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。
340 lines
8.9 KiB
C
340 lines
8.9 KiB
C
/*!
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\file gd32c10x_bkp.c
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\brief BKP 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_bkp.h"
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/* BKP register bits offset */
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/** @brief BKP_TAMPER_BITS_OFFSET 宏定义 */
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#define BKP_TAMPER_BITS_OFFSET ((uint32_t)8U)
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/*!
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\brief reset BKP registers
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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 bkp_deinit(void)
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{
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/* reset BKP domain register*/
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rcu_bkp_reset_enable();
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rcu_bkp_reset_disable();
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}
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/*!
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\brief write BKP data register
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\param[in] register_number: refer to bkp_data_register_enum
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only one parameter can be selected which is shown as below:
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\arg BKP_DATA_x(x = 0..41): bkp data register number x
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\param[in] data: the data to be write in BKP data register
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\param[out] none
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\retval none
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*/
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void bkp_data_write(bkp_data_register_enum register_number, uint16_t data)
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{
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if((register_number >= BKP_DATA_10) && (register_number <= BKP_DATA_41)){
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BKP_DATA10_41(register_number-1U) = data;
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}else if((register_number >= BKP_DATA_0) && (register_number <= BKP_DATA_9)){
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BKP_DATA0_9(register_number-1U) = data;
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}else{
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/* illegal parameters */
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}
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}
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/*!
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\brief read BKP data register
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\param[in] register_number: refer to bkp_data_register_enum
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only one parameter can be selected which is shown as below:
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\arg BKP_DATA_x(x = 0..41): bkp data register number x
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\param[out] none
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\retval data of BKP data register
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*/
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uint16_t bkp_data_read(bkp_data_register_enum register_number)
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{
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uint16_t data = 0U;
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/* get the data from the BKP data register */
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if((register_number >= BKP_DATA_10) && (register_number <= BKP_DATA_41)){
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data = BKP_DATA10_41(register_number-1U);
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}else if((register_number >= BKP_DATA_0) && (register_number <= BKP_DATA_9)){
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data = BKP_DATA0_9(register_number-1U);
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}else{
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/* illegal parameters */
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}
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return data;
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}
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/*!
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\brief enable RTC clock calibration output
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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 bkp_rtc_calibration_output_enable(void)
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{
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BKP_OCTL |= (uint16_t)BKP_OCTL_COEN;
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}
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/*!
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\brief disable RTC clock calibration output
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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 bkp_rtc_calibration_output_disable(void)
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{
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BKP_OCTL &= (uint16_t)~BKP_OCTL_COEN;
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}
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/*!
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\brief enable RTC alarm or second signal output
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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 bkp_rtc_signal_output_enable(void)
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{
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BKP_OCTL |= (uint16_t)BKP_OCTL_ASOEN;
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}
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/*!
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\brief disable RTC alarm or second signal output
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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 bkp_rtc_signal_output_disable(void)
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{
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BKP_OCTL &= (uint16_t)~BKP_OCTL_ASOEN;
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}
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/*!
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\brief select RTC output
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\param[in] outputsel: RTC output selection
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only one parameter can be selected which is shown as below:
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\arg RTC_OUTPUT_ALARM_PULSE: RTC alarm pulse is selected as the RTC output
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\arg RTC_OUTPUT_SECOND_PULSE: RTC second pulse is selected as the RTC output
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\param[out] none
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\retval none
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*/
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void bkp_rtc_output_select(uint16_t outputsel)
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{
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uint16_t ctl = 0U;
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/* configure BKP_OCTL_ROSEL with outputsel */
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ctl = BKP_OCTL;
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ctl &= (uint16_t)~BKP_OCTL_ROSEL;
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ctl |= outputsel;
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BKP_OCTL = ctl;
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}
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/*!
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\brief select RTC clock output
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\param[in] clocksel: RTC clock output selection
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only one parameter can be selected which is shown as below:
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\arg RTC_CLOCK_DIV_64: RTC clock div 64
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\arg RTC_CLOCK_DIV_1: RTC clock
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\param[out] none
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\retval none
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*/
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void bkp_rtc_clock_output_select(uint16_t clocksel)
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{
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uint16_t ctl = 0U;
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/* configure BKP_OCTL_CCOSEL with clocksel */
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ctl = BKP_OCTL;
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ctl &= (uint16_t)~BKP_OCTL_CCOSEL;
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ctl |= clocksel;
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BKP_OCTL = ctl;
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}
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/*!
