cbb/Motor_v2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
42dd1adc06475f0aa0cc03193735e1b0dfe78a4e
Motor_v2/Robot_V2/RTE/Device/GD32C103CB/gd32c10x_ctc.c
T
cbb 4c4e47e9e3 refactor(FOC): 添加Doxygen文档注释并优化SVPWM算法性能 
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。
2026-05-23 22:46:32 +08:00

427 lines
13 KiB
C
Raw Blame History

/*!
\file gd32c10x_ctc.c
\brief CTC driver
\version 2026-01-30, V1.7.0, firmware for GD32C10x
*/
/*
Copyright (c) 2026, 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
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.
*/
#include "gd32c10x_ctc.h"
/** @brief CTC_FLAG_MASK 宏定义 */
#define CTC_FLAG_MASK ((uint32_t)0x00000700U)
/* CTC register bit offset */
/** @brief CTC_TRIMVALUE_OFFSET 宏定义 */
#define CTC_TRIMVALUE_OFFSET ((uint32_t)8U)
/** @brief CTC_TRIM_VALUE_OFFSET 宏定义 */
#define CTC_TRIM_VALUE_OFFSET ((uint32_t)8U)
/** @brief CTC_REFCAP_OFFSET 宏定义 */
#define CTC_REFCAP_OFFSET ((uint32_t)16U)
/** @brief CTC_LIMIT_VALUE_OFFSET 宏定义 */
#define CTC_LIMIT_VALUE_OFFSET ((uint32_t)16U)
/*!
\brief reset CTC clock trim controller
\param[in] none
\param[out] none
\retval none
*/
void ctc_deinit(void)
{
/* reset CTC */
rcu_periph_reset_enable(RCU_CTCRST);
rcu_periph_reset_disable(RCU_CTCRST);
}
/*!
\brief enable CTC trim counter
\param[in] none
\param[out] none
\retval none
*/
void ctc_counter_enable(void)
{
CTC_CTL0 |= (uint32_t)CTC_CTL0_CNTEN;
}
/*!
\brief disable CTC trim counter
\param[in] none
\param[out] none
\retval none
*/
void ctc_counter_disable(void)
{
CTC_CTL0 &= (uint32_t)(~CTC_CTL0_CNTEN);
}
/*!
\brief configure the IRC48M trim value
\param[in] trim_value: 8-bit IRC48M trim value
\arg 0x00 - 0x3F
\param[out] none
\retval none
*/
void ctc_irc48m_trim_value_config(uint8_t trim_value)
{
/* clear TRIMVALUE bits */
CTC_CTL0 &= (~(uint32_t)CTC_CTL0_TRIMVALUE);
/* set TRIMVALUE bits */
CTC_CTL0 |= ((uint32_t)trim_value << CTC_TRIM_VALUE_OFFSET);
}
/*!
\brief generate software reference source sync pulse
\param[in] none
\param[out] none
\retval none
*/
void ctc_software_refsource_pulse_generate(void)
{
CTC_CTL0 |= (uint32_t)CTC_CTL0_SWREFPUL;
}
/*!
\brief configure hardware automatically trim mode
\param[in] hardmode:
only one parameter can be selected which is shown as below:
\arg CTC_HARDWARE_TRIM_MODE_ENABLE: hardware automatically trim mode enable
\arg CTC_HARDWARE_TRIM_MODE_DISABLE: hardware automatically trim mode disable
\param[out] none
\retval none
*/
void ctc_hardware_trim_mode_config(uint32_t hardmode)
{
CTC_CTL0 &= (uint32_t)(~CTC_CTL0_AUTOTRIM);
CTC_CTL0 |= (uint32_t)hardmode;
}
/*!
\brief configure reference signal source polarity
\param[in] polarity:
only one parameter can be selected which is shown as below:
\arg CTC_REFSOURCE_POLARITY_FALLING: reference signal source polarity is falling edge
\arg CTC_REFSOURCE_POLARITY_RISING: reference signal source polarity is rising edge
\param[out] none
\retval none
*/
void ctc_refsource_polarity_config(uint32_t polarity)
{
CTC_CTL1 &= (uint32_t)(~CTC_CTL1_REFPOL);
CTC_CTL1 |= (uint32_t)polarity;
}
/*!
\brief select reference signal source
\param[in] refs:
only one parameter can be selected which is shown as below:
\arg CTC_REFSOURCE_GPIO: GPIO is selected
\arg CTC_REFSOURCE_LXTAL: LXTAL is selected
\param[out] none
\retval none
*/
void ctc_refsource_signal_select(uint32_t refs)
{
CTC_CTL1 &= (uint32_t)(~CTC_CTL1_REFSEL);
CTC_CTL1 |= (uint32_t)refs;
}
/*!
