From a25ec5f029d57b657381b3c131aedce4a43e1b4b Mon Sep 17 00:00:00 2001 From: cbb <2625274797@qq.com> Date: Sat, 27 Dec 2025 19:20:23 +0800 Subject: [PATCH] =?UTF-8?q?=E5=9F=BA=E7=A1=80=E5=93=8D=E5=BA=94=E5=8A=9F?= =?UTF-8?q?=E8=83=BD=E7=9A=84=E5=AE=9E=E7=8E=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Robot_V2/Algorithm/DengFOC.cpp | 290 ----- Robot_V2/Algorithm/DengFOC.h | 411 ------- Robot_V2/Algorithm/Filter.cpp | 151 --- Robot_V2/Algorithm/Filter.h | 164 --- Robot_V2/Algorithm/pid.cpp | 60 - Robot_V2/Algorithm/pid.h | 25 - Robot_V2/Algorithm/thermal.cpp | 0 Robot_V2/Algorithm/thermal.h | 7 - .../RTE/_Release_GD32C103CB/RTE_Components.h | 2 - Robot_V2/Robot_V2.cproject.yml | 5 +- Robot_V2/device/ADC.cpp | 274 ----- Robot_V2/device/Can.cpp | 518 ++------- Robot_V2/device/Can.h | 25 +- Robot_V2/device/Timer.cpp | 109 -- Robot_V2/device/Timer.h | 27 - Robot_V2/device/adc.h | 40 - Robot_V2/device/ang_sensor.cpp | 306 ----- 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a/Robot_V2/Algorithm/DengFOC.cpp b/Robot_V2/Algorithm/DengFOC.cpp deleted file mode 100644 index b824d00..0000000 --- a/Robot_V2/Algorithm/DengFOC.cpp +++ /dev/null @@ -1,290 +0,0 @@ -#include "DengFOC.h" -#include "Can.h" -#include "Timer.h" -#include "adc.h" -#include "ang_sensor.h" -#include "initial.h" -#include "pid.h" -#include -#include -#include -#include "motor.h" - -constexpr double PI = 3.1415926535897932384626433832795f; -constexpr float ANGLE_FACTOR = 25.0f / 360.0f * 2.0f * 3.14159265358979323846f; -constexpr float _1_SQRT3 = 0.57735026919f; -constexpr float _2_SQRT3 = 1.15470053838f; -constexpr float _3PI_2 = 4.71238898038f; -constexpr u8 PP = 11; -constexpr float DIR = 1.0; -constexpr float sqrt3 = 1.73205080757f; // sqrt(3)的预计算值 -constexpr float sqrt3dv2 = 0.86602540378f; // sqrt(3)/2的预计算值 -constexpr float zero_electric_angle = 0.0f; -constexpr u16 LUT_SCALE = (LUT_SIZE / (2.0f * PI)); - -FOC_Controlroller FOC; // FOC控制初始化 -extern sampler sampler; -extern angle_sensor KTH7823; -extern CAN_transmiter CAN0_transmiter; - -// 初始变量及函数定义 -#define _constrain(amt, low, high) \ - ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt))) -#define constrain(value, min, max, target_min, target_max) \ - ((value - min) / (max - min) * (target_max - target_min)) - -/** - * @brief 归一化角度 - * - * @param angle - * @return float - */ -inline float _normalizeAngle(float angle) { - float a = fmod(angle, 2 * PI); - // 取余运算可以用于归一化，列出特殊值例子算便知 - return a >= 0 ? a : (a + 2 * PI); -} - -// 通过Ia,Ib,Ic计算Iq,Id(目前仅输出Iq) -inline float FOC_Controlroller::cal_Iq_Id(float current_a, float current_b, - float current_c) { - // 计算电气角度 - float angle_el = _normalizeAngle(shaft_angle * PP); - - // Clarke变换 (使用三相电流) - float I_alpha = (2.0f / 3.0f) * current_a - (1.0f / 3.0f) * current_b - - (1.0f / 3.0f) * current_c; - float I_beta = _1_SQRT3 * current_b - _1_SQRT3 * current_c; - - // Park变换 - float sin_el, cos_el; - cos_el = cos_lut[(u16)(angle_el * LUT_SCALE) & LUT_MASK]; - sin_el = sin_lut[(u16)(angle_el * LUT_SCALE) & LUT_MASK]; - float I_q = I_beta * cos_el - I_alpha * sin_el; - - return I_q*1000.0f; // 返回Iq值，乘以1000以转换为mA -} - -/** - * @brief 电机控制类构造函数 - * - */ -FOC_Controlroller::FOC_Controlroller() { ; } - -/** - * @brief 设置电机输出，使用优化的SVPWM算法 - * - * @param Uq: q轴电压 - * @param Ud: d轴电压 - * @param angle_el: 电机轴角度 - */ -inline void FOC_Controlroller::setPhaseVoltage(float Uq, float Ud) { - // 计算电气角度 - float angle_el = _normalizeAngle(shaft_angle * PP); - - // 帕克逆变换 (直接计算，避免函数调用开销) - float sin_el, cos_el; - sin_el = sin_lut[(u16)(angle_el * LUT_SCALE) & LUT_MASK]; - cos_el = cos_lut[(u16)(angle_el * LUT_SCALE) & LUT_MASK]; - float Ualpha = Ud * cos_el - Uq * sin_el; - float Ubeta = Ud * sin_el + Uq * cos_el; - - // 克拉克逆变换 (使用预计算常量优化) - Ua = Ualpha + v_half; - Ub = sqrt3dv2 * Ubeta - 0.5f * Ualpha + v_half; - Uc = -0.5f * Ualpha - sqrt3dv2 * Ubeta + v_half; - - // 计算占空比并限制范围 - duty_a = _constrain(Ua / v_safe, 0.0f, 1.0f); - duty_b = _constrain(Ub / v_safe, 0.0f, 1.0f); - duty_c = _constrain(Uc / v_safe, 0.0f, 1.0f); - // 设置PWM输出 - float voltage_exchange = limit_voltage / v_safe; - duty_a = duty_a * voltage_exchange; - duty_b = duty_b * voltage_exchange; - duty_c = duty_c * voltage_exchange; - Set_3Pwm(duty_a, duty_b, duty_c); - // std::printf("PWM:%f,%f,%f\n", dc_a, dc_b, dc_c); -} - -/** - * @brief 电机关机 - * - */ -void FOC_Controlroller::shut_down() { - is_shut_down = 1; - motor_sleep(); -} -/** - * @brief 占空比置0 - * - */ -void FOC_Controlroller::drv_stop() { Set_3Pwm(0.0f, 0.0f, 0.0f); } -/** - * @brief 电机锁止 - */ -void FOC_Controlroller::drv_hold(float duty) { - if (duty > 0.95f) { - duty = 0.95f; - } else if (duty < 0.0f) { - duty = 0.0f; - } - Set_3Pwm(duty, duty, duty); -} -/** - * @brief 电机恢复 - * - */ -void FOC_Controlroller::resume() { - over_current = false; - voltage_error = false; - is_shut_down = false; - motor_resume(); -} -/** - * @brief 更新电源电压 - * - */ -void FOC_Controlroller::update_power(void) { - voltage_power_supply = sampler.get_vbus_voltage(); - if (voltage_power_supply < 36.0f and voltage_power_supply > 8.0f) { - voltage_error = false; - v_half = voltage_power_supply * 0.5f; - v_safe = voltage_power_supply * 0.95f; - } else { - voltage_error = true; - } -} - -/** - * @brief 速度开环控制 - * - * @param target_velocity: 目标速度 - * @return float: q轴电压 - */ -float FOC_Controlroller::velocity_open_loop() { - // 通过时间间隔和目标速度计算需要转动的机械角度，存储在shaft_angle中，在此之前，还需要对轴角度归一化 - // 预计算常量 1e-4 = 100微秒控制周期 - shaft_angle = - _normalizeAngle(shaft_angle + target_velocity * ANGLE_FACTOR * 1e-4f); - - // 因为在开环控制中，Ud始终为0，只控制Uq - const float Uq = voltage_power_supply / 2.0f; - - setPhaseVoltage(Uq, 0.0f); - // CAN0_transmiter.testfloat_union.f = - cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'), sampler.get_current('W')); - - return limit_voltage; -} - -/** - * @brief 电机初始化 - * - * @param _PP: 电机极队数 - */ -// void FOC_Controlroller::DFOC_alignSensor(int _PP) { -// u8 PP = _PP; -// setPhaseVoltage(3, 0, _3PI_2); -// delay_1ms(3000); -// zero_electric_angle = _electricalAngle(); -// setPhaseVoltage(0, 0, _3PI_2); -// std::printf("0电角度:%f", zero_electric_angle); -// } - -/** - * @brief 角度闭环控制 - * - * @param target_angle: 目标角度 - * @return float: 当前角度 - */ -float FOC_Controlroller::angle_control(float target_angle) { - // PID 控制计算 - float Uq = angle_loop(target_angle - rt_angle); - - // 获取电机轴角度 - shaft_angle = KTH7823.getcurrent_sensorangle() * DEG2RAD; - // 设置相电压 - setPhaseVoltage(Uq, 0.0f); - return shaft_angle; -} - -/** - * @brief 带速度限制的角度闭环控制 - * - * @param target_angle: 目标角度 - * @param max_velocity: 最大速度限制 (单位: rad/s) - * @return float: 当前角度 - */ -float FOC_Controlroller::angle_control_with_velocity_limit(float target_angle) { - // 计算角度误差 - float angle_error = target_angle - rt_angle; - - // 使用角度PID控制器计算目标速度 - float target_velocity = ang_inVelAngloop(angle_error); - - // 对目标速度进行限幅 - target_velocity = _constrain(target_velocity, -limit_velocity, limit_velocity); - - // 使用速度PID控制器计算最终输出电压 - float Uq = vel_inVelAngloop(target_velocity - rt_velocity); - // CAN0_transmiter.testfloat_union.f = target_velocity - rt_velocity; - - // 获取电机轴角度 - shaft_angle = KTH7823.getcurrent_sensorangle() * DEG2RAD; - - // 设置相电压 - setPhaseVoltage(Uq, 0.0f); - - return shaft_angle; -} - -/** - * @brief 角度闭环控制 - * - * @param target_angle: 目标角度 - * @return float: 当前角度 - */ -float FOC_Controlroller::angle_control_NPID(float target_angle) { - static float Kp = 20.0f; - // 控制力矩计算 - float Uq = _constrain(Kp * (target_angle - rt_angle), -voltage_power_supply, - voltage_power_supply); - - // 获取电机轴角度 - shaft_angle = KTH7823.getcurrent_sensorangle() * DEG2RAD; - // 设置相电压 - setPhaseVoltage(Uq, 0.0f); - return shaft_angle; -} - -/** - * @brief 速度闭环控制 - * - * @param target_velocity: 目标速度 - * @return float: 当前速度 - */ -float FOC_Controlroller::velocity_control(float target_velocity) { - // PID 控制计算 - float Uq = vel_loop((target_velocity - rt_velocity)*25); - - // 获取电机轴角度 - shaft_angle = KTH7823.getcurrent_sensorangle() * DEG2RAD; - // 设置相电压 - setPhaseVoltage(Uq, 0.0f); - // CAN0_transmiter.testfloat_union.f = - cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'), sampler.get_current('W')); - return rt_velocity; -} - -float FOC_Controlroller::current_control(float target_current) { - // PID 控制计算 - float Iq = cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'), sampler.get_current('W')); - float Uq = current_loop(target_current - Iq); - CAN0_transmiter.testfloat_union.f = Iq; - // 获取电机轴角度 - shaft_angle = KTH7823.getcurrent_sensorangle() * DEG2RAD; - // 设置相电压 - setPhaseVoltage(Uq, 0.0f); - return 1; -} \ No newline at end of file diff --git a/Robot_V2/Algorithm/DengFOC.h b/Robot_V2/Algorithm/DengFOC.h deleted file mode 100644 index 3a616aa..0000000 --- a/Robot_V2/Algorithm/DengFOC.h +++ /dev/null @@ -1,411 +0,0 @@ -// 函数声明 -#ifndef _DENGFOC_H -#define _DENGFOC_H -#include "pid.h" -#include - -class FOC_Controlroller { - - public: - FOC_Controlroller(); - - u8 control_mode = 0; - float limit_voltage = 0.0f; - float limit_velocity = 0.0f; - float target_angle = 0.0f; - float target_velocity = 0.0f; - float rt_angle = 0.0f; - float rt_velocity = 0.0f; - bool over_current = false; - bool voltage_error = false; - bool is_shut_down = false; - float voltage_power_supply = 24.0f; // 电源电压 - float v_safe = voltage_power_supply * 1.05f; - float duty_a = 0, duty_b = 0, duty_c = 0; - float Ua = 0, Ub = 0, Uc = 0; - float velocity_open_loop(); - float angle_control(float target_angle); - float angle_control_with_velocity_limit(float target_angle); - float velocity_control(float target_velocity); - float current_control(float target_current); - float angle_control_NPID(float target_angle); - - void update_power(void); - void DFOC_alignSensor(int _PP); - void shut_down(void); - void resume(void); - void drv_stop(void); - void drv_hold(float duty = 0.5f); - - protected: - float shaft_angle = 0; - float Ualpha, Ubeta = 0; - float zero_electric_angle = 0; - float v_half = voltage_power_supply * 0.5f; // 电源电压的一半 - - PIDController vel_loop = - PIDController{0.028f, 0.2f, 1e-4, 1000000, voltage_power_supply}; // 12V - PIDController angle_loop = PIDController{20.0f, 100.0f, 0.2f, 10000000, - voltage_power_supply}; // 12V - PIDController current_loop = - PIDController{0.006f, 0.02f, 0, 100000, voltage_power_supply}; // 12V - PIDController vel_inVelAngloop = - PIDController{0.35f, 5.0f,1e-3, 1000000, voltage_power_supply}; - PIDController ang_inVelAngloop = - PIDController{30.0f, 0.0f, 1e-3, 1000000, 999}; - - void setPhaseVoltage(float Uq, float Ud); - float cal_Iq_Id(float current_a, float current_b, float current_c); -}; - -float _normalizeAngle(float angle); -inline float _electricalAngle(); - -constexpr u16 LUT_SIZE = 1024; -constexpr u16 LUT_MASK = (LUT_SIZE - 1); - -__attribute__((aligned(4))) const float sin_lut[LUT_SIZE] = { - 0.000000f, 0.006136f, 0.012272f, 0.018407f, 0.024541f, 0.030675f, - 0.036807f, 0.042938f, 0.049068f, 0.055195f, 0.061321f, 0.067444f, - 0.073565f, 0.079682f, 0.085797f, 0.091909f, 0.098017f, 0.104122f, - 0.110222f, 0.116319f, 0.122411f, 0.128498f, 0.134581f, 0.140658f, - 0.146730f, 0.152797f, 0.158858f, 0.164913f, 0.170962f, 0.177004f, - 0.183040f, 0.189069f, 0.195090f, 0.201105f, 0.207111f, 0.213110f, - 0.219101f, 0.225084f, 0.231058f, 0.237024f, 0.242980f, 0.248928f, - 0.254866f, 0.260794f, 0.266713f, 0.272621f, 0.278520f, 0.284408f, - 0.290285f, 0.296151f, 0.302006f, 0.307850f, 0.313682f, 0.319502f, - 0.325310f, 0.331106f, 0.336890f, 0.342661f, 0.348419f, 0.354164f, - 0.359895f, 0.365613f, 0.371317f, 0.377007f, 0.382683f, 0.388345f, - 0.393992f, 0.399624f, 0.405241f, 0.410843f, 0.416430f, 0.422000f, - 0.427555f, 0.433094f, 0.438616f, 0.444122f, 0.449611f, 0.455084f, - 0.460539f, 0.465976f, 0.471397f, 0.476799f, 0.482184f, 0.487550f, - 0.492898f, 0.498228f, 0.503538f, 0.508830f, 0.514103f, 0.519356f, - 0.524590f, 0.529804f, 0.534998f, 0.540171f, 0.545325f, 0.550458f, - 0.555570f, 0.560662f, 0.565732f, 0.570781f, 0.575808f, 0.580814f, - 0.585798f, 0.590760f, 0.595699f, 0.600616f, 0.605511f, 0.610383f, - 0.615232f, 0.620057f, 0.624859f, 0.629638f, 0.634393f, 0.639124f, - 0.643832f, 0.648514f, 0.653173f, 0.657807f, 0.662416f, 0.667000f, - 0.671559f, 0.676093f, 0.680601f, 0.685084f, 0.689541f, 0.693971f, - 0.698376f, 0.702755f, 0.707107f, 0.711432f, 0.715731f, 0.720003f, - 0.724247f, 0.728464f, 0.732654f, 0.736817f, 0.740951f, 0.745058f, - 0.749136f, 0.753187f, 0.757209f, 0.761202f, 0.765167f, 0.769103f, - 0.773010f, 0.776888f, 0.780737f, 0.784557f, 0.788346f, 0.792107f, - 0.795837f, 0.799537f, 0.803208f, 0.806848f, 