diff --git a/CMakeLists.txt b/CMakeLists.txt index f8d182c..efb9a6f 100644 --- a/CMakeLists.txt +++ b/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 0) +set(VERSION_PATCH 13) +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) @@ -20,7 +29,6 @@ set(TARGET_C_SRC ${CMAKE_SOURCE_DIR}/src/systick.c ${CMAKE_SOURCE_DIR}/src/ultrasonic_driver.c ${CMAKE_SOURCE_DIR}/src/mlx90614.c - ${CMAKE_SOURCE_DIR}/src/gd32e23x_hw_i2c.c ) add_executable(xlsw_3dp_ultrasonic_300K ${TARGET_C_SRC}) @@ -29,5 +37,5 @@ 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") diff --git a/README.md b/README.md index 027f8f1..64890e3 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,44 @@ # 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 @@ -15,4 +52,15 @@ - [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。 \ No newline at end of file +- [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 \ No newline at end of file diff --git a/cmake/toolchain.cmake b/cmake/toolchain.cmake index 37974bd..cd15ed1 100644 --- a/cmake/toolchain.cmake +++ b/cmake/toolchain.cmake @@ -33,6 +33,8 @@ find_program(CMAKE_OBJCOPY NAMES ${TARGET_TRIPLET}-objcopy HINTS ${TOOLCHAIN_BIN find_program(CMAKE_OBJDUMP NAMES ${TARGET_TRIPLET}-objdump HINTS ${TOOLCHAIN_BIN_PATH}) find_program(CMAKE_SIZE NAMES ${TARGET_TRIPLET}-size HINTS ${TOOLCHAIN_BIN_PATH}) + + function(print_size_of_target TARGET) add_custom_target(${TARGET}_always_display_size ALL COMMAND ${CMAKE_SIZE} "$" @@ -41,12 +43,12 @@ 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 ${TARGET} RUNTIME_OUTPUT_DIRECTORY) @@ -65,12 +67,12 @@ function(_generate_file TARGET OUTPUT_EXTENSION OBJCOPY_BFD_OUTPUT) ) endfunction() -function(generate_binary_file TARGET) - _generate_file(${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) diff --git a/inc/gd32e23x_hw_i2c.h b/inc/gd32e23x_hw_i2c.h deleted file mode 100644 index e44d36d..0000000 --- a/inc/gd32e23x_hw_i2c.h +++ /dev/null @@ -1,75 +0,0 @@ -#ifndef GD32E23X_HW_I2C_H -#define GD32E23X_HW_I2C_H - -#define I2C0_BUS_RCU RCU_I2C0 -#define I2C0_GPIO_RCU RCU_GPIOF -#define I2C0_GPIO_PORT GPIOF -#define I2C0_GPIO_SDA_PIN GPIO_PIN_0 -#define I2C0_GPIO_SCL_PIN GPIO_PIN_1 -#define I2C0_GPIO_AF GPIO_AF_1 - -#define I2C0_SPEED 400000U -#define I2C0_DCTY I2C_DTCY_2 -#define I2C0_ADDR7 0xA0 - - - - - -#define I2C_TIME_OUT (uint16_t)(5000) -#define I2C_OK 1 -#define I2C_FAIL 0 -#define I2C_END 1 - -typedef enum { - I2C_START = 0, - I2C_SEND_ADDR, - I2C_CLEAR_ADDRESS_FLAG, - I2C_TRANSMIT_DATA, - I2C_STOP -} i2c_process_enum; - - - -/** - * \brief Return codes for IIC APIs. - * @{ - */ -#define IIC_SUCCESS 0 -#define IIC_INVALID_ARGUMENT 1 -#define IIC_ARBITRATION_LOST 2 -#define IIC_NO_CHIP_FOUND 3 -#define IIC_RECEIVE_OVERRUN 4 -#define IIC_RECEIVE_NACK 5 -#define IIC_SEND_OVERRUN 6 -#define IIC_SEND_NACK 7 -#define IIC_BUSY 8 -#define IIC_ERROR_TIMEOUT 9 -/** - * @} - */ - -void i2c_master_initialize1(void); -void i2c_master_initialize3(void); -void i2c_master_init(void); -void i2c_master_deinit1(void); -void i2c_master_deinit3(void); - -uint8_t i2c_master_read_register1(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue); -uint8_t i2c_master_read_register3(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue); - -uint8_t i2c_master_read_register1_raw(unsigned char Address, unsigned short len, unsigned char *data); -uint8_t i2c_master_read_register3_raw(unsigned char Address, unsigned short len, unsigned char *data); - - -uint8_t i2c_master_write_register1(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue); -uint8_t i2c_master_write_register3(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue); - -uint8_t i2c_master_write_register1_raw(unsigned char Address, unsigned short len, unsigned char *data); -uint8_t i2c_master_write_register3_raw(unsigned char Address, unsigned short len, unsigned char *data); - - -void i2c0_master_init(void); - - -#endif /* GD32E23X_HW_I2C_H */ \ No newline at end of file diff --git a/inc/mlx90614.h b/inc/mlx90614.h index 8134b73..c4138dc 100644 --- a/inc/mlx90614.h +++ b/inc/mlx90614.h @@ -5,4 +5,28 @@ #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 diff --git a/inc/systick.h b/inc/systick.h index b232627..537c429 100644 --- a/inc/systick.h +++ b/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 */ \ No newline at end of file diff --git a/inc/ultrasonic_driver.h b/inc/ultrasonic_driver.h index 182a85d..614d213 100644 --- a/inc/ultrasonic_driver.h +++ b/inc/ultrasonic_driver.h @@ -11,17 +11,19 @@ // #define POWER_SUPPLY_24V #ifdef POWER_SUPPLY_12V - #define TIME_CORRECTION_US 250 - #define CAPTURE_VALUE_MAX 515 +#define POWER_VOLTAGE "12V" +#define TIME_CORRECTION_US 250 +#define CAPTURE_VALUE_MAX 515 #elif defined(POWER_SUPPLY_24V) - #define TIME_CORRECTION_US 230 - #define CAPTURE_VALUE_MAX 550 +#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 500 // (ms) +#define ULTRASONIC_TRAN_US 998 // (ms) #define LED_PORT GPIOA #define LED_PIN GPIO_PIN_9 @@ -63,13 +65,13 @@ void led_config(void); void usart_config(void); -void ultrasonic_config(void); -void ultrasonic_transmit_config(void); -void ultrasonic_pwm_out_cycles(const uint8_t cycles); -void ultrasonic_transmit_delay(const uint16_t micro_second); -void receive_exti_config(void); -void ultrasonic_echo_timer_config(void); -void ultrasonic_receive_config(void); -uint16_t calculate_distance(uint32_t us_value); +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 diff --git a/src/gd32e23x_hw_i2c.c b/src/gd32e23x_hw_i2c.c deleted file mode 100644 index f05594c..0000000 --- a/src/gd32e23x_hw_i2c.c +++ /dev/null @@ -1,742 +0,0 @@ -#include -#include -#include "gd32e23x.h" -#include "gd32e23x_hw_i2c.h" -#include "gd32e23x.h" - -/*! - \brief Enable IIC0 & NVIC - \param[in] none - \param[out] none - \retval none -*/ -void i2c0_init(void) { - /* IIC config */ - rcu_periph_clock_enable(RCU_I2C0); - rcu_periph_clock_enable(I2C0_GPIO_RCU); - - gpio_af_set(I2C0_GPIO_PORT, I2C0_GPIO_AF, I2C0_GPIO_SDA_PIN | I2C0_GPIO_SCL_PIN); - gpio_output_options_set(I2C0_GPIO_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C0_GPIO_SDA_PIN | I2C0_GPIO_SCL_PIN); - - i2c_clock_config(I2C0, I2C0_SPEED, I2C0_DCTY); - i2c_mode_addr_config(I2C0, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, I2C0_ADDR7); - i2c_enable(I2C0); - i2c_ack_config(I2C0, I2C_ACK_ENABLE); -} - -void i2c_bus_reset(void) -{ - i2c_deinit(I2C0); - /* configure SDA/SCL for GPIO */ - GPIO_BC(I2C0_GPIO_PORT) |= I2C0_GPIO_SDA_PIN | I2C0_GPIO_SCL_PIN; - gpio_output_options_set(I2C0_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, I2C0_GPIO_SDA_PIN | I2C0_GPIO_SCL_PIN); - __NOP();__NOP();__NOP();__NOP();__NOP(); - /* stop signal */ - GPIO_BOP(I2C0_GPIO_PORT) |= I2C0_GPIO_SCL_PIN; - __NOP();__NOP();__NOP();__NOP();__NOP(); - GPIO_BOP(I2C0_GPIO_PORT) |= I2C0_GPIO_SDA_PIN; - /* connect I2C_SCL_PIN to I2C_SCL */ - /* connect I2C_SDA_PIN to I2C_SDA */ - gpio_output_options_set(I2C0_GPIO_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C0_GPIO_SDA_PIN | I2C0_GPIO_SCL_PIN); - /* configure the I2CX interface */ - i2c0_init(); -} - -/*! - \brief Deinit IIC0. - \param[in] none - \param[out] none - \retval none -*/ -void i2c0_deinit(void) -{ - rcu_periph_clock_disable(RCU_I2C0); - i2c_disable(I2C0); - - nvic_irq_disable(I2C0_EV_IRQn); - nvic_irq_disable(I2C0_ER_IRQn); -} - -/*! - \brief TWI1(IIC0) read data from the IIC Slave Device - \param[in] Address: the IIC Slave Device's IIC Device Address - \param[in] RegisterAddr: the IIC Slave Device's internal address to start reading from - \param[in] RegisterLen: number of bytes to reads from the IIC Slave Device - \param[in] RegisterValue: pointer to the buffer that receives the data read from the IIC Slave Device - \param[out] RegisterValue: pointer to the buffer that receives the data read from the IIC Slave Device - \retval IIC_SUCCESS -*/ -uint8_t i2c_master_receive(uint32_t i2c_periph, uint8_t Dev_Address, uint8_t) -uint8_t i2c_master_read_register1(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue){ - uint8_t state = I2C_START; - uint8_t read_cycle = 0; - uint16_t timeout = 0; - uint8_t i2c_timeout_flag = 0; - unsigned char IIC_SLAVE_ADDR = (Address << 1); - - i2c_ack_config(I2C0, I2C_ACK_ENABLE); - while (!