ADC已完成

Robot_V2.csolution.yml

@@ -27,6 +27,15 @@ solution:
   target-types:
     - type: GD32C103CB
       device: GD32C103CB
+      target-set:
+        - set:
+          images:
+            - project-context: Robot_V2.Debug
+          debugger:
+            name: ST-Link@pyOCD
+            port: 3333
+            protocol: swd
+            clock: 10000000
 
   # List of different build configurations.
   build-types:

Robot_V2/RTE/Device/GD32C103CB/gd32c10x_can.c

@@ -33,6 +33,7 @@ OF SUCH DAMAGE.
 */
 
 #include "gd32c10x_can.h"
+#include "stdio.h"
 #include <stdlib.h>
 
 #define CAN_ERROR_HANDLE(s)         do{}while(1)
@@ -975,10 +976,12 @@ void can_message_receive(uint32_t can_periph, uint8_t fifo_number, can_receive_m
             receive_message->rx_data[5] = (uint8_t)(GET_RFIFOMDATA1_DB5(CAN_RFIFOMDATA1(can_periph, fifo_number)));
             receive_message->rx_data[6] = (uint8_t)(GET_RFIFOMDATA1_DB6(CAN_RFIFOMDATA1(can_periph, fifo_number)));
             receive_message->rx_data[7] = (uint8_t)(GET_RFIFOMDATA1_DB7(CAN_RFIFOMDATA1(can_periph, fifo_number)));
+
         } else {			
             CAN_ERROR_HANDLE("CAN FD function disabled \r\n");
         }
     } else {
+		
         /* check FD function has been enabled */
         /* get receive data length */
         canfd_recv_cnt = (uint8_t)(GET_RFIFOMP_DLENC(CAN_RFIFOMP(can_periph, fifo_number)));

Robot_V2/RTE/Device/GD32C103CB/gd32c10x_eval.c

@@ -215,7 +215,7 @@ void gd_eval_com_init(uint32_t com)
 
     /* USART configure */
     usart_deinit(com);
-    usart_baudrate_set(com, 115200U);
+    usart_baudrate_set(com, 3000000U);
     usart_receive_config(com, USART_RECEIVE_ENABLE);
     usart_transmit_config(com, USART_TRANSMIT_ENABLE);
     usart_enable(com);

Robot_V2/RTE/Device/GD32C103CB/gd32c10x_it.c

@@ -0,0 +1,139 @@
+/*!
+    \file    gd32c10x_it.c
+    \brief   interrupt service routines
+
+    \version 2025-09-30, V1.0.0, firmware for GD32C10x
+*/
+
+/*
+    Copyright (c) 2025, 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 "gd32c10x.h"
+#include "systick.h"
+
+/*!
+    \brief      this function handles NMI exception
+    \param[in]  none
+    \param[out] none
+    \retval     none
+*/
+void NMI_Handler(void)
+{
+}
+
+/*!
+    \brief      this function handles HardFault exception
+    \param[in]  none
+    \param[out] none
+    \retval     none
+*/
+void HardFault_Handler(void)
+{
+    /* if Hard Fault exception occurs, go to infinite loop */
+    while (1){
+    }
+}
+
+/*!
+    \brief      this function handles MemManage exception
+    \param[in]  none
+    \param[out] none
+    \retval     none
+*/
+void MemManage_Handler(void)
+{
+    /* if Memory Manage exception occurs, go to infinite loop */
+    while (1){
+    }
+}
+
+/*!
+    \brief      this function handles BusFault exception
+    \param[in]  none
+    \param[out] none
+    \retval     none
+*/
+void BusFault_Handler(void)
+{
+    /* if Bus Fault exception occurs, go to infinite loop */
+    while (1){
+    }
+}
+
+/*!
+    \brief      this function handles UsageFault exception
+    \param[in]  none
+    \param[out] none
+    \retval     none
+*/
+void UsageFault_Handler(void)
+{
+    /* if Usage Fault exception occurs, go to infinite loop */
+    while (1){
+    }
+}
+
+/*!
+    \brief      this function handles SVC exception
+    \param[in]  none
+    \param[out] none
+    \retval     none
+*/
+void SVC_Handler(void)
+{
+}
+
+/*!
+    \brief      this function handles DebugMon exception
+    \param[in]  none
+    \param[out] none
+    \retval     none
+*/
+void DebugMon_Handler(void)
+{
+}
+
+/*!
+    \brief      this function handles PendSV exception
+    \param[in]  none
+    \param[out] none
+    \retval     none
+*/
+void PendSV_Handler(void)
+{
+}
+
+/*!
+    \brief      this function handles SysTick exception
+    \param[in]  none
+    \param[out] none
+    \retval     none
+*/
+void SysTick_Handler(void)
+{
+    delay_decrement();
+}