0.810457f, 0.814036f, - 0.817585f, 0.821103f, 0.824589f, 0.828045f, 0.831470f, 0.834863f, - 0.838225f, 0.841555f, 0.844854f, 0.848120f, 0.851355f, 0.854558f, - 0.857729f, 0.860867f, 0.863973f, 0.867046f, 0.870087f, 0.873095f, - 0.876070f, 0.879012f, 0.881921f, 0.884797f, 0.887640f, 0.890449f, - 0.893224f, 0.895966f, 0.898674f, 0.901349f, 0.903989f, 0.906596f, - 0.909168f, 0.911706f, 0.914210f, 0.916679f, 0.919114f, 0.921514f, - 0.923880f, 0.926210f, 0.928506f, 0.930767f, 0.932993f, 0.935184f, - 0.937339f, 0.939459f, 0.941544f, 0.943593f, 0.945607f, 0.947586f, - 0.949528f, 0.951435f, 0.953306f, 0.955141f, 0.956940f, 0.958703f, - 0.960431f, 0.962121f, 0.963776f, 0.965394f, 0.966976f, 0.968522f, - 0.970031f, 0.971504f, 0.972940f, 0.974339f, 0.975702f, 0.977028f, - 0.978317f, 0.979570f, 0.980785f, 0.981964f, 0.983105f, 0.984210f, - 0.985278f, 0.986308f, 0.987301f, 0.988258f, 0.989177f, 0.990058f, - 0.990903f, 0.991710f, 0.992480f, 0.993212f, 0.993907f, 0.994565f, - 0.995185f, 0.995767f, 0.996313f, 0.996820f, 0.997290f, 0.997723f, - 0.998118f, 0.998476f, 0.998795f, 0.999078f, 0.999322f, 0.999529f, - 0.999699f, 0.999831f, 0.999925f, 0.999981f, 1.000000f, 0.999981f, - 0.999925f, 0.999831f, 0.999699f, 0.999529f, 0.999322f, 0.999078f, - 0.998795f, 0.998476f, 0.998118f, 0.997723f, 0.997290f, 0.996820f, - 0.996313f, 0.995767f, 0.995185f, 0.994565f, 0.993907f, 0.993212f, - 0.992480f, 0.991710f, 0.990903f, 0.990058f, 0.989177f, 0.988258f, - 0.987301f, 0.986308f, 0.985278f, 0.984210f, 0.983105f, 0.981964f, - 0.980785f, 0.979570f, 0.978317f, 0.977028f, 0.975702f, 0.974339f, - 0.972940f, 0.971504f, 0.970031f, 0.968522f, 0.966976f, 0.965394f, - 0.963776f, 0.962121f, 0.960431f, 0.958703f, 0.956940f, 0.955141f, - 0.953306f, 0.951435f, 0.949528f, 0.947586f, 0.945607f, 0.943593f, - 0.941544f, 0.939459f, 0.937339f, 0.935184f, 0.932993f, 0.930767f, - 0.928506f, 0.926210f, 0.923880f, 0.921514f, 0.919114f, 0.916679f, - 0.914210f, 0.911706f, 0.909168f, 0.906596f, 0.903989f, 0.901349f, - 0.898674f, 0.895966f, 0.893224f, 0.890449f, 0.887640f, 0.884797f, - 0.881921f, 0.879012f, 0.876070f, 0.873095f, 0.870087f, 0.867046f, - 0.863973f, 0.860867f, 0.857729f, 0.854558f, 0.851355f, 0.848120f, - 0.844854f, 0.841555f, 0.838225f, 0.834863f, 0.831470f, 0.828045f, - 0.824589f, 0.821103f, 0.817585f, 0.814036f, 0.810457f, 0.806848f, - 0.803208f, 0.799537f, 0.795837f, 0.792107f, 0.788346f, 0.784557f, - 0.780737f, 0.776888f, 0.773010f, 0.769103f, 0.765167f, 0.761202f, - 0.757209f, 0.753187f, 0.749136f, 0.745058f, 0.740951f, 0.736817f, - 0.732654f, 0.728464f, 0.724247f, 0.720003f, 0.715731f, 0.711432f, - 0.707107f, 0.702755f, 0.698376f, 0.693971f, 0.689541f, 0.685084f, - 0.680601f, 0.676093f, 0.671559f, 0.667000f, 0.662416f, 0.657807f, - 0.653173f, 0.648514f, 0.643832f, 0.639124f, 0.634393f, 0.629638f, - 0.624859f, 0.620057f, 0.615232f, 0.610383f, 0.605511f, 0.600616f, - 0.595699f, 0.590760f, 0.585798f, 0.580814f, 0.575808f, 0.570781f, - 0.565732f, 0.560662f, 0.555570f, 0.550458f, 0.545325f, 0.540171f, - 0.534998f, 0.529804f, 0.524590f, 0.519356f, 0.514103f, 0.508830f, - 0.503538f, 0.498228f, 0.492898f, 0.487550f, 0.482184f, 0.476799f, - 0.471397f, 0.465976f, 0.460539f, 0.455084f, 0.449611f, 0.444122f, - 0.438616f, 0.433094f, 0.427555f, 0.422000f, 0.416430f, 0.410843f, - 0.405241f, 0.399624f, 0.393992f, 0.388345f, 0.382683f, 0.377007f, - 0.371317f, 0.365613f, 0.359895f, 0.354164f, 0.348419f, 0.342661f, - 0.336890f, 0.331106f, 0.325310f, 0.319502f, 0.313682f, 0.307850f, - 0.302006f, 0.296151f, 0.290285f, 0.284408f, 0.278520f, 0.272621f, - 0.266713f, 0.260794f, 0.254866f, 0.248928f, 0.242980f, 0.237024f, - 0.231058f, 0.225084f, 0.219101f, 0.213110f, 0.207111f, 0.201105f, - 0.195090f, 0.189069f, 0.183040f, 0.177004f, 0.170962f, 0.164913f, - 0.158858f, 0.152797f, 0.146730f, 0.140658f, 0.134581f, 0.128498f, - 0.122411f, 0.116319f, 0.110222f, 0.104122f, 0.098017f, 0.091909f, - 0.085797f, 0.079682f, 0.073565f, 0.067444f, 0.061321f, 0.055195f, - 0.049068f, 0.042938f, 0.036807f, 0.030675f, 0.024541f, 0.018407f, - 0.012272f, 0.006136f, 0.000000f, -0.006136f, -0.012272f, -0.018407f, - -0.024541f, -0.030675f, -0.036807f, -0.042938f, -0.049068f, -0.055195f, - -0.061321f, -0.067444f, -0.073565f, -0.079682f, -0.085797f, -0.091909f, - -0.098017f, -0.104122f, -0.110222f, -0.116319f, -0.122411f, -0.128498f, - -0.134581f, -0.140658f, -0.146730f, -0.152797f, -0.158858f, -0.164913f, - -0.170962f, -0.177004f, -0.183040f, -0.189069f, -0.195090f, -0.201105f, - -0.207111f, -0.213110f, -0.219101f, -0.225084f, -0.231058f, -0.237024f, - -0.242980f, -0.248928f, -0.254866f, -0.260794f, -0.266713f, -0.272621f, - -0.278520f, -0.284408f, -0.290285f, -0.296151f, -0.302006f, -0.307850f, - -0.313682f, -0.319502f, -0.325310f, -0.331106f, -0.336890f, -0.342661f, - -0.348419f, -0.354164f, -0.359895f, -0.365613f, -0.371317f, -0.377007f, - -0.382683f, -0.388345f, -0.393992f, -0.399624f, -0.405241f, -0.410843f, - 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0.998118f, 0.998476f, 0.998795f, 0.999078f, 0.999322f, 0.999529f, - 0.999699f, 0.999831f, 0.999925f, 0.999981f}; -#endif \ No newline at end of file diff --git a/Robot_V2/Algorithm/Filter.cpp b/Robot_V2/Algorithm/Filter.cpp deleted file mode 100644 index 01021aa..0000000 --- a/Robot_V2/Algorithm/Filter.cpp +++ /dev/null @@ -1,151 +0,0 @@ -#include "Filter.h" -#include "Can.h" -#include "ang_sensor.h" -#include -#include -#include - -extern angle_sensor KTH7823; -extern CAN_transmiter CAN0_transmiter; -extern u32 system_runtime_us; -EncoderAngleKalman Angle_kalman(0, 1.0f, 1e-4f, 0.25f); -EncoderVelocityKalman Vel_kalman(0, 1e-5f, 1e-6f, 0.02f); - -constexpr u8 SIZE_FLOAT = sizeof(float); - -/*! - \brief 中值滤波器函数 - \param[in] values 待滤波的数据数组 - \param[in] size 数组大小 - \retval 滤波后的中值 - \note 使用部分排序优化算法提高效率 -*/ -float medium_filter(float values[], u8 size) { - // 使用局部数组避免动态内存分配 - float sorted[size]; - memcpy(sorted, values, size * SIZE_FLOAT); - - // 这比完整排序更高效，时间复杂度从O(n log n)降低到O(n) - std::nth_element(sorted, sorted + size / 2, sorted + size); - - return sorted[size / 2]; // 返回中值 -} - -// EncoderVelocityKalman类的实现 -/*! - \brief 构造函数，初始化编码器速度卡尔曼滤波器参数 - \param[in] initial_velocity 初始速度值 (rad/s) - \param[in] T 控制周期(s) - \param[in] Q 过程噪声协方差(典型值: 1e-4 ~ 1e-2) - \param[in] R 测量噪声协方差(典型值: 速度范围的1%~5%) - \retval none -*/ -EncoderVelocityKalman::EncoderVelocityKalman(float initial_velocity, float T, - float Q, float R) - : kalman(initial_velocity, T, Q, R) {} - -/*! - \brief 更新卡尔曼滤波器状态 - \param[in] measured_velocity 测量的速度值 (rad/s) - \retval 估计的速度值 (rad/s) - \note 实现卡尔曼滤波的预测和更新步骤，假设速度变化符合随机游走模型 -*/ -float EncoderVelocityKalman::update(float measured_velocity) { - // 1. 预测步骤 - 假设速度符合随机游走模型（加速度为0） - // 由于速度变化缓慢，我们可以简单预测速度保持不变 - kalman.predict(kalman.getState()); - - // 2. 更新步骤 - 直接使用测量值更新 - return kalman.update(measured_velocity); -} - -/*! - \brief 获取当前速度估计值 - \retval 当前速度估计值 (deg/s) -*/ -float EncoderVelocityKalman::getVelocity() const { return kalman.getState(); } - -/*! - \brief 设置过程噪声协方差 - \param[in] q 过程噪声协方差值 - \retval none -*/ -void EncoderVelocityKalman::setProcessNoise(float q) { - kalman.setProcessNoise(q); -} - -/*! - \brief 设置测量噪声协方差 - \param[in] r 测量噪声协方差值 - \retval none -*/ -void EncoderVelocityKalman::setMeasurementNoise(float r) { - kalman.setMeasurementNoise(r); -} - -// EncoderAngleKalman类的实现 -/*! - \brief 构造函数，初始化编码器角度卡尔曼滤波器参数 - \param[in] initial_angle 初始角度值 (degree) - \param[in] initial_error_covariance 初始误差协方差 - \param[in] process_noise 过程噪声协方差 - \param[in] measurement_noise 测量噪声协方差 - \retval none -*/ -EncoderAngleKalman::EncoderAngleKalman(float initial_angle, - float initial_error_covariance, - float process_noise, - float measurement_noise) - : kalman(initial_angle, initial_error_covariance, process_noise, - measurement_noise), - last_angle(initial_angle), initialized(true) {} - -/*! - \brief 更新卡尔曼滤波器状态 - \param[in] measured_angle 测量的角度值 (degree) - \retval 估计的角度值 (degree) - \note 实现卡尔曼滤波的预测和更新步骤 -*/ -float EncoderAngleKalman::update(float measured_angle) { - // 更新last_angle以支持速度计算 - last_angle = kalman.getState(); - // 1. 预测步骤 - 速度估计 - kalman.predict(last_angle); - - // 2. 更新步骤 - 使用处理后的角度值更新 - float filtered_angle = kalman.update(measured_angle); - return filtered_angle; -} - -/*! - \brief 获取当前角度估计值 - \retval 当前角度估计值 (degree) -*/ -float EncoderAngleKalman::getAngle() const { return kalman.getState(); } -/*! - \brief 获取当前角度估计值 - \retval 当前角度估计值 (degree) -*/ -float EncoderAngleKalman::getVelocity() const { - static u32 last_us100_counter = system_runtime_us; - float vel = (kalman.getState() - last_angle) * 1e4 * - (system_runtime_us - last_us100_counter); - last_us100_counter = system_runtime_us; - return vel; -} - -/*! - \brief 设置过程噪声协方差 - \param[in] q 过程噪声协方差值 - \retval none -*/ -void EncoderAngleKalman::setProcessNoise(float q) { kalman.setProcessNoise(q); } - -/*! - \brief 设置测量噪声协方差 - \param[in] r 测量噪声协方差值 - \retval none -*/ -void EncoderAngleKalman::setMeasurementNoise(float r) { - kalman.setMeasurementNoise(r); -} \ No newline at end of file diff --git a/Robot_V2/Algorithm/Filter.h b/Robot_V2/Algorithm/Filter.h deleted file mode 100644 index 26096bb..0000000 --- a/Robot_V2/Algorithm/Filter.h +++ /dev/null @@ -1,164 +0,0 @@ -#ifndef _FILTER_H -#define _FILTER_H - -#ifdef __cplusplus -extern "C" { -#endif - -// C风格函数声明可以放在这里 -// 例如: void some_c_function(float* data, int size); - -#ifdef __cplusplus -} // extern "C" -#endif - -#ifdef __cplusplus -#include -#include - -float medium_filter(float values[], u8 size); - -/*! - \brief 通用卡尔曼滤波器模板类 - \note 可用于各种基于线性系统的状态估计 -*/ -template class KalmanFilter { - private: - T P; // 估计误差协方差 - T Q; // 过程噪声协方差 - T R; // 测量噪声协方差 - - public: - T x; // 状态估计 - /*! - \brief 构造函数 - \param[in] initial_state 初始状态值 - \param[in] initial_error_covariance 初始误差协方差 - \param[in] process_noise 过程噪声协方差 - \param[in] measurement_noise 测量噪声协方差 - */ - KalmanFilter(T initial_state, T initial_error_covariance, T process_noise, - T measurement_noise) - : x(initial_state), P(initial_error_covariance), Q(process_noise), - R(measurement_noise) {} - - /*! - \brief 预测步骤 - \param[in] state_prediction 状态预测值 - \retval none - */ - void predict(T state_prediction) { - x = state_prediction; - P += Q; - } - - /*! - \brief 更新步骤 - \param[in] measurement 测量值 - \param[in] measurement_prediction 测量预测值 - \retval 估计的状态值 - */ - T update(T measurement, T measurement_prediction) { - T y = measurement - measurement_prediction; // 测量残差 - T S = P + R; // 残差协方差 - T K = P / S; // 卡尔曼增益 - - x += K * y; // 更新状态估计 - P = (1 - K) * P; // 更新误差协方差 - - return x; - } - - /*! - \brief 直接更新步骤（适用于状态直接可测的情况） - \param[in] measurement 测量值 - \retval 估计的状态值 - */ - T update(T measurement) { - T K = P / (P + R); // 卡尔曼增益 - - x += K * (measurement - x); // 更新状态估计 - P = (1 - K) * P; // 更新误差协方差 - return x; - } - - /*! - \brief 获取当前状态估计值 - \retval 当前状态估计值 - */ - T getState() const { return x; } - - /*! - \brief 设置过程噪声协方差 - \param[in] process_noise 过程噪声协方差值 - \retval none - */ - void setProcessNoise(T process_noise) { Q = process_noise; } - - /*! - \brief 设置测量噪声协方差 - \param[in] measurement_noise 测量噪声协方差值 - \retval none - */ - void setMeasurementNoise(T measurement_noise) { R = measurement_noise; } -}; - -/*! - \brief 编码器速度卡尔曼滤波器类 - \note 用于滤除编码器速度测量噪声的卡尔曼滤波器实现 -*/ -class EncoderVelocityKalman { - private: - KalmanFilter kalman; - - public: - EncoderVelocityKalman(float initial_velocity, - float initial_error_covariance, float process_noise, - float measurement_noise); - - float update(float measured_velocity); - - float getVelocity() const; - - void setProcessNoise(float q); - - void setMeasurementNoise(float r); - - u8 init(float init_velocity) { - kalman.x = init_velocity; - return 0; - } -}; - -/*! - \brief 编码器角度卡尔曼滤波器类 - \note 用于滤除编码器角度测量噪声的卡尔曼滤波器实现 -*/ -class EncoderAngleKalman { - private: - KalmanFilter kalman; - bool initialized; - float last_angle; - - public: - EncoderAngleKalman(float initial_angle, float initial_error_covariance, - float process_noise, float measurement_noise); - - float update(float measured_angle); - - float getAngle() const; - float getVelocity() const; - - void setProcessNoise(float q); - float getstate() const { return kalman.getState(); }; - - void setMeasurementNoise(float r); - u8 init(float init_angle) { - kalman.x = init_angle; - return 0; - } -}; - -#endif // __cplusplus - -#endif // _FILTER_H \ No newline at end of file diff --git a/Robot_V2/Algorithm/pid.cpp b/Robot_V2/Algorithm/pid.cpp deleted file mode 100644 index 61595c1..0000000 --- a/Robot_V2/Algorithm/pid.cpp +++ /dev/null @@ -1,60 +0,0 @@ -#include "pid.h" -#define _constrain(amt, low, high) \ - ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt))) -#include "Can.h" -#include "math.h" - -extern CAN_transmiter CAN0_transmiter; -constexpr float TIME_SLICE = 1e-4; - -PIDController::PIDController(float P, float I, float D, float ramp, float limit) - : P(P), I(I), D(D), output_ramp(ramp) // PID控制器加速度限幅 - , - limit(limit) // PID控制器输出限幅 - , - error_prev(0.0f), output_prev(0.0f), integral_prev(0.0f) {} - -// PID 控制器函数 -float PIDController::operator()(float error) { - // P环 - float proportional = P * error; - - // Tustin 散点积分（I环） - // 添加积分限幅，防止积分饱和 - float integral = integral_prev + I * TIME_SLICE * 0.5f * (error + error_prev); - integral = _constrain(integral, -limit, limit); - - // D环（微分环节） - float derivative = D * (error - error_prev) / TIME_SLICE; - - // 将P,I,D三环的计算值加起来 - float output = proportional + integral + derivative; - output = _constrain(output, -limit, limit); - - // 输出斜坡限制 - // 简化的斜坡限制（单行逻辑） - if (output_ramp > 0) { - float max_delta = output_ramp * TIME_SLICE; - output = output_prev + fmaxf(-max_delta, fminf(max_delta, output - output_prev)); - } - // 保存值（为了下一次循环） - integral_prev = integral; - output_prev = output; - error_prev = error; - - return output; -} - -/** - * @brief 设置PID参数 - * - * @param P: P参数 - * @param I: I参数 - * @param D: D参数 - * @return void - */ -void PIDController::set_PID(float P, float I, float D) { - this->P = P; - this->I = I; - this->D = D; -} \ No newline at end of file diff --git a/Robot_V2/Algorithm/pid.h b/Robot_V2/Algorithm/pid.h deleted file mode 100644 index 695b51d..0000000 --- a/Robot_V2/Algorithm/pid.h +++ /dev/null @@ -1,25 +0,0 @@ -#ifndef PID_H -#define PID_H - -class PIDController -{ -public: - PIDController(float P, float I, float D, float ramp, float limit); - ~PIDController() = default; - - float operator() (float error); - void set_PID(float P, float I, float D); - - float P; //!