```

refactor(device): 重构角度传感器模块并优化ADC电压计算

- 将 tle5012b 角度传感器相关文件重命名为 ang_sensor，统一接口命名
- 修正母线电压采样计算公式，增加 VCC_FACTOR 校正系数
- 移除 main.cpp 中重复和未使用的头文件引用
- 删除对旧角度传感器初始化函数的调用，改用新接口读取角度
```

Robot_V2/Robot_V2.cproject.yml

@@ -14,8 +14,8 @@ project:
       files:
         - file: device/Can.cpp
         - file: device/Can.h
-        - file: device/tle5012b.cpp
+        - file: device/ang_sensor.cpp
-        - file: device/tle5012b.h
+        - file: device/ang_sensor.h
         - file: device/ADC.cpp
         - file: device/adc.h
         - file: device/Timer.cpp

Robot_V2/device/ADC.cpp

@@ -129,7 +129,8 @@ float sampler::get_vbus_voltage() {
  * 如果计算结果超出有效范围(-40到255摄氏度)，则重新采样计算。
  */
 void sampler::update_mcu_temp() {
-	memmove(mcu_temp_samples, mcu_temp_samples + 1, FILTER_SIZE * sizeof(float));
+	memmove(mcu_temp_samples, mcu_temp_samples + 1,
+			FILTER_SIZE * sizeof(float));
 	mcu_temp_samples[FILTER_SIZE] =
 		(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;
 }
@@ -138,7 +139,8 @@ void sampler::update_mcu_temp() {
  * @brief 更新MCU温度
  */
 void sampler::update_drv_temp() {
-	memmove(drv_temp_samples, drv_temp_samples + 1, FILTER_SIZE * sizeof(float));
+	memmove(drv_temp_samples, drv_temp_samples + 1,
+			FILTER_SIZE * sizeof(float));
 	float R_now = (float)adc_value[1] / (4096 - (float)adc_value[1]) * 4700;
 	drv_temp_samples[FILTER_SIZE] =
 		1.0f / (0.00335f + 0.00025f * log(R_now / 10000.0f)) - 273.15f;
@@ -165,5 +167,5 @@ void sampler::update_current() {
  */
 void sampler::update_vbus_voltage() {
 	memmove(vbus_samples, vbus_samples + 1, FILTER_SIZE * sizeof(float));
-	vbus_samples[FILTER_SIZE] = adc_value[5] * ADC_SCALE;
+	vbus_samples[FILTER_SIZE] = adc_value[5] * ADC_SCALE * VCC_FACTOR;
 }

Robot_V2/device/Timer.cpp

@@ -1,6 +1,7 @@
 #include "Timer.h"
 #include "Can.h"
 #include "DengFOC.h"
+#include "ang_sensor.h"
 #include "Timer.h"
 #include "adc.h"
 #include "gd32c10x.h"

Robot_V2/device/ang_sensor.cpp

@@ -1,22 +1,14 @@
-#include "tle5012b.h"
+#include "ang_sensor.h"
 #include "core_cmInstr.h"
 #include "gd32c10x_gpio.h"
 #include "gd32c10x_spi.h"
 #include "stdbool.h"
 #include "systick.h"
-
+#include <cstdio>
-#define SPI_TX_OFF()                                                           \
-	do {                                                                       \
-		gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ,             \
-				  GPIO_PIN_5);                                                 \
-	} while (0)
-#define SPI_TX_ON()                                                            \
-	do {                                                                       \
-		gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_5);      \
-	} while (0)
 
 #define SPI_CS_ENABLE() gpio_bit_reset(GPIOA, GPIO_PIN_15)
 #define SPI_CS_DISABLE() gpio_bit_set(GPIOA, GPIO_PIN_15)
+constexpr float ANGLE_FACTOR = 1.0f / 65536.0f * 360.0f;
 
 /**
  * @brief Send or read half word through SPI
@@ -81,7 +73,7 @@ void KHT7823_gpio_init(void) {
 			  GPIO_PIN_3 | GPIO_PIN_5);
 	/* PB4 → MISO, 浮空输入 */
 	gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ,
-			  GPIO_PIN_4 | GPIO_PIN_10);
+			  GPIO_PIN_4 | GPIO_PIN_10 | GPIO_PIN_11);
 }
 /**
  * @brief Initialize SPI module
@@ -92,7 +84,7 @@ void KHT7823_spi_init(void) {
 	spi_parameter_struct spi_init_str;
 	spi_struct_para_init(&spi_init_str);
 
