init

2025-12-25 12:07:06 +08:00
commit 26e73f451e
899 changed files with 42812 additions and 0 deletions
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+#ifndef _angsensor_H
+#define _angsensor_H
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include "gd32c10x_eval.h"
+#include "stdio.h"
+
+u16 spi_rw_half_word(u32 spi_periph, const u16 i_HalfWord);
+int spi_rw_half_word_dma(uint32_t spi_periph, uint16_t tx_data,
+						 uint16_t *rx_data);
+
+constexpr u16 VEL_FILTER_SIZE = 4;
+
+class angle_sensor {
+  public:
+	u8 init(void);
+	float read_sensorAngle(void);
+	float update(void);
+	void reset(void);
+	float getAngle(void) const;
+	float getRawAngle(void) const;
+	float getcurrent_sensorangle(void) const;
+	u8 angle_set(float angle);
+
+  protected:
+	float m_cumulativeAngle;
+	float current_angle_deg;
+	float current_angle_rad;
+	bool m_firstUpdate;
+	float m_lastAngle;
+	float m_lastcumulativeAngle;
+	float velocity[VEL_FILTER_SIZE] = {0.0f};
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif