212 lines
7.0 KiB
C
212 lines
7.0 KiB
C
//
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// Created by dell on 24-9-23.
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//
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#include "ultrasonic_driver.h"
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#include "gd32e23x.h"
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#include "systick.h"
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void led_config(void)
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{
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rcu_periph_clock_enable(LED_RCU);
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gpio_mode_set(LED_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED_PIN);
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gpio_output_options_set(LED_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED_PIN);
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gpio_bit_write(LED_PORT, LED_PIN, SET);
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rcu_periph_clock_enable(LED_TIMER_RCU);
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timer_deinit(LED_TIMER);
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timer_parameter_struct timer_initpara;
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timer_struct_para_init(&timer_initpara);
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timer_initpara.prescaler = 7199;
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
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timer_initpara.counterdirection = TIMER_COUNTER_UP;
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timer_initpara.period = 999;
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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timer_init(LED_TIMER, &timer_initpara);
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timer_auto_reload_shadow_enable(LED_TIMER);
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timer_interrupt_enable(LED_TIMER, TIMER_INT_UP);
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timer_enable(LED_TIMER);
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nvic_irq_enable(LED_IRQ, 0);
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}
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void usart_config(void)
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{
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rcu_periph_clock_enable(USART_GPIO_RCU);
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rcu_periph_clock_enable(USART_RCU);
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gpio_af_set(USART_GPIO_PORT, GPIO_AF_1, GPIO_PIN_2 | GPIO_PIN_3);
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/* configure USART Tx&Rx as alternate function push-pull */
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gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_TX_PIN | USART_RX_PIN);
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gpio_output_options_set(USART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, USART_TX_PIN | USART_RX_PIN);
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/* configure RS485 EN Pin */
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gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, USART_EN_PIN);
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gpio_output_options_set(USART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, USART_EN_PIN);
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gpio_bit_write(USART_GPIO_PORT, USART_EN_PIN, SET);
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/* USART configure */
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usart_deinit(USART0_PHY);
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usart_baudrate_set(USART0_PHY, USART_BAUDRATE);
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usart_receive_config(USART0_PHY, USART_RECEIVE_ENABLE);
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usart_transmit_config(USART0_PHY, USART_TRANSMIT_ENABLE);
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usart_enable(USART0_PHY);
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nvic_irq_enable(USART0_IRQn, 0);
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usart_interrupt_enable(USART0_PHY, USART_INT_RBNE);
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}
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void UltraSonic_GPIO_Config(void)
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{
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rcu_periph_clock_enable(US_TRAN_GPIO_RCU);
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gpio_mode_set(US_TRAN_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, US_TRAN_PIN);
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gpio_output_options_set(US_TRAN_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, US_TRAN_PIN);
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gpio_af_set(US_TRAN_GPIO_PORT, US_TRAN_AF, US_TRAN_PIN);
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timer_oc_parameter_struct timer_ocinitpara;
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timer_parameter_struct timer_initpara;
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rcu_periph_clock_enable(US_TRAN_RCU);
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timer_deinit(US_TRAN_TIMER);
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timer_struct_para_init(&timer_initpara);
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timer_initpara.prescaler = 0;
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
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timer_initpara.counterdirection = TIMER_COUNTER_UP;
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timer_initpara.period = 239;
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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timer_init(US_TRAN_TIMER, &timer_initpara);
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timer_channel_output_struct_para_init(&timer_ocinitpara);
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timer_ocinitpara.outputstate = TIMER_CCX_ENABLE;
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timer_ocinitpara.outputnstate = TIMER_CCXN_DISABLE;
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timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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timer_ocinitpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH;
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timer_ocinitpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW;
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timer_ocinitpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;
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timer_channel_output_config(US_TRAN_TIMER, US_TRAN_CH, &timer_ocinitpara);
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timer_channel_output_pulse_value_config(US_TRAN_TIMER, US_TRAN_CH, 120);
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timer_channel_output_mode_config(US_TRAN_TIMER, US_TRAN_CH, TIMER_OC_MODE_PWM0);
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timer_auto_reload_shadow_enable(US_TRAN_TIMER);
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timer_interrupt_enable(US_TRAN_TIMER, TIMER_INT_UP);
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}
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void UltraSonic_Transmit_Config(void)
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{
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led_config();
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usart_config();
