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_timer.h"
#include "initial.h"
#include <cstdio>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.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 TIMER1_PRESCALER = 119; // 120MHz / 120 = 1MHz
constexpr int TIMER1_PERIOD = 99;	  // 1MHz / 100 = 100us

constexpr int TIMER0_PRESCALER = 5999;
constexpr int TIMER0_PERIOD = 15999;
constexpr int TIMER0_CH0_PULSE = 4000;
constexpr int TIMER0_CH1_PULSE = 6000;
constexpr int TIMER0_CH2_PULSE = 8000;

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;

/**
 * @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TIMER1中断，设置抢占优先级为1，子优先级为1 */
	nvic_irq_enable(TIMER1_IRQn, 1, 1);
}

/**
 * @brief 配置定时器1
 * @return void
 *
 *配置定时器1
 */
void timer1_config(void) {
	/* ----------------------------------------------------------------------------
	TIMER1 Configuration:
	TIMER1CLK = SystemCoreClock/120 = 1MHz, the period is 100us(100/1000000 =
	100us).
	----------------------------------------------------------------------------
  */
	timer_parameter_struct timer_struct;

	/* 使能TIMER1时钟 */
	rcu_periph_clock_enable(RCU_TIMER1);

	/* 复位TIMER1外设到默认状态 */
	timer_deinit(TIMER1);
	/* 初始化TIMER初始化参数结构体 */
	timer_struct_para_init(&timer_struct);
	/* TIMER1配置参数设置 */
	timer_struct.prescaler =
		TIMER1_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 =
		TIMER1_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(TIMER1, &timer_struct);

	/* 清除更新中断标志位 */
	timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_UP);
	/* 使能更新中断 */
	timer_interrupt_enable(TIMER1, TIMER_INT_UP);

	/* 使能TIMER1 */
	timer_enable(TIMER1);
}

/**
 * @brief   配置TIMER1中断
 * @return void
 */
void User_timer_init(void) {
	/* 配置TIMER1 */
	timer1_config();
	/* 配置TIMER1中断 */
	nvic_config();
}

/**
 * @brief   TIMER1中断处理函数
 * @return void
 */
void TIMER1_IRQHandler(void) {
	// 检查更新中断标志并处理
	if (timer_interrupt_flag_get(TIMER1, TIMER_INT_UP) != RESET) {
		// 清除更新中断标志
		timer_interrupt_flag_clear(TIMER1, TIMER_INT_UP);
		// 增加总计数器
		total_us100_counter++;

		// 每100us执行一次的操作可以放在这里

		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  TIMER0 GPIO配置函数
 */
void timer0_gpio_config(void) {
	// 时钟使能
	rcu_periph_clock_enable(RCU_GPIOA);
	rcu_periph_clock_enable(RCU_AF);

	// TIMER0 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);

	/* 配置TIMER0完全重映射 */
	gpio_pin_remap_config(GPIO_TIMER0_FULL_REMAP, ENABLE);
}

/**
 * @brief  TIMER0 配置函数
 */
void timer0_config(void) {
	/* -----------------------------------------------------------------------
		TIMER0配置：
		生成3路具有不同占空比的互补PWM信号：
		TIMER0CLK固定为systemcoreclock，TIMER0预分频器设置为6000，因此
		TIMER0计数器时钟为20KHz。
		三个占空比的计算如下：
		通道0的占空比设置为25%，因此通道1N设置为75%。
		通道1的占空比设置为50%，因此通道2N设置为50%。
		通道2的占空比设置为75%，因此通道3N设置为25%。
	  ----------------------------------------------------------------------- */
	timer_oc_parameter_struct timer_ocinitpara;
	timer_parameter_struct timer_initpara;

	rcu_periph_clock_enable(RCU_TIMER0);

	timer_deinit(TIMER0);
	/* initialize TIMER init parameter struct */
	timer_struct_para_init(&timer_initpara);
	/* TIMER0 configuration */
	timer_initpara.prescaler = TIMER0_PRESCALER;
	timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
	timer_initpara.counterdirection = TIMER_COUNTER_UP;
	timer_initpara.period = TIMER0_PERIOD;
	timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
	timer_initpara.repetitioncounter = 0;
	timer_init(TIMER0, &timer_initpara);

	/* initialize TIMER channel output parameter struct */
	timer_channel_output_struct_para_init(&timer_ocinitpara);
	/* CH0, CH1 and CH2 configuration in PWM mode */
	timer_ocinitpara.outputstate = TIMER_CCX_ENABLE;
	timer_ocinitpara.outputnstate = TIMER_CCXN_DISABLE;
	timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
	timer_ocinitpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH;
	timer_ocinitpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW;
	timer_ocinitpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;

	timer_channel_output_config(TIMER0, TIMER_CH_0, &timer_ocinitpara);
	timer_channel_output_config(TIMER0, TIMER_CH_1, &timer_ocinitpara);
	timer_channel_output_config(TIMER0, TIMER_CH_2, &timer_ocinitpara);

	timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_0,
											TIMER0_CH0_PULSE);
	timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM0);
	timer_channel_output_shadow_config(TIMER0, TIMER_CH_0,
									   TIMER_OC_SHADOW_DISABLE);

	timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_1,
											TIMER0_CH1_PULSE);
	timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM0);
	timer_channel_output_shadow_config(TIMER0, TIMER_CH_1,
									   TIMER_OC_SHADOW_DISABLE);

	timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_2,
											TIMER0_CH2_PULSE);
	timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM0);
	timer_channel_output_shadow_config(TIMER0, TIMER_CH_2,
									   TIMER_OC_SHADOW_DISABLE);

	timer_primary_output_config(TIMER0, ENABLE);

	// 自动重载模式使能和启动TIMER0
	timer_auto_reload_shadow_enable(TIMER0);
	timer_enable(TIMER0);
}

/**
 * @brief  TIMER0 GPIO config
 */
void Timer0_init(void) {
	timer0_gpio_config();
	timer0_config();
}

/*!
	\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, u32 palse) {
	if (channel <= 3) {
		timer_channel_output_pulse_value_config(TIMER0, channel, palse);
	} else {
	} // Ensure channel is within valid range
}