V2.0

.cproject

@@ -43,7 +43,6 @@
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.4539504" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1999440254" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.ofast" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1824133732" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
-									<listOptionValue builtIn="false" value="DEBUG"/>
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F103xE"/>
 								</option>
@@ -57,6 +56,7 @@
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
 								</option>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.warnings.extra.35757150" name="Enable extra warning flags (-Wextra)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.warnings.extra" useByScannerDiscovery="false" value="true" valueType="boolean"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.slow_flash_data.1505987394" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.slow_flash_data" value="false" valueType="boolean"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1688112573" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.333702566" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler">

Core/Src/main.c

@@ -216,7 +216,7 @@ static void MX_TIM7_Init(void)
   htim7.Instance = TIM7;
   htim7.Init.Prescaler = 71;
   htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim7.Init.Period = 99;
+  htim7.Init.Period = 65534;
   htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
   if (HAL_TIM_Base_Init(&htim7) != HAL_OK)
   {

bak/pluse_generator.c

@@ -0,0 +1,101 @@
+#include "pluse_generator.h"
+
+#include "config_service.h"
+
+extern TIM_HandleTypeDef PLUSE_CTRL_TIMER;
+
+static zgpio_t trigger_io;
+static zgpio_t ch_io[4];
+static zgpio_t chx_io;
+static int32_t m_cnt;
+
+static uint32_t m_pluse_width_cnt;
+static uint32_t m_pluse_interval_cnt;
+
+static uint32_t m_pluse_num;
+static uint32_t m_pluse_state;  // 0:低,1:高
+
+static inline void set_io_state(int off, bool state);
+
+/*******************************************************************************
+ *                                    中断                                     *
+ *******************************************************************************/
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
+  if (GPIO_Pin == trigger_io.pinoff) {
+    // 启动定时器，同时触发第一个波形
+
+    // 这里之所以设置成-1，是因为不知道啥原因，第一个脉冲会少一个定时器周期
+    m_cnt = -1;
+
+    m_pluse_state = 1;
+    m_pluse_num   = 0;
+    __HAL_TIM_SET_COUNTER(&PLUSE_CTRL_TIMER, 1);
+    HAL_TIM_Base_Start_IT(&PLUSE_CTRL_TIMER);
+    set_io_state(0, true);
+  }
+}
+
+static inline void pluse_wave_schedule() {
+  if (m_pluse_state == 0) {
+    if (m_cnt >= m_pluse_interval_cnt) {
+      m_pluse_state = 1;
+      m_pluse_num++;
+      m_cnt = 0;
+      set_io_state(m_pluse_num, 1);
+    }
+  }
+
+  else if (m_pluse_state == 1) {
+    if (m_cnt >= m_pluse_width_cnt) {
+      m_pluse_state = 0;
+      m_cnt         = 0;
+      set_io_state(m_pluse_num, 0);
+      if (m_pluse_num == 3) {
+        HAL_TIM_Base_Stop(&PLUSE_CTRL_TIMER);
+      }
+
+      if (m_pluse_interval_cnt == 0) {
+        m_pluse_state = 1;
+        m_pluse_num++;
+        m_cnt = 0;
+        set_io_state(m_pluse_num, 1);
+      }
+    }
+  }
+}
+
+void tim7_irq_trigger() {
+  m_cnt++;
+  pluse_wave_schedule();
+}
+
+/*******************************************************************************
+ *                                  FUNCTION                                   *
+ *******************************************************************************/
+static inline void set_io_state(int off, bool state) {
+  zgpio_write(&ch_io[off], state);
+  zgpio_write(&chx_io, state);
+}
+
+void PluseGenerator_init() {
+  //
+
+  ZASSERT(&PLUSE_CTRL_TIMER == &htim7);
+  ZASSERT(PLUSE_CTRL_TIMER.Init.AutoReloadPreload = 100);
+  ZASSERT(PLUSE_CTRL_TIMER.Init.Prescaler = 71);
+  // PLUSE_CTRL_TIMER.Init.
+
+  PluseGenerator_updatePraram();
+
+  zgpio_init_as_output(&ch_io[0], PLUSE_OUTPUT_CH0, kxs_gpio_nopull, false, false);
+  zgpio_init_as_output(&ch_io[1], PLUSE_OUTPUT_CH1, kxs_gpio_nopull, false, false);
+  zgpio_init_as_output(&ch_io[2], PLUSE_OUTPUT_CH2, kxs_gpio_nopull, false, false);
+  zgpio_init_as_output(&ch_io[3], PLUSE_OUTPUT_CH3, kxs_gpio_nopull, false, false);
+  zgpio_init_as_output(&chx_io, PLUSE_OUTPUT_CHX, kxs_gpio_nopull, false, false);
+  zgpio_init_as_input(&trigger_io, PLUSE_TRIGGER, kxs_gpio_pulldown, kxs_gpio_rising_irq, false);
+}
+
+void PluseGenerator_updatePraram() {
+  m_pluse_width_cnt    = config_get()->pulse_width_us * 10;
+  m_pluse_interval_cnt = config_get()->pulse_interval_us * 10;
+}

