From 7c2860f302d1825bf518e4c27007bbaf6d622e95 Mon Sep 17 00:00:00 2001 From: cbb <2625274797@qq.com> Date: Thu, 18 Dec 2025 18:23:34 +0800 Subject: [PATCH] =?UTF-8?q?feat(can):=20=E5=A2=9E=E5=8A=A0EEPROM=E7=8A=B6?= =?UTF-8?q?=E6=80=81=E7=A0=81=E5=92=8C=E7=B3=BB=E7=BB=9F=E9=85=8D=E7=BD=AE?= =?UTF-8?q?=E4=BF=9D=E5=AD=98=E5=8A=9F=E8=83=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 在CAN通信中增加EEPROM状态码字段，并通过CAN FD发送 - 实现Flash EEPROM对系统配置参数的CRC校验与保存 - 改进目标角度、速度等关键参数的读写逻辑，支持掉电保存 - 调整EEPROM地址映射，优化错误处理和状态反馈机制 - 修复CRC计算相关问题，增强数据可靠性 --- Robot_V2/Algorithm/CRC.cpp | 133 ++++++++++++++ Robot_V2/Algorithm/CRC.h | 85 +++++++++ Robot_V2/Robot_V2.cproject.yml | 2 + Robot_V2/device/Can.cpp | 10 +- Robot_V2/device/Can.h | 2 +- Robot_V2/main.cpp | 5 +- Robot_V2/sys/flash.cpp | 307 ++++++++++++++++++++------------- Robot_V2/sys/flash.h | 30 ++-- Robot_V2/sys/health.cpp | 3 +- Robot_V2/sys/systick.cpp | 190 +++++++++++--------- Robot_V2/sys/systick.h | 4 + 11 files changed, 546 insertions(+), 225 deletions(-) create mode 100644 Robot_V2/Algorithm/CRC.cpp create mode 100644 Robot_V2/Algorithm/CRC.h diff --git a/Robot_V2/Algorithm/CRC.cpp b/Robot_V2/Algorithm/CRC.cpp new file mode 100644 index 0000000..e965895 --- /dev/null +++ b/Robot_V2/Algorithm/CRC.cpp @@ -0,0 +1,133 @@ +#include "CRC.h" +#include +#include + +CRC_Calculator CRC_Calculator; +// 静态成员初始化 +bool CRC_Calculator::table_initialized = false; +u32 CRC_Calculator::crc_table[256]; + +/** + * @brief 初始化CRC表 + */ +void CRC_Calculator::init_crc_table() { + if (table_initialized) { + return; + } + + uint32_t polynomial = 0xEDB88320; // CRC-32 IEEE 802.3标准多项式 + + for (int i = 0; i < 256; i++) { + uint32_t crc = i; + for (int j = 0; j < 8; j++) { + if (crc & 1) { + crc = (crc >> 1) ^ polynomial; + } else { + crc >>= 1; + } + } + crc_table[i] = crc; + } + + table_initialized = true; +} + +/** + * @brief 更新CRC值 + * @param crc 当前CRC值 + * @param data 要处理的数据 + * @return 更新后的CRC值 + */ +uint32_t CRC_Calculator::update_crc(uint32_t crc, uint8_t data) { + // 确保表已初始化 + if (!table_initialized) { + init_crc_table(); + } + + uint8_t table_index = (crc ^ data) & 0xFF; + return (crc >> 8) ^ crc_table[table_index]; +} + +/** + * @brief 计算单个float值的CRC32 + * @param data float值 + * @return CRC32校验值 + */ +uint32_t CRC_Calculator::calculate(const float& data) { + // 强制初始化CRC表（如果尚未初始化） + if (!table_initialized) { + init_crc_table(); + } + + uint32_t crc = 0xFFFFFFFF; + + // 将float值按字节处理 + const uint8_t* bytes = reinterpret_cast(&data); + for (size_t i = 0; i < sizeof(float); i++) { + crc = update_crc(crc, bytes[i]); + } + + return crc ^ 0xFFFFFFFF; +} + +/** + * @brief 计算float数组的CRC32 + * @param data float数组指针 + * @param length 数组长度 + * @return CRC32校验值 + */ +uint32_t CRC_Calculator::calculate(const float* data, size_t length) { + // 强制初始化CRC表（如果尚未初始化） + if (!table_initialized) { + init_crc_table(); + } + + uint32_t crc = 0xFFFFFFFF; + + // 处理每个float值 + for (size_t i = 0; i < length; i++) { + const uint8_t* bytes = reinterpret_cast(&(data[i])); + for (size_t j = 0; j < sizeof(float); j++) { + crc = update_crc(crc, bytes[j]); + } + } + + return crc ^ 0xFFFFFFFF; +} + +/** + * @brief 验证单个float值的CRC32 + * @param data float值 + * @param expected_crc 期望的CRC值 + * @return true表示校验成功，false表示校验失败 + */ +bool CRC_Calculator::verify(const float& data, uint32_t expected_crc) { + return