Robot_V2/RTE/Device/GD32C103CB/startup_gd32c10x.s

@@ -212,7 +212,9 @@ PendSV_Handler\
 SysTick_Handler\
                 PROC
                 EXPORT  SysTick_Handler                   [WEAK]
-                B       .
+                IMPORT  delay_decrement
+                LDR     R0, =delay_decrement
+                BX      R0
                 ENDP
 
 Default_Handler PROC

Robot_V2/RTE/_Debug_GD32C103CB/RTE_Components.h

@@ -17,48 +17,30 @@
 
 /* GigaDevice::Device:GD32C10x_StdPeripherals:ADC@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_ADC
-/* GigaDevice::Device:GD32C10x_StdPeripherals:BKP@1.0.0 */
-#define RTE_DEVICE_STDPERIPHERALS_BKP
 /* GigaDevice::Device:GD32C10x_StdPeripherals:CAN@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_CAN
-/* GigaDevice::Device:GD32C10x_StdPeripherals:CRC@1.0.0 */
-#define RTE_DEVICE_STDPERIPHERALS_CRC
-/* GigaDevice::Device:GD32C10x_StdPeripherals:CTC@1.0.0 */
-#define RTE_DEVICE_STDPERIPHERALS_CTC
-/* GigaDevice::Device:GD32C10x_StdPeripherals:DAC@1.0.0 */
-#define RTE_DEVICE_STDPERIPHERALS_DAC
 /* GigaDevice::Device:GD32C10x_StdPeripherals:DBG@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_DBG
 /* GigaDevice::Device:GD32C10x_StdPeripherals:DMA@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_DMA
-/* GigaDevice::Device:GD32C10x_StdPeripherals:EXMC@1.0.0 */
-#define RTE_DEVICE_STDPERIPHERALS_EXMC
 /* GigaDevice::Device:GD32C10x_StdPeripherals:EXTI@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_EXTI
 /* GigaDevice::Device:GD32C10x_StdPeripherals:FMC@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_FMC
-/* GigaDevice::Device:GD32C10x_StdPeripherals:FWDGT@1.0.0 */
-#define RTE_DEVICE_STDPERIPHERALS_FWDGT
 /* GigaDevice::Device:GD32C10x_StdPeripherals:GPIO@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_GPIO
-/* GigaDevice::Device:GD32C10x_StdPeripherals:I2C@1.0.0 */
-#define RTE_DEVICE_STDPERIPHERALS_I2C
 /* GigaDevice::Device:GD32C10x_StdPeripherals:MISC@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_MISC
 /* GigaDevice::Device:GD32C10x_StdPeripherals:PMU@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_PMU
 /* GigaDevice::Device:GD32C10x_StdPeripherals:RCU@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_RCU
-/* GigaDevice::Device:GD32C10x_StdPeripherals:RTC@1.0.0 */
-#define RTE_DEVICE_STDPERIPHERALS_RTC
 /* GigaDevice::Device:GD32C10x_StdPeripherals:SPI_I2S@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_SPI
 /* GigaDevice::Device:GD32C10x_StdPeripherals:TIMER@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_TIMER
 /* GigaDevice::Device:GD32C10x_StdPeripherals:USART@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_USART
-/* GigaDevice::Device:GD32C10x_StdPeripherals:WWDGT@1.0.0 */
-#define RTE_DEVICE_STDPERIPHERALS_WWDGT
 
 
 #endif /* RTE_COMPONENTS_H */

Robot_V2/Robot_V2.cproject.yml

@@ -7,7 +7,7 @@ project:
         - file: main.cpp
     - group: sys
       files:
-        - file: sys/systick.c
+        - file: sys/systick.cpp
         - file: sys/systick.h
         - file: sys/initial.cpp
         - file: sys/initial.h
@@ -29,30 +29,20 @@ project:
     - component: ARM::CMSIS:CORE
     - component: Device:Startup
     - component: Device:GD32C10x_StdPeripherals:ADC
-    - component: Device:GD32C10x_StdPeripherals:BKP
     - component: Device:GD32C10x_StdPeripherals:CAN
-    - component: Device:GD32C10x_StdPeripherals:CRC
-    - component: Device:GD32C10x_StdPeripherals:CTC
-    - component: Device:GD32C10x_StdPeripherals:DAC
-    - component: Device:GD32C10x_StdPeripherals:DBG
     - component: Device:GD32C10x_StdPeripherals:DMA
     - component: Device:GD32C10x_StdPeripherals:EXTI
     - component: Device:GD32C10x_StdPeripherals:FMC
-    - component: Device:GD32C10x_StdPeripherals:FWDGT
     - component: Device:GD32C10x_StdPeripherals:GPIO
-    - component: Device:GD32C10x_StdPeripherals:I2C
     - component: Device:GD32C10x_StdPeripherals:MISC
     - component: Device:GD32C10x_StdPeripherals:PMU
     - component: Device:GD32C10x_StdPeripherals:RCU
-    - component: Device:GD32C10x_StdPeripherals:RTC
     - component: Device:GD32C10x_StdPeripherals:SPI_I2S
     - component: Device:GD32C10x_StdPeripherals:TIMER
     - component: Device:GD32C10x_StdPeripherals:USART
-    - component: Device:GD32C10x_StdPeripherals:WWDGT
     - component: Device:GD32C10x_libopt
+    - component: Device:GD32C10x_StdPeripherals:DBG
     - component: Device:EVAL:GD32C10x
-    - component: Device:GD32C10x_StdPeripherals:EXMC
-    - component: CMSIS:DSP
   output:
     type:
       - elf

