xlsw_3dp_ultrasonic_ch101/XLSW_SONIC/main.c

#include "gd32e23x.h"
#include "systick.h"
#include <stdio.h>
#include "main.h"
// #include "gd32e230c_eval.h"
#include "timer.h"
#include "board_init.h"
#include "chirp_board_config.h"
#include "chirp_bsp.h"
#include "chirp_smartsonic.h"
#include "app_version.h"
#include "app_config.h"
#include "ultrasound_display_config_info.h"

/* Bit flags used in main loop to check for completion of sensor I/O.  */
#define DATA_READY_FLAG		(1 << 0)
#define IQ_READY_FLAG		(1 << 1)

#define TestDelayTime 200

/* chirp_data_t - Structure to hold measurement data for one sensor
 *   This structure is used to hold the data from one measurement cycle from 
 *   a sensor.  The data values include the measured range, the ultrasonic 
 *   signal amplitude, the number of valid samples (I/Q data pairs) in the 
 *   measurement, and (optionally) the full amplitude data and/or raw I/Q data 
 *   from the measurement.
 *
 *  The format of this data structure is specific to this application, so 
 *  you may change it as desired.
 *
 *  A "chirp_data[]" array of these structures, one for each possible sensor, 
 *  is declared in the main.c file.  The sensor's device number is 
 *  used to index the array.
 */
typedef struct {
	uint32_t		range;						// from ch_get_range()
	uint16_t		amplitude;					// from ch_get_amplitude()
	uint16_t		num_samples;				// from ch_get_num_samples()
#ifdef READ_AMPLITUDE_DATA
	uint16_t		amp_data[DATA_MAX_NUM_SAMPLES];	 // from ch_get_amplitude_data()
#endif
#ifdef READ_IQ_DATA
	ch_iq_sample_t	iq_data[DATA_MAX_NUM_SAMPLES];	 // from ch_get_iq_data()
#endif
} chirp_data_t;


/* Array of structs to hold measurement data, one for each possible device */
chirp_data_t	chirp_data[CHIRP_MAX_NUM_SENSORS];		

/* Array of ch_dev_t device descriptors, one for each possible device */
ch_dev_t	chirp_devices[CHIRP_MAX_NUM_SENSORS];		

/* Configuration structure for group of sensors */
ch_group_t 	chirp_group;



/* Task flag word
 *   This variable contains the DATA_READY_FLAG and IQ_READY_FLAG bit flags 
 *   that are set in I/O processing routines.  The flags are checked in the 
 *   main() loop and, if set, will cause an appropriate handler function to 
 *   be called to process sensor data.  
 */
volatile uint32_t taskflags = 0;

/* Device tracking variables
 *   These are bit-field variables which contain a separate bit assigned to
 *   each (possible) sensor, indexed by the device number.  The active_devices
 *   variable contains the bit pattern describing which ports have active
 *   sensors connected.  The data_ready_devices variable is set bit-by-bit
 *   as sensors interrupt, indicating they have completed a measurement
 *   cycle.  The two variables are compared to determine when all active
 *   devices have interrupted.
 */
static uint32_t active_devices;
static uint32_t data_ready_devices;

/* Number of connected sensors */
static uint8_t	num_connected_sensors = 0;

/* Number of sensors that use h/w triggering to start measurement */
static uint8_t	num_triggered_devices = 0;


/* Forward declarations */
static void    sensor_int_callback(ch_group_t *grp_ptr, uint8_t dev_num);
static void    io_complete_callback(ch_group_t *grp_ptr);
static uint8_t handle_data_ready(ch_group_t *grp_ptr);

/*!
    \brief      main function
    \param[in]  none
    \param[out] none
    \retval     none
*/
int main(void)
{
    ch_group_t	*grp_ptr = &chirp_group;
	uint8_t chirp_error = 0;
	uint8_t num_ports;
	uint8_t dev_num;


    /* configure systick */
    systick_config();
    
    chbsp_board_init(grp_ptr);

    printf("\n\nXLSW UltraSonic Example Application\n");
	printf("    Compile time:  %s %s\n", __DATE__, __TIME__);
	printf("    Version: %u.%u.%u", APP_VERSION_MAJOR, APP_VERSION_MINOR, APP_VERSION_REV);
	printf("    SonicLib version: %u.%u.%u\n", SONICLIB_VER_MAJOR, SONICLIB_VER_MINOR, SONICLIB_VER_REV);
	printf("\n");

