fix some shit

Reviewed-on: #2

CMakeLists.txt

@@ -3,6 +3,15 @@ include(cmake/toolchain.cmake)
 
 project(xlsw_3dp_ultrasonic_300K)
 
+set(POWER_VOLTAGE "12V")
+set(VERSION_MAJOR 0)
+set(VERSION_MINOR 1)
+set(VERSION_PATCH 14)
+set(VERSION "V${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH}")
+string(TIMESTAMP CURRENT_DATE "%Y-%m-%d")
+
+add_definitions(-DPOWER_VOLTAGE="${POWER_VOLTAGE}")
+
 enable_language(C)
 enable_language(CXX)
 enable_language(ASM)
@@ -19,6 +28,8 @@ set(TARGET_C_SRC
         ${CMAKE_SOURCE_DIR}/src/gd32e23x_it.c
         ${CMAKE_SOURCE_DIR}/src/systick.c
         ${CMAKE_SOURCE_DIR}/src/ultrasonic_driver.c
+        ${CMAKE_SOURCE_DIR}/src/mlx90614.c
+        ${CMAKE_SOURCE_DIR}/src/RS485.c
 )
 
 add_executable(xlsw_3dp_ultrasonic_300K ${TARGET_C_SRC})
@@ -27,5 +38,5 @@ target_link_libraries(xlsw_3dp_ultrasonic_300K GD32E23X_SDK)
 target_include_directories(xlsw_3dp_ultrasonic_300K PUBLIC inc)
 
 # Generate .bin and .hex
-generate_binary_file(xlsw_3dp_ultrasonic_300K)
-generate_hex_file(xlsw_3dp_ultrasonic_300K)
+generate_binary_file(xlsw_3dp_ultrasonic_300K "XLSW_US-IR_FW")
+generate_hex_file(xlsw_3dp_ultrasonic_300K "XLSW_US-IR_FW")

README.md

@@ -1,8 +1,66 @@
 # XLSW-3DP-Ultrasonic-300K
 
+## 传感器数据传输与样式
+
+- USART
+  - baudrate 115200
+  - 8N1
+
+- 数据格式
+```cap_val:183	Distance: 7361	Temp:2735```
+  - cap_val:183	      超声死区外的ToF数据
+  - Distance: 7361	  距离数据，100倍mm距离值
+  - Temp:2735         温度数据，100倍摄氏度值
+
+## 供电与数据
+
+本项目支持12V/24V供电，默认编译选项为12V供电。主要相关部分为超声的驱动部分。
+主要校准数据也会以12V为主。如果需要24V供电，请自行修改编译选项。
+
+
+## 条件编译与输出
+
+- 条件编译共有两个地方需要修改：
+  1. `ProjectDir/inc/ultrasonic_driver.h` 中配置12V/24V供电，默认为12V供电。
+     `#define POWER_SUPPLY_12V`
+  2. `ProjectDir/CMakeLists.txt` 中配置编译选项，默认为12V供电。
+     `set(POWER_VOLTAGE "12V")`
+
+- 输出文件命名：
+`XLSW_US-IR_FW_12V_V0.0.13_2024-x-x.bin/hex` 
+  1. XLSW_US-IR_FW: 表示该项目为300K模拟超声波测距与IR非接触式测温方案的MCU固件
+  2. 12V: 表示目前编译固件为12V供电情况下优化的校正参数，建议与实际对应，这样可以获得更好的测距准确度
+  3. 2024-x-x: 表示编译日期
+
+
+
+
 ## TODO List
 
+### 超声
+
 - [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）
+    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。
+
+### IR
+
+- [x] 配置IIC接口到PF0/1
+- [x] 移植读取目标温度的函数
+- [ ] 设置不同反射率下的校准
+- [ ] 读取环境温度
+
+### 条件编译
+
+- [ ] 自动判断某一个条件编译是否开启，并在CmakeList中添加对应选项，输出文件时加以标识

about_template.md

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

cmake/toolchain.cmake

@@ -41,12 +41,12 @@ function(print_size_of_target TARGET)
             )
 endfunction()
 
