更新OTA功能，config独立成文件统一定义
refactor(build): 更新项目配置和链接器设置 - 修改GD32C103CB的ROM基地址和大小配置 - 更新系统时钟向量表偏移量设置 - 在cproject.yml中添加BIN输出格式支持 - 增加-O3优化级别和代码移除选项 - 更新csolution版本依赖 feat(device): 优化ADC采样和配置管理 - 将DengFOC依赖替换为FOC模块 - 从config.h引入配置常量 - 重命名FILTER_SIZE为ADC_FILTER_SIZE以提高清晰度 - 优化温度和电流采样滤波实现 refactor(algorithm): 简化FOC控制函数接口 - 为angle_control、velocity_control等函数移除不必要的参数 - 统一函数指针类型定义 - 优化电流计算函数的代码格式 - 调整PID控制器初始化参数
This commit is contained in:
+182
-150
@@ -1,8 +1,9 @@
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#include "Can.h"
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#include "DengFOC.h"
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#include "FOC.h"
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#include "Filter.h"
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#include "adc.h"
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#include "ang_sensor.h"
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#include "config.h"
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#include "flash.h"
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#include "gd32c10x.h"
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#include "gd32c10x_can.h"
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@@ -19,10 +20,6 @@
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#include <stdlib.h>
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constexpr u16 CANX = CAN0;
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constexpr u16 DEV_CAN0_ID = 0x0000;
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constexpr u16 DEV_CAN0_MASK = 0x0000;
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constexpr u16 DEV_CAN_LOOPBACK_ID = 0x0000;
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constexpr float ANGLE_FACTOR = 25.0f / 360.0f * 2.0f * 3.14159265358979323846f;
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CAN_transmiter CAN0_transmiter; // CAN初始化
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extern FOC_Controlroller FOC;
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@@ -157,8 +154,11 @@ void can_config(void) {
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/* configure CAN0 NVIC */
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nvic_irq_enable(CAN0_RX0_IRQn, 1, 0);
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nvic_irq_enable(CAN0_TX_IRQn, 1, 1); // 添加发送中断
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/* enable can receive FIFO0 not empty interrupt */
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can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
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/* enable can transmit mailbox empty interrupt */
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can_interrupt_enable(CAN0, CAN_INTEN_TMEIE);
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// 使能DMA中断
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nvic_irq_enable(DMA0_Channel4_IRQn, 1, 1);
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@@ -173,6 +173,7 @@ void can_config(void) {
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*/
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void canfd_config(void) {
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can_gpio_init();
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can_dma_init(); // 初始化DMA
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can_parameter_struct can_parameter;
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can_fdframe_struct can_fd_parameter;
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can_fd_tdc_struct can_fd_tdc_parameter;
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@@ -235,6 +236,9 @@ void canfd_config(void) {
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nvic_irq_enable(CAN0_RX0_IRQn, 1, 0);
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/* enable can receive FIFO0 not empty interrupt */
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can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
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// 使能DMA中断
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nvic_irq_enable(DMA0_Channel4_IRQn, 1, 1);
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dma_interrupt_enable(DMA0, DMA_CH4, DMA_INT_FTF);
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}
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/*!
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@@ -458,128 +462,6 @@ void CAN_transmiter::update(void) {
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v_current_union.f = sampler.get_current('V') * 1000;
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}
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/*!
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\brief CAN 数据发送
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\param id CAN ID
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\param length 数据长度
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\param data 数据
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*/
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u8 CAN_transmiter::CAN_Send(u32 id, u8 length, u8 *data) {
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// 检查数据长度是否符合CAN规范
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if (length > 8) {
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printf("CAN data length exceeds maximum of 8 bytes\r\n");
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return 0;
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}
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// 检查数据指针是否有效
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if (data == nullptr) {
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printf("Invalid data pointer\r\n");
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return 0;
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}
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/* 配置发送消息参数 */
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transmit_message.tx_ft = CAN_FT_DATA; // 数据帧
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transmit_message.tx_ff = CAN_FF_STANDARD; // 标准帧格式
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transmit_message.tx_sfid = id; // 设置帧ID
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transmit_message.tx_dlen = length; // 设置数据长度
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// 复制数据到发送缓冲区
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for (int i = 0; i < length && i < 8; i++) {
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transmit_message.tx_data[i] = *(data + i);
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}
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// 将数据复制到DMA缓冲区
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memcpy(can_tx_buffer, data, length);
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// 配置DMA发送参数
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dma_tx_parameter.number = length;
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dma_init(DMA0, DMA_CH5, &dma_tx_parameter);
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// 启动DMA传输
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dma_channel_enable(DMA0, DMA_CH5);
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// 自动选择空闲mailbox发送消息，不需要人为指定
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transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
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// 检查是否成功获取mailbox
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if (CAN_NOMAILBOX == transmit_mailbox) {
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// 没有可用的mailbox，可能所有mailbox都在使用中
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printf("No available mailbox for CAN transmission\r\n");
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return 0;
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}
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return 1;
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}
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/*!