	#ifdef DEBUG_VERBOES
	/* print out the clock frequency of system, AHB, APB1 and APB2 */
	printf("[DebugVerboes] System CLK Info!!!");
    printf("\r\nCK_SYS is %d", rcu_clock_freq_get(CK_SYS));
    printf("\r\nCK_AHB is %d", rcu_clock_freq_get(CK_AHB));
    printf("\r\nCK_APB1 is %d", rcu_clock_freq_get(CK_APB1));
    printf("\r\nCK_APB2 is %d", rcu_clock_freq_get(CK_APB2));
	printf("[DebugVerboes] System CLK Info Done!!!");
    printf("\r\n");
	printf("\r\n");
	printf("\r\n");
	#endif

    /* Get the number of sensor devices on the board*/
    num_ports = ch_get_num_ports(grp_ptr);

    /* Initialize sensor descriptors. */
    printf("Initializing sensor(s)... ");
    for (dev_num = 0; dev_num < num_ports; dev_num++) {
		ch_dev_t *dev_ptr = &(chirp_devices[dev_num]);
        chirp_error |= ch_init(dev_ptr, grp_ptr, dev_num, CHIRP_SENSOR_FW_INIT_FUNC);
	}

	if (chirp_error == 0) {
		printf("starting group... ");
		chirp_error = ch_group_start(grp_ptr);
	}

	if (chirp_error == 0) {
		printf("OK\n");
	} else {
		printf("FAILED: %d\n", chirp_error);
	}
	printf("\n");

	printf("Sensor\tType \t   Freq\t\t RTC Cal \tFirmware\n");
	for (dev_num = 0; dev_num < num_ports; dev_num++) {
		ch_dev_t *dev_ptr = ch_get_dev_ptr(grp_ptr, dev_num);

		if (ch_sensor_is_connected(dev_ptr)) {
			printf("%d\tCH%d\t %u Hz\t%u@%ums\t%s\n", dev_num,ch_get_part_number(dev_ptr), (unsigned int) ch_get_frequency(dev_ptr), ch_get_rtc_cal_result(dev_ptr), ch_get_rtc_cal_pulselength(dev_ptr), ch_get_fw_version_string(dev_ptr));
		}
	}
	printf("\n");

    /* Register callback function to be called when Chirp sensor interrupts */
	// ch_io_int_callback_set(grp_ptr, sensor_int_callback);

	/* Register callback function called when non-blocking I/Q readout completes
 	 *   Note, this callback will only be used if READ_IQ_DATA_NONBLOCK is 
	 *   defined to enable non-blocking I/Q readout in this application.
	 */
	// ch_io_complete_callback_set(grp_ptr, io_complete_callback);

    /* Configure each sensor with its operating parameters 
	 *   Initialize a ch_config_t structure with values defined in the
	 *   app_config.h header file, then write the configuration to the 
	 *   sensor using ch_set_config().
	 */
	printf ("Configuring sensor(s)...\n");
	for (dev_num = 0; dev_num < num_ports; dev_num++) {
		ch_config_t dev_config;
		ch_dev_t *dev_ptr = ch_get_dev_ptr(grp_ptr, dev_num);

		if (ch_sensor_is_connected(dev_ptr)) {

			num_connected_sensors++;		// count one more connected
			active_devices |= (1 << dev_num);	// add to active device bit mask
			
			if (num_connected_sensors == 1) {	// if this is the first sensor
                dev_config.mode = CH_MODE_FREERUN;
            }

			/* Init config structure with values from app_config.h */
			dev_config.max_range       = CHIRP_SENSOR_MAX_RANGE_MM;
			dev_config.static_range    = CHIRP_SENSOR_STATIC_RANGE;

			/* If sensor will be free-running, set internal sample interval */
			if (dev_config.mode == CH_MODE_FREERUN) {
				dev_config.sample_interval = MEASUREMENT_INTERVAL_MS;
			}

			/* Apply sensor configuration */
			chirp_error = ch_set_config(dev_ptr, &dev_config);

			/* Enable sensor interrupt if using free-running mode 
			 *   Note that interrupt is automatically enabled if using 
			 *   triggered modes.
			 */
			if ((!chirp_error) && (dev_config.mode == CH_MODE_FREERUN)) {
				chbsp_set_io_dir_in(dev_ptr);
				chbsp_io_interrupt_enable(dev_ptr);
			}