(i2c_timeout_flag)) - { - switch (state) - { - case I2C_START: - if(RESET == read_cycle) - { - /* i2c master sends start signal only when the bus is idle */ - while (i2c_flag_get(I2C0, I2C_FLAG_I2CBSY) && (timeout < i2c_timeout_flag)) - { - timeout ++; - } - if(timeout < I2C_TIME_OUT) - { - /* whether to send ACK or not for the next byte */ - if(2 == RegisterLen) { - i2c_ackpos_config(I2C0, I2C_ACKPOS_NEXT); - } - } else { - i2c_bus_reset(); - timeout = 0; - state = I2C_START; - printf("i2c bus is busy in READ!\n"); - } - } - /* send the start signal */ - i2c_start_on_bus(I2C0); - timeout = 0; - state = I2C_SEND_ADDR; - break; - - case I2C_SEND_ADDR: - /* i2c master sends START signal successfully */ - while((!i2c_flag_get(I2C0, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT)) - { - timeout++; - } - if(timeout < I2C_TIME_OUT) - { - if(RESET == read_cycle) - { - i2c_master_addressing(I2C0, IIC_SLAVE_ADDR, I2C_TRANSMITTER); - state = I2C_CLEAR_ADDRESS_FLAG; - } else { - i2c_master_addressing(I2C0, IIC_SLAVE_ADDR, I2C_RECEIVER); - if(RegisterLen < 3) { - /* disable acknowledge */ - i2c_ack_config(I2C0, I2C_ACK_DISABLE); - } - state = I2C_CLEAR_ADDRESS_FLAG; - } - timeout = 0; - } else { - timeout = 0; - state = I2C_START; - read_cycle = 0; - printf("i2c master sends start signal timeout in READ!\n"); - } - break; - - case I2C_CLEAR_ADDRESS_FLAG: - /* address flag set means i2c slave sends ACK */ - while((!i2c_flag_get(I2C0, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT)) - { - timeout++; - } - if(timeout < I2C_TIME_OUT) - { - i2c_flag_clear(I2C0, I2C_FLAG_ADDSEND); - if((SET == read_cycle) && (1 == RegisterLen)) { - /* send a stop condition to I2C bus */ - i2c_stop_on_bus(I2C0); - } - timeout = 0; - state = I2C_TRANSMIT_DATA; - } else { - timeout = 0; - state = I2C_START; - read_cycle = 0; - printf("i2c master clears address flag timeout in READ!\n"); - } - break; - - case I2C_TRANSMIT_DATA: - if(RESET == read_cycle) { - /* wait until the transmit data buffer is empty */ - while((!i2c_flag_get(I2C0, I2C_FLAG_TBE)) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - /* send the EEPROM's internal address to write to : only one byte address */ - i2c_data_transmit(I2C0, RegisterAddr); - timeout = 0; - } else { - timeout = 0; - state = I2C_START; - read_cycle = 0; - printf("i2c master wait data buffer is empty timeout in READ!\n"); - } - /* wait until BTC bit is set */ - while((!i2c_flag_get(I2C0, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - timeout = 0; - state = I2C_START; - read_cycle++; - } else { - timeout = 0; - state = I2C_START; - read_cycle = 0; - printf("i2c master sends i2c_master_read_register1 internal address timeout in READ!\n"); - } - } else { - while(RegisterLen) { - timeout++; - if(3 == RegisterLen) { - /* wait until BTC bit is set */ - while(!i2c_flag_get(I2C0, I2C_FLAG_BTC)); - /* disable acknowledge */ - i2c_ack_config(I2C0, I2C_ACK_DISABLE); - } - if(2 == RegisterLen) { - /* wait until BTC bit is set */ - while(!i2c_flag_get(I2C0, I2C_FLAG_BTC)); - /* send a stop condition to I2C bus */ - i2c_stop_on_bus(I2C0); - } - /* wait until RBNE bit is set */ - if(i2c_flag_get(I2C0, I2C_FLAG_RBNE)) { - /* read a byte from the EEPROM */ - *RegisterValue = i2c_data_receive(I2C0); - /* point to the next location where the byte read will be saved */ - RegisterValue++; - /* decrement the read bytes counter */ - RegisterLen--; - timeout = 0; - } - if(timeout > I2C_TIME_OUT) { - timeout = 0; - state = I2C_START; - read_cycle = 0; - printf("i2c master sends data timeout in READ!