Robot_V2/device/ADC.cpp

@@ -1,4 +1,5 @@
 #include "adc.h"
+#include <cstdio>
 #include <stdint.h>
 #include "math.h"
 
@@ -11,10 +12,11 @@ constexpr float MAX_TEMP = 150.0f;
 constexpr float MIN_TEMP = -40.0f;
 constexpr float MAX_CURRENT = 50.0f;
 constexpr float MIN_CURRENT = -0.1f;
-constexpr float MAX_VCC = 40.0f;
+constexpr float MAX_VCC = 65.0f;
-constexpr float MIN_VCC = 0.0f;
+constexpr float MIN_VCC = -0.1f;
 
-extern const u16 adc_value[7];
+
+u16 adc_value[7] = {0};  // 显式初始化数组元素为0
 
 /**
  * @brief 获取MCU温度
@@ -103,7 +105,7 @@ float get_vbus_voltage() {
 		vcc_latest = adc_value[6] * ADC_SCALE * VCC_FACTOR;
 
 		// 检查电压读数是否在有效范围内
-		if (vcc_latest > MAX_VCC || vcc_latest < MAX_VCC) {
+		if (vcc_latest > MAX_VCC || vcc_latest < MIN_VCC) {
 			return ERROR_ADC_VAL;
 		}
 	}

Robot_V2/device/Can.cpp

@@ -1,7 +1,10 @@
 #include "Can.h"
 #include "gd32c10x_can.h"
 #include "gd32c10x_eval.h"
+#include <cstdio>
+#include <inttypes.h>
 #include <stdint.h>
+#include <stdio.h>
 
 #define DEV_CAN_LOOPBACK_ID 0x0000
 #define DEV_CAN0_ID 0xaabb
@@ -12,10 +15,14 @@ u8 can_gpio_init() {
 	rcu_periph_clock_enable(RCU_CAN0);
 	rcu_periph_clock_enable(RCU_GPIOA);
 	rcu_periph_clock_enable(RCU_AF);
-
 	/* configure CAN0 GPIO */
 	gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_MAX, GPIO_PIN_11);
 	gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_MAX, GPIO_PIN_12);
+
+	/* enable the EN GPIO clock */
+	rcu_periph_clock_enable(RCU_GPIOB);
+	gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
+	gpio_bit_reset(GPIOB, GPIO_PIN_13);
 	return 0;
 }
 
@@ -27,6 +34,7 @@ u8 can_gpio_init() {
 */
 void can_config(void) {
 	can_parameter_struct can_parameter;
+    can_filter_parameter_struct can_filter;
 
 	can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
 	/* initialize CAN register */
@@ -44,24 +52,31 @@ void can_config(void) {
 	can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
 	can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
 	can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
-	can_parameter.prescaler = 6;
+	can_parameter.prescaler = 12;
 	/* initialize CAN */
 	can_init(CAN0, &can_parameter);
 
    /* initialize filter */
-	can1_filter_start_bank(14);
+    /* configure filter mode */
-	can_filter_mask_mode_init(DEV_CAN0_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0,
+    can_filter.filter_mode = CAN_FILTERMODE_MASK;
-							  0);
+    can_filter.filter_bits = CAN_FILTERBITS_32BIT;
+    /* configure filter ID */
+    can_filter.filter_list_high = (uint16_t)(DEV_CAN_LOOPBACK_ID >> 13U);
+    can_filter.filter_list_low = ((uint16_t)(DEV_CAN_LOOPBACK_ID)) << 3U | (1U << 2);
+    /* configure filter mask */
+    can_filter.filter_mask_high = 0x0000;
+    can_filter.filter_mask_low = 0x0000;
+    /* select receiver fifo */
+    can_filter.filter_fifo_number = CAN_FIFO0;
+    can_filter.filter_enable = ENABLE;
+    can_filter_init(&can_filter);
 	
 	/* configure CAN0 NVIC */
 	nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
 	/* enable can receive FIFO0 not empty interrupt */
 	can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
 
