_delay(TIME_CORRECTION_US);
receive_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;
}