cbb
59f161bd73
新增 EncoderAngleKalman 类以处理编码器角度噪声，改善角度反馈质量，并配合速度滤波器提供更准确的速度估算。 perf(CAN): 优化CAN数据打包与状态标识字段 改进 pack_u16_to_bytes 等函数实现方式，使用 reinterpret_cast 提高效率； 扩展 Status_code 为多个独立状态位，增强诊断能力。 feat(FOC): 添加电机锁止和停止功能 新增 drv_stop 和 drv_hold 方法用于控制电机占空比，支持紧急制动与角度保持。优化了FOC控制器的接口设计，提升安全性和可控性。 fix(filter): 修正中值滤波器数组大小动态分配问题 将 medium_filter 函数中的排序数组改为使用传入参数 size 动态定义，避免固定大小带来的资源浪费或越界风险，提高滤波精度和稳定性。 chore(project): 移除冗余文件及代码清理 移除了 thermal.cpp/h 文件及相关引用，调整项目结构，删除未使用的全局变量定义、注释和头文件包含，精简系统初始化流程。
117 lines
3.2 KiB
C++
117 lines
3.2 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 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.h"
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#include "systick.h"
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volatile static uint32_t delay;
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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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{
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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 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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{
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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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{
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delay = count;
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while(0U != delay){
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fwdgt_counter_reload();
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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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{
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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 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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{
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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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} |