2025-09-23 00:27:51 +08:00
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#ifndef _INITIAL_H
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#define _INITIAL_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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2025-12-20 19:53:52 +08:00
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2025-11-13 02:04:58 +08:00
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#include "gd32c10x_eval.h"
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2025-09-23 00:27:51 +08:00
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#include "stdint.h"
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#include <stdio.h>
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2025-11-13 02:04:58 +08:00
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2025-09-23 00:27:51 +08:00
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2025-11-08 02:15:14 +08:00
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constexpr u16 REDUCTION_RATIO = 25;
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constexpr float DEG2RAD = 1.0f / 360.0f * 6.28318530718f;
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constexpr float RAD2DEG = 360.0f / 6.28318530718f;
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2025-09-23 00:27:51 +08:00
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void rcu_config(void);
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2025-10-02 02:52:07 +08:00
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static volatile uint32_t timer_delay_count = 0; // volatile 很重要！
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2025-11-13 02:04:58 +08:00
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int fputc(int ch, FILE *f); // 声明fputc函数以重载标准库实现
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2025-09-23 00:27:51 +08:00
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u8 USART0_init(void);
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2025-10-02 23:50:12 +08:00
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u8 watchdog_init(u32 time);
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2025-12-20 19:53:52 +08:00
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u16 get_reset_cause(void);
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2025-12-16 22:39:39 +08:00
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void unused_pin_init();
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2025-11-13 02:04:58 +08:00
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// 任务标志定义
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typedef enum {
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TASK_MOTOR_CONTROL = 0,
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TASK_CURRENT_UPDATE,
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TASK_VELOCITY_UPDATE,
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TASK_ANGLE_UPDATE,
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TASK_MCU_TEMP_UPDATE,
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TASK_DRV_TEMP_UPDATE,
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TASK_VBUS_UPDATE,
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TASK_THERMAL_CONTROL,
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TASK_CAN_TRANSMIT,
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2025-11-22 23:59:43 +08:00
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TASK_MAGNETIC_CHECK,
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2025-11-13 02:04:58 +08:00
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TASK_COUNT
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} SystemTask;
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2025-10-16 21:43:34 +08:00
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2025-11-13 02:04:58 +08:00
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// 任务管理结构
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typedef struct {
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volatile u32 taskFlags; // 任务标志位(每个位代表一个任务)
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} TaskScheduler;
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2025-09-23 00:27:51 +08:00
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#ifdef __cplusplus
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}
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#endif
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#endif
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