calculate(data) == expected_crc; +} + +/** + * @brief 验证float数组的CRC32 + * @param data float数组指针 + * @param length 数组长度 + * @param expected_crc 期望的CRC值 + * @return true表示校验成功，false表示校验失败 + */ +bool CRC_Calculator::verify(const float* data, size_t length, uint32_t expected_crc) { + return calculate(data, length) == expected_crc; +} + +/** + * @brief 获取CRC表初始化状态 + * @return true表示已初始化，false表示未初始化 + */ +bool CRC_Calculator::isInitialized() { + return table_initialized; +} + +/** + * @brief 强制重新初始化CRC表 + */ +void CRC_Calculator::reinitialize() { + table_initialized = false; + init_crc_table(); +} \ No newline at end of file diff --git a/Robot_V2/Algorithm/CRC.h b/Robot_V2/Algorithm/CRC.h new file mode 100644 index 0000000..8ad7965 --- /dev/null +++ b/Robot_V2/Algorithm/CRC.h @@ -0,0 +1,85 @@ +#ifndef __CRC_H +#define __CRC_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +#include "gd32c10x.h" + +#ifdef __cplusplus +} +#endif + +#ifdef __cplusplus + +#include + +class CRC_Calculator { +private: + static bool table_initialized; + static uint32_t crc_table[256]; + + /** + * @brief 初始化CRC表 + */ + static void init_crc_table(); + + /** + * @brief 更新CRC值 + * @param crc 当前CRC值 + * @param data 要处理的数据 + * @return 更新后的CRC值 + */ + static uint32_t update_crc(uint32_t crc, uint8_t data); + +public: + /** + * @brief 计算单个float值的CRC32 + * @param data float值 + * @return CRC32校验值 + */ + static uint32_t calculate(const float& data); + + /** + * @brief 计算float数组的CRC32 + * @param data float数组指针 + * @param length 数组长度 + * @return CRC32校验值 + */ + static uint32_t calculate(const float* data, size_t length); + + /** + * @brief 验证单个float值的CRC32 + * @param data float值 + * @param expected_crc 期望的CRC值 + * @return true表示校验成功，false表示校验失败 + */ + static bool verify(const float& data, uint32_t expected_crc); + + /** + * @brief 验证float数组的CRC32 + * @param data float数组指针 + * @param length 数组长度 + * @param expected_crc 期望的CRC值 + * @return true表示校验成功，false表示校验失败 + */ + static bool verify(const float* data, size_t length, uint32_t expected_crc); + + /** + * @brief 获取CRC表初始化状态 + * @return true表示已初始化，false表示未初始化 + */ + static bool isInitialized(); + + /** + * @brief 强制重新初始化CRC表 + */ + static void reinitialize(); +}; + +#endif // __cplusplus + +#endif // __CRC_H \ No newline at end of file diff --git a/Robot_V2/Robot_V2.cproject.yml b/Robot_V2/Robot_V2.cproject.yml index e38f8de..bd0c077 100644 --- a/Robot_V2/Robot_V2.cproject.yml +++ b/Robot_V2/Robot_V2.cproject.yml @@ -35,6 +35,8 @@ project: - file: Algorithm/DengFOC.h - file: Algorithm/pid.cpp - file: pid.h + - file: Algorithm/CRC.cpp + - file: Algorithm/CRC.h components: - component: ARM::CMSIS:CORE - component: Device:Startup diff --git a/Robot_V2/device/Can.cpp b/Robot_V2/device/Can.cpp index 7fcf9a7..6fe7994 100644 --- a/Robot_V2/device/Can.cpp +++ b/Robot_V2/device/Can.cpp @@ -437,16 +437,17 @@ u8 CAN_transmiter::init() { \brief CAN 数据更新 */ void CAN_transmiter::update(void) { + target_angle_union.f = FOC.target_angle; + target_velocity_union.f = FOC.target_velocity; limit_velocity_union.f = FOC.limit_velocity; limit_voltage = FOC.limit_voltage * 1000; mcu_temp = sampler.get_mcu_temp() * 100; motor_temp = sampler.get_drv_temp() * 100; Power_Voltage = sampler.get_vbus_voltage() * 1000; rt_angle_union.f = FOC.rt_angle; - // rt_velocity_union.f = KTH7823.getVelocity(); rt_velocity_union.f = FOC.rt_velocity; MotorStatus = gpio_input_bit_get(GPIOB, GPIO_PIN_2) == RESET; - + EEPROMStatus = flashEEP.EEPROMStatus; Target_Control_Mode = FOC.control_mode; controller_Mode = FOC.control_mode; @@ -634,8 +635,7 @@ u8 CAN_transmiter::CANFD_all_Send() { transmit_data[10] = (transmit_data[10] & ~0x07) | ((MotorStatus & 0x01) | ((MagStatus & 0x01) << 1) | - ((ThermalStatus & 0x01) << 2) | ((EEPROMStatus & 0x01) << 3)); - + ((ThermalStatus & 0x01) << 2) | ((EEPROMStatus & 0x07) << 3)); pack_u16_to_bytes(transmit_data, 11, Power_Voltage); pack_float_to_bytes(transmit_data, 13, rt_angle_union); pack_float_to_bytes(transmit_data, 17, rt_velocity_union); @@ -697,6 +697,8 @@ void CAN_transmiter::communication_check() { } else if (receive_message.rx_efid == 0x00010301) { motor_reset(); flashEEP.save_angle(FOC.rt_angle, false); + flashEEP.save_system_config(false); + } else { printf("Unknown CAN ID: %X\n", receive_message.rx_efid); } diff --git a/Robot_V2/device/Can.h b/Robot_V2/device/Can.h index 9e17da1..856dc80 100644 --- a/Robot_V2/device/Can.h +++ b/Robot_V2/device/Can.h @@ -82,6 +82,7 @@ class CAN_transmiter { bool MotorStatus = 0; // 电机状态码 float_union_t target_angle_union = {0}; // 目标角度 u8 Target_Control_Mode = 0; // 目标控制模式 + u8 EEPROMStatus = 0; // EEPROM状态码 float_union_t target_velocity_union = {0}; // 目标速度 float_union_t u_current_union = {0}; // U相电流 float_union_t w_current_union = {0}; // W相电流 @@ -110,7 +111,6 @@ class CAN_transmiter { bool MagStatus = 0; // 磁状态码 bool ThermalStatus = 0; // 热能状态码 - bool EEPROMStatus = 0; // EEPROM状态码 void communication_check(); // 通信检查 }; diff --git a/Robot_V2/main.cpp b/Robot_V2/main.cpp index a6baacf..fdadb19 100644 --- a/Robot_V2/main.cpp +++ b/Robot_V2/main.cpp @@ -45,8 +45,9 @@ int main(void) { std::printf("初始化失败\r\n"); } - watchdog_init(500); // 看门狗初始化 - angsens_MG_check(); // 角度传感器磁感应强度测试 + watchdog_init(500); // 看门狗初始化 + angsens_MG_check(); // 角度传感器磁感应强度测试 + SystemCoreClockUpdate(); // 更新系统时钟变量 while (1) { __disable_irq(); u32 currentTasks = diff --git a/Robot_V2/sys/flash.cpp b/Robot_V2/sys/flash.cpp index f5ab6c2..29bddd6 100644 --- a/Robot_V2/sys/flash.cpp +++ b/Robot_V2/sys/flash.cpp @@ -1,17 +1,24 @@ #include "flash.h" +#include "DengFOC.h" #include "ang_sensor.h" #include "core_cmFunc.h" #include "gd32c10x_fmc.h" #include "math.h" +#include #include #include +#include #include #include FlashEEPROM flashEEP = FlashEEPROM(); extern angle_sensor KTH7823; extern CAN_transmiter CAN0_transmiter; +extern FOC_Controlroller FOC; // FOC控制 +extern CRC_Calculator CRC_Calculator; constexpr u8 SIZE_U32 = sizeof(uint32_t); +constexpr u8 DEFAULT_VALUE = 0; +constexpr u8 NUM_SAVED = 5; // FlashEEPROM类实现 FlashEEPROM::FlashEEPROM() { @@ -25,15 +32,70 @@ FlashEEPROM::FlashEEPROM() { */ u8 FlashEEPROM::init() { // 读取保存的参数 - float angle; - // 尝试从Flash读取参数，如果不存在则使用默认值 - if (readFloat(ADDR_ANGLE_DATA, &angle) != FLASH_EEPROM_OK) { - angle = 0; // 默认值 - std::printf("角度初始化为: %f\r\n", angle); - } else { - std::printf("从Flash读取到角度数: %f\r\n", angle); + u32 CRC_NUM = 0x0000; + FlashEepromStatus status_read[NUM_SAVED + 1] = {FLASH_EEPROM_OK}; + float angle = 0.0f; + float data[NUM_SAVED] = {FOC.target_angle, FOC.target_velocity, + FOC.limit_voltage, (float)FOC.control_mode}; + FlashEepromStatus status = FLASH_EEPROM_OK; + if (readFloat(ADDR_ANGLE, &angle) != FLASH_EEPROM_OK) { + angle = DEFAULT_VALUE; // 默认值 } + + // 尝试从Flash读取参数，如果不存在则使用默认值 + status_read[1] = readFloat(ADDR_TARGET_ANGLE, &data[0]); + status_read[2] = readFloat(ADDR_TARGET_VEL, &data[1]); + status_read[3] = readFloat(ADDR_VOLTAGE_LIMIT, &data[2]); + status_read[4] = readFloat(ADDR_CONTROL_MODE, &data[3]); + + // 读取失败则使用默认值 + for (u8 i = 1; i < NUM_SAVED + 1; i++) { + if (status_read[i] == + FLASH_EEPROM_DATA_NOT_FOUND) { // 首次读取，不保存报错 + data[i - 1] = DEFAULT_VALUE; + } else if (status_read[i] != FLASH_EEPROM_OK) { // 其余错误，保存报错 + data[i - 1] = DEFAULT_VALUE; + status_read[0] = status_read[i]; + } + } + + if (status_read[0] == FLASH_EEPROM_OK) { + u32 next_address = EEPROM_END_ADDRESS; + // 遍历Flash页面寻找下一个可写入位置 + for (u32 address = EEPROM_END_ADDRESS - SIZE_U32; + address > EEPROM_START_ADDRESS; address -= SIZE_U32) { + + // 安全读取Flash数据 + volatile u32 *flash_ptr = (volatile u32 *)address; + u32 data_word = *flash_ptr; + // 找到空位置 + if (data_word == 0xFFFFFFFF) { + next_address = address + SIZE_U32; + break; + } + // 更新下一个可能的写入位置（如果需要格式化） + next_address = address - SIZE_U32; + } + CRC_NUM = CRC_Calculator::calculate(data, NUM_SAVED); + + if (CRC_NUM != *((u32 *)next_address)) { // CRC错误 + for (u8 i = 0; i < NUM_SAVED; i++) { + data[i] = DEFAULT_VALUE; + } + EEPROMStatus = FLASH_EEPROM_CRC_ERROR; + } else { // CRC正确 + EEPROMStatus = FLASH_EEPROM_OK; + } + } else { + // 读取失败，报错 + EEPROMStatus = status_read[0]; + } + KTH7823.angle_set(angle); + FOC.target_angle = data[0]; + FOC.target_velocity = data[1]; + FOC.limit_voltage = data[2]; + FOC.control_mode = (u8)data[3]; return 0; } @@ -45,7 +107,7 @@ u8 FlashEEPROM::init() { */ FlashEepromStatus FlashEEPROM::read(u8 virtualAddr, u16 *data) const { // 参数检查 - if (data == nullptr or virtualAddr > 0xFE) { + if (data == nullptr) { return FLASH_EEPROM_INVALID_ADDR; } @@ -63,8 +125,7 @@ FlashEepromStatus FlashEEPROM::read(u8 virtualAddr, u16 *data) const { } } } - // 未找到指定虚拟地址的数据 - return FLASH_EEPROM_NOT_FOUND; + return FLASH_EEPROM_DATA_NOT_FOUND; } /** @@ -74,10 +135,11 @@ FlashEepromStatus FlashEEPROM::read(u8 virtualAddr, u16 *data) const { * @retval FlashEepromStatus: 操作状态 */ FlashEepromStatus FlashEEPROM::readFloat(u8 virtualAddr, float *data) const { - // 参数检查 - if (data == nullptr or virtualAddr > 0xFE) { + // 检查参数有效性 + if (data == nullptr) { return FLASH_EEPROM_INVALID_ADDR; } + // 从Flash末尾开始向前搜索，找到最新的数据 for (u32 address = EEPROM_END_ADDRESS - SIZE_U32; address >= EEPROM_START_ADDRESS; address -= SIZE_U32) { @@ -87,14 +149,16 @@ FlashEepromStatus FlashEEPROM::readFloat(u8 virtualAddr, float *data) const { u8 addr = (u8)(data_word & 0xFF); // 找到匹配的虚拟地址 if (addr == virtualAddr) { - // 使用完整32位数据解释为float - memcpy(data, &data_word, sizeof(float)); + // 清除最低的8位地址信息，保留高24位数据 + u32 float_data = data_word & 0xFFFFFF00; + // 使用内存拷贝将处理后的数据解释为float + memcpy(data, &float_data, sizeof(float)); return FLASH_EEPROM_OK; } } } // 未找到指定虚拟地址的数据 - return FLASH_EEPROM_NOT_FOUND; + return FLASH_EEPROM_DATA_NOT_FOUND; } /** @@ -104,10 +168,6 @@ FlashEepromStatus FlashEEPROM::readFloat(u8 virtualAddr, float *data) const { * @retval FlashEepromStatus: 操作状态 */ FlashEepromStatus FlashEEPROM::write(u8 virtualAddr, u16 data) { - // 参数检查 - if (virtualAddr > 0xFE) { - return FLASH_EEPROM_INVALID_ADDR; - } // 查找下一个可写入的位置 u32 next_address = EEPROM_START_ADDRESS; @@ -157,12 +217,14 @@ FlashEepromStatus FlashEEPROM::write(u8 virtualAddr, u16 data) { fmc_state_enum fmc_status = fmc_word_program(EEPROM_START_ADDRESS, new_data_word); - if (fmc_status != FMC_READY) { + if (fmc_status == FMC_READY) + return FLASH_EEPROM_OK; + if (fmc_status == FMC_PGAERR) + return FLASH_EEPROM_ALIGNMENT_ERROR; + else if (fmc_status != FMC_READY) return FLASH_EEPROM_WRITE_ERROR; - } - - return FLASH_EEPROM_OK; } + return FLASH_EEPROM_WRITE_ERROR; } /** @@ -172,10 +234,6 @@ FlashEepromStatus FlashEEPROM::write(u8 virtualAddr, u16 data) { * @retval FlashEepromStatus: 操作状态 */ FlashEepromStatus FlashEEPROM::writeFloat(u8 virtualAddr, float data) { - // 参数检查 - if (virtualAddr > 0xFE) { - return FLASH_EEPROM_INVALID_ADDR; - } // 查找下一个可写入的位置 u32 next_address = EEPROM_START_ADDRESS; @@ -232,15 +290,18 @@ FlashEepromStatus FlashEEPROM::writeFloat(u8 virtualAddr, float data) { memcpy(&data_word, &data, sizeof(float)); // 插入虚拟地址到低8位 data_word = (data_word & 0xFFFFFF00) | (u32)virtualAddr; - + fmc_unlock(); fmc_state_enum fmc_status = fmc_word_program(EEPROM_START_ADDRESS, data_word); - - if (fmc_status != FMC_READY) { + fmc_lock(); + if (fmc_status == FMC_READY) + return FLASH_EEPROM_OK; + if (fmc_status == FMC_PGAERR) + return FLASH_EEPROM_ALIGNMENT_ERROR; + else if (fmc_status != FMC_READY) return FLASH_EEPROM_WRITE_ERROR; - } - return FLASH_EEPROM_OK; } + return FLASH_EEPROM_WRITE_ERROR; } /** @@ -276,7 +337,6 @@ FlashEepromStatus FlashEEPROM::format() { break; } } - // 如果是新的虚拟地址/类型组合，添加到有效数据列表 if (!found && valid_count < (EEPROM_MAX_SIZE / SIZE_U32)) { valid_entries[valid_count] = @@ -291,7 +351,7 @@ FlashEepromStatus FlashEEPROM::format() { if (fmc_status != FMC_READY) { return FLASH_EEPROM_ERASE_ERROR; } - + fmc_unlock(); // 重新写入有效的数据项 for (u16 i = 0; i < valid_count; i++) { fmc_status = fmc_word_program(EEPROM_START_ADDRESS + i * SIZE_U32, @@ -300,17 +360,91 @@ FlashEepromStatus FlashEEPROM::format() { return FLASH_EEPROM_WRITE_ERROR; } } + fmc_lock(); return FLASH_EEPROM_OK; } - /** * @brief 更新系统配置并保存到Flash * @param config 新的系统配置值 */ -void FlashEEPROM::update_system_config(u16 config) { - write(ADDR_SYSTEM_CONFIG, config); +FlashEepromStatus FlashEEPROM::save_system_config(bool saved) { + u32 CRC_NUM = 0x0000; + u32 next_address; + FlashEepromStatus status_save[NUM_SAVED] = {FLASH_EEPROM_OK}; + float data[NUM_SAVED] = {FOC.target_angle, FOC.target_velocity, + FOC.limit_voltage, (float)FOC.control_mode}; + + // 读取保存的参数 + if (!system_config_saved) { + // 写入参数 + status_save[0] = writeFloat(ADDR_TARGET_ANGLE, data[0]); + status_save[1] = writeFloat(ADDR_TARGET_VEL, data[1]); + status_save[2] = writeFloat(ADDR_VOLTAGE_LIMIT, data[2]); + status_save[3] = writeFloat(ADDR_CONTROL_MODE, data[3]); + for (FlashEepromStatus &p : status_save) { + if (p != FLASH_EEPROM_OK) { + EEPROMStatus = p; + return p; + } + } + + CRC_NUM = CRC_Calculator.calculate(data, NUM_SAVED); + // 遍历Flash页面寻找下一个可写入位置 + for (u32 address = EEPROM_END_ADDRESS - SIZE_U32; + address > EEPROM_START_ADDRESS; address -= SIZE_U32) { + + // 安全读取Flash数据 + volatile u32 *flash_ptr = (volatile u32 *)address; + u32 data_word = *flash_ptr; + // 找到空位置 + if (data_word == 0xFFFFFFFF) { + next_address = address; + break; + } + // 更新下一个可能的写入位置（如果需要格式化） + next_address = address - SIZE_U32; + } + // 如果有足够空间，直接写入 + if (next_address > EEPROM_START_ADDRESS) { + fmc_unlock(); + fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR); + fmc_state_enum fmc_status = fmc_word_program(next_address, CRC_NUM); + // printf("write address:0x%X,status:0x%x \r\n", next_address, + // fmc_status); + // printf("CRC cmp1,0x%X_0x%x \r\n", CRC_NUM, *((u32 + // *)next_address)); + fmc_lock(); + } else { + // 空间不足，需要格式化页面 + FlashEepromStatus status = format(); + if (status != FLASH_EEPROM_OK) { + return status; + } + // 格式化后在页面底部写入数据 + fmc_unlock(); + fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR); + fmc_state_enum fmc_status = + fmc_word_program(EEPROM_END_ADDRESS - SIZE_U32, CRC_NUM); + fmc_lock(); + if (fmc_status == FMC_READY) + return FLASH_EEPROM_OK; + if (fmc_status == FMC_PGAERR) + return FLASH_EEPROM_ALIGNMENT_ERROR; + else if (fmc_status != FMC_READY) + return FLASH_EEPROM_WRITE_ERROR; + } + if (CRC_NUM == *((u32 *)next_address)) { + system_config_saved = saved; // 标记已保存过 + EEPROMStatus = FLASH_EEPROM_OK; // 设置EEPROM状态 + } else { + EEPROMStatus = FLASH_EEPROM_CRC_ERROR; // 设置EEPROM错误状态 + return FLASH_EEPROM_CRC_ERROR; + } + } + EEPROMStatus = FLASH_EEPROM_OK; + return FLASH_EEPROM_OK; } /** @@ -319,27 +453,30 @@ void FlashEEPROM::update_system_config(u16 config) { * @return FlashEepromStatus: 操作状态 */ FlashEepromStatus FlashEEPROM::save_angle(float angle, bool saved) { - float angle_read = 0; - FlashEepromStatus status = FLASH_EEPROM_ERROR; + float angle_read = DEFAULT_VALUE; + FlashEepromStatus status = FLASH_EEPROM_OK; // 读取保存的参数 if (!angle_saved) { // 写入参数 - status = writeFloat(ADDR_ANGLE_DATA, angle); + status = writeFloat(ADDR_ANGLE, angle); + if (status != FLASH_EEPROM_OK) { + EEPROMStatus = status; + return status; + } - if (readFloat(ADDR_ANGLE_DATA, &angle_read) != FLASH_EEPROM_OK) - angle_read = 0; // 读不到角度值，存储失败 + if (readFloat(ADDR_ANGLE, &angle_read) != FLASH_EEPROM_OK) + angle_read = DEFAULT_VALUE; // 读不到角度值，存储失败 - if (fabsf(angle_read - angle) > 0.01 * angle) { - status = FLASH_EEPROM_WRITE_ERROR; - CAN0_transmiter.EEPROMStatus = 1; // 设置EEPROM错误状态 + if (fabsf(angle_read - angle) > 0.01 * fabs(angle)) { + EEPROMStatus = FLASH_EEPROM_WRITE_ERROR; // 设置EEPROM错误状态 + return FLASH_EEPROM_WRITE_ERROR; } else { - angle_saved = saved; // 标记已保存过 - CAN0_transmiter.EEPROMStatus = 0; // 设置EEPROM状态 + angle_saved = saved; // 标记已保存过 + EEPROMStatus = FLASH_EEPROM_OK; // 设置EEPROM状态 } - printf("read:%f\r\n", angle_read); } - return status; + return FLASH_EEPROM_OK; } /** @@ -347,73 +484,9 @@ FlashEepromStatus FlashEEPROM::save_angle(float angle, bool saved) { * @return float: 角度数据 */ float FlashEEPROM::read_angle() { - float angle = 0; - if (readFloat(ADDR_ANGLE_DATA, &angle) != FLASH_EEPROM_OK) { - angle = 0; + float angle = DEFAULT_VALUE; + if (readFloat(ADDR_ANGLE, &angle) != FLASH_EEPROM_OK) { + angle = DEFAULT_VALUE; } - return angle; // 默认返回0度 + return angle; } - -/** - * @brief 增加错误计数并保存到Flash - */ -void FlashEEPROM::increment_error_count(void) { - u16 error_count = 0; - - // 读取当前错误计数 - FlashEepromStatus read_status = read(ADDR_ERROR_COUNT, &error_count); - if (read_status == FLASH_EEPROM_OK || - read_status == FLASH_EEPROM_NOT_FOUND) { - // 增加错误计数（如果是NOT_FOUND，则error_count已经是0） - error_count++; - - // 保存更新后的错误计数 - write(ADDR_ERROR_COUNT, error_count); - } -} - -/** - * @brief 示例主函数 - 展示Flash EEPROM的使用方法 - */ -void