-	/* enable the EN GPIO clock */
+
-	rcu_periph_clock_enable(RCU_GPIOB);
-	gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
-	gpio_bit_reset(GPIOB, GPIO_PIN_13);
 }
 
 /*!
@@ -74,7 +89,11 @@ void canfd_config(void) {
 	can_parameter_struct can_parameter;
 	can_fdframe_struct can_fd_parameter;
 	can_fd_tdc_struct can_fd_tdc_parameter;
-	can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
+    can_filter_parameter_struct can_filter;
+
+    /* enable CAN clock */
+    rcu_periph_clock_enable(RCU_CAN0);
+
     /* initialize CAN register */
     can_deinit(CAN0);
 
@@ -90,7 +109,7 @@ void canfd_config(void) {
 	can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
 	can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
 	can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
-	can_parameter.prescaler = 6;
+	can_parameter.prescaler = 12;
 	/* initialize CAN */
 	can_init(CAN0, &can_parameter);
 
@@ -110,23 +129,17 @@ void canfd_config(void) {
 	can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
 	/* CAN-FD data segement prescaler should be the same as non-data segement
 	 * prescaler */
-	can_fd_parameter.data_prescaler = 6;
+	can_fd_parameter.data_prescaler = 12;
 	can_fd_init(CAN0, &can_fd_parameter);
 
     /* initialize filter */
     can1_filter_start_bank(14);
-	can_filter_mask_mode_init(DEV_CAN0_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0,
+    can_filter_mask_mode_init(DEV_CAN0_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0, 0);
-							  0);
 
     /* configure CAN0 NVIC */
     nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
     /* enable can receive FIFO0 not empty interrupt */
     can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
-
-	/* enable the EN GPIO clock */
-	rcu_periph_clock_enable(RCU_GPIOB);
-	gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
-	gpio_bit_reset(GPIOB, GPIO_PIN_13);
 }
 
 /*!
@@ -137,6 +150,9 @@ void canfd_config(void) {
 */
 void can_loopback_init(void) {
 	can_parameter_struct can_parameter;
+	can_fdframe_struct can_fd_parameter;
+	can_fd_tdc_struct can_fd_tdc_parameter;
+    can_filter_parameter_struct can_filter;
 
     /* enable CAN clock */
     rcu_periph_clock_enable(RCU_CAN0);
@@ -144,20 +160,44 @@ void can_loopback_init(void) {
     /* initialize CAN register */
     can_deinit(CAN0);
 
-	/* initialize CAN */
+	/* initialize CAN parameters */
 	can_parameter.time_triggered = DISABLE;
 	can_parameter.auto_bus_off_recovery = DISABLE;
 	can_parameter.auto_wake_up = DISABLE;
-	can_parameter.auto_retrans = DISABLE;
+	can_parameter.auto_retrans = ENABLE;
-	can_parameter.rec_fifo_overwrite = DISABLE;
+	can_parameter.rec_fifo_overwrite = ENABLE;
-	can_parameter.trans_fifo_order = DISABLE;
+	can_parameter.trans_fifo_order = ENABLE;
 	can_parameter.working_mode = CAN_LOOPBACK_MODE;
 	/* baudrate 1Mbps, sample piont at 80% */
 	can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
 	can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
 	can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
-	can_parameter.prescaler = 6;
+	can_parameter.prescaler = 12;
+	/* initialize CAN */
 	can_init(CAN0, &can_parameter);
+
+    can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter);
+	can_fd_parameter.fd_frame = ENABLE;
+	can_fd_parameter.excp_event_detect = ENABLE;
+	can_fd_parameter.delay_compensation = ENABLE;
+	can_fd_tdc_parameter.tdc_filter = 0x04;
+	can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET;
+	can_fd_tdc_parameter.tdc_offset = 0x04;
+	can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter;
+	can_fd_parameter.iso_bosch = CAN_FDMOD_ISO;
+	can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE;
+	/* FD mode data baudrate 2Mbps, sample piont at 80% */
+	can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ;
+	can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_3TQ;
+	can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
+	/* CAN-FD data segement prescaler should be the same as non-data segement
+	 * prescaler */
+	can_fd_parameter.data_prescaler = 12;
+	can_fd_init(CAN0, &can_fd_parameter);
+
+    /* initialize filter */
+    can1_filter_start_bank(14);
+    can_filter_mask_mode_init(DEV_CAN_LOOPBACK_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0, 0);
 }
 
 /*!
@@ -172,45 +212,45 @@ void can_loopback_test(void) {
     uint32_t timeout = 0xFFFF;
     uint8_t transmit_mailbox = 0;
 