bak/pluse_generator.h

@@ -0,0 +1,13 @@
+#pragma once
+#include <stdint.h>
+
+#include "zlib.h"
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void PluseGenerator_init();
+void PluseGenerator_updatePraram();
+#ifdef __cplusplus
+}
+#endif

light_src_ctrl_stm32_port.ioc

@@ -167,7 +167,7 @@ SH.S_TIM8_CH4.0=TIM8_CH4,PWM Generation4 CH4
 SH.S_TIM8_CH4.ConfNb=1
 TIM7.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
 TIM7.IPParameters=AutoReloadPreload,Prescaler,Period
-TIM7.Period=99
+TIM7.Period=65534
 TIM7.Prescaler=71
 TIM8.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
 TIM8.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1

usrc/config_service.c

@@ -7,8 +7,8 @@ static config_t _default_val_config;
 
 static void create_default_config(config_t *default_cfg) {  //
   default_cfg->light_intensity   = 50;
-  default_cfg->pulse_width_ms    = 25;
-  default_cfg->pulse_interval_ms = 1;
+  default_cfg->pulse_width_us    = 25;
+  default_cfg->pulse_interval_us = 2;
   default_cfg->cmd_echo          = 1;
 }
 

usrc/config_service.h

@@ -9,8 +9,8 @@ extern "C" {
 typedef struct {
   uint32_t config_mark;
   uint32_t light_intensity;    // ¹âÇ¿ 0->100
-  uint32_t pulse_width_ms;     // Âö³å¿í¶È
-  uint32_t pulse_interval_ms;  // Âö³å¼ä¸ô
+  uint32_t pulse_width_us;     // Âö³å¿í¶È
+  uint32_t pulse_interval_us;  // Âö³å¼ä¸ô
   uint32_t cmd_echo;           // ÃüÁî»ØÏÔ
   uint32_t checksum;           //
 } config_t;

usrc/pluse_generator.c

@@ -4,69 +4,102 @@
 
 extern TIM_HandleTypeDef PLUSE_CTRL_TIMER;
 
+#define ZARRAY_SIZE(arr) (sizeof(arr) / sizeof(arr[0]))
+
 static zgpio_t trigger_io;
 static zgpio_t ch_io[4];
 static zgpio_t chx_io;
-static int32_t m_cnt;
-
-static uint32_t m_pluse_width_cnt;
-static uint32_t m_pluse_interval_cnt;
-
-static uint32_t m_pluse_num;
-static uint32_t m_pluse_state;  // 0:低,1:高
 
 static inline void set_io_state(int off, bool state);
 
+void tim7_irq_trigger() {}
+
+typedef enum {
+  kaction_set_io0_high = 0,
+  kaction_set_io0_low,
+  kaction_set_io1_high,
+  kaction_set_io1_low,
+  kaction_set_io2_high,
+  kaction_set_io2_low,
+  kaction_set_io3_high,
+  kaction_set_io3_low,
+} step_action_t;
+
+typedef struct {
+  step_action_t action;
+  int32_t       tp;
+} step_t;
+
+step_t m_steps[] = {            //
+    {kaction_set_io0_high, 0},  //
+    {kaction_set_io0_low, 0},   //
+    {kaction_set_io1_high, 0},  //
+    {kaction_set_io1_low, 0},   //
+    {kaction_set_io2_high, 0},  //
+    {kaction_set_io2_low, 0},   //
+    {kaction_set_io3_high, 0},  //
+    {kaction_set_io3_low, 0}};
+
 /*******************************************************************************
  *                                    中断                                     *
  *******************************************************************************/
-void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
-  if (GPIO_Pin == trigger_io.pinoff) {
-    // 启动定时器，同时触发第一个波形
-
-    // 这里之所以设置成-1，是因为不知道啥原因，第一个脉冲会少一个定时器周期
-    m_cnt = -1;
 