			/* Read back and display config settings */
			if (!chirp_error) {
				ultrasound_display_config_info(dev_ptr);
			} else {
				printf("Device %d: Error during ch_set_config()\n", dev_num);
			}

			/* Turn on an LED to indicate device connected */
			if (!chirp_error) {
				chbsp_led_on(dev_num);
			}
		}
	}

	printf("\n");

    // /* Enable receive sensor pre-triggering, if specified */
	// ch_set_rx_pretrigger(grp_ptr, RX_PRETRIGGER_ENABLE);

	// /* Initialize the periodic timer we'll use to trigger the measurements.
 	//  *   This function initializes a timer that will interrupt every time it 
	//  *   expires, after the specified measurement interval.  The function also 
	//  *   registers a callback function that will be called from the timer 
	//  *   handler when the interrupt occurs.  The callback function will be 
	//  *   used to trigger a measurement cycle on the group of sensors.
	//  */
	if (num_triggered_devices > 0) {
		printf("Initializing sample timer for %dms interval... ", MEASUREMENT_INTERVAL_MS);

		// chbsp_periodic_timer_init(MEASUREMENT_INTERVAL_MS, periodic_timer_callback);
		/* Enable interrupt and start timer to trigger sensor sampling */
		// chbsp_periodic_timer_irq_enable();
		// chbsp_periodic_timer_start();
		printf("OK\n");
	}
	printf("Starting measurements\n");

	timer_config();

    while (1)
    {
        handle_data_ready(grp_ptr);
		// chbsp_led_toggle(dev_num);
        delay_ms(MEASUREMENT_INTERVAL_MS);
    }
}


/*
 * periodic_timer_callback() - periodic timer callback routine
 *
 * This function is called by the periodic timer interrupt when the timer 
 * expires.  Because the periodic timer is used to initiate a new measurement 
 * cycle on a group of sensors, this function calls ch_group_trigger() during 
 * each execution.
 *
 * This function is registered by the call to chbsp_periodic_timer_init() 
 * in main().
 */
void periodic_timer_callback(void) {

	if (num_triggered_devices > 0) {
		ch_group_trigger(&chirp_group);
	}
}

/*
 * sensor_int_callback() - sensor interrupt callback routine
 *
 * This function is called by the board support package's interrupt handler for 
 * the sensor's INT line every time that the sensor interrupts.  The device 
 * number parameter, dev_num, is used to identify the interrupting device
 * within the sensor group.  (Generally the device number is same as the port 
 * number used in the BSP to manage I/O pins, etc.)
 *
 * Each time this function is called, a bit is set in the data_ready_devices
 * variable to identify the interrupting device.  When all active sensors have
 * interrupted (found by comparing with the active_devices variable), the
 * DATA_READY_FLAG is set.  That flag will be detected in the main() loop.
 *
 * This callback function is registered by the call to ch_io_int_callback_set() 
 * in main().
 */
static void sensor_int_callback(ch_group_t *grp_ptr, uint8_t dev_num) {
	ch_dev_t *dev_ptr = ch_get_dev_ptr(grp_ptr, dev_num);

	data_ready_devices |= (1 << dev_num);		// add to data-ready bit mask

	if (data_ready_devices == active_devices) {
		/* All active sensors have interrupted after performing a measurement */
		data_ready_devices = 0;

		/* Set data-ready flag - it will be checked in main() loop */
		taskflags |= DATA_READY_FLAG;

		/* Disable interrupt unless in free-running mode
		 *   It will automatically be re-enabled by the next ch_group_trigger() 
		 */
		if (ch_get_mode(dev_ptr) == CH_MODE_FREERUN) {
			chbsp_set_io_dir_in(dev_ptr);				// set INT line as input
			chbsp_group_io_interrupt_enable(grp_ptr);
		} else {
			chbsp_group_io_interrupt_disable(grp_ptr);
		}
	}
}

