generated from Template/H563ZI-HAL-CMake-Template
130 lines
3.2 KiB
C
130 lines
3.2 KiB
C
#include "Ultrasound.h"
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TX_THREAD ultrasonic_task_handle;
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TX_EVENT_FLAGS_GROUP ultrasonic_event;
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extern TIM_HandleTypeDef htim2;
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volatile uint32_t ic_val1 = 0; // 捕获值1
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volatile uint32_t ic_val2 = 0; // 捕获值2
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volatile uint8_t is_first_capture = 0; // 是否为第一次捕获
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volatile uint32_t distance_cm = 0; // 距离按照 cm计算
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volatile uint8_t obstacle_level = 0; // 0 - 无障碍 , 1 = 远 ,2 = 中 , 3 = 近
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/*******
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对于 超声波的配置
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Psc: 250 - 1 以达到 1tick = 1us的效果
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*******/
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/****
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DWT的初始化 待确认
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放到main.c中进行初始化
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****/
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void DWT_Init(void)
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{
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CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
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DWT->CYCCNT = (uint32_t)0u; //新加入的
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DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
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}
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/********
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delay_us() 函数实现 (使用DWT) 待确认
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*********/
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void delay_us(uint32_t us)
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{
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uint32_t start = DWT->CYCCNT;
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uint32_t ticks = us * (SystemCoreClock / 1000000U); // us * 64
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while((DWT->CYCCNT - start) < ticks);
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}
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/******
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Trig 触发
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You only need to supply a short 10uS
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pulse to the trigger input to start the ranging
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尤其在周期性测距中，如果前一个测距周期残留了 Trig 为高电平，可能导致错误测距或模块死机。因此加上 HAL_GPIO_WritePin(..., RESET); HAL_Delay(); 是一种保险写法。
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******/
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void HCSR04_Trigger(void)
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{
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HAL_GPIO_WritePin(HC_Trig_GPIO_Port,HC_Trig_Pin,GPIO_PIN_RESET);
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delay_us(2); //拉低2~5us
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HAL_GPIO_WritePin(HC_Trig_GPIO_Port,HC_Trig_Pin,GPIO_PIN_SET);
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delay_us(10); // 保持高电平10us
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HAL_GPIO_WritePin(HC_Trig_GPIO_Port,HC_Trig_Pin,GPIO_PIN_RESET);
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}
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#ifdef TEST
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void ultrasonic_task_entry(ULONG thread_input) {
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HAL_TIM_IC_Start_IT(&htim5, TIM_CHANNEL_1);
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DWT_Init();
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while (1) {
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HCSR04_Trigger();
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ULONG events;
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if (tx_event_flags_get(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR_CLEAR,
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&events, TX_WAIT_FOREVER) == TX_SUCCESS) {
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if (distance_cm < 30) {
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obstacle_level = 3; // 很近
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}else if(distance_cm > 30 && distance_cm < 50)
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{
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obstacle_level = 2; // 中
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}else if(distance_cm > 50 && distance_cm < 80)
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{
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obstacle_level = 1;
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}else
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{
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obstacle_level = 0; // 无障碍
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}
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if(obstacle_level > 0)
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{
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tx_event_flags_set(&response_events,EVENT_OBSTACLE_DETECTED,TX_OR); // 发送事件
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}
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}
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tx_thread_sleep(50); // 每次测距间隔 50 ticks 20Hz 测距频率
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}
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}
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#endif
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/*******
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Echo 输入捕获回调函数
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******/
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void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
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if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
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if (is_first_capture == 0) {
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ic_val1 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
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__HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_FALLING);
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is_first_capture = 1;
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} else {
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ic_val2 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
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__HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING);
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is_first_capture = 0;
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uint32_t delta = (ic_val2 > ic_val1) ? (ic_val2 - ic_val1) : (0xFFFF - ic_val1 + ic_val2);
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distance_cm = delta / 58;
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// 通知任务 取消注释以唤醒测距线程
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tx_event_flags_set(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR);
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}
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HAL_TIM_IC_Start_IT(&htim5,TIM_CHANNEL_1);
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}
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}
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