CMakeLists.txt

@@ -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_binary_file(xlsw_3dp_ultrasonic_300K)
-generate_hex_file(xlsw_3dp_ultrasonic_300K "XLSW_US-IR_FW")
+generate_hex_file(xlsw_3dp_ultrasonic_300K)

README.md

@@ -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
@@ -53,14 +16,3 @@
 - [ ] 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

cmake/toolchain.cmake

@@ -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)
+function(generate_binary_file TARGET)
-    _generate_file(${TARGET} "${PREFIX}" "${VERSION}" "${CURRENT_DATE}" "bin" "binary")
+    _generate_file(${TARGET} "bin" "binary")
 endfunction()
 
-function(generate_hex_file TARGET PREFIX)
+function(generate_hex_file TARGET)
-    _generate_file(${TARGET} "${PREFIX}" "${VERSION}" "${CURRENT_DATE}" "hex" "ihex")
+    _generate_file(${TARGET} "hex" "ihex")
 endfunction()
 
 set(CMAKE_EXECUTABLE_SUFFIX_C   .elf)

inc/RS485.h

@@ -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

inc/mlx90614.h

@@ -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

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_5_nop(void);
+void delay_nop(void);
 
 #endif /* SYS_TICK_H */

inc/ultrasonic_driver.h

@@ -11,11 +11,9 @@
 // #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
@@ -23,7 +21,7 @@
 #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_config(void);
-void UltraSonic_Transmit_Config(void);
+void ultrasonic_transmit_config(void);
-void UltraSonic_PwmOut_Cycles(const uint8_t cycles);
+void ultrasonic_pwm_out_cycles(const uint8_t cycles);
-void UltraSonic_Transmit_Delay(const uint16_t micro_second);
+void ultrasonic_transmit_delay(const uint16_t micro_second);
-void UltraSonic_ReceExti_Config(void);
+void recevice_exti_config(void);
-void UltraSonic_EchoTimer_Config(void);
+void ultrasonic_echo_timer_config(void);
-void UltraSonic_Receive_Config(void);
+void ultrasonic_recevice_config(void);
-uint16_t UltraSonic_CalcDistance(uint32_t us_value);
+uint16_t calculate_distance(uint32_t us_value);
 
 #endif //ULTRASONIC_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

@@ -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");
-    }
-}

src/gd32e23x_it.c

@@ -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;
+__IO uint32_t capture_value;
-
-char rx_buffer[RX_BUFFER_SIZE];
-uint8_t rx_index = 0;
 
 /*!
     \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
-        }
-    }
-}

src/main.c

@@ -11,11 +11,9 @@
 #include "gd32e23x_libopt.h"
 
 #include "ultrasonic_driver.h"
-#include "mlx90614.h"
 
-extern uint32_t g_capture_value;
+extern uint32_t capture_value;
-uint16_t g_distance_uint16;
+uint16_t distance_uint16;
-uint16_t g_temperature_uint16;
 
 /*!
     \brief      main function
@@ -28,17 +26,18 @@ int main(void)
     /* configure systick */
     systick_config();
     /* configure ultrasonic board hardware */
-    UltraSonic_Transmit_Config();
+    ultrasonic_transmit_config();
-    UltraSonic_Receive_Config();
+    ultrasonic_recevice_config();
-
-    MLX90614_I2CConfig();
 
     /* ---------- 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);
@@ -46,25 +45,20 @@ int main(void)
     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());
+        ultrasonic_pwm_out_cycles(ULTRASONIC_CYCLES);
-        g_temperature_uint16 = MLX90614_GetObjectTemperature();
+
+        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]);

src/mlx90614.c

@@ -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;
-}

src/systick.c

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

src/ultrasonic_driver.c

@@ -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);
@@ -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 */
+    /* configure USART Tx as alternate function push-pull */
-    gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_TX_PIN | USART_RX_PIN);
+    gpio_mode_set(USARET_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_output_options_set(USARET_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);
 
     /* 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);
@@ -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);
@@ -131,8 +118,7 @@ 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);
 
@@ -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);
 
@@ -166,8 +151,7 @@ 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);
 
@@ -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)
+void ultrasonic_recevice_config(void) {
-{
+    ultrasonic_transmit_delay(TIME_CORRECTION_US);
-    UltraSonic_Transmit_Delay(TIME_CORRECTION_US);
+    recevice_exti_config();
-    UltraSonic_ReceExti_Config();
+    ultrasonic_echo_timer_config();
-    UltraSonic_EchoTimer_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