-function(_generate_file TARGET OUTPUT_EXTENSION OBJCOPY_BFD_OUTPUT)
+function(_generate_file TARGET PREFIX VERSION DATE OUTPUT_EXTENSION OBJCOPY_BFD_OUTPUT)
     get_target_property(TARGET_OUTPUT_NAME ${TARGET} OUTPUT_NAME)
     if (TARGET_OUTPUT_NAME)
-        set(OUTPUT_FILE_NAME "${TARGET_OUTPUT_NAME}.${OUTPUT_EXTENSION}")
+        set(OUTPUT_FILE_NAME "${PREFIX}_${POWER_VOLTAGE}_${VERSION}_${DATE}.${OUTPUT_EXTENSION}")
     else()
-        set(OUTPUT_FILE_NAME "${TARGET}.${OUTPUT_EXTENSION}")
+        set(OUTPUT_FILE_NAME "${PREFIX}_${POWER_VOLTAGE}_${VERSION}_${DATE}.${OUTPUT_EXTENSION}")
     endif()
 
     get_target_property(RUNTIME_OUTPUT_DIRECTORY ${TARGET} RUNTIME_OUTPUT_DIRECTORY)
@@ -65,12 +65,12 @@ function(_generate_file TARGET OUTPUT_EXTENSION OBJCOPY_BFD_OUTPUT)
     )
 endfunction()
 
-function(generate_binary_file TARGET)
-    _generate_file(${TARGET} "bin" "binary")
+function(generate_binary_file TARGET PREFIX)
+    _generate_file(${TARGET} "${PREFIX}" "${VERSION}" "${CURRENT_DATE}" "bin" "binary")
 endfunction()
 
-function(generate_hex_file TARGET)
-    _generate_file(${TARGET} "hex" "ihex")
+function(generate_hex_file TARGET PREFIX)
+    _generate_file(${TARGET} "${PREFIX}" "${VERSION}" "${CURRENT_DATE}" "hex" "ihex")
 endfunction()
 
 set(CMAKE_EXECUTABLE_SUFFIX_C   .elf)

inc/RS485.h

@@ -0,0 +1,16 @@
+//
+// Created by dell on 24-11-29.
+//
+
+#ifndef RS485_H
+#define RS485_H
+
+#include "gd32e23x_it.h"
+#include <stdbool.h>
+#include <string.h>
+
+#define RX_BUFFER_SIZE 64
+
+void process_command(char *cmd);
+
+#endif //RS485_H

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/mlx90614.h

@@ -0,0 +1,32 @@
+//
+// Created by dell on 24-9-26.
+//
+
+#ifndef MLX90614_H
+#define MLX90614_H
+
+#include "gd32e23x.h"
+
+#define I2C_SPEED 100000
+#define IR_I2C    I2C0
+#define RCU_IR_GPIO RCU_GPIOF
+#define RCU_I2C RCU_I2C0
+#define I2C_SCL_PORT GPIOF
+#define I2C_SCL_PIN GPIO_PIN_1
+#define I2C_SDA_PORT GPIOF
+#define I2C_SDA_PIN GPIO_PIN_0
+#define I2C_GPIO_AF GPIO_AF_1
+
+#define I2C_TIME_OUT    (uint16_t)(5000)
+
+#define SLAVE_ADDR         (0x5A << 1)
+#define REG_ADDR_OBJ_TEMP  0x07
+#define REG_ADDR_AMB_TEMP  0x06
+
+/* function declarations */
+/* this function configures I2C Peripheral & GPIO AF for I2C */
+void MLX90614_I2CConfig(void);
+/* this function reads object temperature */
+uint16_t MLX90614_GetObjectTemperature(void);
+
+#endif //MLX90614_H