\brief configure reference signal source prescaler
\param[in] prescaler:
only one parameter can be selected which is shown as below:
\arg CTC_REFSOURCE_PSC_OFF: reference signal not divided
\arg CTC_REFSOURCE_PSC_DIV2: reference signal divided by 2
\arg CTC_REFSOURCE_PSC_DIV4: reference signal divided by 4
\arg CTC_REFSOURCE_PSC_DIV8: reference signal divided by 8
\arg CTC_REFSOURCE_PSC_DIV16: reference signal divided by 16
\arg CTC_REFSOURCE_PSC_DIV32: reference signal divided by 32
\arg CTC_REFSOURCE_PSC_DIV64: reference signal divided by 64
\arg CTC_REFSOURCE_PSC_DIV128: reference signal divided by 128
\param[out] none
\retval none
*/
/**
* @brief ctc_refsource_prescaler_config 函数
* @param[in] prescaler 参数
* @return void
*/
void ctc_refsource_prescaler_config(uint32_t prescaler)
{
CTC_CTL1 &= (uint32_t)(~CTC_CTL1_REFPSC);
CTC_CTL1 |= (uint32_t)prescaler;
}
/*!
\brief configure clock trim base limit value
\param[in] limit_value: 8-bit clock trim base limit value
\arg 0x00 - 0xFF
\param[out] none
\retval none
*/
void ctc_clock_limit_value_config(uint8_t limit_value)
{
CTC_CTL1 &= (uint32_t)(~CTC_CTL1_CKLIM);
CTC_CTL1 |= (uint32_t)((uint32_t)limit_value << CTC_LIMIT_VALUE_OFFSET);
}
/*!
\brief configure CTC counter reload value
\param[in] reload_value: 16-bit CTC counter reload value
\arg 0x0000 - 0xFFFF
\param[out] none
\retval none
*/
void ctc_counter_reload_value_config(uint16_t reload_value)
{
CTC_CTL1 &= (uint32_t)(~CTC_CTL1_RLVALUE);
CTC_CTL1 |= (uint32_t)reload_value;
}
/*!
\brief read CTC counter capture value when reference sync pulse occurred
\param[in] none
\param[out] none
\retval the 16-bit CTC counter capture value
*/
uint16_t ctc_counter_capture_value_read(void)
{
uint16_t capture_value = 0U;
capture_value = (uint16_t)((CTC_STAT & CTC_STAT_REFCAP)>> CTC_REFCAP_OFFSET);
return (capture_value);
}
/*!
\brief read CTC trim counter direction when reference sync pulse occurred
\param[in] none
\param[out] none
\retval FlagStatus: SET or RESET
\arg SET: CTC trim counter direction is down-counting
\arg RESET: CTC trim counter direction is up-counting
*/
FlagStatus ctc_counter_direction_read(void)
{
FlagStatus ret;
if(RESET != (CTC_STAT & CTC_STAT_REFDIR)){
ret = SET;
}else{
ret = RESET;
}
return ret;
}
/*!
\brief read CTC counter reload value
\param[in] none
\param[out] none
\retval the 16-bit CTC counter reload value
*/
uint16_t ctc_counter_reload_value_read(void)
{
uint16_t reload_value = 0U;
reload_value = (uint16_t)(CTC_CTL1 & CTC_CTL1_RLVALUE);
return (reload_value);
}
/*!
\brief read the IRC48M trim value
\param[in] none
\param[out] none
\retval the 8-bit IRC48M trim value
*/
uint8_t ctc_irc48m_trim_value_read(void)
{
uint8_t trim_value = 0U;
trim_value = (uint8_t)((CTC_CTL0 & CTC_CTL0_TRIMVALUE) >> CTC_TRIMVALUE_OFFSET);
return (trim_value);
}
/*!
\brief enable the CTC interrupt
\param[in] interrupt: CTC interrupt enable
one or more parameters can be selected which are shown as below:
\arg CTC_INT_CKOK: clock trim OK interrupt enable
\arg CTC_INT_CKWARN: clock trim warning interrupt enable
\arg CTC_INT_ERR: error interrupt enable
\arg CTC_INT_EREF: expect reference interrupt enable
\param[out] none
\retval none
*/
void ctc_interrupt_enable(uint32_t interrupt)
{
CTC_CTL0 |= (uint32_t)interrupt;
}
/*!
\brief disable the CTC interrupt
\param[in] interrupt: CTC interrupt enable source
one or more parameters can be selected which are shown as below:
\arg CTC_INT_CKOK: clock trim OK interrupt enable
\arg CTC_INT_CKWARN: clock trim warning interrupt enable
\arg CTC_INT_ERR: error interrupt enable
\arg CTC_INT_EREF: expect reference interrupt enable
\param[out] none
\retval none
*/
void ctc_interrupt_disable(uint32_t interrupt)
{
CTC_CTL0 &= (uint32_t)(~interrupt);
}
/*!