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UltraSonic_GPIO_Config();
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}
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void UltraSonic_PwmOut_Cycles(const uint8_t cycles)
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{
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uint8_t current_cycle = 0;
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timer_channel_output_pulse_value_config(US_TRAN_TIMER, US_TRAN_CH, 120);
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timer_channel_output_mode_config(US_TRAN_TIMER, US_TRAN_CH, TIMER_OC_MODE_PWM1);
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timer_enable(US_TRAN_TIMER);
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timer_enable(TIMER15);
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while (current_cycle < cycles)
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{
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while (!timer_interrupt_flag_get(US_TRAN_TIMER, TIMER_INT_FLAG_UP));
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timer_interrupt_flag_clear(US_TRAN_TIMER, TIMER_INT_FLAG_UP);
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current_cycle++;
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}
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// delay_nop();
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timer_disable(US_TRAN_TIMER);
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// if(gpio_output_bit_get(GPIOB, GPIO_PIN_1) == SET)
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// {
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// gpio_bit_reset(GPIOB, GPIO_PIN_1);
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// }
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}
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void UltraSonic_Transmit_Delay(const uint16_t micro_second)
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{
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rcu_periph_clock_enable(US_TRAN_DELAY_RCU);
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timer_deinit(US_TRAN_DELAY_TIMER);
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timer_parameter_struct timer_initpara;
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timer_struct_para_init(&timer_initpara);
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timer_initpara.prescaler = 71;
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
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timer_initpara.counterdirection = TIMER_COUNTER_UP;
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timer_initpara.period = micro_second - 1;
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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timer_initpara.repetitioncounter = 0;
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timer_init(US_TRAN_DELAY_TIMER, &timer_initpara);
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timer_auto_reload_shadow_enable(US_TRAN_DELAY_TIMER);
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timer_interrupt_enable(US_TRAN_DELAY_TIMER, TIMER_INT_UP);
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nvic_irq_enable(TIMER15_IRQn, 1U);
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}
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void UltraSonic_ReceExti_Config(void)
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{
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rcu_periph_clock_enable(US_FB_GPIO_RCU);
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rcu_periph_clock_enable(US_FB_EXTI_RCU);
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gpio_mode_set(US_FB_GPIO_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, US_FB_GPIO_PIN);
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nvic_irq_enable(US_FB_EXTI_IRQ, 0U);
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syscfg_exti_line_config(EXTI_SOURCE_GPIOA, EXTI_SOURCE_PIN0);
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exti_init(US_FB_GPIO_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
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exti_flag_clear(US_FB_GPIO_EXTI);
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// exti_interrupt_enable(EXTI_0);
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}
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void UltraSonic_EchoTimer_Config(void)
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{
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rcu_periph_clock_enable(US_ECHO_RCU);
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timer_deinit(US_ECHO_TIMER);
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timer_parameter_struct timer_initpara;
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timer_struct_para_init(&timer_initpara);
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timer_initpara.prescaler = 71;
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
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timer_initpara.counterdirection = TIMER_COUNTER_UP;
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timer_initpara.period = 59999;
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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timer_initpara.repetitioncounter = 0;
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timer_init(US_ECHO_TIMER, &timer_initpara);
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timer_ic_parameter_struct timer_icinitpara;
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timer_channel_input_struct_para_init(&timer_icinitpara);
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timer_icinitpara.icpolarity = TIMER_IC_POLARITY_BOTH_EDGE;
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timer_icinitpara.icselection = TIMER_IC_SELECTION_INDIRECTTI;
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timer_icinitpara.icprescaler = TIMER_IC_PSC_DIV1;
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timer_icinitpara.icfilter = 0x03;
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timer_input_capture_config(US_ECHO_TIMER, US_ECHO_CH, &timer_icinitpara);
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}
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void UltraSonic_Receive_Config(void)
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{
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UltraSonic_Transmit_Delay(TIME_CORRECTION_US);
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UltraSonic_ReceExti_Config();
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UltraSonic_EchoTimer_Config();
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}
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uint16_t UltraSonic_CalcDistance(uint32_t us_value)
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{
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uint16_t distace = (TIME_CORRECTION_US + us_value) * 17;
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/*
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* (TIME_CORRECTION_US + us_value) * 340 m/s
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* -----------------------------------------
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* 1000 000
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* ----------------------------------------------
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* 2
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*/
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return distace;
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}
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