inc/peripheral.h

@@ -1,11 +0,0 @@
-//
-// Created by yelv1 on 24-9-22.
-//
-
-#ifndef PERIPHERAL_H
-#define PERIPHERAL_H
-
-void usart_config(void);
-void led_blink_config(void);
-
-#endif //PERIPHERAL_H

inc/systick.h

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

inc/ultrasonic_driver.h

@@ -0,0 +1,79 @@
+//
+// Created by dell on 24-9-23.
+//
+
+#ifndef ULTRASONIC_DRIVER_H
+#define ULTRASONIC_DRIVER_H
+
+#include "gd32e23x.h"
+
+#define POWER_SUPPLY_12V
+// #define POWER_SUPPLY_24V
+
+#ifdef POWER_SUPPLY_12V
+#define POWER_VOLTAGE       "12V"
+#define TIME_CORRECTION_US  250
+#define CAPTURE_VALUE_MAX   515
+#elif defined(POWER_SUPPLY_24V)
+#define POWER_VOLTAGE       "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  498  // (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 USART_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 USART_EN_PIN         GPIO_PIN_4
+
+#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 UltraSonic_GPIO_Config(void);
+void UltraSonic_Transmit_Config(void);
+void UltraSonic_PwmOut_Cycles(const uint8_t cycles);
+void UltraSonic_Transmit_Delay(const uint16_t micro_second);
+void UltraSonic_ReceExti_Config(void);
+void UltraSonic_EchoTimer_Config(void);
+void UltraSonic_Receive_Config(void);
+uint16_t UltraSonic_CalcDistance(uint32_t us_value);
+
+#endif //ULTRASONIC_DRIVER_H

inc/usonic_driver.h

@@ -1,18 +0,0 @@
-//
-// Created by dell on 24-9-23.
-//
-
-#ifndef USONIC_DRIVER_H
-#define USONIC_DRIVER_H
-
-#include "gd32e23x.h"
-
-void led_config(void);
-void usart_config(void);
-void ultrasonic_gpio_config(void);
-void ultrasonic_timer_config(void);
-void ultrasonic_config(void);
-void ultrasonic_pwm_out_cycles(uint8_t cycles);
-
-
-#endif //USONIC_DRIVER_H

openocd_gd32e230f4.cfg

@@ -1,7 +1,7 @@
 # 连接cmsis-dap（喝粥）
 ; interface cmsis-dap
 source [find interface/cmsis-dap.cfg]
-
+; source [find interface/jlink.cfg]
 # 选择SWD
 transport select swd
 

src/RS485.c

@@ -0,0 +1,35 @@
+//
+// Created by dell on 24-11-29.
+//
+
+#include "RS485.h"
+#include "gd32e23x.h"
+#include "systick.h"
+#include <stdio.h>
+#include <stdlib.h>
+
+#define MAX_CMD_SIZE 16
+#define BUFSIZE 8
+
+extern uint16_t g_distance_uint16;
+extern uint16_t g_temperature_uint16;
+
+void process_command(char *cmd) {
+    if (strncmp(cmd, "M1", 2) == 0) {
+        printf("M1 -=-=- OK!\r\n");
+        printf("Distance: %d\r\n", g_distance_uint16);
+    } else if (strncmp(cmd, "M2", 2) == 0) {
+        printf("M2 -=-=- OK!\r\n");
+        printf("Temperature: %d\r\n", g_temperature_uint16);
+// } else if (strncmp(cmd, "M3", 2) == 0) {
+//     char *param_str = cmd + 2; // Skip "M3"
+//     int param = atoi(param_str + 1); // Skip "S" and convert to integer
+//     if (param >= 0 && param <= 100) {
+//         printf("M3 with parameter %d -=-=- OK!\r\n", param);
+//     } else {
+//         printf("Invalid parameter for M3 command!\r\n");
+//     }
+    } else {
+        printf("Invalid Command!\r\n");
+    }
+}

src/gd32e23x_it.c

@@ -33,8 +33,16 @@ OF SUCH DAMAGE.
 */
 
 #include "gd32e23x_it.h"
+#include <stdio.h>
 #include "main.h"
 #include "systick.h"
+#include "ultrasonic_driver.h"
+#include "rs485.h"
+
+__IO uint32_t g_capture_value;
+
+char rx_buffer[RX_BUFFER_SIZE];
+uint8_t rx_index = 0;
 