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\brief CANFD 数据发送
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\param id CAN消息ID
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\param length CAN消息长度
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\param data CAN消息数据
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*/
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u8 CAN_transmiter::CANFD_Send(u32 id, u8 length, u8 *data) {
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// 检查CANFD模式是否启用
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if (!(CAN_CTL(CAN0) & CAN_CTL_DFZ)) {
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printf("CANFD mode not enabled\r\n");
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return 0;
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}
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// 检查数据指针是否有效
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if (data == nullptr) {
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printf("Invalid data pointer\r\n");
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return 0;
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}
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// 检查数据长度是否符合CANFD规范
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if (length > 64) {
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printf("CANFD data length exceeds maximum of 64 bytes\r\n");
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return 0;
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}
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/* 配置发送消息参数 */
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transmit_message.tx_ft = CAN_FT_DATA; // 数据帧
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transmit_message.tx_ff = CAN_FF_EXTENDED; // 扩展帧格式
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// transmit_message.tx_sfid = id; // 设置帧ID
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transmit_message.tx_efid = id; // 扩展帧ID
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transmit_message.tx_dlen = length; // 设置数据长度
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// 设置CANFD特定参数
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transmit_message.fd_flag = CAN_FDF_FDFRAME; // CANFD帧格式
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transmit_message.fd_brs = ENABLE; // 使能比特率切换
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transmit_message.fd_esi = DISABLE; // 错误状态指示
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// 复制数据到发送缓冲区
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for (int i = 0; i < length && i < 64; i++) {
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transmit_message.tx_data[i] = *(data + i);
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}
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// 将数据复制到DMA缓冲区
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memcpy(can_tx_buffer, data, length);
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// 配置DMA发送参数
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dma_tx_parameter.number = length;
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dma_init(DMA0, DMA_CH5, &dma_tx_parameter);
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// 启动DMA传输
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dma_channel_enable(DMA0, DMA_CH5);
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// 自动选择空闲mailbox发送消息，不需要人为指定
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transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
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// 检查是否成功获取mailbox
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if (CAN_NOMAILBOX == transmit_mailbox) {
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static u32 count = 0;
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// 没有可用的mailbox，可能所有mailbox都在使用中
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count++;
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printf("No available mailbox for CANFD transmission\r\n");
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if (count > 0xff and !is_sleep) {
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init();
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count = 0;
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}
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return 0;
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}
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return 1;
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}
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/**
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* @brief CAN发送函数
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* @retval 0: 发送失败
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@@ -594,31 +476,39 @@ u8 CAN_transmiter::CAN_all_Send() {
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constexpr u32 Status_FEED = 0x118;
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constexpr u32 Limit_Vel_Vol_FEED = 0x119;
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// 打包RT_Vel_Ang_FEED
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// 打包RT_Vel_Ang_FEED - 只清零实际使用的8字节
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memset(transmit_data, 0, 8);
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pack_float_to_bytes(transmit_data, 0, rt_angle_union);
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pack_float_to_bytes(transmit_data, 4, rt_velocity_union);
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success_flag += CAN_Send(RT_Vel_Ang_FEED, 8, transmit_data);
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// 打包SET_Vel_Ang_FEED
