加入Buzzer,Shake_Motor,Ultrasound

2025-06-24 20:46:30 +08:00
parent 5cc35cbad3
commit 20d90d8933
50 changed files with 12844 additions and 4561 deletions
--- a/fun/Ultrasound.c
+++ b/fun/Ultrasound.c
@@ -0,0 +1,111 @@
+#include "Ultrasound.h"
+TX_THREAD ultrasonic_task_handle;
+TX_EVENT_FLAGS_GROUP ultrasonic_event;
+
+
+extern TIM_HandleTypeDef htim2;
+
+volatile uint32_t ic_val1 = 0; // <20><><EFBFBD><EFBFBD>ֵ1
+volatile uint32_t ic_val2 = 0; // <20><><EFBFBD><EFBFBD>ֵ2
+volatile uint8_t  is_first_capture = 0; // <20>Ƿ<EFBFBD>Ϊ<EFBFBD><CEAA>һ<EFBFBD>β<EFBFBD><CEB2><EFBFBD>
+volatile uint32_t distance_cm = 0;  // <20><><EFBFBD>밴<EFBFBD><EBB0B4> cm<63><6D><EFBFBD><EFBFBD>
+
+/*******
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+Psc: 250 - 1  <20>Դﵽ   1tick = 1us<75><73>Ч<EFBFBD><D0A7>
+*******/
+
+/****
+
+DWT<EFBFBD>ĳ<EFBFBD>ʼ<EFBFBD><EFBFBD>  <20><>ȷ<EFBFBD><C8B7>
+
+<EFBFBD>ŵ<EFBFBD>main.c<>н<EFBFBD><D0BD>г<EFBFBD>ʼ<EFBFBD><CABC>
+****/
+void DWT_Init(void)
+{
+	CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+	DWT->CYCCNT = (uint32_t)0u; //<2F>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD>
+	DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
+}
+
+
+
+
+/********
+delay_us() <20><><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5> (ʹ<><CAB9>DWT)  <20><>ȷ<EFBFBD><C8B7>
+*********/
+void delay_us(uint32_t us)
+{
+	uint32_t start = DWT->CYCCNT;
+	uint32_t ticks = us * (SystemCoreClock / 1000000U); // us * 64
+	while((DWT->CYCCNT - start) < ticks);
+}
+
+
+
+
+/******
+Trig <20><><EFBFBD><EFBFBD>
+
+ You only need to supply a short 10uS 
+pulse to the trigger input to start the ranging
+
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Բ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰһ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Trig Ϊ<>ߵ<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD>ܵ<EFBFBD><DCB5>´<EFBFBD><C2B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˼<EFBFBD><CBBC><EFBFBD> HAL_GPIO_WritePin(..., RESET); HAL_Delay(); <20><>һ<EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD>
+******/
+void HCSR04_Trigger(void)
+{
+	HAL_GPIO_WritePin(HC_Trig_GPIO_Port,HC_Trig_Pin,GPIO_PIN_RESET);
+	delay_us(2);  //<2F><><EFBFBD><EFBFBD>2~5us
+	HAL_GPIO_WritePin(HC_Trig_GPIO_Port,HC_Trig_Pin,GPIO_PIN_SET);
+	delay_us(10); // <20><><EFBFBD>ָߵ<D6B8>ƽ10us 
+	HAL_GPIO_WritePin(HC_Trig_GPIO_Port,HC_Trig_Pin,GPIO_PIN_RESET);
+}
+
+
+#ifdef HCSR_TEST
+void ultrasonic_task_entry(ULONG thread_input) {
+    HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
+
+    while (1) {
+        HCSR04_Trigger();
+
+        ULONG actual_flags;
+        if (tx_event_flags_get(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR_CLEAR,
+                               &actual_flags, TX_WAIT_FOREVER) == TX_SUCCESS) {
+            if (distance_cm < 30) {
+                // ִ<>б<EFBFBD><D0B1>ϴ<EFBFBD><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>񶯡<EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE>
+            }
+        }
+
+        tx_thread_sleep(50);  // ÿ<>β<EFBFBD><CEB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 50 ticks
+    }
+}
+#endif
+
+
+
+
+/*******
+Echo <20><><EFBFBD>벶<EFBFBD><EBB2B6><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
+
+******/
+void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
+    if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2) {
+        if (is_first_capture == 0) {
+            ic_val1 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
+            __HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_2, TIM_INPUTCHANNELPOLARITY_FALLING);
+            is_first_capture = 1;
+        } else {
+            ic_val2 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
+            __HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_2, TIM_INPUTCHANNELPOLARITY_RISING);
+            is_first_capture = 0;
+
+            uint32_t delta = (ic_val2 > ic_val1) ? (ic_val2 - ic_val1) : (0xFFFF - ic_val1 + ic_val2);
+            distance_cm = delta / 58;
+
+            // ֪ͨ<CDA8><D6AA><EFBFBD><EFBFBD>
+//            tx_event_flags_set(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR);
+        }
+    }
+}
+