-	can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &transmit_message);
+
-	/* initialize transmit message */
+    can_struct_para_init(CAN_FD_FRAME_STRUCT, &transmit_message);
     transmit_message.tx_sfid = DEV_CAN_LOOPBACK_ID;
+    transmit_message.tx_efid = 0x00;
     transmit_message.tx_ft = CAN_FT_DATA;
-	transmit_message.tx_ff = CAN_FF_STANDARD;
+    transmit_message.tx_ff = CAN_FF_EXTENDED;
-	transmit_message.tx_dlen = 2;
+    transmit_message.tx_dlen = 12;
-	transmit_message.tx_data[0] = 0xAB;
+    transmit_message.fd_flag = 1;
-	transmit_message.tx_data[1] = 0xCD;
+    transmit_message.fd_brs = 1;
+    transmit_message.fd_esi = 0;
+
+	int i = 0;
+	while (i++<transmit_message.tx_dlen) {
+		transmit_message.tx_data[i] = i;
+	}
+
 
     /* transmit message */
     transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
     /* waiting for transmit completed */
-	while ((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) &&
+    while((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) && (0 != timeout)) {
-		   (0 != timeout)) {
         timeout--;
     }
     timeout = 0xFFFF;
     /* waiting for receive completed */
-	while ((can_receive_message_length_get(CAN0, CAN_FIFO0) < 1) &&
+    while((can_receive_message_length_get(CAN0, CAN_FIFO0) < 1) && (0 != timeout)) {
-		   (0 != timeout)) {
         timeout--;
     }
     can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);
     can_message_receive(CAN0, CAN_FIFO0, &receive_message);
 
     /* check the receive message */
-	if ((DEV_CAN_LOOPBACK_ID == receive_message.rx_sfid) &&
+    if((transmit_message.tx_sfid == receive_message.rx_sfid) && (transmit_message.tx_ff == receive_message.rx_ff)
-		(CAN_FF_STANDARD == receive_message.rx_ff) &&
+            && (transmit_message.tx_dlen == receive_message.rx_dlen) ) {
-		(2 == receive_message.rx_dlen) &&
-		(0xCDAB ==
-		 (receive_message.rx_data[1] << 8 | receive_message.rx_data[0]))) {
         /* loopback test is success */
-		printf("loopback success\r");
+		std::printf("CAN LO0PBACK SUCCESS");
-		for (u8 i = 0U; i < receive_message.rx_dlen; i++) {
-			printf(" %02x", receive_message.rx_data[i]);
-		}
     } else {
         /* loopback test is failed */
-		printf("loopback failed\r");
+		std::printf("CAN LO0PBACK FAIL");
     }
 }
 
@@ -383,27 +423,6 @@ u8 CAN_transmiter::CANFD_Send(u32 id, u8 length, u8 *data) {
 }
 
 
-
-// 添加辅助函数用于将short类型数据打包到u8数组中
-void pack_short_to_bytes(u8* buffer, u16 offset, short value) {
-    buffer[offset] = (u8)(value & 0xFF);
-    buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
-}
-
-// 添加辅助函数用于将u16类型数据打包到u8数组中
-void pack_u16_to_bytes(u8* buffer, u16 offset, u16 value) {
-    buffer[offset] = (u8)(value & 0xFF);
-    buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
-}
-
-// 添加辅助函数用于将float类型数据打包到u8数组中
-void pack_float_to_bytes(u8* buffer, u16 offset, float_union_t& float_union) {
-    buffer[offset] = float_union.b[0];
-    buffer[offset + 1] = float_union.b[1];
-    buffer[offset + 2] = float_union.b[2];
-    buffer[offset + 3] = float_union.b[3];
-}
-
 /**
  * @brief  CAN发送函数
  * @retval 0: 发送失败
@@ -412,7 +431,31 @@ void pack_float_to_bytes(u8* buffer, u16 offset, float_union_t& float_union) {
 u8 CAN_transmiter::CAN_all_Send(){
 	u32 success_flag = 0;
 
+	constexpr u32 RT_Vel_Ang_FEED = 0x101;
+	constexpr u32 SET_Vel_Ang_FEED = 0x110;
+	constexpr u32 Current_FEED = 0x117;
+	constexpr u32 Status_FEED = 0x118;
+	constexpr u32 Limit_Vel_Vol_FEED = 0x119;
 
+	//打包RT_Vel_Ang_FEED
+	pack_float_to_bytes(transmit_data, 0, rt_angle_union);
+	pack_float_to_bytes(transmit_data, 4, rt_velocity_union);
+	//打包SET_Vel_Ang_FEED
+	pack_float_to_bytes(transmit_data, 0, target_angle_union);
+	pack_float_to_bytes(transmit_data, 4, target_velocity_union);
+	//打包Current_FEED
+	pack_float_to_bytes(transmit_data, 0, u_current_union);
+	pack_float_to_bytes(transmit_data, 4, w_current_union);
+	pack_float_to_bytes(transmit_data, 8, v_current_union);
+	//打包Status_FEED
+	transmit_data[0] = Status_code;
+	transmit_data[1] = controller_Mode;
+	pack_short_to_bytes(transmit_data, 2, motor_temp);
+	pack_short_to_bytes(transmit_data, 4, mcu_temp);
+	pack_short_to_bytes(transmit_data, 6, Power_Voltage);
+	//打包Limit_Vel_Vol_FEED
+	pack_float_to_bytes(transmit_data, 0, limit_velocity_union);
+	pack_short_to_bytes(transmit_data, 4, limit_voltage);
 	return success_flag;
 }
 