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success_flag += CAN_AsyncSend(RT_Vel_Ang_FEED, 8, transmit_data);
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// 打包SET_Vel_Ang_FEED - 只清零实际使用的8字节
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memset(transmit_data, 0, 8);
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pack_float_to_bytes(transmit_data, 0, target_angle_union);
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pack_float_to_bytes(transmit_data, 4, target_velocity_union);
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success_flag += CAN_Send(SET_Vel_Ang_FEED, 8, transmit_data);
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// 打包Current_FEED
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success_flag += CAN_AsyncSend(SET_Vel_Ang_FEED, 8, transmit_data);
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// 打包Current_FEED - 只清零实际使用的6字节
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memset(transmit_data, 0, 6);
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pack_u16_to_bytes(transmit_data, 0, u16(u_current_union.f));
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pack_u16_to_bytes(transmit_data, 2, u16(w_current_union.f));
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pack_u16_to_bytes(transmit_data, 4, u16(v_current_union.f));
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success_flag += CAN_Send(Current_FEED, 6, transmit_data);
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success_flag += CAN_AsyncSend(Current_FEED, 6, transmit_data);
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// 打包Status_FEED
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// 打包Status_FEED - 只清零实际使用的8字节
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memset(transmit_data, 0, 8);
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transmit_data[0] = MotorStatus;
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transmit_data[1] = controller_Mode;
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pack_u16_to_bytes(transmit_data, 2, motor_temp);
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pack_u16_to_bytes(transmit_data, 4, mcu_temp);
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pack_u16_to_bytes(transmit_data, 6, Power_Voltage);
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success_flag += CAN_Send(Status_FEED, 8, transmit_data);
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// 打包Limit_Vel_Vol_FEED
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success_flag += CAN_AsyncSend(Status_FEED, 8, transmit_data);
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// 打包Limit_Vel_Vol_FEED - 只清零实际使用的6字节
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memset(transmit_data, 0, 6);
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pack_float_to_bytes(transmit_data, 0, limit_velocity_union);
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pack_u16_to_bytes(transmit_data, 4, limit_voltage);
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success_flag += CAN_Send(Limit_Vel_Vol_FEED, 6, transmit_data);
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success_flag += CAN_AsyncSend(Limit_Vel_Vol_FEED, 6, transmit_data);
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return success_flag;
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}
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@@ -631,9 +521,8 @@ u8 CAN_transmiter::CAN_all_Send() {
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u8 CAN_transmiter::CANFD_all_Send() {
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u32 success_flag = 0;
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constexpr u32 STATUS_ID = 0x00010100;
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constexpr u32 CONFIG_ID = 0x00010101;
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// 打包status数据
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// 打包status数据 - 只清零实际使用的32字节
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memset(transmit_data, 0, 32);
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pack_u16_to_bytes(transmit_data, 0, mcu_temp);
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pack_u16_to_bytes(transmit_data, 2, motor_temp);
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pack_u16_to_bytes(transmit_data, 4, u16(u_current_union.f));
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@@ -647,15 +536,16 @@ u8 CAN_transmiter::CANFD_all_Send() {
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pack_float_to_bytes(transmit_data, 13, rt_angle_union);
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pack_float_to_bytes(transmit_data, 17, rt_velocity_union);
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pack_float_to_bytes(transmit_data, 21, testfloat_union);
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success_flag += CANFD_Send(STATUS_ID, 32, transmit_data);
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success_flag += CANFD_AsyncSend(CANFD_STATUS_ID, 32, transmit_data);
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// 打包config数据
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// 打包config数据 - 只清零实际使用的16字节
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memset(transmit_data, 0, 16);
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transmit_data[0] = controller_Mode;
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pack_u16_to_bytes(transmit_data, 1, limit_voltage);
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pack_float_to_bytes(transmit_data, 3, limit_velocity_union);
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pack_float_to_bytes(transmit_data, 7, target_angle_union);
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pack_float_to_bytes(transmit_data, 11, target_velocity_union);
