#ifndef __CONFIG_H #define __CONFIG_H #include // 如果使用CMSIS DSP库，需要定义ARM_MATH_CM4 #define ARM_MATH_CM4 #define EEP_DEBUG 1 #define OTA_DEBUG 1 #define SLEEP_DEBUG 1 // 版本号定义 - 可根据实际项目进行调整 constexpr u16 SOFTWARE_VERSION_MAJOR = 26; constexpr u16 SOFTWARE_VERSION_MINOR = 1; constexpr u16 SOFTWARE_VERSION_PATCH = 20; constexpr u16 SOFTWARE_VERSION_BUILD = 1; constexpr u16 HARDWARE_VERSION_MAJOR = 25; constexpr u16 HARDWARE_VERSION_MINOR = 12; constexpr u16 HARDWARE_VERSION_PATCH = 01; constexpr u16 HARDWARE_VERSION_BUILD = 0; constexpr u16 BOOT_VERSION_MAJOR = 26; constexpr u16 BOOT_VERSION_MINOR = 1; constexpr u16 BOOT_VERSION_PATCH = 12; constexpr u16 BOOT_VERSION_BUILD = 0; // Flash分区配置 constexpr u32 BOOTLOADER_SIZE = 0x6000; // 24KB constexpr u32 BOOTLOADER_START_ADDR = 0x08000000; // BOOT起始地址 constexpr u32 APPLATEST_START_ADDR = 0x08012000; // APP起始地址 constexpr u32 APPBACK_START_ADDR = 0x08006000; // APPBACK起始地址 constexpr u32 APP_MAX_SIZE = 0xC000; // 48KB constexpr u32 FMC_PAGE_SIZE = 0x400; // 1KB constexpr u32 SLEEP_CONFIG_START = 0x0801E400; // 睡眠配置起始地址 constexpr u32 SLEEP_CONFIG_END = 0x0801E800; // 睡眠配置结束地址 constexpr u32 FLASH_EMPTY = 0xFFFFFFFF; // 空数据 constexpr u32 SLEEP_ENABLE = 0x11111111; // 睡眠使能 constexpr u32 SLEEP_DISABLE = 0x00000000; // 睡眠禁止 // BOOT 相关 constexpr u32 OTA_CONFIG_NUM = 6; constexpr u32 n_APP_LATEST_AVAL_ADDR = 0x0801E000; // 最新APP可用地址 constexpr u32 n_APP_BACKUP_AVAL_ADDR = 0x0801E004; // 备份APP可用地址 constexpr u32 n_APP_LATEST_EN_ADDR = 0x0801E008; // 最新APP激活 constexpr u32 n_APP_BACKUP_EN_ADDR = 0x0801E00C; // 备份APP激活 constexpr u32 n_APP_LATEST_CHECK_ADDR = 0x0801E010; // 最新APP校验 constexpr u32 n_APP_BACKUP_CHECK_ADDR = 0x0801E014; // 备份APP校验 constexpr u32 OTA_NOT_AVAL = 0xFFFFFFFF; constexpr u32 OTA_AVAL = 0x00000000; // 全零表示可用 // 参数配置 constexpr u8 PP = 11; constexpr float DIR = -1.0f; constexpr u16 REDUCTION_RATIO = 25; constexpr float CURRENT_OFFSET = -1.62f; // 当前电流传感器的零点偏移 constexpr float HOLD_PWM_DUTY = 0.95f; constexpr u16 ANGLESENS_OFFSET = +0; constexpr float KE_FACTOR = 14.0f; // PID配置 constexpr float current_loop_p = 6e-2f / 100 * 12; // 电流P constexpr float vel_loop_p = 0.01f / 100 * 12; // 速度P constexpr float angle_loop_p = 20.0f / 100 * 12; // 角度P constexpr float vel_angloop_p = 0.12f / 100 * 12; // 速度 速度-角度P constexpr float ang_angloop_p = 100.0f / 100 * 12; // 角度 速度-角度P // 常量定义 constexpr