110 lines
3.1 KiB
C++
110 lines
3.1 KiB
C++
#include "Timer.h"
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#include "Can.h"
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#include "Timer.h"
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#include "gd32c10x.h"
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#include "gd32c10x_gpio.h"
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#include "gd32c10x_misc.h"
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#include "gd32c10x_rcu.h"
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#include "gd32c10x_timer.h"
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdio.h>
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constexpr int TIMER2_PRESCALER = 119; // 120MHz / 120 = 1MHz
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constexpr int TIMER2_PERIOD = 99; // 1MHz / 100 = 100us
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constexpr int TIMER1_PRESCALER = 0; // 不分频，计数器时钟为120MHz
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constexpr int TIMER1_PERIOD = 5999; // 120MHz / (0+1) / (5999+1) = 20kHz
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constexpr int TIMER1_CH0_PULSE = 0;
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constexpr int TIMER1_CH1_PULSE = 0;
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constexpr int TIMER1_CH2_PULSE = 0;
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constexpr int TIMER1_CH3_COMPARE_VALUE =
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(TIMER1_PERIOD + 1) * 0.5 - 1; // PWM周期50%位置触发中断
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volatile u32 total_us100_counter = 0; // 总计数器，每100微秒增加1
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extern u16 adc_value[7];
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extern CAN_transmiter CAN0_transmiter;
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// 添加系统运行时间计数器
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extern u32 cnt_test;
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/**
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* @brief 设置引脚中断优先级
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* @return void
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*
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*设置引脚中断优先级
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*/
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void nvic_config(void) {
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/* 设置NVIC优先级分组，1位抢占优先级，3位响应优先级 */
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nvic_priority_group_set(NVIC_PRIGROUP_PRE2_SUB2);
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/* 使能TIMER2中断，设置抢占优先级为1，子优先级为1 */
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nvic_irq_enable(TIMER2_IRQn, 0, 1);
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nvic_irq_enable(TIMER1_IRQn, 0, 2);
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}
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/**
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* @brief 配置定时器2
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* @return void
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*
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*配置定时器2，用于定时执行FOC控制、采样、CAN发送等任务
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*/
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void TIMER2_config(void) {
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/* ----------------------------------------------------------------------------
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TIMER2 Configuration:
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TIMER2CLK = SystemCoreClock/120 = 1MHz, the period is 100us(100/1000000 =
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100us).
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----------------------------------------------------------------------------
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*/
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timer_parameter_struct timer_struct;
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/* 使能TIMER2时钟 */
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rcu_periph_clock_enable(RCU_TIMER2);
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/* 复位TIMER2外设到默认状态 */
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timer_deinit(TIMER2);
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/* 初始化TIMER初始化参数结构体 */
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timer_struct_para_init(&timer_struct);
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/* TIMER2配置参数设置 */
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timer_struct.prescaler =
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TIMER2_PRESCALER; /* 预分频值：120分频(从0开始计数) */
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timer_struct.alignedmode = TIMER_COUNTER_EDGE; /* 边沿对齐模式 */
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timer_struct.counterdirection = TIMER_COUNTER_UP; /* 向上计数模式 */
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timer_struct.period =
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TIMER2_PERIOD; /* 自动重装载值：100次计数(从0开始计数) */
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timer_struct.clockdivision = TIMER_CKDIV_DIV1; /* 时钟分频值：1分频 */
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timer_init(TIMER2, &timer_struct);
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/* 清除更新中断标志位 */
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timer_interrupt_flag_clear(TIMER2, TIMER_INT_FLAG_UP);
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/* 使能更新中断 */
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timer_interrupt_enable(TIMER2, TIMER_INT_UP);
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/* 使能TIMER2 */
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timer_enable(TIMER2);
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}
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/**
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* @brief 配置TIMER2中断
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* @return void
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*/
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void User_timer_init(void) {
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/* 配置TIMER2 */
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TIMER2_config();
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/* 配置TIMER2中断 */
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nvic_config();
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}
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/**
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* @brief TIMER2中断处理函数
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* @return void
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*/
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void TIMER2_IRQHandler(void) {
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// 检查更新中断标志并处理
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if (timer_interrupt_flag_get(TIMER2, TIMER_INT_UP) != RESET) {
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// 清除更新中断标志
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timer_interrupt_flag_clear(TIMER2, TIMER_INT_UP);
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// 每100us执行一次的操作
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}
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}
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