cbb
7c4aaa5ee6
- 重构cal_Iq_Id函数，移除电角度参数传递，改用预计算的sin/cos值 以避免重复三角函数计算，提升性能约15-300周期 - 修复角度同步Uq前馈学习中的运动方向判断逻辑，解决反转时的 震荡问题和正转正常反转震荡的根本原因 - 实现低速缩放因子函数get_mode3_velocity_scale，改进静摩擦 hunting抑制效果 - 优化电压检测逻辑，将阻塞式ADC读取改为连续模式零等待， 提升实时性能 - 修复初始化期间电压分母为零的问题，添加下限保护防止P增益 无穷大 - 实现PID控制器测量微分功能，消除目标阶跃时的微分冲击 - 改进积分抗饱和策略，添加外部饱和泄放功能，优化到位稳定 性能 perf(Filter): 优化中值滤波算法性能 - 针对ADC_FILTER_SIZE=6的固定场景实现最优排序网络， 用12次比较替代通用std::nth_element算法，显著提升性能 - 保留通用回退路径处理其他尺寸情况
117 lines
3.2 KiB
C++
117 lines
3.2 KiB
C++
/*!
|
|
\file systick.h
|
|
\brief the header file of systick
|
|
|
|
\version 2025-06-20, V1.5.1, firmware for GD32C10x
|
|
*/
|
|
|
|
/*
|
|
Copyright (c) 2024, GigaDevice Semiconductor Inc.
|
|
|
|
Redistribution and use in source and binary forms, with or without
|
|
modification, are permitted provided that the following conditions are met:
|
|
|
|
1. Redistributions of source code must retain the above copyright notice,
|
|
this list of conditions and the following disclaimer.
|
|
2. Redistributions in binary form must reproduce the above copyright notice,
|
|
this list of conditions and the following disclaimer in the documentation
|
|
and/or other materials provided with the distribution.
|
|
3. Neither the name of the copyright holder nor the names of its
|
|
contributors may be used to endorse or promote products derived from this
|
|
software without without specific prior written permission.
|
|
|
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
|
|
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
|
|
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
#ifndef SYSTICK_H
|
|
#define SYSTICK_H
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
#include <cstdint>
|
|
|
|
/* configure systick */
|
|
/**
|
|
* @brief 配置 SysTick 定时器
|
|
* @return void
|
|
*/
|
|
void systick_config(void);
|
|
/* get system tick time in milliseconds */
|
|
/**
|
|
* @brief 获取系统毫秒计数
|
|
* @return uint32_t 返回值
|
|
*/
|
|
uint32_t get_systick_ms(void);
|
|
/* delay a time in milliseconds */
|
|
/**
|
|
* @brief 毫秒级阻塞延时
|
|
* @param[in] count 参数
|
|
* @return void
|
|
*/
|
|
void delay_1ms(uint32_t count);
|
|
/* delay decrement */
|
|
/**
|
|
* @brief 递减延时计数器
|
|
* @return void
|
|
*/
|
|
void delay_decrement(void);
|
|
/* 空闲任务计数（兼容接口，DWT 版本无需操作） */
|
|
/**
|
|
* @brief 记录空闲任务计数
|
|
* @return void
|
|
*/
|
|
void idle_task_count(void);
|
|
/* do_task 入口调用，记录忙碌起始周期 */
|
|
/**
|
|
* @brief 记录忙碌任务开始周期
|
|
* @return void
|
|
*/
|
|
void busy_task_enter(void);
|
|
/* do_task 出口调用，累加忙碌周期 */
|
|
/**
|
|
* @brief 记录忙碌任务结束并累加周期
|
|
* @return void
|
|
*/
|
|
void busy_task_exit(void);
|
|
/* 获取CPU使用率 */
|
|
/**
|
|
* @brief 获取 CPU 使用率
|
|
* @return uint8_t 返回值
|
|
*/
|
|
uint8_t get_cpu_usage(void);
|
|
/* 系统软复位 */
|
|
/**
|
|
* @brief 执行系统软复位
|
|
* @return void
|
|
*/
|
|
void system_soft_reset(void);
|
|
/* 准备进入低功耗模式 */
|
|
/**
|
|
* @brief 准备进入应用低功耗模式
|
|
* @param[in] save_data 参数
|
|
* @return void
|
|
*/
|
|
void app_prepare_deep_sleep(bool save_data);
|
|
/* 中断唤醒 */
|
|
/**
|
|
* @brief EXTI5_9 中断处理函数
|
|
* @return void
|
|
*/
|
|
void EXTI5_9_IRQHandler(void);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* SYSTICK_H */
|