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。
130 lines
3.8 KiB
C
130 lines
3.8 KiB
C
/*!
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\file gd32c10x_crc.c
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\brief CRC 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_crc.h"
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/** @brief CRC_DATA_RESET_VALUE 宏定义 */
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#define CRC_DATA_RESET_VALUE ((uint32_t)0xFFFFFFFFU)
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/** @brief CRC_FDATA_RESET_VALUE 宏定义 */
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#define CRC_FDATA_RESET_VALUE ((uint32_t)0x00000000U)
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/*!
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\brief deinit CRC calculation unit
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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 crc_deinit(void)
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{
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CRC_DATA = CRC_DATA_RESET_VALUE;
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CRC_FDATA = CRC_FDATA_RESET_VALUE;
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CRC_CTL = (uint32_t)CRC_CTL_RST;
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}
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/*!
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\brief reset data register(CRC_DATA) to the value of 0xFFFFFFFF
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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 crc_data_register_reset(void)
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{
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CRC_CTL |= (uint32_t)CRC_CTL_RST;
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}
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/*!
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\brief read the value of the data register
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\param[in] none
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\param[out] none
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\retval 32-bit value of the data register
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*/
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uint32_t crc_data_register_read(void)
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{
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uint32_t data;
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data = CRC_DATA;
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return (data);
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}
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/*!
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\brief read the value of the free data register
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\param[in] none
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\param[out] none
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\retval 8-bit value of the free data register
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*/
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uint8_t crc_free_data_register_read(void)
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{
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uint8_t fdata;
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fdata = (uint8_t)CRC_FDATA;
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return (fdata);
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}
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/*!
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\brief write data to the free data register
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\param[in] free_data: specified 8-bit data
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\param[out] none
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\retval none
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*/
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void crc_free_data_register_write(uint8_t free_data)
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{
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CRC_FDATA = (uint32_t)free_data;
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}
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/*!
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\brief calculate the CRC value of a 32-bit data
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\param[in] sdata: specified 32-bit data
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\param[out] none
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\retval 32-bit value calculated by CRC
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*/
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uint32_t crc_single_data_calculate(uint32_t sdata)
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{
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CRC_DATA = sdata;
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return (CRC_DATA);
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}
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/*!
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\brief calculate the CRC value of an array of 32-bit values
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\param[in] array: pointer to an array of 32-bit values
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\param[in] size: size of the array
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\param[out] none
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\retval 32-bit value calculated by CRC
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*/
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uint32_t crc_block_data_calculate(uint32_t array[], uint32_t size)
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{
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uint32_t index;
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for(index = 0U; index < size; index++){
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CRC_DATA = array[index];
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}
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return (CRC_DATA);
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}
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