-	/* SPI参数：16bit, 主机, 全双工, CPOL=0 CPHA=1, MSB first */
+	/* SPI参数：16bit, 主机, 全双工, CPOL=1 CPHA=1, MSB first */
 	spi_init_str.device_mode = SPI_MASTER;
 	spi_init_str.trans_mode = SPI_TRANSMODE_FULLDUPLEX;
 	spi_init_str.frame_size = SPI_FRAMESIZE_16BIT;
@@ -100,7 +92,7 @@ void KHT7823_spi_init(void) {
 	spi_init_str.nss = SPI_NSS_SOFT;
 	spi_init_str.endian = SPI_ENDIAN_MSB;
 	
-	spi_init_str.prescale = SPI_PSC_16; /* 8MHz @ 128MHz */
+	spi_init_str.prescale = 24; /* 5MHz @ 120MHz */
 	spi_init(SPI0, &spi_init_str);
 	spi_nss_output_enable(SPI0);
 	spi_nssp_mode_enable(SPI0);
@@ -113,23 +105,15 @@ void KHT7823_init(void) {
 }
 
 float KHT7823_readAngle() {
-	u16 u16Command = 0x4000;
+	u16 u16Command = 0x0000; // 读取角度命令
 
 	float ang = 0;
-
 	SPI_CS_ENABLE();
-	// 2. 发送命令1，同时接收回答1
+	// 发送命令1，同时接收回答1
-	SPI_DATA(SPI0) = u16Command;
+	u16 u16data = spi_rw_half_word(SPI0, u16Command);
-	while (RESET == spi_i2s_flag_get(SPI0, SPI_FLAG_TBE))
-		; // 等待发送缓冲区空
-	while (RESET == spi_i2s_flag_get(SPI0, SPI_FLAG_RBNE))
-		;						  // 等待接收缓冲区满
-	u16 u16data = SPI_DATA(SPI0); // 读取回答1
-
 	SPI_CS_DISABLE();
 
-	// 将15位角度值转换为角度(0-360度)
+	ang = u16data * ANGLE_FACTOR;
-	ang = ((float)u16data * 360.0f) / 32767.0f;
 
 	return ang;
 }

Robot_V2/device/ang_sensor.h

@@ -1,5 +1,5 @@
-#ifndef _5012B_H
+#ifndef _angsensor_H
-#define _5012B_H
+#define _angsensor_H
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -8,7 +8,7 @@ extern "C" {
 
 void KHT7823_init(void);
 u16 spi_rw_half_word(u32 spi_periph, const u16 i_HalfWord);
-void KHT7823_readAngle(void);
+float KHT7823_readAngle(void);
 #ifdef __cplusplus
 }
 #endif

Robot_V2/device/test.cpp

@@ -3,12 +3,10 @@
 #include "Timer.h"
 #include "adc.h"
 #include "core_cm4.h"
-#include "device/tle5012b.h"
 #include "initial.h"
 #include "main.h"
 #include "sys/initial.h"
 #include "systick.h"
-#include "tle5012b.h"
 #include <cinttypes>
 #include <cstdio>
 
@@ -31,8 +29,6 @@ void test_1111() {
 		// printf(" the angle is %2.2f\r\n", tle5012b_read());
 
 		printf("\n----------------------------------------------------\n");
-		// TLI5012B测试
-		Test_TLI5012B();
 	}
 	// can_loopback_test();
 }

Robot_V2/main.cpp

@@ -6,12 +6,10 @@
 #include "adc.h"
 #include "core_cm4.h"
 #include "core_cm4.h"
-#include "device/tle5012b.h"
+#include "ang_sensor.h"
 #include "gd32c10x_gpio.h"
 #include "initial.h"
-#include "sys/initial.h"
 #include "systick.h"
-#include "tle5012b.h"
 #include <cstdio>
 
 // 全局变量定义
@@ -35,7 +33,7 @@ int main(void) {
 	while (1) {
 		/* clear the FWDGT reset flag */
 		// std::printf("1\n");
-		// KHT7823_init();
+		// delay_1ms(100);
 		fwdgt_counter_reload();
 		CAN0_transmiter.communication_check();
 	}