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。
299 lines
8.5 KiB
C++
299 lines
8.5 KiB
C++
/*!
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\file systick.c
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\brief the systick configuration file
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\version 2025-06-20, V1.5.1, firmware for GD32C10x
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*/
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/*
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Copyright (c) 2024, GigaDevice Semiconductor Inc.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice,
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this 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
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contributors may be used to endorse or promote products derived from this
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software without 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
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
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ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
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ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "systick.h"
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#include "Can.h"
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#include "config.h"
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#include "flash.h"
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#include "gd32c10x.h"
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#include "gd32c10x_fmc.h"
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#include "motor.h"
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#include <cstdio>
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// SLEEP 调试宏定义
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#if SLEEP_DEBUG
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/** @brief SLEEP_DEBUG_PRINT 宏定义 */
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#define SLEEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)
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#else
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/** @brief SLEEP_DEBUG_PRINT 宏定义 */
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#define SLEEP_DEBUG_PRINT(fmt, ...) ((void)0)
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#endif
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volatile static uint32_t delay;
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volatile static uint32_t systick_ms = 0; // 系统运行时间（毫秒）
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// ============================================================================
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// DWT-based CPU usage measurement
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// ============================================================================
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// GD32C103 = Cortex-M4 @ 120MHz, DWT_CYCCNT 可用
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//
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// 原理：
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// do_task() 入口记录 CYCCNT → task_enter_cyccnt
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// do_task() 出口记录 CYCCNT → 差值 = 本次忙碌周期
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// 累加到 busy_cycles_accum
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// SysTick 每 1s 统计：cpu% = busy_cycles_accum * 100 / SystemCoreClock
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//
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// 不需要 idle_task_count()，DWT 直接数周期
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// ============================================================================
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volatile static uint32_t task_enter_cyccnt = 0; // do_task 入口 CYCCNT
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volatile static uint32_t busy_cycles_accum = 0; // 1s 内累计忙碌周期
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volatile static uint16_t sample_seconds = 0; // 统计窗口（秒）
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volatile static uint8_t cpu_usage = 0; // CPU 使用率（0~100%）
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volatile static uint8_t dwt_initialized = 0; // DWT 初始化标志
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extern CAN_transmiter CAN0_transmiter;
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extern FlashEEPROM flashEEP;
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/*!
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\brief 初始化 DWT 周期计数器
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\note 使能 DWT 的 CYCCNT，用于精确测量 CPU 周期
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*/
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static void dwt_init(void) {
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/* 使能 DWT 和 ITM（TRCENA 位在 DEMCR 中） */
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CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
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/* 复位 CYCCNT */
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DWT->CYCCNT = 0;
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/* 使能 CYCCNT */
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DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
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dwt_initialized = 1;
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}
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/*!
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\brief get system tick time in milliseconds
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\param[in] none
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\param[out] none
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\retval system time in ms
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*/
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uint32_t get_systick_ms(void) {
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return systick_ms;
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}
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/*!
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\brief configure systick
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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 systick_config(void) {
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/* 初始化 DWT 周期计数器 */
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dwt_init();
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/* setup systick timer for 1000Hz interrupts */
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if (SysTick_Config(SystemCoreClock / 1000U)) {
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/* capture error */
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while (1) {
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}
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}
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/* configure the systick handler priority */
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NVIC_SetPriority(SysTick_IRQn, 0x00U);
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}
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/*!
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\brief SysTick handler - increment millisecond 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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extern "C" void SysTick_Handler(void) {
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systick_ms++; // 递增系统时间
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delay_decrement(); // 递减延时计数器
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/* 每 1 秒统计一次 CPU 占用率 */
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sample_seconds++;
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if (sample_seconds >= 1000U) {
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if (dwt_initialized) {
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/* 1 秒总周期 = SystemCoreClock (120,000,000) */
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/* CPU% = busy_cycles_accum * 100 / SystemCoreClock */
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uint64_t busy_64 = (uint64_t)busy_cycles_accum * 100U;
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uint32_t busy_percent = (uint32_t)(busy_64 / SystemCoreClock);
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if (busy_percent > 100U) {
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busy_percent = 100U;
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}
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cpu_usage = (uint8_t)busy_percent;
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}
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busy_cycles_accum = 0;
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sample_seconds = 0;
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}
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}
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/*!
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\brief delay a time in seconds
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\param[in] count: count in seconds
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\param[out] none
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\retval none
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*/
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void delay_1s(uint32_t count) {
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uint32_t i;
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for (i = 0; i < count; i++) {
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delay_1ms(1000);
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}
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}
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/*!
