Motor_v2/Robot_V2/sys/systick.cpp

/*!
	\file    systick.c
	\brief   the systick configuration file

	\version 2025-06-20, V1.5.1, firmware for GD32C10x
*/

/*
	Copyright (c) 2024, GigaDevice Semiconductor Inc.

	Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

	1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
	2. Redistributions in binary form must reproduce the above copyright notice,
	   this list of conditions and the following disclaimer in the documentation
	   and/or other materials provided with the distribution.
	3. Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.

	THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include "systick.h"
#include "Can.h"
#include "config.h"
#include "flash.h"
#include "gd32c10x.h"
#include "gd32c10x_fmc.h"
#include "motor.h"
#include <cstdio>

// SLEEP 调试宏定义
#if SLEEP_DEBUG
#define SLEEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)
#else
#define SLEEP_DEBUG_PRINT(fmt, ...) ((void)0)
#endif

volatile static uint32_t delay;
volatile static uint32_t systick_ms = 0; // 系统运行时间（毫秒）
extern CAN_transmiter CAN0_transmiter;
extern FlashEEPROM flashEEP;

/*!
	\brief      get system tick time in milliseconds
	\param[in]  none
	\param[out] none
	\retval     system time in ms
*/
uint32_t get_systick_ms(void) {
	return systick_ms;
}

/*!
	\brief      configure systick
	\param[in]  none
	\param[out] none
	\retval     none
*/
void systick_config(void) {
	/* setup systick timer for 1000Hz interrupts */
	if (SysTick_Config(SystemCoreClock / 1000U)) {
		/* capture error */
		while (1) {
		}
	}
	/* configure the systick handler priority */
	NVIC_SetPriority(SysTick_IRQn, 0x00U);
}

/*!
	\brief      SysTick handler - increment millisecond counter
	\param[in]  none
	\param[out] none
	\retval     none
*/
extern "C" void SysTick_Handler(void) {
	systick_ms++;      // 递增系统时间
	delay_decrement(); // 递减延时计数器
}
/*!
	\brief      delay a time in seconds
	\param[in]  count: count in seconds
	\param[out] none
	\retval     none
*/
void delay_1s(uint32_t count) {
	uint32_t i;
	for (i = 0; i < count; i++) {
		delay_1ms(1000);
	}
}

/*!
	\brief      delay a time in milliseconds
	\param[in]  count: count in milliseconds
	\param[out] none
	\retval     none
*/
void delay_1ms(uint32_t count) {
	delay = count;
	while (0U != delay) {
		fwdgt_counter_reload();
	}
}

/*!
	\brief      delay decrement
	\param[in]  none
	\param[out] none
	\retval     none
*/
void delay_decrement(void) {
	if (0U != delay) {
		delay--;
	}
}

/*!
	\brief      system soft reset
	\param[in]  none
	\param[out] none
	\retval     none
*/
void system_soft_reset(void) {
	/* Set the software reset bit */
	SCB->AIRCR = (0x05FA0000U | (SCB->AIRCR & (0x700U)) | (1U << 2));

	/* Data Synchronization Barrier */
	__DSB();

	/* Wait for reset */
	while (1) {
		__NOP();
	}
}

/*!
	\brief      prepare system to enter deep sleep mode
	\param[in]  none
	\param[out] none
	\retval     none
*/
void app_prepare_deep_sleep(bool save_data) {
	if (save_data) {
		flashEEP.save_system_config(true);
	}
	// 将 SIT1044 设置为低功耗待机模式
	// CAN0_transmiter.CAN_Sleep();
	motor_sleep();
	// 在睡眠前调整看门狗超时时间为最大值，使其在唤醒前不会触发
	fwdgt_write_enable();
	fwdgt_config(0xFFF, FWDGT_PSC_DIV256); // 设置最大超时时间
	fwdgt_write_disable();

	__disable_irq();
	// 遍历最后一个数字，后一个地址写 +1
	for (u32 address = SLEEP_CONFIG_END - SIZE_U32;
		 address >= SLEEP_CONFIG_START; address -= SIZE_U32) { // 遍历睡眠存储区
		volatile u32 *flash_ptr = (volatile u32 *)address;
		u32 sleep_enable = *flash_ptr;
		if (sleep_enable == FLASH_EMPTY and
			address > SLEEP_CONFIG_START) { // 空数据且未到头跳过
			continue;
		} else { // 有数据的话读取
			SLEEP_DEBUG_PRINT("app sleep found %08x at %08x\r\n", sleep_enable, address);
			if (address == SLEEP_CONFIG_END - SIZE_U32) {
				fmc_unlock();
				fmc_state_enum fmc_status =
					fmc_page_erase(SLEEP_CONFIG_START); // 擦除已满的页
				if (fmc_status != FMC_READY) {			// 擦除失败报错
					fmc_lock();
					flashEEP.EEPROMStatus = FLASH_EEPROM_ERASE_ERROR;
					return;
				}
				address = SLEEP_CONFIG_START - SIZE_U32; // 重新开始写入
			}
			address += SIZE_U32;
			SLEEP_DEBUG_PRINT("app sleep prepare write %08x at %08x\r\n", SLEEP_ENABLE,
				   address);
			fmc_state_enum fmc_status =
				write_ADDRESS(address, SLEEP_ENABLE); // 写入数据
#if SLEEP_DEBUG
			volatile u32 *flash_ptr = (volatile u32 *)address;
			u32 sleep_check = *flash_ptr;
			SLEEP_DEBUG_PRINT("app sleep wrote %08x at %08x\r\n", sleep_check, address);
#endif
			if (fmc_status != FMC_READY) { // 写入失败报错
				flashEEP.EEPROMStatus = FLASH_EEPROM_WRITE_ERROR;
				SLEEP_DEBUG_PRINT("app wrote %08x at %08x ERROR\r\n", SLEEP_ENABLE,
					   address);
				return;
			}
			break;
		}
	}
	jumpToBOOT(); // 跳转到 bootloader 正式休眠，进入低功耗待机模式
}