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#32 Changing the function names and removing the ifdef statements
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@trifuns @aabadie
trifuns authored and aabadie committed Jun 23, 2022
1 parent 23d6f60 commit 913fc45
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Showing 3 changed files with 87 additions and 97 deletions.
13 changes: 10 additions & 3 deletions bsp/hc_sr04.h
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Original file line number Diff line number Diff line change
Expand Up @@ -16,10 +16,17 @@
#include <stdio.h>
#include <stdlib.h>

//=========================== public ======================================

//=========================== defines ======================================

typedef void(*us_callback_t)(uint32_t);
typedef void(*timer_callback_t)(void);

//=========================== public ======================================

void us_init(void (*callback_us)(uint32_t), void (*callback_timer)(void), NRF_TIMER_Type *us_on, NRF_TIMER_Type *us_read);
void us_start(void);
void hc_sr04_init(us_callback_t us_callback, timer_callback_t timer_callback, NRF_TIMER_Type *us_on, NRF_TIMER_Type *us_read);
void hc_sr04_start(void);

void hfclk_init(void);

#endif
167 changes: 75 additions & 92 deletions bsp/nrf52833/hc_sr04.c
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Original file line number Diff line number Diff line change
Expand Up @@ -33,34 +33,18 @@
#define PULSE_DURATION_MS 0.01
#define PULSE_OFFSET_MS 200

#ifndef US_GPIOTE_IRQ
#define US_GPIOTE_IRQ (GPIOTE_IRQn) /**< IRQ corresponding to the Timer used */
#endif

#ifndef US_GPIOTE_ISR
#define US_GPIOTE_ISR (GPIOTE_IRQHandler) /**< ISR function handler corresponding to the Timer used */
#endif

#ifndef US_TIMER_IRQ
#define US_TIMER_IRQ (TIMER0_IRQn) /**< IRQ corresponding to the Timer used */
#endif

#ifndef US_TIMER_ISR
#define US_TIMER_ISR (TIMER0_IRQHandler) /**< ISR function handler corresponding to the Timer used */
#endif

//=========================== prototypes =======================================

void us_gpio(void);
void us_timers(void);
void us_on_set_trigger(double duration_ms, double offset_ms);
void hc_sr04_gpio(void);
void hc_sr04_timers(void);
void hc_sr04_on_set_trigger(double duration_ms, double offset_ms);

//=========================== variables =======================================

typedef struct {

void (*us_callback)(uint32_t); // Function pointer, stores the callback to use in the GPIOTE_IRQn handler.
void (*timer_callback)(void); // Function pointer, stores the callback to use in the GPIOTE_IRQn handler.
us_callback_t us_callback; // Function pointer, stores the callback to use in the GPIOTE_IRQn handler.
timer_callback_t timer_callback; // Function pointer, stores the callback to use in the GPIOTE_IRQn handler.

NRF_TIMER_Type *us_on_timer; // Pointer to the TIMER structure used for triggering US sensor
NRF_TIMER_Type *us_read_timer; // Pointer to the TIMER structure used for reading the range on the US sensor
Expand All @@ -78,36 +62,91 @@ static us_vars_t us_vars;
/**
* @brief Function for initializing variables and calling private functions for using the hc_sr04 US sensor
*/
void us_init(void (*callback_us)(uint32_t), void (*callback_timer)(void), NRF_TIMER_Type *us_on, NRF_TIMER_Type *us_read) {
void hc_sr04_init(us_callback_t us_callback, timer_callback_t timer_callback, NRF_TIMER_Type *us_on, NRF_TIMER_Type *us_read) {


// Assign the callback function that will be called when ranging is performed.
us_vars.us_callback = callback_us;
us_vars.us_callback = us_callback;

// Assign the callback function that will be called when compare 0 is reached.
us_vars.timer_callback = callback_timer;
us_vars.timer_callback = timer_callback;

// Assign the Timers for turning ON the US sensor and for US sensor readings
us_vars.us_on_timer = us_on;
us_vars.us_read_timer = us_read;

// initialize GPIOTE for US on and US read
us_gpio();
hc_sr04_gpio();

// initialize timers for US on and US read
us_timers();
hc_sr04_timers();

// initial timer settings for the trigger pulse
us_on_set_trigger(PULSE_DURATION_MS, PULSE_OFFSET_MS);
hc_sr04_on_set_trigger(PULSE_DURATION_MS, PULSE_OFFSET_MS);

}


/**
* @brief This function is public and it sets the PPI channels to allow the US trigger and US echo. Ranging starts by calling this function
*/
void hc_sr04_start(void) {