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success_flag += CANFD_Send(CONFIG_ID, 16, transmit_data);
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success_flag += CANFD_AsyncSend(CANFD_CONFIG_ID, 16, transmit_data);
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return success_flag;
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}
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@@ -669,9 +559,9 @@ void CAN_transmiter::communication_check() {
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// CAN0 发送数据标志
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if (SET == can0_send_flag) {
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// printf("\r\n can0 %X receive data:", receive_message.rx_efid);
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CAN0_transmiter.update();
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update();
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// CAN0_transmiter.CAN_all_Send();
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CAN0_transmiter.CANFD_all_Send();
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CANFD_all_Send();
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can0_send_flag = RESET;
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}
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@@ -681,7 +571,7 @@ void CAN_transmiter::communication_check() {
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// for (i = 0; i < receive_message.rx_dlen; i++) {
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// printf(" %02x", receive_message.rx_data[i]);
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// }
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if (receive_message.rx_efid == 0x00010200) {
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if (receive_message.rx_efid == CANFD_CMD_ID) {
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FOC.control_mode = receive_message.rx_data[0];
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if (float(unpack_bytes_to_u16(receive_message.rx_data, 1)) / 1000 !=
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FOC.limit_voltage) {
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@@ -701,7 +591,7 @@ void CAN_transmiter::communication_check() {
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target_velocity_union.f =
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unpack_bytes_to_float(receive_message.rx_data, 11).f;
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FOC.target_velocity = target_velocity_union.f;
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} else if (receive_message.rx_efid == 0x00010301) {
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} else if (receive_message.rx_efid == CANFD_RESET_ID) {
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u8 first_byte = receive_message.rx_data[0];
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u8 eigth_byte = receive_message.rx_data[7];
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if (first_byte & 0x01) {
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@@ -722,7 +612,8 @@ void CAN_transmiter::communication_check() {
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prepare_deep_sleep(true);
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// CAN_Sleep();
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}
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} else if (receive_message.rx_efid == CANFD_BOOT_ID) {
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jumpToBOOT();
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} else {
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printf("Unknown CAN ID: %X\n", receive_message.rx_efid);
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}
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@@ -800,7 +691,6 @@ void DMA0_Channel4_IRQHandler(void) {
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if (dma_interrupt_flag_get(DMA0, DMA_CH4, DMA_INT_FLAG_FTF)) {
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// 清除DMA传输完成中断标志
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dma_interrupt_flag_clear(DMA0, DMA_CH4, DMA_INT_FLAG_G);
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// 将DMA缓冲区的数据复制到接收消息结构体
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for (int i = 0; i < CAN0_transmiter.receive_message.rx_dlen && i < 8;
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i++) {
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@@ -815,7 +705,149 @@ void DMA0_Channel4_IRQHandler(void) {
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*/
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void DMA0_Channel5_IRQHandler(void) {
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if (dma_interrupt_flag_get(DMA0, DMA_CH5, DMA_INT_FLAG_FTF)) {
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// DMA传输完成，可以在此处执行后续处理
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// 清除DMA传输完成中断标志
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dma_interrupt_flag_clear(DMA0, DMA_CH5, DMA_INT_FLAG_G);
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dma_interrupt_flag_clear(DMA0, DMA_CH5, DMA_INT_FLAG_FTF);
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// 可以在此添加后续处理逻辑，如发送下一个数据包等
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}
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}
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/**
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* @brief 异步CAN数据发送(使用DMA和中断机制)
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* @param id CAN消息ID
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* @param length CAN消息长度
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* @param data CAN消息数据
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*/