Robot_V2/device/Can.h

@@ -11,17 +11,38 @@ extern "C" {
 #include "stdint.h"
 #include <stdio.h>
 
-u8 can_gpio_init(void);
-void can_config(void);
-void canfd_config(void);
-void can_loopback_init(void);
-void can_loopback_test(void);
 // 定义一个联合体类型用于float和byte数组之间的转换
 typedef union {
 	float f;
 	u8 b[4];
 } float_union_t;
 
+// 添加辅助函数用于将short类型数据打包到u8数组中
+static inline void pack_short_to_bytes(u8* buffer, u16 offset, short value) {
+    buffer[offset] = (u8)(value & 0xFF);
+    buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
+}
+
+// 添加辅助函数用于将u16类型数据打包到u8数组中
+static inline void pack_u16_to_bytes(u8* buffer, u16 offset, u16 value) {
+    buffer[offset] = (u8)(value & 0xFF);
+    buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
+}
+
+// 添加辅助函数用于将float类型数据打包到u8数组中
+static inline void pack_float_to_bytes(u8* buffer, u16 offset, float_union_t& float_union) {
+    buffer[offset] = float_union.b[0];
+    buffer[offset + 1] = float_union.b[1];
+    buffer[offset + 2] = float_union.b[2];
+    buffer[offset + 3] = float_union.b[3];
+}
+
+u8 can_gpio_init(void);
+void can_config(void);
+void canfd_config(void);
+void can_loopback_init(void);
+void can_loopback_test(void);
+
 /*!
 	\brief CAN通信类
 	\note  封装CAN发送和接收功能

Robot_V2/device/Timer.cpp

@@ -1,18 +1,22 @@
 #include "Timer.h"
+#include "adc.h"
 #include "gd32c10x.h"
 #include "gd32c10x_gpio.h"
 #include "gd32c10x_timer.h"
+#include "initial.h"
 #include <stdbool.h>
 #include <stdint.h>
 #include <stdio.h>
 
-constexpr int TIMER1_PRESCALER = 11999;
+constexpr int TIMER1_PRESCALER = 1199;
-constexpr int TIMER1_PERIOD = 9999;
+constexpr int TIMER1_PERIOD = 9;
+
 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;
+extern u16 adc_value[7];
 
 /**
  * @brief 设置引脚中断优先级
@@ -22,7 +26,7 @@ constexpr int TIMER0_CH2_PULSE = 8000;
  */
 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_PRE1_SUB3);
+	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);
 }
@@ -40,7 +44,7 @@ void timer1_config(void) {
 	1s).
 	----------------------------------------------------------------------------
   */
-	timer_parameter_struct timer_initpara;
+	timer_parameter_struct timer_struct;
 
 	/* 使能TIMER1时钟 */
 	rcu_periph_clock_enable(RCU_TIMER1);
@@ -48,16 +52,16 @@ void timer1_config(void) {
 	/* 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_initpara);
+	timer_struct_para_init(&timer_struct);
 	/* TIMER1配置参数设置 */
-	timer_initpara.prescaler =
+	timer_struct.prescaler =
 		TIMER1_PRESCALER; /* 预分频值：12000分频(从0开始计数) */
-	timer_initpara.alignedmode = TIMER_COUNTER_EDGE;	/* 边沿对齐模式 */
+	timer_struct.alignedmode = TIMER_COUNTER_EDGE;	  /* 边沿对齐模式 */
-	timer_initpara.counterdirection = TIMER_COUNTER_UP; /* 向上计数模式 */
+	timer_struct.counterdirection = TIMER_COUNTER_UP; /* 向上计数模式 */
-	timer_initpara.period =
+	timer_struct.period =
 		TIMER1_PERIOD; /* 自动重装载值：10000次计数(从0开始计数) */
-	timer_initpara.clockdivision = TIMER_CKDIV_DIV1; /* 时钟分频值：1分频 */
+	timer_struct.clockdivision = TIMER_CKDIV_DIV1; /* 时钟分频值：1分频 */
-	timer_init(TIMER1, &timer_initpara);
+	timer_init(TIMER1, &timer_struct);
 