-    m_pluse_state = 1;
-    m_pluse_num   = 0;
-    __HAL_TIM_SET_COUNTER(&PLUSE_CTRL_TIMER, 1);
-    HAL_TIM_Base_Start_IT(&PLUSE_CTRL_TIMER);
-    set_io_state(0, true);
+void prv_delay_us(uint32_t us) {
+  for (uint32_t j = 0; j < us; j++) {
+    for (uint32_t i = 0; i < 350; i++) {
+      __NOP();
+    }
   }
 }
 
-static inline void pluse_wave_schedule() {
-  if (m_pluse_state == 0) {
-    if (m_cnt >= m_pluse_interval_cnt) {
-      m_pluse_state = 1;
-      m_pluse_num++;
-      m_cnt = 0;
-      set_io_state(m_pluse_num, 1);
-    }
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
+  if (GPIO_Pin != trigger_io.pinoff) {
+    return;
   }
+  // 启动定时器，同时触发第一个波形
+
+  // 这里之所以设置成-1，是因为不知道啥原因，第一个脉冲会少一个定时器周期
+  __HAL_TIM_SET_COUNTER(&PLUSE_CTRL_TIMER, 0);
+  HAL_TIM_Base_Start(&PLUSE_CTRL_TIMER);
+
+  // set_io_state(0, true);
+  uint32_t counter = 0;
+  for (uint32_t i = 0; i < ZARRAY_SIZE(m_steps); i++) {
+    while ((int32_t)counter < m_steps[i].tp) {
+      counter = __HAL_TIM_GET_COUNTER(&PLUSE_CTRL_TIMER);
+    }
 
-  else if (m_pluse_state == 1) {
-    if (m_cnt >= m_pluse_width_cnt) {
-      m_pluse_state = 0;
-      m_cnt         = 0;
-      set_io_state(m_pluse_num, 0);
-      if (m_pluse_num == 3) {
-        HAL_TIM_Base_Stop(&PLUSE_CTRL_TIMER);
-      }
-
-      if (m_pluse_interval_cnt == 0) {
-        m_pluse_state = 1;
-        m_pluse_num++;
-        m_cnt = 0;
-        set_io_state(m_pluse_num, 1);
-      }
+    switch (m_steps[i].action) {
+      case kaction_set_io0_high:
+        set_io_state(0, true);
+        break;
+      case kaction_set_io0_low:
+        set_io_state(0, false);
+        break;
+      case kaction_set_io1_high:
+        set_io_state(1, true);
+        break;
+      case kaction_set_io1_low:
+        set_io_state(1, false);
+        break;
+      case kaction_set_io2_high:
+        set_io_state(2, true);
+        break;
+      case kaction_set_io2_low:
+        set_io_state(2, false);
+        break;
+      case kaction_set_io3_high:
+        set_io_state(3, true);
+        break;
+      case kaction_set_io3_low:
+        set_io_state(3, false);
+        break;
+      default:
+        break;
     }
   }
-}
 
-void tim7_irq_trigger() {
-  m_cnt++;
-  pluse_wave_schedule();
+  HAL_TIM_Base_Stop(&PLUSE_CTRL_TIMER);
 }
 
 /*******************************************************************************
@@ -74,6 +107,7 @@ void tim7_irq_trigger() {
  *******************************************************************************/
 static inline void set_io_state(int off, bool state) {
   zgpio_write(&ch_io[off], state);
+  // zdelay_us(1);
   zgpio_write(&chx_io, state);
 }
 
@@ -81,7 +115,6 @@ void PluseGenerator_init() {
   //
 
   ZASSERT(&PLUSE_CTRL_TIMER == &htim7);
-  ZASSERT(PLUSE_CTRL_TIMER.Init.AutoReloadPreload = 100);
   ZASSERT(PLUSE_CTRL_TIMER.Init.Prescaler = 71);
   // PLUSE_CTRL_TIMER.Init.
 