< 比例增益(P环增益) - float I; //!< 积分增益（I环增益） - float D; //!< 微分增益（D环增益） - float output_ramp; - float limit; -protected: - float error_prev; //!< 最后的跟踪误差值 - float output_prev; //!< 最后一个 pid 输出值 - float integral_prev; //!< 最后一个积分分量值 - unsigned long timestamp_prev; //!< 上次执行时间戳 -}; - -#endif \ No newline at end of file diff --git a/Robot_V2/Algorithm/thermal.cpp b/Robot_V2/Algorithm/thermal.cpp deleted file mode 100644 index e69de29..0000000 diff --git a/Robot_V2/Algorithm/thermal.h b/Robot_V2/Algorithm/thermal.h deleted file mode 100644 index ed7041f..0000000 --- a/Robot_V2/Algorithm/thermal.h +++ /dev/null @@ -1,7 +0,0 @@ -#ifndef THERMAL_H -#define THERMAL_H - - - - -#endif \ No newline at end of file diff --git a/Robot_V2/RTE/_Release_GD32C103CB/RTE_Components.h b/Robot_V2/RTE/_Release_GD32C103CB/RTE_Components.h index b9d9195..823bdb7 100644 --- a/Robot_V2/RTE/_Release_GD32C103CB/RTE_Components.h +++ b/Robot_V2/RTE/_Release_GD32C103CB/RTE_Components.h @@ -15,8 +15,6 @@ */ #define CMSIS_device_header "gd32c10x.h" -/* GigaDevice::Device:GD32C10x_StdPeripherals:BKP@1.0.0 */ -#define RTE_DEVICE_STDPERIPHERALS_BKP /* GigaDevice::Device:GD32C10x_StdPeripherals:CAN@1.0.0 */ #define RTE_DEVICE_STDPERIPHERALS_CAN /* GigaDevice::Device:GD32C10x_StdPeripherals:CRC@1.0.0 */ diff --git a/Robot_V2/Robot_V2.cproject.yml b/Robot_V2/Robot_V2.cproject.yml index 2f4b28b..cf2488b 100644 --- a/Robot_V2/Robot_V2.cproject.yml +++ b/Robot_V2/Robot_V2.cproject.yml @@ -32,11 +32,10 @@ project: - component: Device:GD32C10x_StdPeripherals:RCU - component: Device:GD32C10x_StdPeripherals:USART - component: Device:GD32C10x_libopt - - component: Device:GD32C10x_StdPeripherals:DBG - component: Device:EVAL:GD32C10x - - component: Device:GD32C10x_StdPeripherals:FWDGT - - component: Device:GD32C10x_StdPeripherals:BKP - component: Device:GD32C10x_StdPeripherals:CRC + - component: Device:GD32C10x_StdPeripherals:FWDGT + - component: Device:GD32C10x_StdPeripherals:DBG output: type: - elf diff --git a/Robot_V2/device/ADC.cpp b/Robot_V2/device/ADC.cpp deleted file mode 100644 index afa3e72..0000000 --- a/Robot_V2/device/ADC.cpp +++ /dev/null @@ -1,274 +0,0 @@ -#include "adc.h" -#include "Can.h" -#include "DengFOC.h" -#include "Filter.h" -#include "math.h" -#include -#include -#include -#include "systick.h" - -constexpr float ERROR_ADC_VAL = 255.0f; -constexpr float ADC_SCALE = 3.3f / 4096.0f; -constexpr float TEMP_FACTOR = 1000.0f / 4.3f; -constexpr float VCC_FACTOR = 11.0f; -constexpr float CURRENT_OFFSET = -1.60f; -constexpr float CURRENT_FACTOR = - 1.0f / 50.0f * 100.0f; // 50倍放大，100倍电流采样电阻, 单位mA -constexpr float MAX_TEMP = 150.0f; -constexpr float MIN_TEMP = -40.0f; -constexpr float MAX_CURRENT = 40.0f; -constexpr float MIN_CURRENT = -40.0f; -constexpr float MAX_VCC = 65.0f; -constexpr float MIN_VCC = -0.1f; -extern CAN_transmiter CAN0_transmiter; -extern FOC_Controlroller FOC; -sampler sampler; // 采样器初始化 -u16 adc_value[6] = {0}; // 显式初始化数组元素为0 -/*! - \brief configure the DMA peripheral - \param[in] none - \param[out] none - \retval none -*/ -void dma_config(void) { - /* enable DMA0 clock */ - rcu_periph_clock_enable(RCU_DMA0); - /* ADC_DMA_channel configuration */ - dma_parameter_struct dma_data_parameter; - - /* ADC DMA_channel configuration */ - dma_deinit(DMA0, DMA_CH0); - - /* initialize DMA single data mode */ - dma_data_parameter.periph_addr = (uint32_t)(&ADC_RDATA(ADC0)); - dma_data_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE; - dma_data_parameter.memory_addr = (uint32_t)(adc_value); - dma_data_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE; - dma_data_parameter.periph_width = DMA_PERIPHERAL_WIDTH_16BIT; - dma_data_parameter.memory_width = DMA_MEMORY_WIDTH_16BIT; - dma_data_parameter.direction = DMA_PERIPHERAL_TO_MEMORY; - dma_data_parameter.number = 6; - dma_data_parameter.priority = DMA_PRIORITY_HIGH; - dma_init(DMA0, DMA_CH0, &dma_data_parameter); - - dma_circulation_enable(DMA0, DMA_CH0); - - /* enable DMA channel */ - dma_channel_enable(DMA0, DMA_CH0); -} - -/*! - \brief configure the ADC peripheral - \param[in] none - \param[out] none - \retval none -*/ -void adc_config(void) { - /* enable ADC clock */ - rcu_periph_clock_enable(RCU_ADC0); - /* config ADC clock */ - rcu_adc_clock_config(RCU_CKADC_CKAPB2_DIV4); - - /* 复位ADC */ - adc_deinit(ADC0); - /* ADC模式配置 */ - adc_mode_config(ADC_MODE_FREE); - /* 使能ADC连续转换功能 */ - adc_special_function_config(ADC0, ADC_CONTINUOUS_MODE, ENABLE); - /* 使能ADC扫描模式 */ - adc_special_function_config(ADC0, ADC_SCAN_MODE, ENABLE); - /* ADC数据右对齐配置 */ - adc_data_alignment_config(ADC0, ADC_DATAALIGN_RIGHT); - /* 使能ADC温度传感器和内部参考电压 */ - adc_tempsensor_vrefint_enable(); - - /* 配置ADC通道长度 */ - adc_channel_length_config(ADC0, ADC_REGULAR_CHANNEL, 6); - /* 配置ADC规则通道 */ - adc_regular_channel_config(ADC0, 0, ADC_CHANNEL_16, - ADC_SAMPLETIME_239POINT5); - adc_regular_channel_config(ADC0, 1, ADC_CHANNEL_9, ADC_SAMPLETIME_28POINT5); - adc_regular_channel_config(ADC0, 2, ADC_CHANNEL_3, ADC_SAMPLETIME_28POINT5); - adc_regular_channel_config(ADC0, 3, ADC_CHANNEL_4, ADC_SAMPLETIME_28POINT5); - adc_regular_channel_config(ADC0, 4, ADC_CHANNEL_5, ADC_SAMPLETIME_28POINT5); - adc_regular_channel_config(ADC0, 5, ADC_CHANNEL_6, ADC_SAMPLETIME_28POINT5); - - /* ADC触发配置 */ - adc_external_trigger_source_config(ADC0, ADC_REGULAR_CHANNEL, - ADC0_1_EXTTRIG_REGULAR_NONE); - adc_external_trigger_config(ADC0, ADC_REGULAR_CHANNEL, ENABLE); - - /* 使能ADC接口 */ - adc_enable(ADC0); - /* ADC校准 */ - adc_calibration_enable(ADC0); - /* 使能ADC DMA功能 */ - adc_dma_mode_enable(ADC0); - /* 使能ADC软件触发 */ - adc_software_trigger_enable(ADC0, ADC_REGULAR_CHANNEL); -} -/** - * @brief 采样类初始化 - */ -u8 sampler::init() { - dma_config(); // DMA采样ADC初始化 - adc_config(); // ADC初始化 - delay_1ms(1); - // 初始采样 - for (int i = 0; i < FILTER_SIZE + 1; i++) { - mcu_temp_samples[i] = - (1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f; - - currU_samples[i] = - (adc_value[2] * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR; - currV_samples[i] = - (adc_value[3] * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR; - currW_samples[i] = - (adc_value[4] * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR; - - vbus_samples[i] = adc_value[5] * ADC_SCALE * VCC_FACTOR; - - float R_now = (float)adc_value[1] / (4096 - (float)adc_value[1]) * 4700; - drv_temp_samples[i] = - 1.0f / (0.00335f + 0.00025f * log(R_now / 10000.0f)) - 273.15f; - delay_1ms(1); - } - return 0; -} -/** - * @brief 获取MCU温度 - * @return float - * 温度值，单位为摄氏度，范围应在-40到145之间，如果读取失败则返回0.0f - */ -float sampler::get_mcu_temp() { - tempora_sample = medium_filter(mcu_temp_samples, FILTER_SIZE + 1); - // 检查温度读数是否在有效范围内 - if (tempora_sample < MIN_TEMP or tempora_sample > MAX_TEMP) { - return ERROR_ADC_VAL; - } - return tempora_sample; -} - -/** - * @brief 获取电机驱动温度 - * @return float 温度值，单位为摄氏度 - * - * 通过热敏电阻分压电路计算温度值，使用Steinhart-Hart方程进行温度转换。 - * 如果计算结果超出有效范围(-40到255摄氏度)，则重新采样计算。 - */ -float sampler::get_drv_temp() { - tempora_sample = medium_filter(drv_temp_samples, FILTER_SIZE + 1); - // 检查温度读数是否在有效范围内 - if (tempora_sample < MIN_TEMP || tempora_sample > MAX_TEMP) { - return ERROR_ADC_VAL; - } - return tempora_sample; -} - -/** - * @brief 获取电流值 - * @param type 电流类型，'U'表示U相电流，'V'表示V相电流，'W'表示W相电流 - * @return float 电流值，单位为安培 - * - * 通过ADC采样计算各相电流值 - */ -float sampler::get_current(char type) { - switch (type) { - case 'U': { - // return currU_samples[current_sample_index]; - tempora_sample = medium_filter(currU_samples, FILTER_SIZE + 1); - break; - } - case 'V': { - // return currV_samples[current_sample_index]; - tempora_sample = medium_filter(currV_samples, FILTER_SIZE + 1); - break; - } - case 'W': { - // return currW_samples[current_sample_index]; - tempora_sample = medium_filter(currW_samples, FILTER_SIZE + 1); - break; - } - default: { - return ERROR_ADC_VAL; - } - } - if (tempora_sample < MIN_CURRENT or tempora_sample > MAX_CURRENT) { - return ERROR_ADC_VAL; - } - - return tempora_sample; -} - -/** - * @brief 获取供电电压 - * @return float 电压值，单位为伏特 - * - * 通过ADC采样计算供电电压值，使用迭代方式确保获取有效的电压读数。 - * 如果计算结果超出有效范围(-40到255伏特)，则重新采样计算。 - */ -float sampler::get_vbus_voltage() { - tempora_sample = medium_filter(vbus_samples, FILTER_SIZE + 1); - // 检查电压读数是否在有效范围内 - if (vbus_samples[FILTER_SIZE / 2] > MAX_VCC or - vbus_samples[FILTER_SIZE / 2] < MIN_VCC) { - return ERROR_ADC_VAL; - } - return tempora_sample; -} - -/** - * @brief 更新MCU温度 - * - * 通过ADC采样计算MCU温度值，使用Steinhart-Hart方程进行温度转换。 - * 如果计算结果超出有效范围(-40到255摄氏度)，则重新采样计算。 - */ -void sampler::update_mcu_temp() { - memmove(mcu_temp_samples, mcu_temp_samples + 1, - FILTER_SIZE * sizeof(float)); - mcu_temp_samples[FILTER_SIZE] = - (1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f; -} - -/** - * @brief 更新MCU温度 - */ -void sampler::update_drv_temp() { - memmove(drv_temp_samples, drv_temp_samples + 1, - FILTER_SIZE * sizeof(float)); - float R_now = (float)adc_value[1] / (4096 - (float)adc_value[1]) * 4700; - drv_temp_samples[FILTER_SIZE] = - 1.0f / (0.00335f + 0.00025f * log(R_now / 10000.0f)) - 273.15f; -} - -/** - * @brief 更新相电流 - */ -void sampler::update_current() { - u8 idx = current_sample_index; - extern FOC_Controlroller FOC; - // 优化计算 - const float scale = ADC_SCALE * CURRENT_FACTOR; - const float offset = CURRENT_OFFSET * CURRENT_FACTOR; - - currU_samples[idx] = adc_value[2] * scale + offset; - currV_samples[idx] = adc_value[3] * scale + offset; - currW_samples[idx] = adc_value[4] * scale + offset; - - // 更新索引 - current_sample_index++; - if (current_sample_index >= FILTER_SIZE - 1) { - current_sample_index = 0; - } - // 卡尔曼滤波更新 - float voltage = FOC.voltage_power_supply; -} - -/** - * @brief 更新供电电压 - */ -void sampler::update_vbus_voltage() { - memmove(vbus_samples, vbus_samples + 1, FILTER_SIZE * sizeof(float)); - vbus_samples[FILTER_SIZE] = adc_value[5] * ADC_SCALE * VCC_FACTOR; -} \ No newline at end of file diff --git a/Robot_V2/device/Can.cpp b/Robot_V2/device/Can.cpp index a96e089..1e29934 100644 --- a/Robot_V2/device/Can.cpp +++ b/Robot_V2/device/Can.cpp @@ -1,14 +1,15 @@ #include "Can.h" +#include "OTA.h" +#include "config.h" #include "flash.h" #include "gd32c10x.h" #include "gd32c10x_can.h" #include "gd32c10x_dma.h" #include "gd32c10x_gpio.h" -#include "systick.h" +#include "main.h" #include #include #include -#include #include #include #include @@ -17,9 +18,10 @@ constexpr u16 CANX = CAN0; constexpr u16 DEV_CAN0_ID = 0x0000; constexpr u16 DEV_CAN0_MASK = 0x0000; constexpr u16 DEV_CAN_LOOPBACK_ID = 0x0000; -constexpr float ANGLE_FACTOR = 25.0f / 360.0f * 2.0f * 3.14159265358979323846f; CAN_transmiter CAN0_transmiter; // CAN初始化 +extern BootloaderSystem sys; +extern OTAHandler ota; extern FlashEEPROM flashEEP; // 添加DMA相关变量 @@ -96,65 +98,6 @@ void can_dma_init(void) { // can_dma_enable(CAN0, CAN_DMA_RECEIVE); } -/*! - \brief 初始化CAN0 2.0B 模式 - \param[in] none - \param[out] none - \retval none -*/ -void can_config(void) { - can_gpio_init(); - can_dma_init(); // 初始化DMA - can_parameter_struct can_parameter; - can_filter_parameter_struct can_filter; - - can_struct_para_init(CAN_INIT_STRUCT, &can_parameter); - /* initialize CAN register */ - can_deinit(CAN0); - - /* initialize CAN parameters */ - can_parameter.time_triggered = DISABLE; - can_parameter.auto_bus_off_recovery = DISABLE; - can_parameter.auto_wake_up = DISABLE; - can_parameter.auto_retrans = DISABLE; - can_parameter.rec_fifo_overwrite = DISABLE; - can_parameter.trans_fifo_order = DISABLE; - can_parameter.working_mode = CAN_NORMAL_MODE; - /* configure CAN0 baud rate 1MBps, sample point at 80% */ - can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; - can_parameter.time_segment_1 = CAN_BT_BS1_7TQ; - can_parameter.time_segment_2 = CAN_BT_BS2_2TQ; - can_parameter.prescaler = 6; - /* initialize CAN */ - if (can_init(CAN0, &can_parameter) != SUCCESS) { - while (1) - printf("can init error \r\n"); - } - - /* initialize filter */ - /* configure filter mode */ - can_filter.filter_mode = CAN_FILTERMODE_MASK; - can_filter.filter_bits = CAN_FILTERBITS_32BIT; - /* configure filter mask */ - can_filter.filter_mask_high = 0x0000; - can_filter.filter_mask_low = 0x0000; - /* select receiver fifo */ - can_filter.filter_fifo_number = CAN_FIFO0; - can_filter.filter_enable = ENABLE; - /* configure filter number */ - can_filter.filter_number = 0; - can_filter_init(&can_filter); - - /* configure CAN0 NVIC */ - nvic_irq_enable(CAN0_RX0_IRQn, 1, 0); - /* enable can receive FIFO0 not empty interrupt */ - can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0); - - // 使能DMA中断 - nvic_irq_enable(DMA0_Channel4_IRQn, 1, 1); - dma_interrupt_enable(DMA0, DMA_CH4, DMA_INT_FTF); -} - /*! \brief 初始化CAN0 CANFD模式 \param[in] none @@ -163,6 +106,7 @@ void can_config(void) { */ void canfd_config(void) { can_gpio_init(); + can_dma_init(); can_parameter_struct can_parameter; can_fdframe_struct can_fd_parameter; can_fd_tdc_struct can_fd_tdc_parameter; @@ -225,183 +169,9 @@ void canfd_config(void) { nvic_irq_enable(CAN0_RX0_IRQn, 1, 0); /* enable can receive FIFO0 not empty interrupt */ can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0); -} - -/*! - \brief 初始化CAN0回环测试 - \param[in] none - \param[out] none - \retval none -*/ -void can_loopback_init(void) { - can_gpio_init(); - can_parameter_struct can_parameter; - can_filter_parameter_struct can_filter; - /* initialize CAN register */ - can_deinit(CANX); - - /* initialize CAN */ - can_parameter.time_triggered = DISABLE; - can_parameter.auto_bus_off_recovery = DISABLE; - can_parameter.auto_wake_up = DISABLE; - can_parameter.auto_retrans = DISABLE; - can_parameter.rec_fifo_overwrite = DISABLE; - can_parameter.trans_fifo_order = DISABLE; - can_parameter.working_mode = CAN_NORMAL_MODE; - /* baudrate 1Mbps, sample piont at 80% */ - can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; - can_parameter.time_segment_1 = CAN_BT_BS1_7TQ; - can_parameter.time_segment_2 = CAN_BT_BS2_2TQ; - can_parameter.prescaler = 6; - if (can_init(CANX, &can_parameter) != SUCCESS) { - u16 i = 200; - while (--i > 0) { - delay_1ms(10); - printf("can init error \r\n"); - } - system_soft_reset(); - } - - /* initialize filter */ - /* configure filter mode */ - can_filter.filter_mode = CAN_FILTERMODE_MASK; - can_filter.filter_bits = CAN_FILTERBITS_32BIT; - /* configure filter ID */ - can_filter.filter_list_high = (uint16_t)(DEV_CAN_LOOPBACK_ID >> 13U); - can_filter.filter_list_low = - ((uint16_t)(DEV_CAN_LOOPBACK_ID)) << 3U | (1U << 2); - /* configure filter mask */ - can_filter.filter_mask_high = 0x0000; - can_filter.filter_mask_low = 0x0000; - /* select receiver fifo */ - can_filter.filter_fifo_number = CAN_FIFO0; - can_filter.filter_enable = ENABLE; - /* configure filter number */ - can_filter.filter_number = 0; - can_filter_init(&can_filter); -} - -/*! - \brief CAN0 FD回环测试 - \param[in] none - \param[out] none - \retval ErrStatus -*/ -void canfd_loopback_test(void) { - can_trasnmit_message_struct transmit_message; - can_receive_message_struct receive_message; - uint32_t timeout = 0xFFFF; - uint8_t transmit_mailbox = 0; - - std::mt19937 gen; - std::uniform_int_distribution dis(0, 255); - - can_struct_para_init(CAN_FD_FRAME_STRUCT, &transmit_message); - transmit_message.tx_sfid = DEV_CAN_LOOPBACK_ID; - transmit_message.tx_efid = 0x00; - transmit_message.tx_ft = CAN_FT_DATA; - transmit_message.tx_ff = CAN_FF_EXTENDED; - transmit_message.tx_dlen = 7; - transmit_message.fd_flag = 1; - transmit_message.fd_brs = 1; - transmit_message.fd_esi = 0; - - int i = 0; - while (i++ < transmit_message.tx_dlen) { - transmit_message.tx_data[i] = dis(gen); - std::printf("%x\n", transmit_message.tx_data[i]); - } - - /* transmit message */ - transmit_mailbox = can_message_transmit(CAN0, &transmit_message); - /* waiting for transmit completed */ - while ((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) && - (0 != timeout)) { - timeout--; - } - timeout = 0xFFFF; - /* waiting for receive completed */ - while ((can_receive_message_length_get(CAN0, CAN_FIFO0) < 1) && - (0 != timeout)) { - timeout--; - } - can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message); - can_message_receive(CAN0, CAN_FIFO0, &receive_message); - - /* check the receive message */ - if ((transmit_message.tx_sfid == receive_message.rx_sfid) && - (transmit_message.tx_ff == receive_message.rx_ff) && - (transmit_message.tx_dlen == receive_message.rx_dlen)) { - /* loopback test is success */ - std::printf("CAN LO0PBACK SUCCESS\r\n"); - } else { - /* loopback test is failed */ - std::printf("CAN LO0PBACK FAIL\r\n"); - } -} - -/** - \brief CAN0 回环测试 - \param[in] none - \param[out] none - \retval none -*/ -void can_loopback_test(void) { - can_trasnmit_message_struct transmit_message; - can_receive_message_struct receive_message; - uint32_t timeout = 0xFF; - uint8_t transmit_mailbox = 0; - - std::mt19937 gen(rand()); // 使用随机设备生成的种子 - std::uniform_int_distribution dis(0, 0xff); - - can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &transmit_message); - /* initialize transmit message */ - transmit_message.tx_sfid = DEV_CAN_LOOPBACK_ID; - transmit_message.tx_ft = CAN_FT_DATA; - transmit_message.tx_ff = CAN_FF_STANDARD; - transmit_message.tx_dlen = 7; - int i = 0; - while (i++ < transmit_message.tx_dlen) { - // transmit_message.tx_data[i] = dis(gen); - transmit_message.tx_data[i] = i; - } - /* transmit message */ - transmit_mailbox = can_message_transmit(CANX, &transmit_message); - /* waiting for transmit completed */ - while ((CAN_TRANSMIT_OK != can_transmit_states(CANX, transmit_mailbox)) && - (0 != timeout)) { - printf("sending:%x...\n", can_transmit_states(CANX, transmit_mailbox)); - timeout--; - } - timeout = 0xFF; - /* waiting for receive completed */ - while ((can_receive_message_length_get(CANX, CAN_FIFO0) < 1) && - (0 != timeout)) { - timeout--; - } - can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message); - can_message_receive(CANX, CAN_FIFO0, &receive_message); - /* check the receive message */ - if ((DEV_CAN_LOOPBACK_ID == receive_message.rx_sfid) && - (CAN_FF_STANDARD == receive_message.rx_ff) && - (transmit_message.tx_dlen == receive_message.rx_dlen)) { - i = transmit_message.tx_dlen; - while (i-- > 0) { - std::printf("rx %d:%x:%x\n", i, transmit_message.tx_data[i], - receive_message.rx_data[i]); - } - if (std::memcmp(receive_message.rx_data, transmit_message.tx_data, - transmit_message.tx_dlen) == 0) { - /* loopback test is success */ - std::printf("loopback success\n"); - } else { - std::printf("loopback failed\n"); - } - } else { - /* loopback test is failed */ - std::printf("loopback failed\n"); - } + // 使能DMA中断 + nvic_irq_enable(DMA0_Channel4_IRQn, 1, 1); + dma_interrupt_enable(DMA0, DMA_CH4, DMA_INT_FTF); } /*! @@ -410,7 +180,6 @@ void can_loopback_test(void) { */ u8 CAN_transmiter::init() { // 初始化CAN硬件 - // can_config(); canfd_config(); // 初始化发送消息结构体 @@ -424,148 +193,6 @@ u8 CAN_transmiter::init() { return 0; } -/*! - \brief CAN 数据发送 - \param id CAN ID - \param length 数据长度 - \param data 数据 -*/ -u8 CAN_transmiter::CAN_Send(u32 id, u8 length, u8 *data) { - // 检查数据长度是否符合CAN规范 - if (length > 8) { - printf("CAN data length exceeds maximum of 8 bytes\r\n"); - return 0; - } - - // 检查数据指针是否有效 - if (data == nullptr) { - printf("Invalid data pointer\r\n"); - return 0; - } - - /* 配置发送消息参数 */ - transmit_message.tx_ft = CAN_FT_DATA; // 数据帧 - transmit_message.tx_ff = CAN_FF_STANDARD; // 标准帧格式 - transmit_message.tx_sfid = id; // 设置帧ID - transmit_message.tx_dlen = length; // 设置数据长度 - - // 复制数据到发送缓冲区 - for (int i = 0; i < length && i < 8; i++) { - transmit_message.tx_data[i] = *(data + i); - } - - // 将数据复制到DMA缓冲区 - memcpy(can_tx_buffer, data, length); - - // 配置DMA发送参数 - dma_tx_parameter.number = length; - dma_init(DMA0, DMA_CH5, &dma_tx_parameter); - - // 启动DMA传输 - dma_channel_enable(DMA0, DMA_CH5); - - // 自动选择空闲mailbox发送消息，不需要人为指定 - transmit_mailbox = can_message_transmit(CAN0, &transmit_message); - - // 检查是否成功获取mailbox - if (CAN_NOMAILBOX == transmit_mailbox) { - // 没有可用的mailbox，可能所有mailbox都在使用中 - printf("No available mailbox for CAN transmission\r\n"); - return 0; - } - return 1; -} - -/*! - \brief CANFD 数据发送 - \param id CAN消息ID - \param length CAN消息长度 - \param data CAN消息数据 -*/ -u8 CAN_transmiter::CANFD_Send(u32 id, u8 length, u8 *data) { - // 检查CANFD模式是否启用 - if (!(CAN_CTL(CAN0) & CAN_CTL_DFZ)) { - printf("CANFD mode not enabled\r\n"); - return 0; - } - - // 检查数据指针是否有效 - if (data == nullptr) { - printf("Invalid data pointer\r\n"); - return 0; - } - - // 检查数据长度是否符合CANFD规范 - if (length > 64) { - printf("CANFD data length exceeds maximum of 64 bytes\r\n"); - return 0; - } - - /* 配置发送消息参数 */ - transmit_message.tx_ft = CAN_FT_DATA; // 数据帧 - transmit_message.tx_ff = CAN_FF_EXTENDED; // 扩展帧格式 - // transmit_message.tx_sfid = id; // 设置帧ID - transmit_message.tx_efid = id; // 扩展帧ID - transmit_message.tx_dlen = length; // 设置数据长度 - - // 设置CANFD特定参数 - transmit_message.fd_flag = CAN_FDF_FDFRAME; // CANFD帧格式 - transmit_message.fd_brs = ENABLE; // 使能比特率切换 - transmit_message.fd_esi = DISABLE; // 错误状态指示 - - // 复制数据到发送缓冲区 - for (int i = 0; i < length && i < 64; i++) { - transmit_message.tx_data[i] = *(data + i); - } - - // 将数据复制到DMA缓冲区 - memcpy(can_tx_buffer, data, length); - - // 配置DMA发送参数 - dma_tx_parameter.number = length; - dma_init(DMA0, DMA_CH5, &dma_tx_parameter); - - // 启动DMA传输 - dma_channel_enable(DMA0, DMA_CH5); - - // 自动选择空闲mailbox发送消息，不需要人为指定 - transmit_mailbox = can_message_transmit(CAN0, &transmit_message); - - // 检查是否成功获取mailbox - if (CAN_NOMAILBOX == transmit_mailbox) { - static u32 count = 0; - // 没有可用的mailbox，可能所有mailbox都在使用中 - count++; - // printf("No available mailbox for CANFD transmission\r\n"); - if (count > 0xff and !is_sleep) { - printf("No available mailbox for CANFD transmission\r\n"); - init(); - count = 0; - } - return 0; - } - return 1; -} - -/** - * @brief CANFD发送函数 - * @retval 0: 发送失败 - * 1: 发送成功 - */ -u8 CAN_transmiter::CANFD_all_Send() { - u32 success_flag = 0; - - constexpr u32 STATUS_ID = 0x00010100; - constexpr u32 CONFIG_ID = 0x00010101; - - // 打包status数据 - 只清零实际使用的32字节 - memset(transmit_data, 0, 32); - - success_flag += CANFD_Send(STATUS_ID, 32, transmit_data); - - return success_flag; -} - /** * @brief CAN通信检查函数 * @retval 0: 无新消息 @@ -576,20 +203,24 @@ void CAN_transmiter::communication_check() { if (SET == can0_send_flag) { // printf("\r\n can0 %X receive data:", receive_message.rx_efid); // CAN0_transmiter.CAN_all_Send(); - CANFD_all_Send(); + // CANFD_all_Send(); can0_send_flag = RESET; } // CAN0 接收数据标志 if (SET == can0_receive_flag) { - // printf("\r\n can0 %X receive data:", receive_message.rx_efid); - // for (i = 0; i < receive_message.rx_dlen; i++) { - // printf(" %02x", receive_message.rx_data[i]); - // } - if (receive_message.rx_efid == 0x00010200) { - ; - } else if (receive_message.rx_efid == 0x00010301) { - ; + printf("\r\n can0 %X receive data:", receive_message.rx_efid); + for (int i = 0; i < receive_message.rx_dlen; i++) { + printf(" %02x", receive_message.rx_data[i]); + } + if (receive_message.rx_efid == CANFD_OTA_DATA_ID) { + ota.handleOTAMessage(receive_message.rx_efid, + receive_message.rx_data, + receive_message.rx_dlen); + } else if (receive_message.rx_efid == CANFD_OTA_REQ_ID) { + ota.handleOTAMessage(receive_message.rx_efid, + receive_message.rx_data, + receive_message.rx_dlen); } else { printf("Unknown CAN ID: %X\n", receive_message.rx_efid); } @@ -601,33 +232,9 @@ u8 CAN_transmiter::sendACK(u32 CANFD_OTA_ACK_ID, u32 packet_num) { u32_union_t pack_data; pack_data.u = packet_num; memset(transmit_data, 0, 4); - pack_u32_to_bytes(transmit_data, 3, pack_data); + pack_u32_to_bytes(transmit_data, 0, pack_data); - return CANFD_Send(CANFD_OTA_ACK_ID, 4, transmit_data); -} - -/** - * @brief CAN睡眠 - * @param None - * @retval None - */ -u8 CAN_transmiter::CAN_Sleep() { - gpio_bit_set(GPIOB, GPIO_PIN_13); - is_sleep = true; - return 0; -} - -/** - * @brief CAN唤醒 - * @param None - * @retval None - */ -u8 CAN_transmiter::CAN_Wakeup() { - printf("can wake\r\n"); - is_sleep = false; - canfd_config(); - - return 0; + return CANFD_AsyncSend(CANFD_OTA_ACK_ID, 4, transmit_data); } /** @@ -691,7 +298,82 @@ void DMA0_Channel4_IRQHandler(void) { */ void DMA0_Channel5_IRQHandler(void) { if (dma_interrupt_flag_get(DMA0, DMA_CH5, DMA_INT_FLAG_FTF)) { + // DMA传输完成，可以在此处执行后续处理 // 清除DMA传输完成中断标志 - dma_interrupt_flag_clear(DMA0, DMA_CH5, DMA_INT_FLAG_G); + dma_interrupt_flag_clear(DMA0, DMA_CH5, DMA_INT_FLAG_FTF); + // 可以在此添加后续处理逻辑，如发送下一个数据包等 + } +} + +/** + * @brief 异步CANFD数据发送(使用DMA和中断机制) + * @param id CAN消息ID + * @param length CAN消息长度 + * @param data CAN消息数据 + */ +u8 CAN_transmiter::CANFD_AsyncSend(u32 id, u8 length, u8 *data) { + // 检查CANFD模式是否启用 + if (!