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

No commits in common. "main" and "V0.1.1" have entirely different histories.
main ... V0.1.1

14 changed files with 96 additions and 472 deletions
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15
CMakeLists.txt
View File

@ -3,15 +3,6 @@ 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)
@ -28,8 +19,6 @@ 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})
@ -38,5 +27,5 @@ 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 "XLSW_US-IR_FW")
generate_hex_file(xlsw_3dp_ultrasonic_300K "XLSW_US-IR_FW")
generate_binary_file(xlsw_3dp_ultrasonic_300K)
generate_hex_file(xlsw_3dp_ultrasonic_300K)

50
README.md
View File

@ -1,44 +1,7 @@
# 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
@ -52,15 +15,4 @@
- [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
- [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。

14
cmake/toolchain.cmake
View File

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

16
inc/RS485.h
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@ -1,16 +0,0 @@
//
// 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

32
inc/mlx90614.h
View File

@ -1,32 +0,0 @@
//
// 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

2
inc/systick.h
View File

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

32
inc/ultrasonic_driver.h
View File

@ -11,19 +11,17 @@
// #define POWER_SUPPLY_24V
#ifdef POWER_SUPPLY_12V
#define POWER_VOLTAGE "12V"
#define TIME_CORRECTION_US 250
#define CAPTURE_VALUE_MAX 515
#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
#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 ULTRASONIC_TRAN_US 500 // (ms)
#define LED_PORT GPIOA
#define LED_PIN GPIO_PIN_9
@ -34,14 +32,12 @@
#define USART_RCU RCU_USART0
#define USART_GPIO_RCU RCU_GPIOA
#define USART_GPIO_PORT 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 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
@ -67,13 +63,13 @@
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);
void ultrasonic_config(void);
void ultrasonic_transmit_config(void);
void ultrasonic_pwm_out_cycles(const uint8_t cycles);
void ultrasonic_transmit_delay(const uint16_t micro_second);
void recevice_exti_config(void);
void ultrasonic_echo_timer_config(void);
void ultrasonic_recevice_config(void);
uint16_t calculate_distance(uint32_t us_value);
#endif //ULTRASONIC_DRIVER_H

2
openocd_gd32e230f4.cfg
View File

@ -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

35
src/RS485.c
View File

@ -1,35 +0,0 @@
//
// 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");
}
}

47
src/gd32e23x_it.c
View File

@ -37,12 +37,8 @@ OF SUCH DAMAGE.
#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;
__IO uint32_t capture_value;
/*!
\brief this function handles NMI exception
@ -66,7 +62,6 @@ void NMI_Handler(void)
void HardFault_Handler(void)
{
/* if Hard Fault exception occurs, go to infinite loop */
// log_error("HardFault_Handler");
while(1) {
}
}
@ -107,12 +102,6 @@ void SysTick_Handler(void)
{
}
/**
* @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)
{
@ -130,12 +119,6 @@ void TIMER5_IRQHandler(void) {
}
}
/**
* @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)
{
@ -147,38 +130,12 @@ void TIMER15_IRQHandler(void) {
}
}
/**
* @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);
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
}
}
}

44
src/main.c
View File

@ -11,11 +11,9 @@
#include "gd32e23x_libopt.h"
#include "ultrasonic_driver.h"
#include "mlx90614.h"
extern uint32_t g_capture_value;
uint16_t g_distance_uint16;
uint16_t g_temperature_uint16;
extern uint32_t capture_value;
uint16_t distance_uint16;
/*!
\brief main function
@ -28,47 +26,43 @@ int main(void)
/* configure systick */
systick_config();
/* configure ultrasonic board hardware */
UltraSonic_Transmit_Config();
UltraSonic_Receive_Config();
MLX90614_I2CConfig();
ultrasonic_transmit_config();
ultrasonic_recevice_config();
/* ---------- debug start ---------- */
/* ---------- debug end ---------- */
printf("\r\n");
printf("XLSW-3DP-UltraSonic Analog 300K! V0.1.14\r\n");
printf("XLSW-3DP-UltraSonic Analog 300K!\r\n");
printf("\r\n");
delay_ms(2000);
while (1)
while(1)
{
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();
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 */
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;
}

163
src/mlx90614.c
View File

@ -1,163 +0,0 @@
//
// 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;
}

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();
}

114
src/ultrasonic_driver.c
View File

@ -6,8 +6,7 @@
#include "gd32e23x.h"
#include "systick.h"
void led_config(void)
{
void led_config(void) {
rcu_periph_clock_enable(LED_RCU);
gpio_mode_set(LED_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED_PIN);
@ -19,11 +18,11 @@ void led_config(void)
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_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);
@ -34,21 +33,15 @@ void led_config(void)
nvic_irq_enable(LED_IRQ, 0);
}
void usart_config(void)
{
void usart_config(void) {
rcu_periph_clock_enable(USART_GPIO_RCU);
rcu_periph_clock_enable(USART_RCU);
gpio_af_set(USART_GPIO_PORT, GPIO_AF_1, GPIO_PIN_2 | GPIO_PIN_3);
gpio_af_set(USARET_GPIO_PORT, GPIO_AF_1, GPIO_PIN_2 | GPIO_PIN_3);
/* 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);
/* 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);
/* configure USART Tx as alternate function push-pull */
gpio_mode_set(USARET_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_TX_PIN | USART_RX_PIN);
gpio_output_options_set(USARET_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, USART_TX_PIN | USART_RX_PIN);
/* USART configure */
usart_deinit(USART0_PHY);
@ -57,13 +50,9 @@ void usart_config(void)
usart_transmit_config(USART0_PHY, USART_TRANSMIT_ENABLE);
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_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);
@ -71,26 +60,26 @@ void UltraSonic_GPIO_Config(void)
gpio_af_set(US_TRAN_GPIO_PORT, US_TRAN_AF, US_TRAN_PIN);
timer_oc_parameter_struct timer_ocinitpara;
timer_parameter_struct timer_initpara;
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_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_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);
@ -100,15 +89,13 @@ void UltraSonic_GPIO_Config(void)
timer_interrupt_enable(US_TRAN_TIMER, TIMER_INT_UP);
}
void UltraSonic_Transmit_Config(void)
{
void ultrasonic_transmit_config(void) {
led_config();
usart_config();
UltraSonic_GPIO_Config();
ultrasonic_config();
}
void UltraSonic_PwmOut_Cycles(const uint8_t cycles)
{
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);
@ -121,7 +108,7 @@ void UltraSonic_PwmOut_Cycles(const uint8_t 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++;
current_cycle ++;
}
// delay_nop();
timer_disable(US_TRAN_TIMER);
@ -131,19 +118,18 @@ void UltraSonic_PwmOut_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);
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_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);
@ -151,8 +137,7 @@ void UltraSonic_Transmit_Delay(const uint16_t micro_second)
nvic_irq_enable(TIMER15_IRQn, 1U);
}
void UltraSonic_ReceExti_Config(void)
{
void recevice_exti_config(void) {
rcu_periph_clock_enable(US_FB_GPIO_RCU);
rcu_periph_clock_enable(US_FB_EXTI_RCU);
@ -166,19 +151,18 @@ void UltraSonic_ReceExti_Config(void)
// exti_interrupt_enable(EXTI_0);
}
void UltraSonic_EchoTimer_Config(void)
{
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_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;
@ -190,15 +174,13 @@ void UltraSonic_EchoTimer_Config(void)
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();
void ultrasonic_recevice_config(void) {
ultrasonic_transmit_delay(TIME_CORRECTION_US);
recevice_exti_config();
ultrasonic_echo_timer_config();
}
uint16_t UltraSonic_CalcDistance(uint32_t us_value)
{
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