 /*!
     \brief      this function handles NMI exception
@@ -58,6 +66,7 @@ void NMI_Handler(void)
 void HardFault_Handler(void)
 {
     /* if Hard Fault exception occurs, go to infinite loop */
+    // log_error("HardFault_Handler");
     while(1) {
     }
 }
@@ -98,21 +107,78 @@ void SysTick_Handler(void)
 {
 }
 
-void TIMER13_IRQHandler(void) {
-    if (timer_interrupt_flag_get(TIMER13, TIMER_INT_FLAG_UP) == SET)
+/**
+  * @brief  This function handles TIMER5 interrupt request.
+  * @param[in]  none
+  * @param[out] none
+  * @retval None
+  */
+void TIMER5_IRQHandler(void) {
+    if (timer_interrupt_flag_get(LED_TIMER, TIMER_INT_FLAG_UP) == SET)
     {
-        timer_interrupt_flag_clear(TIMER13, TIMER_INT_FLAG_UP);
+        timer_interrupt_flag_clear(LED_TIMER, TIMER_INT_FLAG_UP);
         static uint8_t led_status = 0;
         if (led_status)
         {
-            //! turn on led & reconfig timer13 period to 19000(1900ms)
-            gpio_bit_write(GPIOA, GPIO_PIN_9, RESET);
-            timer_autoreload_value_config(TIMER13, 19200);
+        gpio_bit_write(LED_PORT, LED_PIN, RESET);
+        timer_autoreload_value_config(LED_TIMER, 19200);
         } else {
-            //! turn off led & reconfig timer13 period to 1000(100ms)
-            gpio_bit_write(GPIOA, GPIO_PIN_9, SET);
-            timer_autoreload_value_config(TIMER13, 800);
+        gpio_bit_write(LED_PORT, LED_PIN, SET);
+        timer_autoreload_value_config(LED_TIMER, 800);
         }
         led_status = !led_status;
     }
+}
+
+/**
+  * @brief  This function handles TIMER15 interrupt request.
+  * @param[in]  none
+  * @param[out] none
+  * @retval None
+  */
+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);
+    }
+}
+
+/**
+  * @brief  This function handles external lines 0 to 1 interrupt request
+  * @param[in]  none
+  * @param[out] none
+  * @retval None
+  */
+void EXTI0_1_IRQHandler(void) {
+    if (exti_interrupt_flag_get(EXTI_0) == SET)
+    {
+        exti_interrupt_flag_clear(EXTI_0);
+        g_capture_value = timer_channel_capture_value_register_read(TIMER16, TIMER_CH_0);
+        timer_disable(TIMER16);
+        exti_interrupt_disable(EXTI_0);
+    }
+}
+
+void USART0_IRQHandler(void) {
+    if(RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_RBNE))
+    {
+        usart_interrupt_flag_clear(USART0, USART_INT_FLAG_RBNE);
+        uint8_t received_data = (uint8_t)usart_data_receive(USART0);
+
+        // 将接收到的数据存储到缓冲区
+        if(rx_index < RX_BUFFER_SIZE - 1) {
+            rx_buffer[rx_index++] = received_data;
+        }
+
+        // 检查是否接收到换行符，表示指令结束
+        if(received_data == '\n') {
+            rx_buffer[rx_index] = '\0'; // 添加字符串结束符
+            process_command(rx_buffer); // 处理指令
+            rx_index = 0; // 重置缓冲区索引
+        }
+    }
 }

src/main.c

@@ -4,15 +4,18 @@
 
     \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"
 #include "gd32e23x_libopt.h"
 
-#include "usonic_driver.h"
+#include "ultrasonic_driver.h"
+#include "mlx90614.h"
 