(CAN_CTL(CAN0) & CAN_CTL_DFZ)) { + printf("CANFD mode not enabled\r\n"); + return 0; + } + + // 检查数据指针是否有效 + if (data == nullptr) { + printf("Invalid data pointer\r\n"); + + return 0; + } + + // 检查数据长度是否符合CANFD规范 + if (length > 64) { + printf("CANFD data length exceeds maximum of 64 bytes\r\n"); + return 0; + } + + /* 配置发送消息参数 */ + transmit_message.tx_ft = CAN_FT_DATA; // 数据帧 + transmit_message.tx_ff = CAN_FF_EXTENDED; // 扩展帧格式 + transmit_message.tx_efid = id; // 扩展帧ID + transmit_message.tx_dlen = length; // 设置数据长度 + + // 设置CANFD特定参数 + transmit_message.fd_flag = CAN_FDF_FDFRAME; // CANFD帧格式 + transmit_message.fd_brs = ENABLE; // 使能比特率切换 + transmit_message.fd_esi = DISABLE; // 错误状态指示 + + // 复制数据到发送缓冲区 + for (int i = 0; i < length && i < 64; i++) { + transmit_message.tx_data[i] = *(data + i); + } + + // 自动选择空闲mailbox发送消息 + transmit_mailbox = can_message_transmit(CAN0, &transmit_message); + + // 检查是否成功获取mailbox + if (transmit_mailbox == CAN_NOMAILBOX) { + // 没有可用的mailbox，启用发送中断以便在邮箱可用时重试 + printf("No available mailbox for CANFD transmission, enabling TX " + "interrupt\r\n"); + return 0; + } + + // 启用CAN发送中断以检测传输完成 + can_interrupt_enable(CAN0, CAN_INTEN_TMEIE); + return 1; +} + +// 添加CAN传输中断处理函数 +void CAN0_TX_IRQHandler(void) { + // 检查是否有发送邮箱空闲 + if (can_flag_get(CAN0, CAN_FLAG_TME0) != RESET || + can_flag_get(CAN0, CAN_FLAG_TME1) != RESET || + can_flag_get(CAN0, CAN_FLAG_TME2) != RESET) { + // 邮箱已空闲，可以发送新消息 + // 可以在这里处理待发送队列中的消息 + // 清除发送中断标志 + can_flag_clear(CAN0, CAN_FLAG_TME0); + can_flag_clear(CAN0, CAN_FLAG_TME1); + can_flag_clear(CAN0, CAN_FLAG_TME2); } } diff --git a/Robot_V2/device/Can.h b/Robot_V2/device/Can.h index f5a7f65..9c20dd0 100644 --- a/Robot_V2/device/Can.h +++ b/Robot_V2/device/Can.h @@ -24,7 +24,7 @@ static inline void pack_u16_to_bytes(u8 *buffer, u16 offset, u16 value) { // 添加辅助函数用于将float类型数据打包到u8数组中 static inline void pack_u32_to_bytes(u8 *buffer, u16 offset, - u32_union_t &u32_union) { + u32_union_t &u32_union) { buffer[offset] = u32_union.b[0]; buffer[offset + 1] = u32_union.b[1]; buffer[offset + 2] = u32_union.b[2]; @@ -54,16 +54,11 @@ static inline u32_union_t unpack_bytes_to_float(u8 *buffer, u16 offset) { } u8 can_gpio_init(void); // CAN引脚初始化 -void can_config(void); // CAN初始化 void canfd_config(void); // CANFD初始化 void can_dma_init(void); // CAN DMA初始化 void CAN0_RX0_IRQHandler(void); // CAN接收中断处理函数 void DMA0_Channel4_IRQHandler(void); // DMA通道4中断处理函数(CAN接收) void DMA0_Channel5_IRQHandler(void); // DMA通道5中断处理函数(CAN发送) - -void can_loopback_init(void); -void can_loopback_test(void); - /*! \brief CAN通信类 \note 封装CAN发送和接收功能 @@ -71,18 +66,10 @@ void can_loopback_test(void); class CAN_transmiter { private: - bool is_sleep = false; // 是否休眠 - can_trasnmit_message_struct transmit_message; // 发送消息结构体 u8 transmit_mailbox = CAN_NOMAILBOX; // 初始化为无mailbox状态 u8 transmit_data[64]; // CANFD最大64字节 - void update(); // 更新数据 - u8 CAN_Receive(); // CAN接收 - u8 CANFD_Receive(); // CANFD接收 - u8 CAN_all_Send(); // CAN发送 - u8 CANFD_all_Send(); // CANFD发送 - public: // 添加构造函数声明 u8 init(void); @@ -90,15 +77,9 @@ class CAN_transmiter { can_receive_message_struct receive_message; // 接收消息结构体 FlagStatus can0_receive_flag; // CAN0接收标志 FlagStatus can0_send_flag; // CAN0发送标志 - u32_union_t testfloat_union = {0}; // 测试用 - bool MagStatus = 0; // 磁状态码 - bool ThermalStatus = 0; // 热能状态码 - void communication_check(); // 通信检查 - u8 CAN_Sleep(); // CAN进入睡眠 - u8 CAN_Wakeup(); // CAN进入睡眠 - u8 CAN_Send(u32 ID, u8 length, u8 *data); // CAN发送 - u8 CANFD_Send(u32 ID, u8 length, u8 *data); // CANFD发送 + void communication_check(); // 通信检查 + u8 CANFD_AsyncSend(u32 ID, u8 length, u8 *data); // CANFD异步发送(使用DMA) u8 sendACK(u32 CANFD_OTA_ACK_ID, u32 packet_num); }; diff --git a/Robot_V2/device/Timer.cpp b/Robot_V2/device/Timer.cpp deleted file mode 100644 index 34c1b89..0000000 --- a/Robot_V2/device/Timer.cpp +++ /dev/null @@ -1,109 +0,0 @@ -#include "Timer.h" -#include "Can.h" -#include "Timer.h" -#include "gd32c10x.h" -#include "gd32c10x_gpio.h" -#include "gd32c10x_misc.h" -#include "gd32c10x_rcu.h" -#include "gd32c10x_timer.h" -#include -#include -#include - -constexpr int TIMER2_PRESCALER = 119; // 120MHz / 120 = 1MHz -constexpr int TIMER2_PERIOD = 99; // 1MHz / 100 = 100us - -constexpr int TIMER1_PRESCALER = 0; // 不分频，计数器时钟为120MHz -constexpr int TIMER1_PERIOD = 5999; // 120MHz / (0+1) / (5999+1) = 20kHz -constexpr int TIMER1_CH0_PULSE = 0; -constexpr int TIMER1_CH1_PULSE = 0; -constexpr int TIMER1_CH2_PULSE = 0; -constexpr int TIMER1_CH3_COMPARE_VALUE = - (TIMER1_PERIOD + 1) * 0.5 - 1; // PWM周期50%位置触发中断 - -volatile u32 total_us100_counter = 0; // 总计数器，每100微秒增加1 -extern u16 adc_value[7]; -extern CAN_transmiter CAN0_transmiter; -// 添加系统运行时间计数器 -extern u32 cnt_test; - -/** - * @brief 设置引脚中断优先级 - * @return void - * - *设置引脚中断优先级 - */ -void nvic_config(void) { - /* 设置NVIC优先级分组，1位抢占优先级，3位响应优先级 */ - nvic_priority_group_set(NVIC_PRIGROUP_PRE2_SUB2); - /* 使能TIMER2中断，设置抢占优先级为1，子优先级为1 */ - nvic_irq_enable(TIMER2_IRQn, 0, 1); - nvic_irq_enable(TIMER1_IRQn, 0, 2); -} - -/** - * @brief 配置定时器2 - * @return void - * - *配置定时器2，用于定时执行FOC控制、采样、CAN发送等任务 - */ -void TIMER2_config(void) { - /* ---------------------------------------------------------------------------- - TIMER2 Configuration: - TIMER2CLK = SystemCoreClock/120 = 1MHz, the period is 100us(100/1000000 = - 100us). - ---------------------------------------------------------------------------- - */ - timer_parameter_struct timer_struct; - - /* 使能TIMER2时钟 */ - rcu_periph_clock_enable(RCU_TIMER2); - - /* 复位TIMER2外设到默认状态 */ - timer_deinit(TIMER2); - /* 初始化TIMER初始化参数结构体 */ - timer_struct_para_init(&timer_struct); - /* TIMER2配置参数设置 */ - timer_struct.prescaler = - TIMER2_PRESCALER; /* 预分频值：120分频(从0开始计数) */ - timer_struct.alignedmode = TIMER_COUNTER_EDGE; /* 边沿对齐模式 */ - timer_struct.counterdirection = TIMER_COUNTER_UP; /* 向上计数模式 */ - timer_struct.period = - TIMER2_PERIOD; /* 自动重装载值：100次计数(从0开始计数) */ - timer_struct.clockdivision = TIMER_CKDIV_DIV1; /* 时钟分频值：1分频 */ - timer_init(TIMER2, &timer_struct); - - /* 清除更新中断标志位 */ - timer_interrupt_flag_clear(TIMER2, TIMER_INT_FLAG_UP); - /* 使能更新中断 */ - timer_interrupt_enable(TIMER2, TIMER_INT_UP); - - /* 使能TIMER2 */ - timer_enable(TIMER2); -} - -/** - * @brief 配置TIMER2中断 - * @return void - */ -void User_timer_init(void) { - /* 配置TIMER2 */ - TIMER2_config(); - /* 配置TIMER2中断 */ - nvic_config(); -} - -/** - * @brief TIMER2中断处理函数 - * @return void - */ -void TIMER2_IRQHandler(void) { - // 检查更新中断标志并处理 - if (timer_interrupt_flag_get(TIMER2, TIMER_INT_UP) != RESET) { - // 清除更新中断标志 - timer_interrupt_flag_clear(TIMER2, TIMER_INT_UP); - // 每100us执行一次的操作 - - - } -} diff --git a/Robot_V2/device/Timer.h b/Robot_V2/device/Timer.h deleted file mode 100644 index ed220de..0000000 --- a/Robot_V2/device/Timer.h +++ /dev/null @@ -1,27 +0,0 @@ -#ifndef _TIMER_H -#define _TIMER_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include - -void User_timer_init(void); -void Set_Pwm(uint16_t channel, float duty_cycle); -void Set_3Pwm(float duty_cycle0, float duty_cycle1,float duty_cycle2); -void TIMER2_IRQHandler(void); - -void timer1_pwm_config(void); -void timer1_gpio_config(void); -void TIMER1_IRQHandler(void); // 添加TIMER1中断处理函数声明 - -/* 获取系统运行时间 */ -uint64_t get_system_runtime_us(void); - - -#ifdef __cplusplus -} -#endif - -#endif \ No newline at end of file diff --git a/Robot_V2/device/adc.h b/Robot_V2/device/adc.h deleted file mode 100644 index 3a65951..0000000 --- a/Robot_V2/device/adc.h +++ /dev/null @@ -1,40 +0,0 @@ -#ifndef _ADC_H -#define _ADC_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include "stdint.h" -constexpr u8 FILTER_SIZE = 6; -constexpr u8 BLOCK_SIZE = FILTER_SIZE * sizeof(float); -class sampler { - private: - float vbus_samples[FILTER_SIZE + 1]; - float currU_samples[FILTER_SIZE + 1]; - float currV_samples[FILTER_SIZE + 1]; - float currW_samples[FILTER_SIZE + 1]; - float mcu_temp_samples[FILTER_SIZE + 1]; - float drv_temp_samples[FILTER_SIZE + 1]; - u8 current_sample_index; - - float tempora_sample; - - public: - u8 init(void); - void update_mcu_temp(void); - void update_drv_temp(void); - void update_vbus_voltage(void); - void update_current(void); - - float get_mcu_temp(void); - float get_drv_temp(void); - float get_vbus_voltage(void); - float get_current(char); -}; - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/Robot_V2/device/ang_sensor.cpp b/Robot_V2/device/ang_sensor.cpp deleted file mode 100644 index 6b8467e..0000000 --- a/Robot_V2/device/ang_sensor.cpp +++ /dev/null @@ -1,306 +0,0 @@ -#include "ang_sensor.h" -#include "Filter.h" -#include "core_cmFunc.h" -#include "gd32c10x_can.h" -#include "gd32c10x_dma.h" -#include "gd32c10x_gpio.h" -#include "gd32c10x_spi.h" -#include "initial.h" -#include "flash.h" -#include -#include -#include "Can.h" -#include - -#define ANG_SPI_CS_ENABLE() gpio_bit_reset(GPIOA, GPIO_PIN_15) -#define ANG_SPI_CS_DISABLE() gpio_bit_set(GPIOA, GPIO_PIN_15) -#define DRV_SPI_CS_ENABLE() gpio_bit_reset(GPIOB, GPIO_PIN_14) -#define DRV_SPI_CS_DISABLE() gpio_bit_set(GPIOB, GPIO_PIN_14) - -constexpr float ANGLE_FACTOR = 1.0f / 65536.0f * 360.0f; -constexpr float RAD_FACTOR = 1.0f / 65536.0f * 2.0f * 3.14159265358979323846f; -constexpr u16 DEFAULT_COMMAND = 0x0000; -constexpr u16 FAULT_RECEIVE = 0xFFFF; -constexpr float VELOCITY_SCALE = 1e4f; -constexpr float ANGLE_WRAP_THRESHOLD = 300.0f; -constexpr float ANGLE_WRAP_VALUE = 360.0f; -constexpr u8 SIZE_FLOAT = sizeof(float); - -// DMA传输完成标志 -volatile bool spi_dma_tx_complete = false; -volatile bool spi_dma_rx_complete = false; - -angle_sensor KTH7823; // 角度传感器初始化 -extern FlashEEPROM flashEEP; -extern EncoderAngleKalman Angle_kalman; -extern EncoderVelocityKalman Vel_kalman; - extern CAN_transmiter CAN0_transmiter; // CAN初始化 - -/** - * @brief SPI DMA initialization - */ -void spi_dma_init(void) { - dma_parameter_struct dma_init_struct; - - // 使能DMA时钟 - rcu_periph_clock_enable(RCU_DMA0); - - // 初始化发送DMA通道 - dma_deinit(DMA0, DMA_CH2); - dma_struct_para_init(&dma_init_struct); - dma_init_struct.direction = DMA_MEMORY_TO_PERIPHERAL; - dma_init_struct.memory_addr = (uint32_t)0; // 实际地址将在传输时设置 - dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE; - dma_init_struct.memory_width = DMA_MEMORY_WIDTH_16BIT; - dma_init_struct.number = 1; - dma_init_struct.periph_addr = (uint32_t)(&SPI_DATA(SPI0)); - dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE; - dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_16BIT; - dma_init_struct.priority = DMA_PRIORITY_HIGH; - dma_init(DMA0, DMA_CH2, &dma_init_struct); - - // 初始化接收DMA通道 - dma_deinit(DMA0, DMA_CH1); - dma_struct_para_init(&dma_init_struct); - dma_init_struct.direction = DMA_PERIPHERAL_TO_MEMORY; - dma_init_struct.memory_addr = (uint32_t)0; // 实际地址将在传输时设置 - dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE; - dma_init_struct.memory_width = DMA_MEMORY_WIDTH_16BIT; - dma_init_struct.number = 1; - dma_init_struct.periph_addr = (uint32_t)(&SPI_DATA(SPI0)); - dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE; - dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_16BIT; - dma_init_struct.priority = DMA_PRIORITY_HIGH; - dma_init(DMA0, DMA_CH1, &dma_init_struct); - - // 使能SPI的DMA发送和接收功能 - spi_dma_enable(SPI0, SPI_DMA_TRANSMIT); - spi_dma_enable(SPI0, SPI_DMA_RECEIVE); - - // 配置DMA中断 - nvic_irq_enable(DMA0_Channel2_IRQn, 0, 1); - nvic_irq_enable(DMA0_Channel1_IRQn, 0, 1); - - // 使能DMA传输完成中断 - dma_interrupt_enable(DMA0, DMA_CH2, DMA_INT_FTF); - dma_interrupt_enable(DMA0, DMA_CH1, DMA_INT_FTF); -} - -/** - * @brief Send or read half word through SPI using DMA - * - * @param[in] spi_periph SPI peripheral - * @param[in] tx_data Data to transmit - * @param[out] rx_data Pointer to store received data - * @return 0 if success, -1 if error - */ -int spi_rw_half_word_dma(uint32_t spi_periph, uint16_t tx_data, - uint16_t *rx_data) { - // 重置完成标志 - spi_dma_tx_complete = false; - spi_dma_rx_complete = false; - - // 配置发送DMA - dma_channel_disable(DMA0, DMA_CH2); - dma_memory_address_config(DMA0, DMA_CH2, (uint32_t)&tx_data); - dma_transfer_number_config(DMA0, DMA_CH2, 1); - dma_channel_enable(DMA0, DMA_CH2); - - // 配置接收DMA - dma_channel_disable(DMA0, DMA_CH1); - dma_memory_address_config(DMA0, DMA_CH1, (uint32_t)rx_data); - dma_transfer_number_config(DMA0, DMA_CH1, 1); - dma_channel_enable(DMA0, DMA_CH1); - - // 等待传输完成，超时时间为100个循环 - uint32_t timeout = 100; - while ((!spi_dma_tx_complete || !spi_dma_rx_complete) && --timeout) { - // 空循环等待DMA传输完成 - } - - // 检查是否超时 - if (timeout == 0) { - // 禁用DMA通道 - dma_channel_disable(DMA0, DMA_CH2); - dma_channel_disable(DMA0, DMA_CH1); - printf("SPI DMA transfer timeout\r\n"); - return -1; - } - - return 0; -} - -/** - * @brief DMA0_Channel2中断处理函数 - * @param 无 - */ -extern "C" void DMA0_Channel2_IRQHandler(void) { - if (dma_interrupt_flag_get(DMA0, DMA_CH2, DMA_INT_FLAG_FTF)) { - dma_interrupt_flag_clear(DMA0, DMA_CH2, DMA_INT_FLAG_FTF); - spi_dma_tx_complete = true; - } -} - -/** - * @brief DMA0_Channel1中断处理函数 - * @param 无 - */ -extern "C" void DMA0_Channel1_IRQHandler(void) { - if (dma_interrupt_flag_get(DMA0, DMA_CH1, DMA_INT_FLAG_FTF)) { - dma_interrupt_flag_clear(DMA0, DMA_CH1, DMA_INT_FLAG_FTF); - spi_dma_rx_complete = true; - } -} -/** - * @brief 角度传感器初始化 - * @param 无 - */ -void KTH7823_gpio_init(void) { - rcu_periph_clock_enable(RCU_GPIOA); - rcu_periph_clock_enable(RCU_GPIOB); - rcu_periph_clock_enable(RCU_SPI0); - rcu_periph_clock_enable(RCU_AF); - /* 关闭 JTAG，仅保留 SWD（释放 PA15、PB3、PB4） */ - gpio_pin_remap_config(GPIO_SWJ_SWDPENABLE_REMAP, ENABLE); - - /* -------- SPI0 全 remap：PB3/4/5 + PA15 -------- */ - gpio_pin_remap_config(GPIO_SPI0_REMAP, ENABLE); - /* PA15 → NSS, 推挽输出 */ - gpio_init(GPIOA, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_15); - /* PB3 → SCK, PB5 → MOSI, 推挽输出 */ - gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, - GPIO_PIN_3 | GPIO_PIN_5); - /* PB4 → MISO, 浮空输入 */ - gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, - GPIO_PIN_4 | GPIO_PIN_10 | GPIO_PIN_11); -} - -/** - * @brief SPI 初始化 - * - * @details Configures SPI hardware and initializes necessary settings - */ -void KTH7823_spi_init(void) { - spi_parameter_struct spi_init_str; - spi_struct_para_init(&spi_init_str); - - /* SPI参数：16bit, 主机, 全双工, CPOL=1 CPHA=1, MSB first */ - spi_init_str.device_mode = SPI_MASTER; - spi_init_str.trans_mode = SPI_TRANSMODE_FULLDUPLEX; - spi_init_str.frame_size = SPI_FRAMESIZE_16BIT; - spi_init_str.clock_polarity_phase = SPI_CK_PL_HIGH_PH_2EDGE; - spi_init_str.nss = SPI_NSS_SOFT; - spi_init_str.endian = SPI_ENDIAN_MSB; - - spi_init_str.prescale = 24; /* 5MHz @ 120MHz */ - spi_init(SPI0, &spi_init_str); - spi_nss_output_enable(SPI0); - spi_nssp_mode_enable(SPI0); - spi_enable(SPI0); -} - - -/** -* @ 角度传感器类 初始化 -* @return 0:初始化成功 1:初始化失败 - */ -u8 angle_sensor::init(void) { - KTH7823_gpio_init(); // GPIO初始化 - KTH7823_spi_init(); // SPI初始化 - spi_dma_init(); // DMA初始化 - return 0; -} -/** -* @ 角度传感器类 设置当前角度 -* @param angle 输出级角度值 -* @return 0成功/1失败 - */ -u8 angle_sensor::angle_set(float angle){ - m_cumulativeAngle = angle*REDUCTION_RATIO; // 从Flash读取上次保存的角度 - m_firstUpdate = true; - return 0; -} - - -/** - * @brief 读取传感器数据 - * @return 传感器数据 - */ -inline float angle_sensor::read_sensorAngle(void) { - uint16_t raw_data; - - ANG_SPI_CS_ENABLE(); - u8 result = spi_rw_half_word_dma(SPI0, DEFAULT_COMMAND, &raw_data); - ANG_SPI_CS_DISABLE(); - - if (result == 0) { - // 单次浮点乘法优化：只计算一次度数，然后转换为弧度 - float angle_deg = (float)raw_data * ANGLE_FACTOR; - current_angle_deg = angle_deg; - current_angle_rad = angle_deg * DEG2RAD; // M_PI/180.0f - return angle_deg; - } - -#ifdef DEBUG - // 仅在调试模式下输出错误，避免发布版本中的I/O开销 - if (result != 0) { - // 使用更高效的串口输出替代printf（如果可用） - printf("Error reading angle from sensor.\n"); - } -#endif - - return (float)FAULT_RECEIVE; -} -/** - * @brief 更新传感器角度（输出级） - * @return 累积角度值 - */ -float angle_sensor::update(void) { - read_sensorAngle(); - - if (m_firstUpdate) { - m_lastAngle = current_angle_deg; - m_firstUpdate = false; - return m_cumulativeAngle; - } - - // 计算角度变化 - float delta = current_angle_deg - m_lastAngle; - - // 处理角度绕回情况（0度和360度之间的跳变） - // 如果变化超过180度，说明发生了绕回 - if (delta > ANGLE_WRAP_THRESHOLD) { - // 从接近360度绕回到接近0度 - delta -= ANGLE_WRAP_VALUE; - } else if (delta < -ANGLE_WRAP_THRESHOLD) { - // 从接近0度绕到接近360度 - delta += ANGLE_WRAP_VALUE; - } - - m_cumulativeAngle += delta; - m_lastAngle = current_angle_deg; - - return m_cumulativeAngle; -} - -/** - * @brief 获取累积角度值(输出级) - * @return 累积角度值 - */ -float angle_sensor::getAngle(void) const { - return m_cumulativeAngle / REDUCTION_RATIO; -} - -/** - * @brief 获取累积角度值(原始级) - * @return 累积角度值 - */ -float angle_sensor::getRawAngle(void) const { return m_cumulativeAngle; } - -/** - * @brief 获取角度值(原始级) - * @return 角度值(原始级) - */ -float angle_sensor::getcurrent_sensorangle(void) const { - return current_angle_deg; -} diff --git a/Robot_V2/device/ang_sensor.h b/Robot_V2/device/ang_sensor.h deleted file mode 100644 index b2501c0..0000000 --- a/Robot_V2/device/ang_sensor.h +++ /dev/null @@ -1,40 +0,0 @@ -#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 \ No newline at end of file diff --git a/Robot_V2/device/motor.cpp b/Robot_V2/device/motor.cpp deleted file mode 100644 index 083740e..0000000 --- a/Robot_V2/device/motor.cpp +++ /dev/null @@ -1,38 +0,0 @@ -#include "motor.h" -#include "Timer.h" -#include "gd32c10x_eval.h" -#include - -/** - * @brief driver输出初始化 - */ -void motor_init(void) { - timer1_gpio_config(); - timer1_pwm_config(); - // 使能GPIOB时钟 - rcu_periph_clock_enable(RCU_GPIOB); - // 配置PB2为输入引脚，用于读取电机状态 - gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_2); - /* 配置GPIOB的PB14为推挽输出 SPICS */ - gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, - GPIO_PIN_14 | GPIO_PIN_12); -} - -/** - * @brief 电机复位 - */ -void motor_reset(void) { - motor_sleep(); - printf("motor reseting...\r\n"); - motor_resume(); -} - -/** - * @brief 电机休眠 - */ -void motor_sleep(void) { gpio_bit_reset(GPIOB, GPIO_PIN_12); } - -/** - * @brief 电机启动 - */ -void motor_resume(void) { gpio_bit_set(GPIOB, GPIO_PIN_12); } \ No newline at end of file diff --git a/Robot_V2/device/motor.h b/Robot_V2/device/motor.h deleted file mode 100644 index dc198a3..0000000 --- a/Robot_V2/device/motor.h +++ /dev/null @@ -1,11 +0,0 @@ -#ifndef _MOTOR_H -#define _MOTOR_H - - -void motor_init(void); -void motor_reset(void); -void motor_resume(void); -void motor_sleep(void); - - -#endif \ No newline at end of file diff --git a/Robot_V2/device/test.cpp b/Robot_V2/device/test.cpp deleted file mode 100644 index 9ce9a99..0000000 --- a/Robot_V2/device/test.cpp +++ /dev/null @@ -1,25 +0,0 @@ -#include "adc.h" -#include - -constexpr int status_print = 0; -extern sampler sampler; -void test_1111() { - // 初始化CAN回环测试 - // can_loopback_init(); - // can_config(); - if (status_print) { - /* value print */ - printf(" the temperature data is %2.2f degrees Celsius\r\n", - sampler.get_mcu_temp()); - printf(" the drv_temperature data is %2.2f degrees Celsius\r\n", - sampler.get_drv_temp()); - printf(" the U current data is %2.2f mA\r\n", sampler.get_current('U')); - printf(" the V current data is %2.2f mA\r\n", sampler.get_current('V')); - printf(" the W current data is %2.2f mA\r\n", sampler.get_current('W')); - printf(" the VBUS is %2.2f V\r\n", sampler.get_vbus_voltage()); - // printf(" the angle is %2.2f\r\n", tle5012b_read()); - - printf("\n----------------------------------------------------\n"); - } - // can_loopback_test(); -} \ No newline at end of file diff --git a/Robot_V2/main.cpp b/Robot_V2/main.cpp index a702405..c69d89b 100644 --- a/Robot_V2/main.cpp +++ b/Robot_V2/main.cpp @@ -1,40 +1,32 @@ +#include "main.h" #include "Can.h" -#include "gd32c10x.h" -#include "gd32c10x_can.h" -#include "sys/OTA.h" -#include "sys/config.h" +#include "initial.h" #include "sys/systick.h" +#include +extern CAN_transmiter CAN0_transmiter; // CAN初始化 -class BootloaderSystem { - private: - OTAHandler ota; - - public: - void initHardware() { - extern CAN_transmiter CAN0_transmiter; // CAN初始化 - systick_config(); // 系统时钟初始化 - SystemCoreClockUpdate(); // 更新系统时钟变量 - CAN0_transmiter.init(); - } - - void run() { - // 检查是否触发OTA模式 - if (1) { - // OTA模式 - while (1) { - ota.process(); - for (volatile int i = 0; i < 500000; i++) - ; // 简单延时 - } - } else { - // 正常模式：跳转到APP - ota.jumpToApplication(); +BootloaderSystem sys; +extern OTAHandler ota; +void BootloaderSystem::initHardware() { + systick_config(); // 系统时钟初始化 + SystemCoreClockUpdate(); // 更新系统时钟变量 + USART0_init(); // 调试串口初始化 + CAN0_transmiter.init(); +} +void BootloaderSystem::run() { + // 检查是否触发OTA模式 + if (1) { + // OTA模式 + while (1) { + CAN0_transmiter.communication_check(); + ota.process(); } + } else { + // 正常模式：跳转到APP + ota.jumpToApplication(); } -}; - +} int main(void) { - BootloaderSystem sys; sys.initHardware(); sys.run(); diff --git a/Robot_V2/main.h b/Robot_V2/main.h index a8426d5..aafb3a8 100644 --- a/Robot_V2/main.h +++ b/Robot_V2/main.h @@ -35,7 +35,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef MAIN_H #define MAIN_H #include "stdint.h" +#include "sys/OTA.h" -void do_task(u32 currentTasks); +class BootloaderSystem { + private: + public: + void initHardware(); + + void run(); +}; #endif /* MAIN_H */ diff --git a/Robot_V2/sys/OTA.cpp b/Robot_V2/sys/OTA.cpp index faa6893..f1989d5 100644 --- a/Robot_V2/sys/OTA.cpp +++ b/Robot_V2/sys/OTA.cpp @@ -1,31 +1,47 @@ #include "OTA.h" #include "gd32c10x_fmc.h" +#include "systick.h" +#include #include +#include +#include extern CAN_transmiter CAN0_transmiter; // CAN初始化 +extern FlashEEPROM flashEEP; +OTAHandler ota; extern "C" { void canfd_rx_irq_handler(void); } +#define DEBUG_OTA 1 -OTAHandler::OTAHandler() : ota_active(false), received_size(0) {} - -void OTAHandler::init() { - // 初始化CANFD接收中断 - nvic_irq_enable(CAN0_RX0_IRQn, 1, 1); -} +void OTAHandler::init() {} void OTAHandler::process() { - if (!ota_active) + if (!ota_active) { + ota_time = 0; // 重置计时器 + static u8 zero[1] = {ota_active}; + CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_WAIT_ID, 0, zero); +#ifdef DEBUG_OTA + printf("wait OTA%d\r\n", ota_active); +#endif + delay_1ms(10); return; + } else { + delay_1ms(1); + ota_time++; + } - // 这里可以添加超时处理逻辑 - // 例如：10秒无数据则退出OTA模式 + // 检查是否超时（例如：10秒无数据则退出OTA模式） + if (ota_time > 10000) { // 10秒超时（10000 x 1ms） + ota_time = 0; + ota_active = false; + } } bool OTAHandler::validateApplication() { - uint32_t *app_vector = (uint32_t *)APP_START_ADDR; - uint32_t stack_ptr = app_vector[0]; - uint32_t reset_handler = app_vector[1]; + u32 *app_vector = (u32 *)APP_START_ADDR; + u32 stack_ptr = app_vector[0]; + u32 reset_handler = app_vector[1]; // 简单验证：检查栈指针是否在SRAM范围内 return (stack_ptr >= 0x20000000 && stack_ptr < 0x20008000) && @@ -34,45 +50,58 @@ bool OTAHandler::validateApplication() { } void OTAHandler::jumpToApplication() { - if (!validateApplication()) { - // 无效APP，停留在bootloader - return; - } - - // 关闭所有中断 - __disable_irq(); - - // 设置主栈指针 - uint32_t msp_value = *(__IO uint32_t *)APP_START_ADDR; - __set_MSP(msp_value); - - // 获取复位地址 - uint32_t reset_handler = *(__IO uint32_t *)(APP_START_ADDR + 4); - typedef void (*AppEntryFunc)(void); - AppEntryFunc app_entry = (AppEntryFunc)reset_handler; - - // 跳转 - app_entry(); + if (!validateApplication()) return; + + // 1. 关闭所有中断 + __disable_irq(); + for (int i = 0; i < 8; i++) { + NVIC->ICER[i] = 0xFFFFFFFF; + } + + // 2. 重置外设（特别是CAN，防止冲突） + can_deinit(CAN0); + + // 3. 重置系统时钟到默认状态 + rcu_system_clock_source_config(RCU_CKSYSSRC_IRC8M); + + // 4. 关闭一些关键外设时钟 + rcu_periph_clock_disable(RCU_GPIOA); + rcu_periph_clock_disable(RCU_GPIOB); + rcu_periph_clock_disable(RCU_GPIOC); + rcu_periph_clock_disable(RCU_USART0); + rcu_periph_clock_disable(RCU_CAN0); + rcu_periph_clock_disable(RCU_TIMER0); + rcu_periph_clock_disable(RCU_DMA0); + + // 5. 