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基础响应功能的实现

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cbb
2025-12-27 19:20:23 +08:00
parent 26e73f451e
commit a25ec5f029
762 changed files with 1165 additions and 3750 deletions
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Robot_V2/sys/OTA.cpp
+82 -46
View File
@@ -1,31 +1,47 @@
#include "OTA.h"
#include "gd32c10x_fmc.h"
#include "systick.h"
#include <cstdio>
#include <cstring>
#include <flash.h>
#include <stdint.h>
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);
}
Robot_V2/sys/OTA.h
+1 -1
View File
@@ -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; }
Robot_V2/sys/config.h
+19 -14
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@@ -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;
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
Robot_V2/sys/flash.cpp
+2 -346
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@@ -10,11 +10,8 @@
#include <stdint.h>
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 {
Robot_V2/sys/flash.h
+2 -30
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@@ -2,8 +2,6 @@
#define __FLASH_H
#include <stdint.h>
// 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 */
Robot_V2/sys/health.cpp
-103
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@@ -1,103 +0,0 @@
#include "health.h"
#include "Can.h"
#include "DengFOC.h"
#include "adc.h"
#include "flash.h"
#include <stdint.h>
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();
}
}
Robot_V2/sys/health.h
-40
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@@ -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
Robot_V2/sys/initial.cpp
+1 -58
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@@ -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;
}
}
Robot_V2/sys/initial.h
+1 -9
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@@ -9,17 +9,9 @@ extern "C" {
#include "stdint.h"
#include <stdio.h>
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();
Robot_V2/sys/systick.h
-4
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@@ -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);