第一次提交

2025-07-05 20:11:15 +08:00
commit 89b0708dfb
56 changed files with 10876 additions and 0 deletions
--- a/app/app_ultrasonic.h
+++ b/app/app_ultrasonic.h
@@ -0,0 +1,75 @@
+#ifndef ULTRASONIC_H
+#define ULTRASONIC_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+  
+#define ULTRASONIC_FRONT_NODE       0x1 
+#define ULTRASONIC_BACK_NODE        0x2   
+  
+#define ULTRASONIC_ID_1             0x520 + ULTRASONIC_FRONT_NODE
+#define ULTRASONIC_ID_2             0x520 + ULTRASONIC_BACK_NODE
+  
+#define ULTRASONIC_READ             0x03
+#define ULTRASONIC_WRITE            0x06 
+
+
+  
+ 
+#define SOFTWARE_VERSION_REG        0x0000  // ģ<><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>汾<EFBFBD><E6B1BE>(ʮ<><CAAE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ), <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: uint16_t
+
+
+#define PROCESSED_DISTANCE_REG      0x0100  /* 
+                                             * <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ(mm), <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: uint16_t
+                                             * <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>࣬<EFBFBD>㷨<EFBFBD><E3B7A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+                                             * <20><>Ӧʱ<D3A6>䣺190-750ms(<28><><EFBFBD><EFBFBD><EFBFBD>̶<EFBFBD><CCB6><EFBFBD>)
+                                             */
+
+#define REALTIME_DISTANCE_REG       0x0101  /* 
+                                             * ʵʱ<CAB5><CAB1><EFBFBD>β<EFBFBD><CEB2><EFBFBD>ֵ(mm), <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: uint16_t
+                                             * <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD>󴥷<EFBFBD><F3B4A5B7><EFBFBD><EFBFBD>β<EFBFBD><CEB2><EFBFBD>
+                                             * <20><>Ӧʱ<D3A6>䣺15-140ms(<28><><EFBFBD><EFBFBD><EFBFBD>̶<EFBFBD><CCB6><EFBFBD>)
+                                             */
+
+#define TEMPERATURE_REG             0x0102  /* 
+                                             * <20>¶ȴ<C2B6><C8B4><EFBFBD><EFBFBD><EFBFBD>ֵ, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: int16_t
+                                             * <20><>λ<EFBFBD><CEBB>0.1<EFBFBD><EFBFBD> (ԭʼֵ<CABC><D6B5>/10), <20>ֱ<EFBFBD><D6B1>ʣ<EFBFBD>0.5<EFBFBD><EFBFBD>
+                                             * <20><>Ӧʱ<D3A6>䣺15-140ms(<28><><EFBFBD><EFBFBD><EFBFBD>̶<EFBFBD><CCB6><EFBFBD>)
+                                             */
+
+#define ECHO_TIME_REG               0x010A  /* 
+                                             * <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD>ʱ<EFBFBD><CAB1>ԭʼֵ(<28><>s), <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: uint16_t
+                                             * <20><><EFBFBD>뻻<EFBFBD>㣺ֵ/5.75 = <20><><EFBFBD>׾<EFBFBD><D7BE><EFBFBD>
+                                             * <20><>Ӧʱ<D3A6>䣺15-140ms(<28><><EFBFBD><EFBFBD><EFBFBD>̶<EFBFBD><CCB6><EFBFBD>)
+                                             */  
+  
+  
+  
+#define SWAP_ENDIAN_16(x) ((((x) & 0xFF) << 8) | (((x) >> 8) & 0xFF))
+#define SWAP_ENDIAN_32(x) (((x) << 24) | (((x) & 0xFF00) << 8) | (((x) >> 8) & 0xFF00) | ((x) >> 24))  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+ void ultrasonicAppInit(void);
+  
+  
+  
+  
+  
+  
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // ULTRASONIC_H