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

4 Commits
main ... 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
19 changed files with 226 additions and 695 deletions
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16
CMakeLists.txt
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@ -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 +19,7 @@ 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
${CMAKE_SOURCE_DIR}/src/input_capture_exp.c
)
add_executable(xlsw_3dp_ultrasonic_300K ${TARGET_C_SRC})
@ -38,5 +28,5 @@ 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)

60
README.md
View File

@ -1,66 +1,8 @@
# 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
- [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
- [ ] 超声反射回波接受与精准计时

1
about_template.md
View File

@ -15,6 +15,7 @@ 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

14
cmake/toolchain.cmake
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@ -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

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

32
inc/mlx90614.h
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@ -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 */

73
inc/ultrasonic_driver.h
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@ -7,73 +7,14 @@
#include "gd32e23x.h"
#define POWER_SUPPLY_12V
// #define POWER_SUPPLY_24V
#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
#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

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");
}
}

85
src/gd32e23x_it.c
View File

@ -33,16 +33,8 @@ 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
@ -66,7 +58,6 @@ void NMI_Handler(void)
void HardFault_Handler(void)
{
/* if Hard Fault exception occurs, go to infinite loop */
// log_error("HardFault_Handler");
while(1) {
}
}
@ -107,78 +98,6 @@ 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)
{
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;
}
}
/**
* @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
}
}
void TIMER2_IRQHandler(void) {
}

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);
}

45
src/main.c
View File

@ -4,18 +4,16 @@
\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 "ultrasonic_driver.h"
#include "mlx90614.h"
#include "input_capture_exp.h"
extern uint32_t g_capture_value;
uint16_t g_distance_uint16;
uint16_t g_temperature_uint16;
#define ULTRASONIC_CYCLES 0x05U
/*!
\brief main function
@ -28,47 +26,40 @@ int main(void)
/* configure systick */
systick_config();
/* configure ultrasonic board hardware */
UltraSonic_Transmit_Config();
UltraSonic_Receive_Config();
// ultrasonic_config();
usart_config();
input_capture_config();
MLX90614_I2CConfig();
pwm_config();
/* ---------- debug start ---------- */
/* ---------- debug end ---------- */
printf("\r\n");
printf("XLSW-3DP-UltraSonic Analog 300K! V0.1.14\r\n");
printf("START!\r\n");
printf("Input Capture Test!\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("Input Capture Test!\r\n");
delay_ms(500);
// 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;
}

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;
}

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();
}

192
src/ultrasonic_driver.c
View File

@ -6,49 +6,16 @@
#include "gd32e23x.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)
{
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);
@ -57,155 +24,4 @@ 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)
{
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_GPIO_Config();
}
void UltraSonic_PwmOut_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 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;
}