cbb
4c4e47e9e3
添加了完整的Doxygen文档注释到FOC算法模块的所有函数、类和变量，提升了代码可读性和维护性。同时优化了SVPWM算法实现，将atan2f替换为符号法扇区判断，显著提升计算效率（约15周期vs atan2f 300周期），并改进了arm_sin_cos_f32替代sqrtf提高性能。 feat(FOC): 统一电气角度计算避免重复运算 重构代码以统一电气角度计算，在各个控制循环中只计算一次电气角度并传递给需要的函数，避免了多次重复的fmodf运算和角度归一化操作，提升了实时控制性能。 refactor(Filter): 改进α-β观测器角度处理精度 修改角度卡尔曼滤波器在归一化角度空间[0,360)内工作，避免大累积角度的浮点精度损失问题，确保静止状态下不会产生虚假速度，同时保持与下游代码的兼容性。 refactor: 为算法模块添加完整文档注释 为所有算法模块(FOC、Filter、pid、thermal)添加了详细的Doxygen文档注释，包括函数说明、参数描述、返回值说明等，便于代码理解和API文档生成。
135 lines
4.1 KiB
C
135 lines
4.1 KiB
C
/*!
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\file gd32c10x_wwdgt.c
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\brief WWDGT driver
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\version 2026-01-30, V1.7.0, firmware for GD32C10x
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*/
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/*
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Copyright (c) 2026, GigaDevice Semiconductor Inc.
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Redistribution and use in source and binary forms, with or without modification,
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are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its contributors
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may be used to endorse or promote products derived from this software without
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specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
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INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
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NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
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OF SUCH DAMAGE.
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*/
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#include "gd32c10x_wwdgt.h"
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/*!
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\brief reset the window watchdog timer configuration
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\param[in] none
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\param[out] none
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\retval none
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*/
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void wwdgt_deinit(void)
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{
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rcu_periph_reset_enable(RCU_WWDGTRST);
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rcu_periph_reset_disable(RCU_WWDGTRST);
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}
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/*!
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\brief start the window watchdog timer counter
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\param[in] none
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\param[out] none
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\retval none
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*/
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void wwdgt_enable(void)
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{
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WWDGT_CTL |= WWDGT_CTL_WDGTEN;
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}
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/*!
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\brief configure the window watchdog timer counter value
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\param[in] counter_value: 0x00 - 0x7F
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\param[out] none
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\retval none
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*/
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void wwdgt_counter_update(uint16_t counter_value)
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{
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WWDGT_CTL = (uint32_t)(CTL_CNT(counter_value));
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}
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/*!
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\brief configure counter value, window value, and prescaler divider value
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\param[in] counter: 0x00 - 0x7F
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\param[in] window: 0x00 - 0x7F
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\param[in] prescaler: wwdgt prescaler value
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only one parameter can be selected which is shown as below:
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\arg WWDGT_CFG_PSC_DIV1: the time base of window watchdog counter = (PCLK1/4096)/1
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\arg WWDGT_CFG_PSC_DIV2: the time base of window watchdog counter = (PCLK1/4096)/2
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\arg WWDGT_CFG_PSC_DIV4: the time base of window watchdog counter = (PCLK1/4096)/4
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\arg WWDGT_CFG_PSC_DIV8: the time base of window watchdog counter = (PCLK1/4096)/8
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\param[out] none
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\retval none
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*/
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/**
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* @brief wwdgt_config 函数
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* @param[in] counter 参数
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* @param[in] window 参数
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* @param[in] prescaler 参数
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* @return void
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*/
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void wwdgt_config(uint16_t counter, uint16_t window, uint32_t prescaler)
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{
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WWDGT_CTL = (uint32_t)(CTL_CNT(counter));
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WWDGT_CFG = (uint32_t)(CFG_WIN(window) | prescaler);
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}
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/*!
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\brief check early wakeup interrupt state of WWDGT
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\param[in] none
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\param[out] none
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\retval FlagStatus: SET or RESET
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*/
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FlagStatus wwdgt_flag_get(void)
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{
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FlagStatus flag_status = RESET;
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if(RESET != (WWDGT_STAT & WWDGT_STAT_EWIF)) {
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flag_status = SET;
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}
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return flag_status;
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}
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/*!
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\brief clear early wakeup interrupt state of WWDGT
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\param[in] none
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\param[out] none
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\retval none
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*/
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void wwdgt_flag_clear(void)
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{
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WWDGT_STAT = (uint32_t)(RESET);
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}
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/*!
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\brief enable early wakeup interrupt of WWDGT
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\param[in] none
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\param[out] none
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\retval none
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*/
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void wwdgt_interrupt_enable(void)
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{
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WWDGT_CFG |= WWDGT_CFG_EWIE;
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}
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