\n"); - } - } - timeout = 0; - state = I2C_STOP; - } - break; - - case I2C_STOP: - /* i2c master sends STOP signal successfully */ - while((I2C_CTL0(I2C0) & I2C_CTL0_STOP) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - timeout = 0; - state = I2C_END; - i2c_timeout_flag = I2C_OK; - } else { - timeout = 0; - state = I2C_START; - read_cycle = 0; - printf("i2c master sends stop signal timeout in READ!\n"); - } - break; - - default: - state = I2C_START; - read_cycle = 0; - i2c_timeout_flag = I2C_OK; - timeout = 0; - printf("i2c master sends start signal in READ.\n"); - break; - } - } - return IIC_SUCCESS; -} - -/*! - \brief TWI3(none) read data from the IIC Slave Device - \param[in] Address: the IIC Slave Device's IIC Device Address - \param[in] RegisterAddr: the IIC Slave Device's internal address to start reading from - \param[in] RegisterLen: number of bytes to reads from the IIC Slave Device - \param[in] RegisterValue: pointer to the buffer that receives the data read from the IIC Slave Device - \param[out] RegisterValue: pointer to the buffer that receives the data read from the IIC Slave Device - \retval IIC_SUCCESS - \note No TWI3(IIC3) - No operation - Error log. -*/ -uint8_t i2c_master_read_register3(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue){ - __NOP(); - #ifdef DEBUG_VERBOES - printf("\n[DebugVerboes]i2c_master_read_register3 @ i2c.c, no TWI3 \n"); - #endif - return IIC_SUCCESS; -} - -/*! - \brief TWI1(IIC0) read data from the IIC Slave Device - \param[in] Address: the IIC Slave Device's IIC Device Address - \param[in] len: number of bytes to reads from the IIC Slave Device - \param[in] data: pointer to the buffer that receives the data read from the IIC Slave Device - \param[out] data: pointer to the buffer that receives the data read from the IIC Slave Device - \retval IIC_SUCCESS -*/ -uint8_t i2c_master_read_register1_raw(unsigned char Address, unsigned short len, unsigned char *data){ - uint8_t state = I2C_START; - // uint8_t read_cycle = 0; - uint16_t timeout = 0; - uint8_t i2c_timeout_flag = 0; - unsigned char IIC_SLAVE_ADDR = (Address << 1); - - i2c_ack_config(I2C0, I2C_ACK_ENABLE); - while (!(i2c_timeout_flag)) - { - switch (state) - { - case I2C_START: - /* i2c master sends start signal only when the bus is idle */ - while (i2c_flag_get(I2C0, I2C_FLAG_I2CBSY) && (timeout < i2c_timeout_flag)) - { - timeout ++; - } - if(timeout < I2C_TIME_OUT) - { - /* whether to send ACK or not for the next byte */ - if(2 == len) { - i2c_ackpos_config(I2C0, I2C_ACKPOS_NEXT); - } - } else { - i2c_bus_reset(); - timeout = 0; - state = I2C_START; - printf("i2c bus is busy in READ!\n"); - } - /* send the start signal */ - i2c_start_on_bus(I2C0); - timeout = 0; - state = I2C_SEND_ADDR; - break; - - case I2C_SEND_ADDR: - /* i2c master sends START signal successfully */ - while((!i2c_flag_get(I2C0, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT)) - { - timeout++; - } - if(timeout < I2C_TIME_OUT) - { - i2c_master_addressing(I2C0, IIC_SLAVE_ADDR, I2C_RECEIVER); - if(len < 3) { - /* disable acknowledge */ - i2c_ack_config(I2C0, I2C_ACK_DISABLE); - } - state = I2C_CLEAR_ADDRESS_FLAG; - timeout = 0; - } else { - timeout = 0; - state = I2C_START; - // read_cycle = 0; - printf("i2c master sends start signal timeout in READ!\n"); - } - break; - - case I2C_CLEAR_ADDRESS_FLAG: - /* address flag set means i2c slave sends ACK */ - while((!i2c_flag_get(I2C0, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT)) - { - timeout++; - } - if(timeout < I2C_TIME_OUT) - { - i2c_flag_clear(I2C0, I2C_FLAG_ADDSEND); - timeout = 0; - state = I2C_TRANSMIT_DATA; - } else { - timeout = 0; - state = I2C_START; - // read_cycle = 0; - printf("i2c master clears address flag timeout in READ!\n"); - } - break; - - case I2C_TRANSMIT_DATA: - while(len) { - timeout++; - if(3 == len) { - /* wait until BTC bit is set */ - while(!i2c_flag_get(I2C0, I2C_FLAG_BTC)); - /* disable acknowledge */ - i2c_ack_config(I2C0, I2C_ACK_DISABLE); - } - if(2 == len) { - /* wait until BTC bit is set */ - while(!i2c_flag_get(I2C0, I2C_FLAG_BTC)); - /* send a stop condition to I2C bus */ - i2c_stop_on_bus(I2C0); - } - /* wait until RBNE bit is set */ - if(i2c_flag_get(I2C0, I2C_FLAG_RBNE)) { - /* read a byte from the EEPROM */ - *data = i2c_data_receive(I2C0); - /* point to the next location where the byte read will be saved */ - data++; - /* decrement the read bytes counter */ - len--; - timeout = 0; - } - if(timeout > I2C_TIME_OUT) { - timeout = 0; - state = I2C_START; - // read_cycle = 0; - printf("i2c master sends data timeout in READ!\n"); - } - } - timeout = 0; - state = I2C_STOP; - // } - break; - - case I2C_STOP: - /* i2c master sends STOP signal successfully */ - while((I2C_CTL0(I2C0) & I2C_CTL0_STOP) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - timeout = 0; - state = I2C_END; - i2c_timeout_flag = I2C_OK; - } else { - timeout = 0; - state = I2C_START; - // read_cycle = 0; - printf("i2c master sends stop signal timeout in READ!\n"); - } - break; - - default: - state = I2C_START; - // read_cycle = 0; - i2c_timeout_flag = I2C_OK; - timeout = 0; - printf("i2c master sends start signal in READ.\n"); - break; - } - } - return IIC_SUCCESS; -} - -/*! - \brief TWI3(none) read data from the IIC Slave Device with no regisiter address - \param[in] Address: the IIC Slave Device's IIC Device Address - \param[in] len: number of bytes to reads from the IIC Slave Device - \param[in] data: pointer to the buffer that receives the data read from the IIC Slave Device - \param[out] data: pointer to the buffer that receives the data read from the IIC Slave Device - \retval IIC_SUCCESS - \note No TWI3(IIC3) - No operation - Error log. -*/ -uint8_t i2c_master_read_register3_raw(unsigned char Address, unsigned short len, unsigned char *data){ - __NOP(); - #ifdef DEBUG_VERBOES - printf("\n[DebugVerboes]i2c_master_read_register3_raw @ i2c.c, no TWI3 \n"); - #endif - return IIC_SUCCESS; -} - -/*! - \brief TWI1(IIC0) write data to the IIC Slave Device - \param[in] Address: the IIC Slave Device's IIC Device Address - \param[in] RegisterAddr: the IIC Slave Device's internal address to start writing to - \param[in] RegisterLen: number of bytes to write to the IIC Slave Device - \param[in] RegisterValue: pointer to the buffer that transfer the data write to the IIC Slave Device - \param[out] RegisterValue: pointer to the buffer that transfer the data write to the IIC Slave Device - \retval IIC_SUCCESS -*/ - -uint8_t i2c_master_write_register1(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue) -{ - uint8_t state = I2C_START; - uint16_t timeout = 0; - uint8_t i2c_timeout_flag = 0; - unsigned char IIC_SLAVE_ADDR = (Address << 1); - - /* enable acknowledge */ - i2c_ack_config(I2C0, I2C_ACK_ENABLE); - while(!(i2c_timeout_flag)) { - switch(state) { - case I2C_START: - /* i2c master sends start signal only when the bus is idle */ - while(i2c_flag_get(I2C0, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - i2c_start_on_bus(I2C0); - timeout = 0; - state = I2C_SEND_ADDR; - } else { - i2c_bus_reset(); - timeout = 0; - state = I2C_START; - printf("i2c bus is busy in WRITE!\n"); - } - break; - - case I2C_SEND_ADDR: - /* i2c master sends START signal successfully */ - while((!i2c_flag_get(I2C0, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - i2c_master_addressing(I2C0, IIC_SLAVE_ADDR, I2C_TRANSMITTER); - timeout = 0; - state = I2C_CLEAR_ADDRESS_FLAG; - } else { - timeout = 0; - state = I2C_START; - printf("i2c master sends start signal timeout in WRITE!