 	/* 清除更新中断标志位 */
 	timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_UP);
@@ -73,10 +77,10 @@ void timer1_config(void) {
  * @return void
  */
 void User_timer_init(void) {
-	/* 配置TIMER1中断 */
-	nvic_config();
 	/* 配置TIMER1 */
 	timer1_config();
+	/* 配置TIMER1中断 */
+	nvic_config();
 }
 
 /**
@@ -84,35 +88,41 @@ void User_timer_init(void) {
  * @return void
  */
 void TIMER1_IRQHandler(void) {
-	u32 cnt = timer_counter_read(TIMER1);
+	// 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);
 		
-	// 根据计数器值执行不同的定时任务
+		// 使用静态变量来跟踪定时器事件
-	// 每100us执行一次
+		static u8 ms_counter = 0;
-	// (此处可以添加需要每100us执行的代码)
+		static u8 tens_counter = 0;
+		static u8 hundreds_counter = 0;
+		static u16 seconds_counter = 0;
 
-	// 每1ms执行一次 (100us * 10)
+		// 增加计数器
-	if (cnt % 10 == 0) {
+		ms_counter++;
-		// 添加需要每1ms执行的代码
+		if (ms_counter >= 10) {
+			ms_counter = 0;
+			tens_counter++;
+			// 每1ms执行的代码可以放在这里
+			if (tens_counter >= 10) {
+				tens_counter = 0;
+				hundreds_counter++;
+
+				// 每10ms执行的代码可以放在这里
+
+				if (hundreds_counter >= 10) {
+					hundreds_counter = 0;
+					seconds_counter++;
+					// 每100ms执行的代码可以放在这里
+
+					if (seconds_counter >= 10) {
+						seconds_counter = 0;
+						// 每1s执行的代码可以放在这里
 					}
-
-	// 每10ms执行一次 (100us * 100)
-	if (cnt % 100 == 0) {
-		// 添加需要每10ms执行的代码
 				}
-
-	// 每100ms执行一次 (100us * 1000)
-	if (cnt % 1000 == 0) {
-		// 添加需要每100ms执行的代码
 			}
-
-	// 每1s执行一次 (100us * 10000)
-	if (cnt % 10000 == 0) {
-		// 添加需要每1s执行的代码
 		}
-
-	if (SET == timer_interrupt_flag_get(TIMER1, TIMER_INT_FLAG_UP)) {
-		/* 清除更新中断标志位 */
-		timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_UP);
 	}
 }
 
@@ -133,7 +143,6 @@ void timer0_gpio_config(void) {
 	gpio_pin_remap_config(GPIO_TIMER0_FULL_REMAP, ENABLE);
 }
 
-
 /**
  * @brief  TIMER0 配置函数
  */

Robot_V2/device/Timer.h

@@ -10,7 +10,7 @@ extern "C" {
 void User_timer_init(void);
 void Timer0_init(void);
 void Set_Pwm(u16 channel,u32 pulse);
-
+void TIMER1_IRQHandler(void);
 #ifdef __cplusplus
 }
 #endif

Robot_V2/device/adc.h

@@ -7,7 +7,6 @@ extern "C" {
 
 #include "stdint.h"
 
-const u16 adc_value[7] = {0};  // 显式初始化数组元素为0
 float get_mcu_temp(void);
 float get_drv_temp(void);
 float get_vbus_voltage(void);

Robot_V2/main.cpp

@@ -5,89 +5,50 @@
 #include "adc.h"
 #include "initial.h"
 #include "systick.h"
+#include "core_cm4.h"
 #include "tle5012b.h"
+#include <cstdio>
+
 
 // 全局变量定义
 CurrentKalman kalman(0.0f, 0.0026f, 4.8f, 0.0001f, 1e-6f, 0.02f);
 CircularBuffer buffer;
-int main(void) {
+CAN_transmiter CAN0_transmiter;
-	systick_config();
-	adc_config();
-	dma_config();
-	// 调试串口初始化
-	USART0_init();
 
-	User_timer_init();
+int main(void) {
-	// CAN初始化
+	systick_config();	// 系统时钟初始化
-	// CAN_transmiter CAN0_transmiter;
+	USART0_init();		// 调试串口初始化
-	// 初始化CAN硬件
+	User_timer_init();	// Timer初始化
-	can_gpio_init();
+	adc_config();		// ADC初始化
-	can_config();
+	dma_config();		// DMA采样ADC初始化
+
+	tle5012b_gpio_init();	// TLI5012B初始化
+	tle5012b_spi_init();
+	// cdd_TLI5012_Init();
 