// get endpoint addresses
uint32_t us_power_task_addr = (uint32_t)&NRF_GPIOTE->TASKS_OUT[US_ON_CH];

uint32_t us_read_event_low_high_addr = (uint32_t)&NRF_GPIOTE->EVENTS_IN[US_READ_CH_LoToHi];
uint32_t us_read_event_high_low_addr = (uint32_t)&NRF_GPIOTE->EVENTS_IN[US_READ_CH_HiToLo];

uint32_t timer3_task_start_addr = (uint32_t)&us_vars.us_read_timer->TASKS_START;
uint32_t timer3_task_clear_addr = (uint32_t)&us_vars.us_read_timer->TASKS_CLEAR;
uint32_t timer3_task_stop_addr = (uint32_t)&us_vars.us_read_timer->TASKS_STOP;
uint32_t timer3_task_capture_addr = (uint32_t)&us_vars.us_read_timer->TASKS_CAPTURE[0];

uint32_t timer2_events_compare_0_addr = (uint32_t)&us_vars.us_on_timer->EVENTS_COMPARE[0];
uint32_t timer2_events_compare_1_addr = (uint32_t)&us_vars.us_on_timer->EVENTS_COMPARE[1];


// set endpoints
NRF_PPI->CH[0].EEP = timer2_events_compare_0_addr;
NRF_PPI->CH[0].TEP = us_power_task_addr;

NRF_PPI->CH[1].EEP = timer2_events_compare_1_addr;
NRF_PPI->CH[1].TEP = us_power_task_addr;

NRF_PPI->CH[2].EEP = us_read_event_low_high_addr;
NRF_PPI->CH[2].TEP = timer3_task_clear_addr;
NRF_PPI->FORK[2].TEP = timer3_task_start_addr;

NRF_PPI->CH[3].EEP = us_read_event_high_low_addr;
NRF_PPI->CH[3].TEP = timer3_task_capture_addr;
NRF_PPI->FORK[3].TEP = timer3_task_stop_addr;

// enable channels
NRF_PPI->CHENSET = (PPI_CHENSET_CH0_Enabled << PPI_CHENSET_CH0_Pos) |
(PPI_CHENSET_CH1_Enabled << PPI_CHENSET_CH1_Pos) |
(PPI_CHENSET_CH2_Enabled << PPI_CHENSET_CH2_Pos) |
(PPI_CHENSET_CH3_Enabled << PPI_CHENSET_CH3_Pos);
}

/**
* @brief This function is public and it enables HFCLK
*/
void hfclk_init(void) {

// Configure the external High-frequency Clock. (Needed for correct operation)
NRF_CLOCK->EVENTS_HFCLKSTARTED = 0x00; // Clear the flag
NRF_CLOCK->TASKS_HFCLKSTART = 0x01; // Start the clock
while (NRF_CLOCK->EVENTS_HFCLKSTARTED == 0) {;} // Wait for the clock to actually start.

}

//=========================== private ==========================================

/**
* @brief Function for initializing GPIOTE for US trigger and US echo signals.
*/

void us_gpio(void) {
void hc_sr04_gpio(void) {

//configure US_ON as an output PIN which toggles
NRF_GPIOTE->CONFIG[US_ON_CH] = (GPIOTE_CONFIG_MODE_Task << GPIOTE_CONFIG_MODE_Pos) |
Expand All @@ -129,20 +168,20 @@ void us_gpio(void) {
(GPIOTE_CONFIG_POLARITY_HiToLo << GPIOTE_CONFIG_POLARITY_Pos);

// Configure the Interruptions
NVIC_DisableIRQ(US_GPIOTE_IRQ);
NVIC_DisableIRQ(GPIOTE_IRQn);

// Enable interrupt for the HiToLo edge of the input
NRF_GPIOTE->INTENSET = (GPIOTE_INTENSET_IN2_Set << GPIOTE_INTENSET_IN2_Pos);

NVIC_ClearPendingIRQ(US_GPIOTE_IRQ); // Clear the flag for any pending radio interrupt
NVIC_ClearPendingIRQ(GPIOTE_IRQn); // Clear the flag for any pending radio interrupt

NVIC_EnableIRQ(US_GPIOTE_IRQ);
NVIC_EnableIRQ(GPIOTE_IRQn);
}

/**
* @brief This function is private and it sets up the Bitmode and Prescaler for US trigger and US echo timers
*/
void us_timers(void) {
void hc_sr04_timers(void) {

// configure the Timer for US on
us_vars.us_on_timer->BITMODE = TIMER_BITMODE_BITMODE_32Bit;
Expand All @@ -157,7 +196,7 @@ void us_timers(void) {
/**
* @brief This function is private and it sets the compare registers for US trigger timer
*/
void us_on_set_trigger(double duration_ms, double offset_ms) {
void hc_sr04_on_set_trigger(double duration_ms, double offset_ms) {