\n"); - } - break; - - case I2C_CLEAR_ADDRESS_FLAG: - /* address flag set means i2c slave sends ACK */ - while((!i2c_flag_get(I2C0, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - i2c_flag_clear(I2C0, I2C_FLAG_ADDSEND); - timeout = 0; - state = I2C_TRANSMIT_DATA; - } else { - timeout = 0; - state = I2C_START; - printf("i2c master clears address flag timeout in WRITE!\n"); - } - break; - - case I2C_TRANSMIT_DATA: - /* wait until the transmit data buffer is empty */ - while((!i2c_flag_get(I2C0, I2C_FLAG_TBE)) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - /* send the EEPROM's internal address to write to : only one byte address */ - i2c_data_transmit(I2C0, RegisterAddr); - timeout = 0; - } else { - timeout = 0; - state = I2C_START; - printf("i2c master sends i2c_master_write_register1 internal address timeout in WRITE!\n"); - } - /* wait until BTC bit is set */ - while((!i2c_flag_get(I2C0, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - timeout = 0; - } else { - timeout = 0; - state = I2C_START; - printf("i2c master sends data timeout in WRITE!\n"); - } - while(RegisterLen--) { - i2c_data_transmit(I2C0, *RegisterValue); - /* point to the next byte to be written */ - RegisterValue++; - /* wait until BTC bit is set */ - while((!i2c_flag_get(I2C0, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - timeout = 0; - } else { - timeout = 0; - state = I2C_START; - printf("i2c master sends data timeout in WRITE!\n"); - } - } - timeout = 0; - state = I2C_STOP; - break; - - case I2C_STOP: - /* send a stop condition to I2C bus */ - i2c_stop_on_bus(I2C0); - /* i2c master sends STOP signal successfully */ - while((I2C_CTL0(I2C0) & I2C_CTL0_STOP) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - timeout = 0; - state = I2C_END; - i2c_timeout_flag = I2C_OK; - } else { - timeout = 0; - state = I2C_START; - printf("i2c master sends stop signal timeout in WRITE!\n"); - } - break; - - default: - state = I2C_START; - i2c_timeout_flag = I2C_OK; - timeout = 0; - printf("i2c master sends start signal in WRITE.\n"); - break; - } - } - return IIC_SUCCESS; -} - -/*! - \brief TWI3(none) write data to the IIC Slave Device - \param[in] Address: the IIC Slave Device's IIC Device Address - \param[in] RegisterAddr: the IIC Slave Device's internal address to start writing to - \param[in] RegisterLen: number of bytes to write to the IIC Slave Device - \param[in] RegisterValue: pointer to the buffer that transfer the data write to the IIC Slave Device - \param[out] RegisterValue: pointer to the buffer that transfer the data write to the IIC Slave Device - \retval IIC_SUCCESS - \note No TWI3(IIC3) - No operation - Error log. -*/ -uint8_t i2c_master_write_register3(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue){ - __NOP(); - #ifdef DEBUG_VERBOES - printf("\n[DebugVerboes]i2c_master_write_register3 @ i2c.c, no TWI3 \n"); - #endif - return IIC_SUCCESS; -} - -/*! - \brief TWI1(IIC0) write data to the IIC Slave Device with no regisiter address - \param[in] Address: the IIC Slave Device's IIC Device Address - \param[in] len: number of bytes to write to the IIC Slave Device - \param[in] data: pointer to the buffer that transfer the data write to the IIC Slave Device - \param[out] data: pointer to the buffer that transfer the data write to the IIC Slave Device - \retval IIC_SUCCESS -*/ -uint8_t i2c_master_write_register1_raw(unsigned char Address, unsigned short len, unsigned char *data){ - uint8_t state = I2C_START; - uint16_t timeout = 0; - uint8_t i2c_timeout_flag = 0; - unsigned char IIC_SLAVE_ADDR = (Address << 1); - - /* enable acknowledge */ - i2c_ack_config(I2C0, I2C_ACK_ENABLE); - while(!