-#define ULTRASONIC_CYCLES 0x05U
+extern uint32_t g_capture_value;
+uint16_t g_distance_uint16;
+uint16_t g_temperature_uint16;
 
 /*!
     \brief      main function
@@ -25,37 +28,47 @@ int main(void)
     /* configure systick */
     systick_config();
     /* configure ultrasonic board hardware */
-    ultrasonic_config();
+    UltraSonic_Transmit_Config();
+    UltraSonic_Receive_Config();
 
+    MLX90614_I2CConfig();
 
     /* ---------- debug start ---------- */
 
-
-
-
-
     /* ---------- debug end ---------- */
 
     printf("\r\n");
-    printf("START!\r\n");
-    printf("XLSW-3DP-UltraSonic Analog 300K!\r\n");
+    printf("XLSW-3DP-UltraSonic Analog 300K! V0.1.14\r\n");
     printf("\r\n");
 
-    while(1)
+    delay_ms(2000);
+
+    while (1)
     {
-        delay_ms(50);
-        ultrasonic_pwm_out_cycles(ULTRASONIC_CYCLES);
-        // printf("Send ultra sonic driver signal!\r\n");
+        delay_ms(ULTRASONIC_TRAN_US);
+        UltraSonic_PwmOut_Cycles(ULTRASONIC_CYCLES);
+        delay_ms(2);
+        // printf("cap_val:%ld\t", g_capture_value);
+        if (g_capture_value <= CAPTURE_VALUE_MAX) {
+            g_distance_uint16 = UltraSonic_CalcDistance(g_capture_value);
+        } else {
+            g_distance_uint16 = 0x0000;
+        }
+        // const char* result = (g_capture_value <= CAPTURE_VALUE_MAX) ? "Distance: %d\t" : "Over Range\t";
+        // printf(result, distance_uint16);
+
+        // printf("Temp:%d\n", MLX90614_GetObjectTemperature());
+        g_temperature_uint16 = MLX90614_GetObjectTemperature();
     }
 }
 
 /* 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]);
-        while(RESET == usart_flag_get(USART0, USART_FLAG_TBE));
+        while (RESET == usart_flag_get(USART0, USART_FLAG_TBE));
     }
     return size;
 }