flash_eeprom_example_main(void) { - std::printf("\r\n=== Flash EEPROM 使用示例 ===\r\n"); - - // 初始化Flash EEPROM - flashEEP.init(); - // 模拟系统配置更新 - std::printf("\r\n--- 更新系统配置 ---\r\n"); - flashEEP.update_system_config(0x03); - - // 模拟错误发生 - std::printf("\r\n--- 模拟错误计数增加 ---\r\n"); - flashEEP.increment_error_count(); - flashEEP.increment_error_count(); - - // 再次读取参数验证保存是否成功 - std::printf("\r\n--- 验证保存的数据 ---\r\n"); - u16 kp_value, ki_value, kd_value; - u16 system_config; - u16 error_count; - - // if (flashEEP.read(ADDR_MOTOR_KP, &kp_value) == FLASH_EEPROM_OK) { - // std::printf("当前KP值: %d\r\n", kp_value); - // } - - // if (flashEEP.read(ADDR_MOTOR_KI, &ki_value) == FLASH_EEPROM_OK) { - // std::printf("当前KI值: %d\r\n", ki_value); - // } - - // if (flashEEP.read(ADDR_MOTOR_KD, &kd_value) == FLASH_EEPROM_OK) { - // std::printf("当前KD值: %d\r\n", kd_value); - // } - - // if (flashEEP.read(ADDR_SYSTEM_CONFIG, &system_config) == FLASH_EEPROM_OK) - // { std::printf("当前系统配置: 0x%02X\r\n", system_config); - // } - - // if (flashEEP.read(ADDR_ERROR_COUNT, &error_count) == FLASH_EEPROM_OK) { - // std::printf("当前错误计数: %d\r\n", error_count); - // } - - std::printf("\r\n=== 示例结束 ===\r\n"); -} \ No newline at end of file diff --git a/Robot_V2/sys/flash.h b/Robot_V2/sys/flash.h index 4029b15..5891b6b 100644 --- a/Robot_V2/sys/flash.h +++ b/Robot_V2/sys/flash.h @@ -10,11 +10,12 @@ // EEPROM操作状态 typedef enum { FLASH_EEPROM_OK = 0, // 操作成功 - FLASH_EEPROM_ERROR, // 操作失败 - FLASH_EEPROM_NOT_FOUND, // 未找到指定数据 - FLASH_EEPROM_INVALID_ADDR, // 无效地址 FLASH_EEPROM_WRITE_ERROR, // 写入错误 + FLASH_EEPROM_READ_ERROR, // 读取错误 FLASH_EEPROM_ERASE_ERROR, // 擦除错误 + FLASH_EEPROM_INVALID_ADDR, // 无效地址 + FLASH_EEPROM_DATA_NOT_FOUND, // 找不到数据 + FLASH_EEPROM_CRC_ERROR, // CRC错误 FLASH_EEPROM_ALIGNMENT_ERROR, // 对齐错误 } FlashEepromStatus; @@ -23,21 +24,20 @@ class FlashEEPROM { public: // EEPROM emulation constants static constexpr u32 EEPROM_START_ADDRESS = - 0x0801F800; // Flash最后一页(2KB) + 0x0801F800; // Flash最后一页(2KB) static constexpr u32 EEPROM_END_ADDRESS = 0x08020000; // Flash结束地址 - static constexpr u32 EEPROM_PAGE_SIZE = 0x800; // 页大小2KB - static constexpr u32 EEPROM_MAX_SIZE = 0x800; // EEPROM最大容量 + static constexpr u32 EEPROM_MAX_SIZE = 0x800; // EEPROM最大容量 // 定义用户自定义的虚拟地址 - static constexpr u8 ADDR_MOTOR_KP = 0x10; // 电机KP参数地址 - static constexpr u8 ADDR_MOTOR_KI = 0x11; // 电机KI参数地址 - static constexpr u8 ADDR_MOTOR_KD = 0x12; // 电机KD参数地址 - static constexpr u8 ADDR_SYSTEM_CONFIG = 0x20; // 系统配置参数地址 - static constexpr u8 ADDR_ERROR_COUNT = 0x30; // 错误计数地址 + static constexpr u8 ADDR_CONTROL_MODE = 0x0; // 控制模式 + static constexpr u8 ADDR_ANGLE = 0x01; // 角度数据存储地址 + static constexpr u8 ADDR_TARGET_ANGLE = 0x02; // 角度命令数据存储地址 + static constexpr u8 ADDR_TARGET_VEL = 0x03; // 速度命令数据存储地址 + static constexpr u8 ADDR_VOLTAGE_LIMIT = 0x4; // 电压限制 - static constexpr u8 ADDR_ANGLE_DATA = 0x01; // 角度数据存储地址 bool angle_saved = false; - + bool system_config_saved = false; + u8 EEPROMStatus; // 构造函数 FlashEEPROM(); @@ -56,10 +56,8 @@ class FlashEEPROM { // 格式化Flash EEPROM页面 FlashEepromStatus format(); - void flash_eeprom_example_init(void); - void update_system_config(u16 config); - void increment_error_count(void); FlashEepromStatus save_angle(float angle, bool saved); + FlashEepromStatus save_system_config(bool saved); float read_angle(); private: diff --git a/Robot_V2/sys/health.cpp b/Robot_V2/sys/health.cpp index 10742ab..a0e4de6 100644 --- a/Robot_V2/sys/health.cpp +++ b/Robot_V2/sys/health.cpp @@ -96,7 +96,8 @@ void power_manage(void) { float vbus = sampler.get_vbus_voltage(); if ((vbus < 22.0f) and (last_vbus > vbus) and vbus > 8.0f) { FOC.shut_down(); - // flashEEP.save_angle(FOC.rt_angle,false); + flashEEP.save_angle(FOC.rt_angle, true); + flashEEP.save_system_config(true); } else { FOC.resume(); } diff --git a/Robot_V2/sys/systick.cpp b/Robot_V2/sys/systick.cpp index cab013a..2f584fc 100644 --- a/Robot_V2/sys/systick.cpp +++ b/Robot_V2/sys/systick.cpp @@ -1,117 +1,139 @@ /*! - \file systick.c - \brief the systick configuration file - - \version 2025-06-20, V1.5.1, firmware for GD32C10x + \file systick.c + \brief the systick configuration file + + \version 2025-06-20, V1.5.1, firmware for GD32C10x */ /* - Copyright (c) 2024, GigaDevice Semiconductor Inc. + 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: + 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. + 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. + 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" +#include "gd32c10x.h" +#include "gd32c10x_exti.h" +#include "gd32c10x_gpio.h" volatile static uint32_t delay; /*! - \brief configure systick - \param[in] none - \param[out] none - \retval none + \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); +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 delay a time in seconds - \param[in] count: count in seconds - \param[out] none - \retval none + \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); - } +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 + \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){ +void delay_1ms(uint32_t count) { + delay = count; + while (0U != delay) { fwdgt_counter_reload(); fwdgt_counter_reload(); - } + } } /*! - \brief delay decrement - \param[in] none - \param[out] none - \retval none + \brief delay decrement + \param[in] none + \param[out] none + \retval none */ -void delay_decrement(void) -{ - if (0U != delay){ - delay--; - } +void delay_decrement(void) { + if (0U != delay) { + delay--; + } } /*! - \brief system soft reset - \param[in] none - \param[out] none - \retval none + \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(); - } +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(); + } +} + +// 1. 进入深度睡眠前的准备 +void prepare_deep_sleep(void) { + // 将SIT1044设置为低功耗待机模式 + gpio_bit_set(GPIOB, GPIO_PIN_8); // STB = 高电平 + + // 配置EXTI中断（连接到SIT1044的RXD引脚） + exti_init(EXTI_1, EXTI_INTERRUPT, EXTI_TRIG_FALLING); // 下降沿触发 + + // 进入深度睡眠 + pmu_to_deepsleepmode(PMU_LDO_LOWPOWER, WFI_CMD); +} + +// 2. 唤醒中断处理 +void EXTI1_IRQHandler(void) { + if (exti_interrupt_flag_get(EXTI_1) != RESET) { + // 清除中断标志 + exti_interrupt_flag_clear(EXTI_1); + // 禁用EXTI线1的中断 + exti_interrupt_disable(EXTI_1); + + // 唤醒SIT1044到正常模式 + gpio_bit_reset(GPIOB, GPIO_PIN_8); // STB = 低电平 + } } \ No newline at end of file diff --git a/Robot_V2/sys/systick.h b/Robot_V2/sys/systick.h index 5294ccb..7604179 100644 --- a/Robot_V2/sys/systick.h +++ b/Robot_V2/sys/systick.h @@ -54,6 +54,10 @@ void idle_task_count(void); uint8_t get_cpu_usage(void); /* 系统软复位 */ void system_soft_reset(void); +/* 准备进入低功耗模式 */ +void prepare_deep_sleep(void); +/* 中断唤醒 */ +void EXTI1_IRQHandler(void); #ifdef __cplusplus }