(i2c_timeout_flag)) { - switch(state) { - case I2C_START: - /* i2c master sends start signal only when the bus is idle */ - while(i2c_flag_get(I2C0, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - i2c_start_on_bus(I2C0); - timeout = 0; - state = I2C_SEND_ADDR; - } else { - i2c_bus_reset(); - timeout = 0; - state = I2C_START; - printf("i2c bus is busy in WRITE!\n"); - } - break; - - case I2C_SEND_ADDR: - /* i2c master sends START signal successfully */ - while((!i2c_flag_get(I2C0, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - i2c_master_addressing(I2C0, IIC_SLAVE_ADDR, I2C_TRANSMITTER); - timeout = 0; - state = I2C_CLEAR_ADDRESS_FLAG; - } else { - timeout = 0; - state = I2C_START; - printf("i2c master sends start signal timeout in WRITE!\n"); - } - break; - - case I2C_CLEAR_ADDRESS_FLAG: - /* address flag set means i2c slave sends ACK */ - while((!i2c_flag_get(I2C0, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - i2c_flag_clear(I2C0, I2C_FLAG_ADDSEND); - timeout = 0; - state = I2C_TRANSMIT_DATA; - } else { - timeout = 0; - state = I2C_START; - printf("i2c master clears address flag timeout in WRITE!\n"); - } - break; - - case I2C_TRANSMIT_DATA: - /* wait until the transmit data buffer is empty */ - while((!i2c_flag_get(I2C0, I2C_FLAG_TBE)) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - while(len--) { - i2c_data_transmit(I2C0, *data); - /* point to the next byte to be written */ - data++; - /* wait until BTC bit is set */ - while((!i2c_flag_get(I2C0, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - timeout = 0; - } else { - timeout = 0; - state = I2C_START; - printf("i2c master sends data timeout in WRITE!\n"); - } - } - timeout = 0; - state = I2C_STOP; - break; - - case I2C_STOP: - /* send a stop condition to I2C bus */ - i2c_stop_on_bus(I2C0); - /* i2c master sends STOP signal successfully */ - while((I2C_CTL0(I2C0) & I2C_CTL0_STOP) && (timeout < I2C_TIME_OUT)) { - timeout++; - } - if(timeout < I2C_TIME_OUT) { - timeout = 0; - state = I2C_END; - i2c_timeout_flag = I2C_OK; - } else { - timeout = 0; - state = I2C_START; - printf("i2c master sends stop signal timeout in WRITE!\n"); - } - break; - - default: - state = I2C_START; - i2c_timeout_flag = I2C_OK; - timeout = 0; - printf("i2c master sends start signal in WRITE.\n"); - break; - } - } - return IIC_SUCCESS; -} - -/*! - \brief TWI3(none) write data to the IIC Slave Device with no regisiter address - \param[in] Address: the IIC Slave Device's IIC Device Address - \param[in] len: number of bytes to write to the IIC Slave Device - \param[in] data: pointer to the buffer that transfer the data write to the IIC Slave Device - \param[out] data: pointer to the buffer that transfer the data write to the IIC Slave Device - \retval IIC_SUCCESS - \note No TWI3(IIC3) - No operation - Error log. -*/ -uint8_t i2c_master_write_register3_raw(unsigned char Address, unsigned short len, unsigned char *data){ - __NOP(); - #ifdef DEBUG_VERBOES - printf("\n[DebugVerboes]i2c_master_write_register3_raw @ i2c.c, no TWI3 \n"); - #endif - return IIC_SUCCESS; -} \ No newline at end of file diff --git a/src/gd32e23x_it.c b/src/gd32e23x_it.c index 79c21c5..a9af911 100644 --- a/src/gd32e23x_it.c +++ b/src/gd32e23x_it.c @@ -38,7 +38,7 @@ OF SUCH DAMAGE. #include "systick.h" #include "ultrasonic_driver.h" -__IO uint32_t capture_value; +__IO uint32_t g_capture_value; /*! \brief this function handles NMI exception @@ -102,6 +102,12 @@ 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) { @@ -119,6 +125,12 @@ 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) { @@ -130,11 +142,17 @@ 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); - capture_value = timer_channel_capture_value_register_read(TIMER16, TIMER_CH_0); + g_capture_value = timer_channel_capture_value_register_read(TIMER16, TIMER_CH_0); timer_disable(TIMER16); exti_interrupt_disable(EXTI_0); } diff --git a/src/main.c b/src/main.c index 2c95257..d928536 100644 --- a/src/main.c +++ b/src/main.c @@ -13,7 +13,7 @@ #include "ultrasonic_driver.h" #include "mlx90614.h" -extern uint32_t capture_value; +extern uint32_t g_capture_value; uint16_t distance_uint16; /*! @@ -27,8 +27,10 @@ int main(void) /* configure systick */ systick_config(); /* configure ultrasonic board hardware */ - ultrasonic_transmit_config(); - ultrasonic_receive_config(); + UltraSonic_Transmit_Config(); + UltraSonic_Receive_Config(); + + MLX90614_I2CConfig(); /* ---------- debug start ---------- */ @@ -43,27 +45,30 @@ int main(void) delay_ms(2000); - while(1) + while (1) { delay_ms(ULTRASONIC_TRAN_US); - ultrasonic_pwm_out_cycles(ULTRASONIC_CYCLES); + UltraSonic_PwmOut_Cycles(ULTRASONIC_CYCLES); delay_ms(2); - printf("cap_val:%ld\t", capture_value); + printf("cap_val:%ld\t", g_capture_value); - const char* result = (capture_value <= CAPTURE_VALUE_MAX) ? "Distance: %d\n" : "Over Range\n"; - distance_uint16 = calculate_distance(capture_value); + const char* result = (g_capture_value <= CAPTURE_VALUE_MAX) ? "Distance: %d\t" : "Over Range\t"; + distance_uint16 = UltraSonic_CalcDistance(g_capture_value); printf(result, distance_uint16); + + printf("Temp:%d\n", 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; } diff --git a/src/mlx90614.c b/src/mlx90614.c index 8d99213..e2af93a 100644 --- a/src/mlx90614.c +++ b/src/mlx90614.c @@ -5,7 +5,159 @@ #include "mlx90614.h" #include "gd32e23x.h" #include "systick.h" +#include -int read_ir_mlx90614(void) { +/** + * @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); -} \ No newline at end of file + 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; +} diff --git a/src/systick.c b/src/systick.c index 568e079..a7dea8e 100644 --- a/src/systick.c +++ b/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(); } \ No newline at end of file diff --git a/src/ultrasonic_driver.c b/src/ultrasonic_driver.c index a6dcaa3..2a8061c 100644 --- a/src/ultrasonic_driver.c +++ b/src/ultrasonic_driver.c @@ -6,7 +6,8 @@ #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); @@ -18,11 +19,11 @@ 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); @@ -33,7 +34,8 @@ 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); @@ -52,7 +54,8 @@ void usart_config(void) { usart_enable(USART0_PHY); } -void ultrasonic_config(void) { +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); @@ -60,26 +63,26 @@ void ultrasonic_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); @@ -89,13 +92,15 @@ void ultrasonic_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_config(); + UltraSonic_GPIO_Config(); } -void ultrasonic_pwm_out_cycles(const uint8_t cycles) { +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); @@ -108,7 +113,7 @@ void ultrasonic_pwm_out_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); @@ -118,18 +123,19 @@ 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) +{ 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); @@ -137,7 +143,8 @@ void ultrasonic_transmit_delay(const uint16_t micro_second) { nvic_irq_enable(TIMER15_IRQn, 1U); } -void receive_exti_config(void) { +void UltraSonic_ReceExti_Config(void) +{ rcu_periph_clock_enable(US_FB_GPIO_RCU); rcu_periph_clock_enable(US_FB_EXTI_RCU); @@ -151,18 +158,19 @@ void receive_exti_config(void) { // exti_interrupt_enable(EXTI_0); } -void ultrasonic_echo_timer_config(void) { +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_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; @@ -174,13 +182,15 @@ void ultrasonic_echo_timer_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); - receive_exti_config(); - ultrasonic_echo_timer_config(); +void UltraSonic_Receive_Config(void) +{ + UltraSonic_Transmit_Delay(TIME_CORRECTION_US); + UltraSonic_ReceExti_Config(); + UltraSonic_EchoTimer_Config(); } -uint16_t calculate_distance(uint32_t us_value) { +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