\brief get CTC interrupt flag
\param[in] interrupt: the CTC interrupt flag
only one parameter can be selected which is shown as below:
\arg CTC_INT_FLAG_CKOK: clock trim OK interrupt
\arg CTC_INT_FLAG_CKWARN: clock trim warning interrupt
\arg CTC_INT_FLAG_ERR: error interrupt
\arg CTC_INT_FLAG_EREF: expect reference interrupt
\arg CTC_INT_FLAG_CKERR: clock trim error bit interrupt
\arg CTC_INT_FLAG_REFMISS: reference sync pulse miss interrupt
\arg CTC_INT_FLAG_TRIMERR: trim value error interrupt
\param[out] none
\retval FlagStatus: SET or RESET
*/
/**
* @brief ctc_interrupt_flag_get 函数
* @param[in] interrupt 参数
* @return FlagStatus 返回值
*/
FlagStatus ctc_interrupt_flag_get(uint32_t interrupt)
{
uint32_t intflag = 0U, intenable = 0U;
FlagStatus ret;
/* check whether the interrupt is enabled */
if(RESET != (interrupt & CTC_FLAG_MASK)){
intenable = CTC_CTL0 & CTC_CTL0_ERRIE;
}else{
intenable = CTC_CTL0 & interrupt;
}
/* get interrupt flag status */
intflag = CTC_STAT & interrupt;
if(intflag && intenable){
ret = SET;
}else{
ret = RESET;
}
return ret;
}
/*!
\brief clear CTC interrupt flag
\param[in] interrupt: the CTC interrupt flag
only one parameter can be selected which is shown as below:
\arg CTC_INT_FLAG_CKOK: clock trim OK interrupt
\arg CTC_INT_FLAG_CKWARN: clock trim warning interrupt
\arg CTC_INT_FLAG_ERR: error interrupt
\arg CTC_INT_FLAG_EREF: expect reference interrupt
\arg CTC_INT_FLAG_CKERR: clock trim error bit interrupt
\arg CTC_INT_FLAG_REFMISS: reference sync pulse miss interrupt
\arg CTC_INT_FLAG_TRIMERR: trim value error interrupt
\param[out] none
\retval none
*/
/**
* @brief ctc_interrupt_flag_clear 函数
* @param[in] interrupt 参数
* @return void
*/
void ctc_interrupt_flag_clear(uint32_t interrupt)
{
if(RESET != (interrupt & CTC_FLAG_MASK)){
CTC_INTC |= CTC_INTC_ERRIC;
}else{
CTC_INTC |= interrupt;
}
}
/*!
\brief get CTC flag
\param[in] flag: the CTC flag
only one parameter can be selected which is shown as below:
\arg CTC_FLAG_CKOK: clock trim OK flag
\arg CTC_FLAG_CKWARN: clock trim warning flag
\arg CTC_FLAG_ERR: error flag
\arg CTC_FLAG_EREF: expect reference flag
\arg CTC_FLAG_CKERR: clock trim error bit
\arg CTC_FLAG_REFMISS: reference sync pulse miss
\arg CTC_FLAG_TRIMERR: trim value error bit
\param[out] none
\retval FlagStatus: SET or RESET
*/
/**
* @brief ctc_flag_get 函数
* @param[in] flag 参数
* @return FlagStatus 返回值
*/
FlagStatus ctc_flag_get(uint32_t flag)
{
FlagStatus ret;
if(RESET != (CTC_STAT & flag)){
ret = SET;
}else{
ret = RESET;
}
return ret;
}
/*!
\brief clear CTC flag
\param[in] flag: the CTC flag
only one parameter can be selected which is shown as below:
\arg CTC_FLAG_CKOK: clock trim OK flag
\arg CTC_FLAG_CKWARN: clock trim warning flag
\arg CTC_FLAG_ERR: error flag
\arg CTC_FLAG_EREF: expect reference flag
\arg CTC_FLAG_CKERR: clock trim error bit
\arg CTC_FLAG_REFMISS: reference sync pulse miss
\arg CTC_FLAG_TRIMERR: trim value error bit
\param[out] none
\retval none
*/
/**
* @brief ctc_flag_clear 函数
* @param[in] flag 参数
* @return void
*/
void ctc_flag_clear(uint32_t flag)
{
if(RESET != (flag & CTC_FLAG_MASK)){
CTC_INTC |= CTC_INTC_ERRIC;
}else{
CTC_INTC |= flag;
}
}
Reference in New Issue View Git Blame Copy Permalink