Motor_v2/Robot_V2/device/Timer.cpp

#include "Timer.h"
#include "Can.h"
#include "adc.h"
#include "gd32c10x.h"
#include "gd32c10x_gpio.h"
#include "gd32c10x_rcu.h"
#include "gd32c10x_timer.h"
#include "DengFOC.h"
#include <cstdio>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include "Timer.h"

// 配置定时器每100微秒中断一次
// 系统时钟为120MHz，要得到100微秒的中断周期
// 可以使用预分频器119，定时器时钟为120MHz/(119+1) = 1MHz
// 然后设置周期为99，即计数100次，1MHz/100 = 10kHz = 100微秒
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 = 2999;   // 120MHz / (0+1) / (5999+1) = 20kHz
constexpr int TIMER1_CH0_PULSE = 0;
constexpr int TIMER1_CH1_PULSE = 0;
constexpr int TIMER1_CH2_PULSE = 0;

static 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
static volatile std::u64 system_runtime_us = 0;

// 声明外部FOC控制器对象
extern FOC_Controlroller FOC;

/**
 * @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, 1, 1);
}

/**
 * @brief 配置定时器1
 * @return void
 *
 *配置定时器1
 */
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      获取系统运行时间(毫秒)
    \param[in]  none
    \param[out] none
    \retval     系统运行时间，单位为毫秒
*/
uint64_t get_system_runtime_us(void)
{
    return system_runtime_us;
}

/**
 * @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);
		// 增加总计数器
		total_us100_counter++;
		system_runtime_us += 100;
		// 每100us执行一次的操作可以放在这里

		// 在定时器中断中执行FOC控制，确保控制频率稳定
		FOC.velocity_open_loop(FOC.target_velocity);

		if (total_us100_counter % 10 == 0) {
			// 每1ms执行的代码可以放在这里
			CAN0_transmiter.can0_send_flag = SET;
			if (total_us100_counter % 100 == 0) {
				// 每10ms执行的代码可以放在这里
			}
			
			if (total_us100_counter % 1000 == 0) {
				// 每100ms执行的代码可以放在这里
			}

			if (total_us100_counter % 10000 == 0) {
				// 每1s执行的代码可以放在这里

				// 重置计数器避免溢出
				total_us100_counter = 0;
			}
		}
	}
}

/**
 * @brief  TIMER1 GPIO配置函数
 */
void timer1_gpio_config(void) {
	// 时钟使能
	rcu_periph_clock_enable(RCU_GPIOA);
	rcu_periph_clock_enable(RCU_GPIOB);
	rcu_periph_clock_enable(RCU_AF);
	rcu_periph_clock_enable(RCU_TIMER1);

	// TIMER1 GPIO初始化
	gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0);
	gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_1);
	gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_2);

	gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0|GPIO_PIN_12);
	gpio_bit_set(GPIOB, GPIO_PIN_0);
	gpio_bit_set(GPIOB, GPIO_PIN_12);

	/* 配置TIMER1完全重映射 - 应该使用DISABLE，因为我们使用的是默认引脚 */
	gpio_pin_remap_config(GPIO_TIMER1_FULL_REMAP, DISABLE);
}

/**
 * @brief  TIMER1 配置函数
 */
void timer1_pwm_config(void) {
    timer_parameter_struct timer_initpara;
    timer_oc_parameter_struct timer_ocinitpara;

    // 使能TIMER1时钟
    rcu_periph_clock_enable(RCU_TIMER1);

    // 复位TIMER1
    timer_deinit(TIMER1);

    // 配置TIMER1基本参数
    timer_struct_para_init(&timer_initpara);
    timer_initpara.prescaler = TIMER1_PRESCALER;        // 预分频器
    timer_initpara.counterdirection = TIMER_COUNTER_UP;  // 向上计数
    timer_initpara.period = TIMER1_PERIOD;          // 计数周期
    timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
    timer_init(TIMER1, &timer_initpara);

    // 配置通道输出参数
    timer_channel_output_struct_para_init(&timer_ocinitpara);
    timer_ocinitpara.outputstate = TIMER_CCX_ENABLE;
    timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;

    // 配置三个通道为PWM模式
    timer_channel_output_config(TIMER1, TIMER_CH_0, &timer_ocinitpara);
    timer_channel_output_config(TIMER1, TIMER_CH_1, &timer_ocinitpara);
    timer_channel_output_config(TIMER1, TIMER_CH_2, &timer_ocinitpara);

    // 设置PWM模式和占空比
    timer_channel_output_mode_config(TIMER1, TIMER_CH_0, TIMER_OC_MODE_PWM0);
    timer_channel_output_mode_config(TIMER1, TIMER_CH_1, TIMER_OC_MODE_PWM0);
    timer_channel_output_mode_config(TIMER1, TIMER_CH_2, TIMER_OC_MODE_PWM0);

    timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0, TIMER1_CH0_PULSE);
    timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1, TIMER1_CH1_PULSE);
    timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2, TIMER1_CH2_PULSE);

    // 使能主输出和自动重载
    timer_primary_output_config(TIMER1, ENABLE);
    timer_auto_reload_shadow_enable(TIMER1);
    
    // 启动TIMER1
    timer_enable(TIMER1);
}



/*!
	\brief      set PWM
	\param[in]  channel: TIMER_CH_0/TIMER_CH_1/TIMER_CH_2/TIMER_CH_3 (valid
   values: 0, 1, 2, 3)
	\param[in]  pulse: PWM pulse value
	\param[out] none
	\retval     none
	\note       The channel parameter must be between 0 and 3 inclusive.
*/
void Set_Pwm(u16 channel, float duty_cycle) {
	float pulse = duty_cycle * TIMER1_PERIOD;
	
	if (channel <= 3) {
		timer_channel_output_pulse_value_config(TIMER1, channel, pulse);
	} else {
	} // Ensure channel is within valid range
}


/*!
	\brief      set PWM
	\param[in]  channel: TIMER_CH_0/TIMER_CH_1/TIMER_CH_2/TIMER_CH_3 (valid
   values: 0, 1, 2, 3)
	\param[in]  pulse: PWM pulse value
	\param[out] none
	\retval     none
	\note       The channel parameter must be between 0 and 3 inclusive.
*/
void Set_3Pwm(float duty_cycle0, float duty_cycle1,float duty_cycle2) {
	timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0, duty_cycle0 * TIMER1_PERIOD);
	timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1, duty_cycle1 * TIMER1_PERIOD);
	timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2, duty_cycle2 * TIMER1_PERIOD);
}