// Set compare values for US on
us_vars.us_on_timer->CC[0] = offset_ms * 1000; // first compare register for setting the offset and start of the pulse
Expand Down Expand Up @@ -185,69 +224,13 @@ void us_on_set_trigger(double duration_ms, double offset_ms) {

}

/**
* @brief This function is public and it sets the PPI channels to allow the US trigger and US echo. Ranging starts by calling this function
*/
void us_start(void) {

// get endpoint addresses
uint32_t us_power_task_addr = (uint32_t)&NRF_GPIOTE->TASKS_OUT[US_ON_CH];

uint32_t us_read_event_low_high_addr = (uint32_t)&NRF_GPIOTE->EVENTS_IN[US_READ_CH_LoToHi];
uint32_t us_read_event_high_low_addr = (uint32_t)&NRF_GPIOTE->EVENTS_IN[US_READ_CH_HiToLo];

uint32_t timer3_task_start_addr = (uint32_t)&us_vars.us_read_timer->TASKS_START;
uint32_t timer3_task_clear_addr = (uint32_t)&us_vars.us_read_timer->TASKS_CLEAR;
uint32_t timer3_task_stop_addr = (uint32_t)&us_vars.us_read_timer->TASKS_STOP;
uint32_t timer3_task_capture_addr = (uint32_t)&us_vars.us_read_timer->TASKS_CAPTURE[0];

uint32_t timer2_events_compare_0_addr = (uint32_t)&us_vars.us_on_timer->EVENTS_COMPARE[0];
uint32_t timer2_events_compare_1_addr = (uint32_t)&us_vars.us_on_timer->EVENTS_COMPARE[1];


// set endpoints
NRF_PPI->CH[0].EEP = timer2_events_compare_0_addr;
NRF_PPI->CH[0].TEP = us_power_task_addr;

NRF_PPI->CH[1].EEP = timer2_events_compare_1_addr;
NRF_PPI->CH[1].TEP = us_power_task_addr;

NRF_PPI->CH[2].EEP = us_read_event_low_high_addr;
NRF_PPI->CH[2].TEP = timer3_task_clear_addr;
NRF_PPI->FORK[2].TEP = timer3_task_start_addr;

NRF_PPI->CH[3].EEP = us_read_event_high_low_addr;
NRF_PPI->CH[3].TEP = timer3_task_capture_addr;
NRF_PPI->FORK[3].TEP = timer3_task_stop_addr;

// enable channels
NRF_PPI->CHENSET = (PPI_CHENSET_CH0_Enabled << PPI_CHENSET_CH0_Pos) |
(PPI_CHENSET_CH1_Enabled << PPI_CHENSET_CH1_Pos) |
(PPI_CHENSET_CH2_Enabled << PPI_CHENSET_CH2_Pos) |
(PPI_CHENSET_CH3_Enabled << PPI_CHENSET_CH3_Pos);


}

/**
* @brief This function is public and it enables HFCLK
*/
void hfclk_init(void) {

// Configure the external High-frequency Clock. (Needed for correct operation)
NRF_CLOCK->EVENTS_HFCLKSTARTED = 0x00; // Clear the flag
NRF_CLOCK->TASKS_HFCLKSTART = 0x01; // Start the clock
while (NRF_CLOCK->EVENTS_HFCLKSTARTED == 0) {;} // Wait for the clock to actually start.

}

//=========================== interrupt handlers ==============================

/**
* @brief ISR for reading ranging value from the sensor. It captures the value of the Timer1 (pulse width) and calls the callback for US reading
*
*/
void US_GPIOTE_ISR(void){
void GPIOTE_IRQHandler(void){

if(NRF_GPIOTE->EVENTS_IN[US_READ_CH_HiToLo] != 0)
{
Expand All @@ -265,7 +248,7 @@ void US_GPIOTE_ISR(void){
/**
* brief ISR for TIMER0 which is in charge of controling the US sensor trigger pin
*/
void US_TIMER_ISR(void){
void TIMER0_IRQHandler(void){

if((NRF_TIMER0->EVENTS_COMPARE[1] != 0) && ((NRF_TIMER0->INTENSET & TIMER_INTENSET_COMPARE1_Msk) != 0))
{
Expand Down
4 changes: 2 additions & 2 deletions projects/01bsp_us_ranging/01bsp_us_ranging.c
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Original file line number Diff line number Diff line change
Expand Up @@ -44,10 +44,10 @@ int main(void) {
//db_board_init();

// initilize the US sensor, set callback and chose the timers
us_init(&us_callback, &timer_callback, timer0, timer1);
hc_sr04_init(&us_callback, &timer_callback, timer0, timer1);

// start ranging
us_start();
hc_sr04_start();

// start high frequency clock needed for PPI
hfclk_init();
Expand Down

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