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u8 CAN_transmiter::CAN_AsyncSend(u32 id, u8 length, u8 *data) {
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// 检查数据长度是否符合CAN规范
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if (length > 8) {
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printf("CAN data length exceeds maximum of 8 bytes\r\n");
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return 0;
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}
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// 检查数据指针是否有效
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if (data == nullptr) {
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printf("Invalid data pointer\r\n");
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return 0;
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}
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/* 配置发送消息参数 */
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transmit_message.tx_ft = CAN_FT_DATA; // 数据帧
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transmit_message.tx_ff = CAN_FF_STANDARD; // 标准帧格式
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transmit_message.tx_sfid = id; // 设置帧ID
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transmit_message.tx_dlen = length; // 设置数据长度
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// 复制数据到发送缓冲区
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for (int i = 0; i < length && i < 8; i++) {
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transmit_message.tx_data[i] = *(data + i);
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}
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// 自动选择空闲mailbox发送消息
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transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
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// 检查是否成功获取mailbox
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if (transmit_mailbox == CAN_NOMAILBOX) {
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// 没有可用的mailbox，启用发送中断以便在邮箱可用时重试
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printf("No available mailbox for CAN transmission, enabling TX "
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"interrupt\r\n");
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// 可以设置一个标志位，当邮箱可用时发送
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// 在实际应用中，可以维护一个待发送队列
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return 0;
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}
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// 启用CAN发送中断以检测传输完成
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can_interrupt_enable(CAN0, CAN_INTEN_TMEIE);
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return 1;
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}
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/**
|
||||
* @brief 异步CANFD数据发送(使用DMA和中断机制)
|
||||
* @param id CAN消息ID
|
||||
* @param length CAN消息长度
|
||||
* @param data CAN消息数据
|
||||
*/
|
||||
u8 CAN_transmiter::CANFD_AsyncSend(u32 id, u8 length, u8 *data) {
|
||||
u8 valid_length = length;
|
||||
// 检查CANFD模式是否启用
|
||||
if (!(CAN_CTL(CAN0) & CAN_CTL_DFZ)) {
|
||||
printf("CANFD mode not enabled\r\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
// 检查数据指针是否有效
|
||||
if (data == nullptr) {
|
||||
printf("Invalid data pointer\r\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
// 检查数据长度是否符合CANFD规范
|
||||
if (length > 8) {
|
||||
if (length > 8 and length < 13) {
|
||||
valid_length = 12;
|
||||
} else if (length > 12 and length < 17) {
|
||||
valid_length = 16;
|
||||
} else if (length > 16 and length < 21) {
|
||||
valid_length = 20;
|
||||
} else if (length > 20 and length < 24) {
|
||||
valid_length = 24;
|
||||
} else if (length > 28 and length < 33) {
|
||||
valid_length = 32;
|
||||
} else if (length > 32 and length < 49) {
|
||||
valid_length = 48;
|
||||
} else if (length > 48 and length < 65) {
|
||||
valid_length = 64;
|
||||
} else {
|
||||
printf("CANFD data length error\r\n");
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
/* 配置发送消息参数 */
|
||||
transmit_message.tx_ft = CAN_FT_DATA; // 数据帧
|
||||
transmit_message.tx_ff = CAN_FF_EXTENDED; // 扩展帧格式
|
||||
transmit_message.tx_efid = id; // 扩展帧ID
|
||||
transmit_message.tx_dlen = valid_length; // 设置数据长度
|
||||
|
||||
// 设置CANFD特定参数
|
||||
transmit_message.fd_flag = CAN_FDF_FDFRAME; // CANFD帧格式
|
||||
transmit_message.fd_brs = ENABLE; // 使能比特率切换
|
||||
transmit_message.fd_esi = DISABLE; // 错误状态指示
|
||||
// 复制数据到发送缓冲区
|
||||
for (int i = 0; i < valid_length; i++) {
|
||||
if (i < length) {
|
||||
transmit_message.tx_data[i] = *(data + i);
|
||||
} else {
|
||||
transmit_message.tx_data[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// 自动选择空闲mailbox发送消息
|
||||
transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
|
||||
|
||||
// 检查是否成功获取mailbox
|
||||
if (transmit_mailbox == CAN_NOMAILBOX) {
|
||||
// 没有可用的mailbox，启用发送中断以便在邮箱可用时重试
|
||||
printf("No available mailbox for CANFD transmission, enabling TX "
|
||||
"interrupt\r\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
// 启用CAN发送中断以检测传输完成
|
||||
can_interrupt_enable(CAN0, CAN_INTEN_TMEIE);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// 添加CAN传输中断处理函数
|
||||
void CAN0_TX_IRQHandler(void) {
|
||||
// 检查是否有发送邮箱空闲
|
||||
if (can_flag_get(CAN0, CAN_FLAG_TME0) != RESET ||
|
||||
can_flag_get(CAN0, CAN_FLAG_TME1) != RESET ||
|
||||
can_flag_get(CAN0, CAN_FLAG_TME2) != RESET) {
|
||||
// 邮箱已空闲，可以发送新消息
|
||||
// 可以在这里处理待发送队列中的消息
|
||||
// 清除发送中断标志
|
||||
can_flag_clear(CAN0, CAN_FLAG_TME0);
|
||||
can_flag_clear(CAN0, CAN_FLAG_TME1);
|
||||
can_flag_clear(CAN0, CAN_FLAG_TME2);
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user