设置MSP并跳转 + uint32_t msp_value = *(__IO uint32_t*)APP_START_ADDR; + __set_MSP(msp_value); + + uint32_t reset_handler = *(__IO uint32_t*)(APP_START_ADDR + 4); + typedef void (*AppEntryFunc)(void); + AppEntryFunc app_entry = (AppEntryFunc)reset_handler; + + // 6. 跳转 + app_entry(); } void OTAHandler::eraseApplicationArea() { // 擦除APP区域 fmc_unlock(); - for (uint32_t addr = APP_START_ADDR; addr < (APP_START_ADDR + APP_MAX_SIZE); + for (u32 addr = APP_START_ADDR; addr < (APP_START_ADDR + APP_MAX_SIZE); addr += FMC_PAGE_SIZE) { fmc_page_erase(addr); } fmc_lock(); } -void OTAHandler::writeApplicationData(uint32_t offset, uint8_t *data, - uint32_t size) { +void OTAHandler::writeApplicationData(u32 offset, u8 *data, u32 size) { fmc_unlock(); - uint32_t write_addr = APP_START_ADDR + offset; + u32 write_addr = APP_START_ADDR + offset; // 32位对齐写入 - for (uint32_t i = 0; i < size; i += 4) { - uint32_t word = 0; + for (u32 i = 0; i < size; i += 4) { + u32 word = 0; memcpy(&word, &data[i], 4); fmc_word_program(write_addr + i, word); } @@ -80,27 +109,34 @@ void OTAHandler::writeApplicationData(uint32_t offset, uint8_t *data, fmc_lock(); } -void OTAHandler::handleOTAMessage(uint32_t id, uint8_t *data, uint8_t len) { +void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) { if (id == CANFD_OTA_REQ_ID) { +#ifdef DEBUG_OTA + printf("req OTA\r\n"); +#endif // OTA请求包 - uint32_t new_size = *(uint32_t *)data; + u32 new_size = *(u32 *)data; if (new_size <= APP_MAX_SIZE) { expected_size = new_size; received_size = 0; - eraseApplicationArea(); + // eraseApplicationArea(); ota_active = true; - sendACK(0xFFFFFFFF); // 确认开始 + sendACK(new_size); // 确认开始 +#ifdef DEBUG_OTA + printf("start OTA%d\r\n", ota_active); +#endif } } else if (id == CANFD_OTA_DATA_ID && ota_active) { // 数据包格式：[4字节包序号][实际数据] if (len >= 4) { - uint32_t packet_num = *(uint32_t *)data; - uint32_t offset = packet_num * (len - 4); + u32 packet_num = *(u32 *)data; + u32 offset = packet_num * (len - 4); if (offset < expected_size) { - writeApplicationData(offset, &data[4], len - 4); + writeApplicationData(offset, &data[4], len - 4); // 写入数据 received_size += (len - 4); - sendACK(packet_num); + sendACK(packet_num); // 确认ACK + ota_time = 0; // 重置计时器 // 检查是否完成 if (received_size >= expected_size) { @@ -115,6 +151,6 @@ void OTAHandler::handleOTAMessage(uint32_t id, uint8_t *data, uint8_t len) { } } -void OTAHandler::sendACK(uint32_t packet_num) { +void OTAHandler::sendACK(u32 packet_num) { CAN0_transmiter.sendACK(CANFD_OTA_ACK_ID, packet_num); } \ No newline at end of file diff --git a/Robot_V2/sys/OTA.h b/Robot_V2/sys/OTA.h index fabc3b8..fd405d7 100644 --- a/Robot_V2/sys/OTA.h +++ b/Robot_V2/sys/OTA.h @@ -8,10 +8,10 @@ class OTAHandler { public: bool ota_active; + u32 ota_time; uint32_t received_size; uint32_t expected_size; - OTAHandler(); void init(); void process(); bool isActive() const { return ota_active; } diff --git a/Robot_V2/sys/config.h b/Robot_V2/sys/config.h index 4610e9e..5744b2f 100644 --- a/Robot_V2/sys/config.h +++ b/Robot_V2/sys/config.h @@ -1,21 +1,26 @@ -#pragma once +#ifndef __CONFIG_H__ +#define __CONFIG_H__ #include "stdint.h" // Flash分区配置 -constexpr uint32_t BOOTLOADER_SIZE = 0x4000; // 16KB -constexpr uint32_t APP_START_ADDR = 0x08004000; // APP起始地址 -constexpr uint32_t APP_MAX_SIZE = 0x0001C000; // 112KB -constexpr uint32_t FMC_PAGE_SIZE = 0x400; +constexpr u32 BOOTLOADER_SIZE = 0x4000; // 16KB +constexpr u32 APP_START_ADDR = 0x08004000; // APP起始地址 +constexpr u32 APP2_START_ADDR = 0x08010000; // APP2起始地址 +constexpr u32 APP_MAX_SIZE = 0xC000; // 48KB +constexpr u32 FMC_PAGE_SIZE = 0x400; // 1KB // CANFD配置 -constexpr uint32_t CANFD_OTA_REQ_ID = 0x00000100; -constexpr uint32_t CANFD_OTA_DATA_ID = 0x00000101; -constexpr uint32_t CANFD_OTA_ACK_ID = 0x00000102; +constexpr u32 CANFD_OTA_REQ_ID = 0x00000100; +constexpr u32 CANFD_OTA_DATA_ID = 0x00000101; +constexpr u32 CANFD_OTA_ACK_ID = 0x00000102; +constexpr u32 CANFD_OTA_WAIT_ID = 0x00000103; -// CANFD数据段最大64字节，我们用32字节数据 + 4字节头部 -constexpr uint32_t OTA_PACKET_SIZE = 32; +// CANFD数据段最大64字节，我们用1字节序号 + 48字节数据 + 1字节CRC校验 +constexpr u32 OTA_PACKET_SIZE = 48; typedef struct { - uint32_t packet_num; // 包序号 - uint8_t data[OTA_PACKET_SIZE]; // 32字节有效数据 - uint32_t crc32; // 简单校验 -} canfd_ota_packet_t; \ No newline at end of file + u32 packet_num; // 包序号 + u8 data[OTA_PACKET_SIZE]; // 48字节有效数据 + u32 crc32; // 简单校验 +} canfd_ota_packet_t; + +#endif \ No newline at end of file diff --git a/Robot_V2/sys/flash.cpp b/Robot_V2/sys/flash.cpp index cccbc44..0bee563 100644 --- a/Robot_V2/sys/flash.cpp +++ b/Robot_V2/sys/flash.cpp @@ -10,11 +10,8 @@ #include FlashEEPROM flashEEP = FlashEEPROM(); -extern CAN_transmiter CAN0_transmiter; constexpr u8 SIZE_U32 = sizeof(uint32_t); constexpr u8 SIZE_FLOAT = sizeof(float); -constexpr u8 DEFAULT_VALUE = 0; -constexpr u8 NUM_SAVED = 6; #define EEPDEBUG 0 // FlashEEPROM类实现 @@ -31,322 +28,7 @@ u8 FlashEEPROM::init() { rcu_periph_clock_enable(RCU_CRC); crc_deinit(); // 初始化CRC模块 - FlashEepromStatus status = FLASH_EEPROM_OK; - // 读取系统配置 - read_saved_system_config(); - - if (EEPROMStatus == FLASH_EEPROM_OK) { - return FLASH_EEPROM_OK; - } else { - return FLASH_EEPROM_READ_ERROR; - } - return 1; // 正常不会返回这个，未预料的异常情况返回 -} - -/** - * @brief 读取EEPROM数据 - * @param virtualAddr: 虚拟地址 - * @param data: 存储读取数据的指针 - * @retval EEPROMStatus: 是否成功 - */ -u8 FlashEEPROM::read_saved_system_config(void) { - // 读取保存的参数 - u32 CRC_NUM = 0x0000; - FlashEepromStatus status_read[NUM_SAVED + 1] = {FLASH_EEPROM_OK}; - float data[NUM_SAVED] = {0.0f}; - // 尝试从Flash读取参数，如果不存在则使用默认值 - status_read[1] = readFloat(ADDR_CONTROL_MODE, &data[0]); - status_read[2] = readFloat(ADDR_VOLTAGE_LIMIT, &data[1]); - status_read[3] = readFloat(ADDR_VEL_LIMIT, &data[2]); - status_read[4] = readFloat(ADDR_ANGLE, &data[3]); - status_read[5] = readFloat(ADDR_TARGET_ANGLE, &data[4]); - status_read[6] = readFloat(ADDR_TARGET_VEL, &data[5]); - - // 读取失败则使用默认值 - for (u8 i = 1; i < NUM_SAVED + 1; i++) { - if (status_read[i] == - FLASH_EEPROM_DATA_NOT_FOUND) { // 首次读取，不保存报错 - data[i - 1] = DEFAULT_VALUE; - } else if (status_read[i] != FLASH_EEPROM_OK) { // 其余错误，保存报错 - data[i - 1] = DEFAULT_VALUE; - status_read[0] = status_read[i]; - } - } - // 读取到全部数据 - if (status_read[0] == FLASH_EEPROM_OK) { - u32 next_address = EEPROM_END_ADDRESS; - // 遍历Flash页面寻找下一个可写入位置 - for (u32 address = EEPROM_DATA_START_ADDRESS - SIZE_U32; - address > EEPROM_START_ADDRESS; address -= SIZE_U32) { - // 安全读取Flash数据 - volatile u32 *flash_ptr = (volatile u32 *)address; - u32 data_word = *flash_ptr; - // 找到空位置 - if (data_word == 0xFFFFFFFF) { - next_address = address + SIZE_U32; // 上一个位置为有效存储的数据 - break; - } - // 更新下一个可能的写入位置（如果需要格式化） - next_address = address - SIZE_U32; - } - if (next_address == EEPROM_DATA_START_ADDRESS) { - // 从来没有存储过，直接返回 - return FLASH_EEPROM_OK; - } - - crc_data_register_reset(); // 确保CRC计算从初始状态开始 - CRC_NUM = crc_block_data_calculate((uint32_t *)data, NUM_SAVED); - -#if EEPDEBUG - printf("CRC cmp1,0x%X_0x%x \r\n", CRC_NUM, *((u32 *)next_address)); -#endif - if (CRC_NUM != *((u32 *)next_address)) { // CRC错误 - for (u8 i = 0; i < NUM_SAVED; i++) { - data[i] = DEFAULT_VALUE; - } - EEPROMStatus = FLASH_EEPROM_CRC_ERROR; - } else { // CRC正确 - EEPROMStatus = FLASH_EEPROM_OK; - } - } else { - // 读取失败，报错 - EEPROMStatus = status_read[0]; - } - - return EEPROMStatus; -} - -/** - * @brief 从Flash EEPROM读取数据 - * @param virtualAddr: 虚拟地址 - * @param data: 指向存储读取数据的指针 - * @retval FlashEepromStatus: 操作状态 - */ -FlashEepromStatus FlashEEPROM::read(u8 virtualAddr, u16 *data) const { - // 参数检查 - if (data == nullptr) { - return FLASH_EEPROM_INVALID_ADDR; - } - - // 从Flash末尾开始向前搜索，找到最新的数据 - for (u32 address = EEPROM_END_ADDRESS - SIZE_U32; - address >= EEPROM_START_ADDRESS; address -= SIZE_U32) { - u32 data_word = *((u32 *)address); - // 检查是否是有效数据（非擦除状态） - if (data_word != 0xFFFFFFFF) { - u8 addr = (u8)(data_word & DATA_ADDR_MASK); - // 找到匹配的虚拟地址 - if (addr == virtualAddr) { - *data = (u16)(data_word & DATA_U16_MASK); - return FLASH_EEPROM_OK; - } - } - } - return FLASH_EEPROM_DATA_NOT_FOUND; -} - -/** - * @brief 从Flash EEPROM读取float数据 - * @param virtualAddr: 虚拟地址 - * @param data: 指向存储读取数据的指针 - * @retval FlashEepromStatus: 操作状态 - */ -FlashEepromStatus FlashEEPROM::readFloat(u8 virtualAddr, float *data) const { - // 检查参数有效性 - if (data == nullptr) { - return FLASH_EEPROM_INVALID_ADDR; - } - - // 从Flash末尾开始向前搜索，找到最新的数据 - for (u32 address = EEPROM_END_ADDRESS - SIZE_U32; - address >= EEPROM_START_ADDRESS; address -= SIZE_U32) { - // 使用volatile确保每次都从内存读取，防止编译器优化 - volatile u32 *flash_ptr = (volatile u32 *)address; - u32 data_word = *flash_ptr; - - // 检查是否是有效数据（非擦除状态） - if (data_word != 0xFFFFFFFF) { - u8 addr = (u8)(data_word & DATA_ADDR_MASK); - // 找到匹配的虚拟地址 - if (addr == virtualAddr) { - // 清除最低的8位地址信息，保留高24位数据 - u32 float_data = data_word & DATA_FLOAT_MASK; - // 使用内存拷贝将处理后的数据解释为float - memcpy(data, &float_data, SIZE_FLOAT); -#if EEPDEBUG - printf("read:0x%x=%f\r\n", address, *data); -#endif - return FLASH_EEPROM_OK; - } - } - } - // 未找到指定虚拟地址的数据 - return FLASH_EEPROM_DATA_NOT_FOUND; -} - -/** - * @brief 向Flash EEPROM写入数据 - * @param virtualAddr: 虚拟地址 - * @param data: 要写入的数据 - * @retval FlashEepromStatus: 操作状态 - */ -FlashEepromStatus FlashEEPROM::write(u8 virtualAddr, u16 data) { - // 查找下一个可写入的位置 - u32 next_address = EEPROM_START_ADDRESS; - u32 data_read; - // 插入虚拟地址到低8位 格式: [data:16bit][reserved:8bit][addr:8bit] - data = (data & DATA_U16_MASK) | (u32)virtualAddr; - - for (u32 address = EEPROM_END_ADDRESS - SIZE_U32; - address >= EEPROM_DATA_START_ADDRESS; address -= SIZE_U32) { - // 安全读取Flash数据 - volatile u32 *flash_ptr = (volatile u32 *)address; - data_read = *flash_ptr; - - if ((data_read & DATA_ADDR_MASK) == (u32)virtualAddr) { // 虚拟地址相同 - if ((data_read & DATA_U16_MASK) == - (data & DATA_U16_MASK)) { // 数据相同 -#if EEPDEBUG - data_read = data_read & DATA_U16_MASK; - u16 float_data_read = *((u16 *)&data_read); - printf("Found data in:0x%x=%u\r\n", address, data_read); -#endif - return FLASH_EEPROM_OK; - } else { - break; - } - } - } - - // 遍历Flash页面寻找下一个可写入位置 - for (u32 address = EEPROM_DATA_START_ADDRESS; address < EEPROM_END_ADDRESS; - address += SIZE_U32) { - // 安全读取Flash数据 - volatile u32 *flash_ptr = (volatile u32 *)address; - u32 data_word = *flash_ptr; - // 找到空位置 - if (data_word == 0xFFFFFFFF) { - next_address = address; - break; - } - // 更新下一个可能的写入位置（如果需要格式化） - next_address = address + SIZE_U32; - } - - // 如果有足够空间，直接写入 - if (next_address < EEPROM_END_ADDRESS) { - u32 data_word = ((u32)data << 16) | (u32)virtualAddr; - - // 使用GD32库函数进行安全编程 - fmc_unlock(); - fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR); - fmc_state_enum fmc_status = - fmc_word_program(next_address, data_word); // 写入数据 - fmc_lock(); - - if (fmc_status != FMC_READY) { - return FLASH_EEPROM_WRITE_ERROR; - } - return FLASH_EEPROM_OK; - } else { // 空间不足，需要格式化页面 -#if EEPDEBUG - printf("no enough space\r\n"); -#endif - FlashEepromStatus status = format(); - if (status == FLASH_EEPROM_OK) { - return status; - } else { - return FLASH_EEPROM_ERASE_ERROR; - } - } -} - -/** - * @brief 向Flash EEPROM写入float数据 - * @param virtualAddr: 虚拟地址 - * @param data: 要写入的数据 - * @retval FlashEepromStatus: 操作状态 - */ -FlashEepromStatus FlashEEPROM::writeFloat(u8 virtualAddr, float data) { - // 查找下一个可写入的位置 - u32 next_address = EEPROM_START_ADDRESS; - u32 data_word; - - // 将完整的float数据复制到32位变量中 - memcpy(&data_word, &data, SIZE_FLOAT); - // 插入虚拟地址到低8位 格式: [data:24bit][addr:8bit] - data_word = (data_word & DATA_FLOAT_MASK) | (u32)virtualAddr; - - // 从Flash末尾开始向前搜索，找到最新的数据 - for (u32 address = EEPROM_END_ADDRESS - SIZE_U32; - address >= EEPROM_DATA_START_ADDRESS; address -= SIZE_U32) { - // 安全读取Flash数据 - volatile u32 *flash_ptr = (volatile u32 *)address; - u32 data_word_read = *flash_ptr; - - if ((data_word_read & DATA_ADDR_MASK) == - (u32)virtualAddr) { // 虚拟地址相同 - if ((data_word_read & DATA_FLOAT_MASK) == - (data_word & DATA_FLOAT_MASK)) { // 数据相同 -#if EEPDEBUG - data_word_read = data_word_read & DATA_FLOAT_MASK; - float float_data_read = *((float *)&data_word_read); - printf("Found data in:0x%x=%f\r\n", address, float_data_read); -#endif - return FLASH_EEPROM_OK; - } else { - break; // 找到相同地址但数据不同，需要更新 - } - } - } - - // 遍历Flash页面寻找下一个可写入位置 - for (u32 address = EEPROM_DATA_START_ADDRESS; address < EEPROM_END_ADDRESS; - address += SIZE_U32) { - // 安全读取Flash数据 - volatile u32 *flash_ptr = (volatile u32 *)address; - u32 data_word_read = *flash_ptr; - // 找到空位置 - if (data_word_read == 0xFFFFFFFF) { - next_address = address; - break; - } - // 更新下一个可能的写入位置（如果需要格式化） - next_address = address + SIZE_U32; - } - - // 