@@ -96,6 +129,18 @@ void PluseGenerator_init() {
 }
 
 void PluseGenerator_updatePraram() {
-  m_pluse_width_cnt    = config_get()->pulse_width_ms * 10;
-  m_pluse_interval_cnt = config_get()->pulse_interval_ms * 10;
-}
+  config_t* cfg = config_get();
+
+  m_steps[kaction_set_io0_high].tp = 1 + (cfg->pulse_width_us + cfg->pulse_interval_us) * 0;
+  m_steps[kaction_set_io0_low].tp  = 1 + (cfg->pulse_width_us + cfg->pulse_interval_us) * 0 + cfg->pulse_width_us;
+  m_steps[kaction_set_io1_high].tp = 1 + (cfg->pulse_width_us + cfg->pulse_interval_us) * 1;
+  m_steps[kaction_set_io1_low].tp  = 1 + (cfg->pulse_width_us + cfg->pulse_interval_us) * 1 + cfg->pulse_width_us;
+  m_steps[kaction_set_io2_high].tp = 1 + (cfg->pulse_width_us + cfg->pulse_interval_us) * 2;
+  m_steps[kaction_set_io2_low].tp  = 1 + (cfg->pulse_width_us + cfg->pulse_interval_us) * 2 + cfg->pulse_width_us;
+  m_steps[kaction_set_io3_high].tp = 1 + (cfg->pulse_width_us + cfg->pulse_interval_us) * 3;
+  m_steps[kaction_set_io3_low].tp  = 1 + (cfg->pulse_width_us + cfg->pulse_interval_us) * 3 + cfg->pulse_width_us;
+
+  for (uint32_t i = 0; i < ZARRAY_SIZE(m_steps); i++) {
+    printf("m_steps[%d].tp = %d\n", i, m_steps[i].tp);
+  }
+}

usrc/umain.c

@@ -75,20 +75,20 @@ void prv_process_uart_rx_data() {
       cfg->light_intensity = val;
       LightIntensityCtrl_updatePraram();
       printf("OK\n");
-    } else if (strcmp(param, "pulse_width_ms") == 0) {
+    } else if (strcmp(param, "pulse_width_us") == 0) {
       if (val <= 0 || val > 100) {
-        printf("FAIL,pulse_width_ms should be in range 1-100\n");
+        printf("FAIL,pulse_width_us should be in range 1-100\n");
         return;
       }
-      cfg->pulse_width_ms = val;
+      cfg->pulse_width_us = val;
       PluseGenerator_updatePraram();
       printf("OK\n");
-    } else if (strcmp(param, "pulse_interval_ms") == 0) {
+    } else if (strcmp(param, "pulse_interval_us") == 0) {
       if (val > 100) {
-        printf("FAIL,pulse_interval_ms should be in range 0-100\n");
+        printf("FAIL,pulse_interval_us should be in range 0-100\n");
         return;
       }
-      cfg->pulse_interval_ms = val;
+      cfg->pulse_interval_us = val;
       PluseGenerator_updatePraram();
       printf("OK\n");
     } else if (strcmp(param, "cmd_echo") == 0) {
@@ -107,11 +107,11 @@ void prv_process_uart_rx_data() {
     const char *param = argc[1];
     if (strcmp(param, "light_intensity") == 0) {
       printf("OK,%ld\n", cfg->light_intensity);
-    } else if (strcmp(param, "pulse_width_ms") == 0) {
-      printf("OK,%ld\n", cfg->pulse_width_ms);
+    } else if (strcmp(param, "pulse_width_us") == 0) {
+      printf("OK,%ld\n", cfg->pulse_width_us);
       PluseGenerator_updatePraram();
-    } else if (strcmp(param, "pulse_interval_ms") == 0) {
-      printf("OK,%ld\n", cfg->pulse_interval_ms);
+    } else if (strcmp(param, "pulse_interval_us") == 0) {
+      printf("OK,%ld\n", cfg->pulse_interval_us);
       PluseGenerator_updatePraram();
     } else if (strcmp(param, "cmd_echo") == 0) {
       printf("OK,%ld\n", cfg->cmd_echo);
@@ -136,8 +136,8 @@ void prv_process_uart_rx_data() {
     config_t *cfg = config_get();
     printf("------ param list ------\n");
     printf(" light_intensity        : %ld\n", cfg->light_intensity);
-    printf(" pulse_width_ms         : %ld\n", cfg->pulse_width_ms);
-    printf(" pulse_interval_ms      : %ld\n", cfg->pulse_interval_ms);
+    printf(" pulse_width_us         : %ld\n", cfg->pulse_width_us);
+    printf(" pulse_interval_us      : %ld\n", cfg->pulse_interval_us);
     printf(" cmd_echo               : %ld\n", cfg->cmd_echo);
 
   }