src/mlx90614.c

@@ -0,0 +1,163 @@
+//
+// Created by dell on 24-9-26.
+//
+
+#include "mlx90614.h"
+#include "gd32e23x.h"
+#include "systick.h"
+#include <stdio.h>
+
+/**
+  * @brief  This function configure the I2C peripheral & GPIO
+  * @param[in]  none
+  * @param[out] none
+  * @retval None
+  */
+void MLX90614_I2CConfig(void) {
+    rcu_periph_clock_enable(RCU_IR_GPIO);
+    rcu_periph_clock_enable(RCU_I2C);
+
+    gpio_af_set(I2C_SCL_PORT, I2C_GPIO_AF, I2C_SCL_PIN);
+    gpio_af_set(I2C_SDA_PORT, I2C_GPIO_AF, I2C_SDA_PIN);
+
+    gpio_mode_set(I2C_SCL_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, I2C_SCL_PIN);
+    gpio_output_options_set(I2C_SCL_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SCL_PIN);
+
+    gpio_mode_set(I2C_SDA_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, I2C_SDA_PIN);
+    gpio_output_options_set(I2C_SDA_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SDA_PIN);
+
+    i2c_clock_config(IR_I2C, I2C_SPEED, I2C_DTCY_2);
+
+    i2c_mode_addr_config(IR_I2C, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, SLAVE_ADDR);
+    i2c_enable(IR_I2C);
+    i2c_ack_config(IR_I2C, I2C_ACK_ENABLE);
+}
+
+/**
+  * @brief  This function read object temperature
+  * @param[in]  none
+  * @param[out] temp_raw: object temperature
+  * @retval None
+  */
+uint16_t MLX90614_GetObjectTemperature(void) {
+    uint8_t data[3] = {0};
+    uint16_t temp_raw = 0;
+    uint16_t timeout = 0;
+
+    i2c_ack_config(IR_I2C, I2C_ACK_ENABLE);
+
+    while (i2c_flag_get(IR_I2C, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) //判断IIC总线是否忙，发送起始信号
+        timeout++;
+    if (timeout < I2C_TIME_OUT) {
+        i2c_start_on_bus(IR_I2C);
+        timeout = 0;
+    } else {
+        printf("err\r\n");
+        return -4100; // 超时返回错误
+    }
+
+    while (!i2c_flag_get(IR_I2C, I2C_FLAG_SBSEND) && (timeout < I2C_TIME_OUT)) //判断起始位是否发送，设置sensor地址并设置为写
+        timeout++;
+    if (timeout < I2C_TIME_OUT) {
+        i2c_master_addressing(IR_I2C, SLAVE_ADDR, I2C_TRANSMITTER);
+        timeout = 0;
+    } else {
+        return -4100; // 超时返回错误
+    }
+
+    while (!i2c_flag_get(IR_I2C, I2C_FLAG_ADDSEND) && (timeout < I2C_TIME_OUT))
+        timeout++;
+    if (timeout < I2C_TIME_OUT) {
+        i2c_flag_clear(IR_I2C, I2C_FLAG_ADDSEND);
+        timeout = 0;
+    } else {
+        return -4100; // 超时返回错误
+    }
+
+    while (!i2c_flag_get(IR_I2C, I2C_FLAG_TBE) && (timeout < I2C_TIME_OUT)) //判断地址是否发送完成，然后发送寄存器地址
+        timeout++;
+    if (timeout < I2C_TIME_OUT) {
+        i2c_data_transmit(IR_I2C, REG_ADDR_OBJ_TEMP);
+        timeout = 0;
+        // i2c_start_on_bus(IR_I2C);
+    } else {
+        return -4100; // 超时返回错误
+    }
+
+    while (i2c_flag_get(IR_I2C, I2C_FLAG_BTC) && (timeout < I2C_TIME_OUT)) //判断发送缓冲器是否为空，为空后（发送完毕）重新发送开始信号
+        timeout++;
+    if (timeout < I2C_TIME_OUT) {
+        i2c_start_on_bus(IR_I2C);
+        timeout = 0;
+    } else {
+        return -4100; // 超时返回错误
+    }
+
+    while (!i2c_flag_get(IR_I2C, I2C_FLAG_SBSEND) && (timeout < I2C_TIME_OUT)) {
+        timeout++;
+    }
+    if (timeout < I2C_TIME_OUT) {
+        i2c_master_addressing(IR_I2C, SLAVE_ADDR, I2C_RECEIVER);
+        timeout = 0;
+    } else {
+        return -4100; // 超时返回错误
+    }
+
+    while (!i2c_flag_get(IR_I2C, I2C_FLAG_ADDSEND) && (timeout < I2C_TIME_OUT))
+        timeout++;
+    if (timeout < I2C_TIME_OUT) {
+        i2c_flag_clear(IR_I2C, I2C_FLAG_ADDSEND);
+        timeout = 0;
+    } else {
+        return -4100; // 超时返回错误
+    }
+
+    // 读取第一个字节的数据
+    while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
+        timeout++;
+    }
+    if (timeout < I2C_TIME_OUT) {
+        data[0] = i2c_data_receive(IR_I2C);
+        timeout = 0;
+    } else {
+        return -4100; // 超时返回错误
+    }
+
+    // 读取第二个字节的数据
+    while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
+        timeout++;
+    }
+    if (timeout < I2C_TIME_OUT) {
+        data[1] = i2c_data_receive(IR_I2C);
+        timeout = 0;
+    } else {
+        return -4100; // 超时返回错误
+    }
+
+    i2c_ack_config(IR_I2C, I2C_ACK_DISABLE); // 关闭发送ACK，它会在下一个字节完成后发送NAK
+
+    // 读取第三个字节的数据
+    while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
+        timeout++;
+    }
+    if (timeout < I2C_TIME_OUT) {
+        data[2] = i2c_data_receive(IR_I2C);
+        timeout = 0;
+    } else {
+        return -4100; // 超时返回错误
+    }
+
+    i2c_stop_on_bus(IR_I2C);
+
+    temp_raw = ((uint16_t) (data[1] << 8) | data[0]) * 2 - 27315;
+    // (Data[1] << 8) | data[0] * 0.02 -273.15  为避免浮点运算，直接放大100倍
+
+    if (temp_raw > 8500) {
+        temp_raw = 8500;
+    }
+    if (temp_raw < -4000) {
+        temp_raw = -4000;
+    }
+
+    return temp_raw;
+}