如果有足够空间，直接写入 - if (next_address < EEPROM_END_ADDRESS) { - // 使用GD32库函数进行安全编程 - fmc_unlock(); - fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR); - - // 确保使用对齐地址 - fmc_state_enum fmc_status = fmc_word_program(next_address, data_word); - - fmc_lock(); -#if EEPDEBUG - u32 data_word_c = *((u32 *)next_address); - data_word_c = data_word_c & DATA_FLOAT_MASK; - float float_data = *((float *)&data_word_c); - printf("save:0x%x=%f\r\n", next_address, float_data); -#endif - if (fmc_status != FMC_READY) { - return FLASH_EEPROM_WRITE_ERROR; - } - return FLASH_EEPROM_OK; - } else { - // 空间不足，需要格式化页面 -#if EEPDEBUG - printf("no enough space\r\n"); -#endif - FlashEepromStatus status = format(); - if (status == FLASH_EEPROM_OK) { - return status; - } else { - return FLASH_EEPROM_ERASE_ERROR; - } - } + return 0; // 正常不会返回这个，未预料的异常情况返回 } /** @@ -375,24 +57,11 @@ FlashEepromStatus FlashEEPROM::format() { return FLASH_EEPROM_OK; } -/** - * @brief 读取角度数据从Flash - * @return float: 角度数据 - */ -float FlashEEPROM::read_angle() { - float angle = DEFAULT_VALUE; - if (readFloat(ADDR_ANGLE, &angle) != FLASH_EEPROM_OK) { - angle = DEFAULT_VALUE; - } - return angle; -} - /** * @brief 保存CRC数据到Flash - * @param saved: 是否一次性保存 * @return FlashEepromStatus: 状态 */ -FlashEepromStatus FlashEEPROM::writeCRC(u32 CRC_NUM, bool saved) { +FlashEepromStatus FlashEEPROM::writeCRC(u32 CRC_NUM) { static u32 next_address; // 遍历Flash页面寻找下一个可写入crc的位置 for (u32 address = EEPROM_DATA_START_ADDRESS - SIZE_U32; @@ -426,24 +95,11 @@ FlashEepromStatus FlashEEPROM::writeCRC(u32 CRC_NUM, bool saved) { EEPROMStatus = fmc_status; return FLASH_EEPROM_WRITE_ERROR; } - } else { - // 空间不足，需要格式化页面 -#if EEPDEBUG - printf("no enough space\r\n"); -#endif - FlashEepromStatus status = format(); - if (status == FLASH_EEPROM_OK) { - return status; - } else { - EEPROMStatus = FLASH_EEPROM_ERASE_ERROR; - return FLASH_EEPROM_ERASE_ERROR; - } } } // 重新读取CRC校验 if (CRC_NUM == *((u32 *)next_address)) { - system_config_saved = saved; // 标记已保存过 EEPROMStatus = FLASH_EEPROM_OK; // 设置EEPROM状态 return FLASH_EEPROM_OK; } else { diff --git a/Robot_V2/sys/flash.h b/Robot_V2/sys/flash.h index aff3aca..521df70 100644 --- a/Robot_V2/sys/flash.h +++ b/Robot_V2/sys/flash.h @@ -2,8 +2,6 @@ #define __FLASH_H #include -// 修改后 - 强制4字节对齐 -#define ALIGN_4BYTE(addr) ((addr) & 0xFFFFFFFC) // 4字节对齐 // EEPROM操作状态 typedef enum { @@ -26,21 +24,8 @@ class FlashEEPROM { static constexpr u32 EEPROM_END_ADDRESS = 0x08020000; // Flash结束地址 static constexpr u32 EEPROM_MAX_SIZE = 0x800; // EEPROM最大容量 static constexpr u32 EEPROM_DATA_START_ADDRESS = - 0x0801F900; // DATA段开始地址 - static constexpr u32 DATA_FLOAT_MASK = 0xFFFFFF00; // float存储地址掩码 - static constexpr u32 DATA_U16_MASK = 0xFFFF0000; // u16存储地址掩码 - static constexpr u32 DATA_ADDR_MASK = 0x000000FF; // 虚拟地址掩码 + 0x0801F900; // DATA段开始地址 - // 定义用户自定义的虚拟地址 - static constexpr u8 ADDR_CONTROL_MODE = 0x0; // 控制模式 - static constexpr u8 ADDR_ANGLE = 0x01; // 角度数据存储地址 - static constexpr u8 ADDR_TARGET_ANGLE = 0x02; // 角度命令数据存储地址 - static constexpr u8 ADDR_TARGET_VEL = 0x03; // 速度命令数据存储地址 - static constexpr u8 ADDR_VOLTAGE_LIMIT = 0x4; // 电压限制 - static constexpr u8 ADDR_VEL_LIMIT = 0x05; // 角度数据存储地址 - - bool angle_saved = false; - bool system_config_saved = false; u8 EEPROMStatus; // 构造函数 FlashEEPROM(); @@ -48,24 +33,11 @@ class FlashEEPROM { // 初始化Flash EEPROM模拟 u8 init(); - // 从Flash EEPROM中读取数据 - FlashEepromStatus read(u8 virtualAddr, u16 *data) const; - // 向Flash EEPROM写入数据 - FlashEepromStatus write(u8 virtualAddr, u16 data); - // Float数据读相关函数 - FlashEepromStatus readFloat(u8 virtualAddr, float *data) const; - // Float数据存储相关函数 - FlashEepromStatus writeFloat(u8 virtualAddr, float data); - // 格式化Flash EEPROM页面 FlashEepromStatus format(); - - u8 read_saved_system_config(void); - float read_angle(); + FlashEepromStatus writeCRC(u32 CRC_NUM); private: - FlashEepromStatus writeCRC(u32 CRC_NUM, bool saved); }; -void flash_eeprom_example_main(void); #endif /* __FLASH_H */ \ No newline at end of file diff --git a/Robot_V2/sys/health.cpp b/Robot_V2/sys/health.cpp deleted file mode 100644 index fbd5935..0000000 --- a/Robot_V2/sys/health.cpp +++ /dev/null @@ -1,103 +0,0 @@ -#include "health.h" -#include "Can.h" -#include "DengFOC.h" -#include "adc.h" -#include "flash.h" -#include - -extern sampler sampler; -extern CAN_transmiter CAN0_transmiter; -extern FOC_Controlroller FOC; -extern FlashEEPROM flashEEP; -ThermalController thermalController; // 热量控制器初始化 - -#define max(a, b, c) \ - ((a) > (b) ? ((a) > (c) ? (a) : (c)) : ((b) > (c) ? (b) : (c))) -constexpr u16 PROTECT_TIME = 6000; // 过热保护时间，单位*10ms -/** -** @brief 热能计算 -** @param None -** @retval 热量值 -*/ -u32 ThermalController::update() { - thermal_value = Q16_16_MUL(thermal_value, thermalRate); - // 添加温度积累 - int drv_temp = (int)sampler.get_drv_temp(); - int mcu_temp = (int)sampler.get_mcu_temp(); - if (drv_temp == 255) - drv_temp = 0; - if (mcu_temp == 255) - mcu_temp = 0; - thermal_value += drv_temp * drv_temp + mcu_temp * mcu_temp; - - if (remainingTime10Ms) { - // 过热停机状态 - // 检查是否可以恢复 - q16_16_t recovery_threshold = - Q16_16_MUL(thermal_capacity, recoveryRate); - if (thermal_value < recovery_threshold) { - remainingTime10Ms = 1; // 可以恢复工作 - } - if (remainingTime10Ms == 1) { // 过热恢复 - FOC.resume(); - CAN0_transmiter.ThermalStatus = 0; - return --remainingTime10Ms; - } - return --remainingTime10Ms; - } else { - // 当前没有过热停机 - // 添加电流热积累 - u32 currents[3] = {(u32)(sampler.get_current('U') * 1000), - (u32)(sampler.get_current('V') * 1000), - (u32)(sampler.get_current('W') * 1000)}; - - // 找最大电流（原始ADC值） - current_max = max(currents[0], currents[1], currents[2]); - if (current_max < 2000) { - thermal_value += current_max * current_max * gapTimeMs * - 0.00007f; // 计算当前电流热积累值 - } else if (current_max > 3800) { - thermal_value += current_max * current_max * gapTimeMs * - 0.01f; // 添加当前电流热积累值 - } else if (current_max > 3400) { - thermal_value += current_max * current_max * gapTimeMs * - 0.005f; // 计算当前电流热积累值 - } else if (current_max > 3000) { - thermal_value += current_max * current_max * gapTimeMs * - 0.0002f; // 计算当前电流热积累值 - } else if (current_max > 2000) { - thermal_value += current_max * current_max * gapTimeMs * - 0.0001f; // 计算当前电流热积累值 - } - } - - if (thermal_value > thermal_capacity) { - FOC.shut_down(); - remainingTime10Ms = PROTECT_TIME; // 过热停机 - CAN0_transmiter.ThermalStatus = 1; - return remainingTime10Ms; - } - return thermal_value; -} -/** -** @brief 温度检测 -** @param None -*/ -void angsens_MG_check(void) { - bool MGH = gpio_input_bit_get(GPIOB, GPIO_PIN_10); - bool MGL = gpio_input_bit_get(GPIOB, GPIO_PIN_11); - CAN0_transmiter.MagStatus = MGH or MGL; -} - -void power_manage(void) { - float last_vbus = sampler.get_vbus_voltage(); - sampler.update_vbus_voltage(); - FOC.update_power(); - float vbus = sampler.get_vbus_voltage(); - if ((vbus < 22.0f) and (last_vbus > vbus) and vbus > 8.0f) { - FOC.shut_down(); - flashEEP.save_system_config(true); - } else { - FOC.resume(); - } -} \ No newline at end of file diff --git a/Robot_V2/sys/health.h b/Robot_V2/sys/health.h deleted file mode 100644 index a3b22cf..0000000 --- a/Robot_V2/sys/health.h +++ /dev/null @@ -1,40 +0,0 @@ -#ifndef _HEALTH_H -#define _HEALTH_H - -#include "stdint.h" -typedef int32_t q16_16_t; // Q16.16格式 -// 定点数运算宏 -#define Q16_16_ONE 65536 // 1.0 in Q16.16 -#define FLOAT_TO_Q16_16(x) ((q16_16_t)((x) * Q16_16_ONE)) -#define Q16_16_TO_FLOAT(x) ((float)(x) / Q16_16_ONE) -#define Q16_16_MUL(a, b) ((q16_16_t)(((int64_t)(a) * (b)) >> 16)) -#define Q16_16_SQUARE(x) Q16_16_MUL((x), (x)) - -class ThermalController { - private: - u8 temperature; - u16 current_max; - - q16_16_t thermalRate; // 热耗散系数（每单位时间散热比例） - q16_16_t recoveryRate; // 自然恢复率（散热到多少以下开始工作） - - u32 thermal_value = 0; - u32 thermal_capacity = 3600000; // 热容量 - - u16 gapTimeMs = 10; // 单次计算间隔ms - u16 remainingTime10Ms = 0; // 过热冷却剩余ms - public: - ThermalController() - : thermalRate(FLOAT_TO_Q16_16(0.995f)), - recoveryRate(FLOAT_TO_Q16_16(0.33f)) {} - u32 update(); - void reset() { - thermal_value = 0; - remainingTime10Ms = 0; - } -}; - -void angsens_MG_check(void); -void power_manage(void); - -#endif diff --git a/Robot_V2/sys/initial.cpp b/Robot_V2/sys/initial.cpp index 90bdb52..8dcb338 100644 --- a/Robot_V2/sys/initial.cpp +++ b/Robot_V2/sys/initial.cpp @@ -12,21 +12,6 @@ u8 USART0_init() { return 1; } -/*! - \brief configure the watchdog peripheral - \param[in] none - \param[out] none - \retval none -*/ -u8 watchdog_init(u32 time) { - u8 status = 0; - /* configure FWDGT counter clock: 40KHz(IRC40K) / 64 = 0.625 KHz */ - /* time = reload_value / clock_frequency */ - status = fwdgt_config(time * 0.625, FWDGT_PSC_DIV64); - fwdgt_enable(); - return status; -} - int fputc(int ch, FILE *f) throw() { usart_data_transmit(EVAL_COM0, (uint8_t)ch); @@ -48,46 +33,4 @@ void unused_pin_init() { gpio_bit_reset(GPIOA, GPIO_PIN_8 | GPIO_PIN_11 | GPIO_PIN_12); gpio_bit_reset(GPIOB, GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_15); gpio_bit_reset(GPIOC, GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15); -} - -/*! - \brief 检测并打印复位源信息 - \param[in] none - \param[out] none - \retval none -*/ -u16 get_reset_cause(void) { - u16 cause = 0; - if (RESET != rcu_flag_get(RCU_FLAG_FWDGTRST)) { - // printf("Free Watchdog Timer Reset\r\n"); - cause = RCU_FLAG_FWDGTRST; - } - if (RESET != rcu_flag_get(RCU_FLAG_EPRST)) { - // printf("External Pin Reset\r\n"); - cause = RCU_FLAG_EPRST; - } - - if (RESET != rcu_flag_get(RCU_FLAG_PORRST)) { - // printf("Power Reset\r\n"); - cause = RCU_FLAG_PORRST; - } - - if (RESET != rcu_flag_get(RCU_FLAG_WWDGTRST)) { - // printf("Window Watchdog Timer Reset\r\n"); - cause = RCU_FLAG_WWDGTRST; - } - - if (RESET != rcu_flag_get(RCU_FLAG_LPRST)) { - // printf("Low Power Reset\r\n"); - cause = RCU_FLAG_LPRST; - } - - if (RESET != rcu_flag_get(RCU_FLAG_SWRST)) { - // printf("Software Reset\r\n"); - cause = RCU_FLAG_SWRST; - } - // 清除所有复位标志 - rcu_all_reset_flag_clear(); - // printf("cause:%d\r\n", cause); - return cause; -} +} \ No newline at end of file diff --git a/Robot_V2/sys/initial.h b/Robot_V2/sys/initial.h index 844e8d0..5241423 100644 --- a/Robot_V2/sys/initial.h +++ b/Robot_V2/sys/initial.h @@ -9,17 +9,9 @@ extern "C" { #include "stdint.h" #include - -constexpr u16 REDUCTION_RATIO = 25; -constexpr float DEG2RAD = 1.0f / 360.0f * 6.28318530718f; -constexpr float RAD2DEG = 360.0f / 6.28318530718f; - -void rcu_config(void); -static volatile uint32_t timer_delay_count = 0; // volatile 很重要！ -int fputc(int ch, FILE *f); // 声明fputc函数以重载标准库实现 +int fputc(int ch, FILE *f); // 声明fputc函数以重载标准库实现 u8 USART0_init(void); -u8 watchdog_init(u32 time); u16 get_reset_cause(void); void unused_pin_init(); diff --git a/Robot_V2/sys/systick.h b/Robot_V2/sys/systick.h index 5294ccb..6927e32 100644 --- a/Robot_V2/sys/systick.h +++ b/Robot_V2/sys/systick.h @@ -48,10 +48,6 @@ void delay_1ms(uint32_t count); void delay_1s(uint32_t count); /* delay decrement */ void delay_decrement(void); -/* 空闲任务计数 */ -void idle_task_count(void); -/* 获取CPU使用率 */ -uint8_t get_cpu_usage(void); /* 系统软复位 */ void system_soft_reset(void); diff --git a/out/Robot_V2/GD32C103CB/Release/.cache/clangd/index/Can.cpp.189F590D64E2E593.idx b/out/Robot_V2/GD32C103CB/Release/.cache/clangd/index/Can.cpp.189F590D64E2E593.idx deleted file mode 100644 index 3dc9658f6c096bc2697304d3c525646852ca1e3f..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 30178 zcmc(H3tUyj_Wzlgy?r9!K~Mn^$OJ{;@CJ+W00%tAOAaU*-4nu5PV%~dX1AAb^MUzF 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config version: 1.0.0 - - component: GigaDevice::Device:GD32C10x_StdPeripherals:BKP@1.0.0 - condition: GD32C10x STDPERIPHERALS RCU - from-pack: GigaDevice::GD32C10x_DFP@1.0.1 - selected-by: Device:GD32C10x_StdPeripherals:BKP - files: - - file: ${CMSIS_PACK_ROOT}/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc/gd32c10x_bkp.h - category: header - version: 1.0.0 - - file: ../../../../Robot_V2/RTE/Device/GD32C103CB/gd32c10x_bkp.c - category: source - attr: config - version: 1.0.0 - component: GigaDevice::Device:GD32C10x_StdPeripherals:CAN@1.0.0 condition: GD32C10x STDPERIPHERALS RCU from-pack: GigaDevice::GD32C10x_DFP@1.0.1 @@ -337,7 +325,6 @@ build: - pack: GigaDevice::GD32C10x_DFP@1.0.1 components: - component: GigaDevice::Device:EVAL:GD32C10x@1.0.0 - - component: GigaDevice::Device:GD32C10x_StdPeripherals:BKP@1.0.0 - component: GigaDevice::Device:GD32C10x_StdPeripherals:CAN@1.0.0 - component: GigaDevice::Device:GD32C10x_StdPeripherals:CRC@1.0.0 - component: 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