 	// 初始化CAN回环测试
-	can_loopback_init();
+	// can_loopback_init();
-	can_loopback_test();
+	// can_loopback_test();
-
-	// TLI5012B初始化
-	tle5012b_gpio_init();
-	tle5012b_spi_init();
-	cdd_TLI5012_Init();
-
-	can_trasnmit_message_struct g_transmit_message;
-	can_receive_message_struct g_receive_message;
-	FlagStatus can0_receive_flag;
-
-	// CAN发送初始化
-	can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &g_transmit_message);
-	g_transmit_message.tx_sfid = 0x00;
-	g_transmit_message.tx_efid = 0x00;
-	g_transmit_message.tx_ft = CAN_FT_DATA;
-	g_transmit_message.tx_ff = CAN_FF_EXTENDED;
-	g_transmit_message.tx_dlen = 8;
-	g_transmit_message.fd_flag = 0;
-	g_transmit_message.fd_brs = 1;
-	g_transmit_message.fd_esi = 0;
-
-	// CAN接收初始化
-	can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &g_receive_message);
-
-	/* print out the clock frequency of system, AHB, APB1 and APB2 */
-	printf("\r\nCK_SYS is %d", rcu_clock_freq_get(CK_SYS));
-	printf("\r\nCK_AHB is %d", rcu_clock_freq_get(CK_AHB));
-	printf("\r\nCK_APB1 is %d", rcu_clock_freq_get(CK_APB1));
-	printf("\r\nCK_APB2 is %d", rcu_clock_freq_get(CK_APB2));
 
 	// TLI5012B测试
-	Test_TLI5012B();
+	// Test_TLI5012B();
 
+	extern u16 adc_value[7];
 	while (1) {
-		/* delay a time in milliseconds */
-		delay_1ms(10);
 		/* value print */
 		printf(" the temperature data is %2.2f degrees Celsius\r\n",
 			   get_mcu_temp());
 		printf(" the drv_temperature data is %2.2f degrees Celsius\r\n",
 			   get_drv_temp());
-		// g_transmit_message.tx_efid = 0x201;
+		printf(" the U current data is %2.2f mA\r\n",get_current('U'));
-		// g_transmit_message.tx_data[0] = 0xaa;
+		printf(" the V current data is %2.2f mA\r\n",get_current('V'));
-		// g_transmit_message.tx_data[1] = 0xbb;
+		printf(" the W current data is %2.2f mA\r\n",get_current('W'));
-		// g_transmit_message.tx_data[2] = 0xcc;
+		printf(" the VBUS is %2.2f V\r\n",get_vbus_voltage());
-		// g_transmit_message.tx_data[3] = 0xdd;
+		printf("\n----------------------------------------------------\n");
-		// g_transmit_message.tx_data[4] = 0xee;
-		// g_transmit_message.tx_data[5] = 0xff;
-		// g_transmit_message.tx_data[6] = 0x00;
-		// g_transmit_message.tx_data[7] = 0x11;
-		// g_transmit_message.tx_data[8] = 0x22;
-		// g_transmit_message.tx_data[9] = 0x33;
-		// g_transmit_message.tx_data[10] = 0x44;
-		// g_transmit_message.tx_data[11] = 0x55;
-		printf("\r\n can0 transmit data: ");
-		for (u8 i = 0U; i < g_transmit_message.tx_dlen; i++) {
-			printf(" %02x", g_transmit_message.tx_data[i]);
-		}
-		/* transmit message */
-		can_message_transmit(CAN0, &g_transmit_message);
 		
-		// Set_Pwm(0, 1500);
+		delay_1ms(200);
+
+		
+		Set_Pwm(0, 1500);
 	}
 }

Robot_V2/sys/initial.cpp

@@ -1,6 +1,8 @@
 #include "initial.h"
 #include "systick.h"
+#include <stdint.h>
 
+extern u16 adc_value[7];
 
 /*!
 	\brief      configure the DMA peripheral
@@ -78,7 +80,6 @@ void adc_config(void) {
 
 	/* 使能ADC接口 */
 	adc_enable(ADC0);
-	delay_1ms(1);
 	/* ADC校准 */
 	adc_calibration_enable(ADC0);
 

Robot_V2/sys/initial.h

@@ -13,6 +13,7 @@ void rcu_config(void);
 void adc_config(void);
 void dma_config(void);
 
+static volatile uint32_t timer_delay_count = 0; // volatile 很重要！
 int fputc(int ch, FILE *f); // 声明fputc函数以重载标准库实现
 
 u8 tle5210b_init(void);

Robot_V2/sys/systick.cpp

@@ -34,6 +34,8 @@ OF SUCH DAMAGE.
 
 #include "gd32c10x.h"
 #include "systick.h"
+#include "initial.h"
+#include <cstdio>
 
 volatile static uint32_t delay;
 

Robot_V2/sys/systick.h

@@ -47,6 +47,8 @@ void delay_1ms(uint32_t count);
 /* delay decrement */
 void delay_decrement(void);
 
+void timer_delay_ms(uint32_t ms);
+
 #ifdef __cplusplus
 }
 #endif