src/peripheral.c

@@ -1,63 +0,0 @@
-//
-// 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);
-}

src/systick.c

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

src/ultrasonic_driver.c

@@ -2,129 +2,210 @@
 // Created by dell on 24-9-23.
 //
 
-#include "usonic_driver.h"
+#include "ultrasonic_driver.h"
 #include "gd32e23x.h"
 #include "systick.h"
 
-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);
+    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(TIMER13, &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(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);
+
+    timer_enable(LED_TIMER);
+
+    nvic_irq_enable(LED_IRQ, 0);
 }
 
 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(USART_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);
+    /* configure USART Tx&Rx as alternate function push-pull */
+    gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_TX_PIN | USART_RX_PIN);
+    gpio_output_options_set(USART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, USART_TX_PIN | USART_RX_PIN);
 
-    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);
+    /* configure RS485 EN Pin */
+    gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, USART_EN_PIN);
+    gpio_output_options_set(USART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, USART_EN_PIN);
+    gpio_bit_write(USART_GPIO_PORT, USART_EN_PIN, SET);
 
     /* 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);
+
+    nvic_irq_enable(USART0_IRQn, 0);
+    usart_interrupt_enable(USART0_PHY, USART_INT_RBNE);
 }
 
-void ultrasonic_gpio_config(void)
+void UltraSonic_GPIO_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, US_TRAN_AF, US_TRAN_PIN);
 
-void ultrasonic_timer_config(void)
-{
     timer_oc_parameter_struct timer_ocinitpara;
-    timer_parameter_struct    timer_initpara;
+    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;
-    timer_initpara.alignedmode        = TIMER_COUNTER_EDGE;
-    timer_initpara.counterdirection   = TIMER_COUNTER_UP;
-    timer_initpara.period             = 239;
-    timer_initpara.clockdivision      = TIMER_CKDIV_DIV1;
-    timer_init(TIMER2, &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(TIMER2, TIMER_CH_3, &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(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);
-    // nvic_irq_enable(TIMER2_IRQn, 1);
-    // timer_enable(TIMER2);
+    timer_interrupt_enable(US_TRAN_TIMER, TIMER_INT_UP);
 }
 
-void ultrasonic_config(void) {
+void UltraSonic_Transmit_Config(void)
+{
     led_config();
     usart_config();
-    ultrasonic_gpio_config();
-    ultrasonic_timer_config();
+    UltraSonic_GPIO_Config();
 }
 
-void ultrasonic_pwm_out_cycles(uint8_t cycles) {
+void UltraSonic_PwmOut_Cycles(const 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);
+
+    timer_enable(TIMER15);
 
     while (current_cycle < cycles)
     {
-        while (!timer_interrupt_flag_get(TIMER2, TIMER_INT_FLAG_UP));
-        timer_interrupt_flag_clear(TIMER2, TIMER_INT_FLAG_UP);
-        current_cycle ++;
+        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);
     // }
 }
 
+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 UltraSonic_ReceExti_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_EchoTimer_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);
+    UltraSonic_ReceExti_Config();
+    UltraSonic_EchoTimer_Config();
+}
+
+uint16_t UltraSonic_CalcDistance(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;
+}