/*
 * io_complete_callback() - non-blocking I/O complete callback routine
 *
 * This function is called by SonicLib's I2C DMA handling function when all 
 * outstanding non-blocking I/Q readouts have completed.  It simply sets a flag 
 * that will be detected and handled in the main() loop.
 *
 * This callback function is registered by the call to 
 * ch_io_complete_callback_set() in main().
 *
 *  Note: This callback is only used if READ_IQ_NONBLOCKING is defined to 
 *  select non-blocking I/Q readout in this application.
 */
static void io_complete_callback(ch_group_t __attribute__((unused)) *grp_ptr) {

	taskflags |= IQ_READY_FLAG;
}

/* retarget the C library printf function to the USART */
int fputc(int ch, FILE *f)
{
    usart_data_transmit(USART0, (uint8_t)ch);
    while (RESET == usart_flag_get(USART0, USART_FLAG_TBE));

    return ch;
}

/*
 * handle_data_ready() - get and display data from all sensors
 *
 * This routine is called from the main() loop after all sensors have 
 * interrupted. It shows how to read the sensor data once a measurement is 
 * complete.  This routine always reads out the range and amplitude, and 
 * optionally will read out the amplitude data or raw I/Q for all samples
 * in the measurement.
 *
 * See the comments in app_config.h for information about the amplitude data
 * and I/Q readout build options.
 *
 */
static uint8_t handle_data_ready(ch_group_t *grp_ptr) {
	uint8_t 	dev_num;
	int 		num_samples = 0;
	uint8_t 	ret_val = 0;

	/* Read and display data from each connected sensor 
	 *   This loop will write the sensor data to this application's "chirp_data"
	 *   array.  Each sensor has a separate chirp_data_t structure in that 
	 *   array, so the device number is used as an index.
	 */

	for (dev_num = 0; dev_num < ch_get_num_ports(grp_ptr); dev_num++) {
		ch_dev_t *dev_ptr = ch_get_dev_ptr(grp_ptr, dev_num);

		if (ch_sensor_is_connected(dev_ptr)) {

			/* Get measurement results from each connected sensor 
			 *   For sensor in transmit/receive mode, report one-way echo 
			 *   distance,  For sensor(s) in receive-only mode, report direct 
			 *   one-way distance from transmitting sensor 
			 */
			
			if (ch_get_mode(dev_ptr) == CH_MODE_TRIGGERED_RX_ONLY) {
				chirp_data[dev_num].range = ch_get_range(dev_ptr, 
														CH_RANGE_DIRECT);
			} else {
				chirp_data[dev_num].range = ch_get_range(dev_ptr, 
														CH_RANGE_ECHO_ONE_WAY);
			}

			if (chirp_data[dev_num].range == CH_NO_TARGET) {
				/* No target object was detected - no range value */

				chirp_data[dev_num].amplitude = 0;  /* no updated amplitude */

				// printf("Port %d:          no target found        ", dev_num);
				printf("UltraSnoic0:%0.1f, %u\n", 0.0, 0);

			} else {
				/* Target object was successfully detected (range available) */
				 /* Get the new amplitude value - it's only updated if range 
				  * was successfully measured.  */
				chirp_data[dev_num].amplitude = ch_get_amplitude(dev_ptr);

				// printf("Port %d:  Range: %0.1f mm  Amp: %u  ", dev_num, 
				// 		(float) chirp_data[dev_num].range/32.0f,
				// 	   	chirp_data[dev_num].amplitude);
				printf("UltraSnoic0:%0.1f, %u\n", (float) chirp_data[dev_num].range/32.0f, chirp_data[dev_num].amplitude);
			}

			/* Store number of active samples in this measurement */
			num_samples = ch_get_num_samples(dev_ptr);
			chirp_data[dev_num].num_samples = num_samples;

			/* Optionally read amplitude values for all samples */
#ifdef READ_AMPLITUDE_DATA
			uint16_t 	start_sample = 0;
			ch_get_amplitude_data(dev_ptr, chirp_data[dev_num].amp_data, 
								  start_sample, num_samples, CH_IO_MODE_BLOCK);

#ifdef OUTPUT_AMPLITUDE_DATA
			printf("\n");
			for (uint8_t count = 0; count < num_samples; count++) {

				printf("%d\n",  chirp_data[dev_num].amp_data[count]);
			}
#endif
#endif

			/* Optionally read raw I/Q values for all samples */
#ifdef READ_IQ_DATA
			display_iq_data(dev_ptr);
#endif
			/* If more than 2 sensors, put each on its own line */
			if (num_connected_sensors > 2) {
				printf("\n");
			}
		}
	}
	printf("\n");
	
	return ret_val;
}