u8 SIZE_FLOAT = sizeof(float); constexpr u8 SIZE_U32 = sizeof(uint32_t); constexpr float ADC_MAX = 65536.0f; constexpr float PI = 3.14159265358979323846f; constexpr float ANGLE_FACTOR = 25.0f / 180.0f * PI; constexpr float DEG2RAD = 1.0f / 180.0f * PI; constexpr float RAD2DEG = 180.0f / PI; // 修正RAD2DEG定义，应该是180/π constexpr float _1_SQRT3 = 0.57735026919f; // 1/sqrt(3) constexpr float sqrt3dv2 = 0.86602540378f; // sqrt(3)/2的预计算值 constexpr u8 DEFAULT_VALUE = 0; constexpr u8 CONFIG_SAVED_NUM = 6; // 三角函数快速计算LUT constexpr u16 LUT_SIZE = 1024; constexpr u16 LUT_MASK = (LUT_SIZE - 1); constexpr u16 LUT_SCALE = (LUT_SIZE / (2.0f * PI)); // CAN相关 constexpr u16 DEV_CAN0_ID = 0x0000; constexpr u16 DEV_CAN0_MASK = 0x0000; constexpr u16 DEV_CAN_LOOPBACK_ID = 0x0000; // 反馈ID constexpr u32 CANFD_STATUS_ID = 0x00010100; constexpr u32 CANFD_CONFIG_ID = 0x00010101; constexpr u32 CANFD_VERSION_ID = 0x00010000; // 命令ID constexpr u32 CANFD_CMD_ID = 0x00010200; constexpr u32 CANFD_RESET_ID = 0x00010301; // OTA相关ID constexpr u32 CANFD_BOOT_ID = 0x00000000; constexpr u32 CANFD_OTA_REQ_ID = 0x00000100; constexpr u32 CANFD_OTA_DATA_ID = 0x00000101; constexpr u32 CANFD_OTA_ACK_ID = 0x00000102; constexpr u32 CANFD_OTA_WAIT_ID = 0x00000103; // ADC constexpr u8 ADC_FILTER_SIZE = 6; constexpr u8 BLOCK_SIZE = ADC_FILTER_SIZE * SIZE_FLOAT; constexpr float ERROR_ADC_VAL = 255.0f; constexpr float MAX_TEMP = 150.0f; constexpr float MIN_TEMP = -40.0f; constexpr float MAX_CURRENT = 40.0f; constexpr float MIN_CURRENT = -40.0f; constexpr float MAX_VCC = 65.0f; constexpr float MIN_VCC = -0.1f; // ang_sensor constexpr u16 VEL_FILTER_SIZE = 4; constexpr u16 DEFAULT_COMMAND = 0x0000; constexpr u16 FAULT_RECEIVE = 0xFFFF; constexpr float ANGLE_WRAP_THRESHOLD = 300.0f; constexpr float ANGLE_WRAP_VALUE = 360.0f; constexpr float RAD_FACTOR = 1.0f / ADC_MAX * 2.0f * PI; constexpr float ANGLESENS_FACTOR = 1.0f / ADC_MAX * 360.0f; // TIMER2-任务调度 constexpr int TIMER2_PRESCALER = 119; // 120MHz / 120 = 1MHz constexpr int TIMER2_PERIOD = 49; // 1MHz / 50 = 50us constexpr float TIMER2_FREQUENCY = 1 / 5e-5; // TIMER1-PWM constexpr int TIMER1_PRESCALER = 0; // 不分频，计数器时钟为120MHz constexpr int TIMER1_PERIOD = 5999; // 120MHz / (0+1) / (5999+1) = 20kHz constexpr int TIMER1_DEFAULT_PULSE = 0; constexpr int TIMER1_CH3_COMPARE_VALUE = (TIMER1_PERIOD + 1) * 0.5 - 1; // PWM周期50%位置触发中断 #endif