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\brief select RTC clock calibration direction
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\param[in] direction: RTC clock calibration direction
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only one parameter can be selected which is shown as below:
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\arg RTC_CLOCK_SLOW_DOWN: RTC clock slow down
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\arg RTC_CLOCK_SPEED_UP: RTC clock speed up
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\param[out] none
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\retval none
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*/
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void bkp_rtc_clock_calibration_direction_select(uint16_t direction)
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{
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uint16_t ctl = 0U;
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/* configure BKP_OCTL_CALDIR with direction */
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ctl = BKP_OCTL;
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ctl &= (uint16_t)~BKP_OCTL_CALDIR;
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ctl |= direction;
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BKP_OCTL = ctl;
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}
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/*!
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\brief set RTC clock calibration value
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\param[in] value: RTC clock calibration value
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\arg 0x00 - 0x7F
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\param[out] none
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\retval none
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*/
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void bkp_rtc_calibration_value_set(uint8_t value)
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{
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uint16_t ctl;
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/* configure BKP_OCTL_RCCV with value */
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ctl = BKP_OCTL;
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ctl &= (uint16_t)~BKP_OCTL_RCCV;
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ctl |= (uint16_t)OCTL_RCCV(value);
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BKP_OCTL = ctl;
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}
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/*!
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\brief enable tamper detection
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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 bkp_tamper_detection_enable(void)
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{
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BKP_TPCTL |= (uint16_t)BKP_TPCTL_TPEN;
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}
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/*!
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\brief disable tamper detection
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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 bkp_tamper_detection_disable(void)
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{
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BKP_TPCTL &= (uint16_t)~BKP_TPCTL_TPEN;
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}
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/*!
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\brief set tamper pin active level
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\param[in] level: tamper active level
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only one parameter can be selected which is shown as below:
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\arg TAMPER_PIN_ACTIVE_HIGH: the tamper pin is active high
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\arg TAMPER_PIN_ACTIVE_LOW: the tamper pin is active low
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\param[out] none
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\retval none
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*/
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void bkp_tamper_active_level_set(uint16_t level)
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{
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uint16_t ctl = 0U;
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/* configure BKP_TPCTL_TPAL with level */
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ctl = BKP_TPCTL;
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ctl &= (uint16_t)~BKP_TPCTL_TPAL;
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ctl |= level;
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BKP_TPCTL = ctl;
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}
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/*!
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\brief enable tamper interrupt
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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 bkp_interrupt_enable(void)
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{
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BKP_TPCS |= (uint16_t)BKP_TPCS_TPIE;
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}
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/*!
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\brief disable tamper interrupt
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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 bkp_interrupt_disable(void)
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{
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BKP_TPCS &= (uint16_t)~BKP_TPCS_TPIE;
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}
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/*!
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\brief get tamper flag state
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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 bkp_flag_get(void)
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{
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FlagStatus ret;
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if(RESET != (BKP_TPCS & BKP_FLAG_TAMPER)){
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ret = SET;
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}else{
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ret = RESET;
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}
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return ret;
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}
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/*!
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\brief clear tamper flag state
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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 bkp_flag_clear(void)
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{
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BKP_TPCS |= (uint16_t)(BKP_FLAG_TAMPER >> BKP_TAMPER_BITS_OFFSET);
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}
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/*!
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\brief get tamper interrupt flag state
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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 bkp_interrupt_flag_get(void)
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{
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FlagStatus ret;
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if(RESET != (BKP_TPCS & BKP_INT_FLAG_TAMPER)){
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ret = SET;
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}else{
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ret = RESET;
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}
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return ret;
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}
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/*!
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\brief clear tamper interrupt flag state
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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 bkp_interrupt_flag_clear(void)
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{
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BKP_TPCS |= (uint16_t)(BKP_INT_FLAG_TAMPER >> BKP_TAMPER_BITS_OFFSET);
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}
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