FOC开环调试成功

Robot_V2/sys/initial.cpp

@@ -1,6 +1,7 @@
 #include "initial.h"
 #include "systick.h"
 #include <stdint.h>
+#include "Timer.h"
 
 extern u16 adc_value[7];
 
@@ -117,6 +118,13 @@ u8 watchdog_init(u32 time) {
 	fwdgt_enable();
 	return status;
 }
+/**
+ * @brief  driver输出初始化
+ */
+void driver_init(void) {
+	timer1_gpio_config();
+	timer1_pwm_config();
+}
 
 int fputc(int ch, FILE *f) throw() {
 	usart_data_transmit(EVAL_COM0, (uint8_t)ch);

Robot_V2/sys/initial.h

@@ -19,6 +19,8 @@ int fputc(int ch, FILE *f); // 声明fputc函数以重载标准库实现
 u8 tle5210b_init(void);
 u8 USART0_init(void);
 u8 watchdog_init(u32 time);
+void driver_init(void);
+
 
 #ifdef __cplusplus
 }

Robot_V2/sys/systick.cpp

@@ -34,8 +34,6 @@ OF SUCH DAMAGE.
 
 #include "gd32c10x.h"
 #include "systick.h"
-#include "initial.h"
-#include <cstdio>
 
 volatile static uint32_t delay;
 
@@ -69,6 +67,7 @@ void delay_1s(uint32_t count)
         delay_1ms(1000);
     }
 }
+
 /*!
     \brief      delay a time in milliseconds
     \param[in]  count: count in milliseconds

Robot_V2/sys/systick.h

@@ -48,11 +48,13 @@ void delay_1ms(uint32_t count);
 void delay_1s(uint32_t count);
 /* delay decrement */
 void delay_decrement(void);
-
-void timer_delay_ms(uint32_t ms);
+/* 空闲任务计数 */
+void idle_task_count(void);
+/* 获取CPU使用率 */
+uint8_t get_cpu_usage(void);
 
 #ifdef __cplusplus
 }
 #endif
 
-#endif /* SYSTICK_H */
+#endif /* SYSTICK_H */