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\brief delay a time in milliseconds
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\param[in] count: count in milliseconds
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\param[out] none
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\retval none
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*/
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void delay_1ms(uint32_t count) {
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delay = count;
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while (0U != delay) {
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fwdgt_counter_reload();
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}
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}
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/*!
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\brief delay decrement
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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 delay_decrement(void) {
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if (0U != delay) {
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delay--;
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}
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}
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/*!
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\brief 空闲任务计数（兼容接口，DWT 版本无需操作）
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*/
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void idle_task_count(void) {
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/* DWT 版本：空闲周期 = 总周期 - 忙碌周期，无需手动计数 */
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}
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/*!
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\brief do_task 入口调用，记录忙碌起始周期
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*/
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void busy_task_enter(void) {
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if (dwt_initialized) {
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task_enter_cyccnt = DWT->CYCCNT;
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}
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}
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/*!
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\brief do_task 出口调用，累加忙碌周期
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*/
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void busy_task_exit(void) {
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if (dwt_initialized) {
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busy_cycles_accum += (DWT->CYCCNT - task_enter_cyccnt);
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}
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}
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/**
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* @brief 获取 CPU 使用率
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* @return uint8_t 返回值
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*/
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uint8_t get_cpu_usage(void) { return cpu_usage; }
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/*!
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\brief system soft reset
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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 system_soft_reset(void) {
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/* Set the software reset bit */
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SCB->AIRCR = (0x05FA0000U | (SCB->AIRCR & (0x700U)) | (1U << 2));
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/* Data Synchronization Barrier */
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__DSB();
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/* Wait for reset */
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while (1) {
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__NOP();
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}
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}
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/*!
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\brief prepare system to enter deep sleep mode
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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 app_prepare_deep_sleep(bool save_data) {
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if (save_data) {
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flashEEP.save_system_config(true);
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}
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// 将 SIT1044 设置为低功耗待机模式
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// CAN0_transmiter.CAN_Sleep();
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motor_sleep();
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// 在睡眠前调整看门狗超时时间为最大值，使其在唤醒前不会触发
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fwdgt_write_enable();
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fwdgt_config(0xFFF, FWDGT_PSC_DIV256); // 设置最大超时时间
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fwdgt_write_disable();
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__disable_irq();
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// 遍历最后一个数字，后一个地址写 +1
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for (u32 address = SLEEP_CONFIG_END - SIZE_U32;
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address >= SLEEP_CONFIG_START; address -= SIZE_U32) { // 遍历睡眠存储区
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volatile u32 *flash_ptr = (volatile u32 *)address;
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u32 sleep_enable = *flash_ptr;
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if (sleep_enable == FLASH_EMPTY and
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address > SLEEP_CONFIG_START) { // 空数据且未到头跳过
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continue;
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} else { // 有数据的话读取
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SLEEP_DEBUG_PRINT("app sleep found %08x at %08x\r\n", sleep_enable, address);
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if (address == SLEEP_CONFIG_END - SIZE_U32) {
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fmc_unlock();
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fmc_state_enum fmc_status =
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fmc_page_erase(SLEEP_CONFIG_START); // 擦除已满的页
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if (fmc_status != FMC_READY) { // 擦除失败报错
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fmc_lock();
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flashEEP.EEPROMStatus = FLASH_EEPROM_ERASE_ERROR;
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return;
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}
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address = SLEEP_CONFIG_START - SIZE_U32; // 重新开始写入
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}
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address += SIZE_U32;
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SLEEP_DEBUG_PRINT("app sleep prepare write %08x at %08x\r\n", SLEEP_ENABLE,
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address);
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fmc_state_enum fmc_status =
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write_ADDRESS(address, SLEEP_ENABLE); // 写入数据
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#if SLEEP_DEBUG
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volatile u32 *flash_ptr = (volatile u32 *)address;
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u32 sleep_check = *flash_ptr;
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SLEEP_DEBUG_PRINT("app sleep wrote %08x at %08x\r\n", sleep_check, address);
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#endif
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if (fmc_status != FMC_READY) { // 写入失败报错
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flashEEP.EEPROMStatus = FLASH_EEPROM_WRITE_ERROR;
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SLEEP_DEBUG_PRINT("app wrote %08x at %08x ERROR\r\n", SLEEP_ENABLE,
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address);
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return;
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}
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break;
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}
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}
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jumpToBOOT(); // 跳转到 bootloader 正式休眠，进入低功耗待机模式
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}
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