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。
62 lines
2.1 KiB
C
62 lines
2.1 KiB
C
/*!
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\file systick.h
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\brief the header file of systick
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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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#ifndef SYSTICK_H
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#define SYSTICK_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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/* configure systick */
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void systick_config(void);
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/* delay a time in milliseconds */
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void delay_1ms(uint32_t count);
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/* delay a time in seconds */
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void delay_1s(uint32_t count);
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/* delay decrement */
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void delay_decrement(void);
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/* 空闲任务计数 */
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void idle_task_count(void);
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/* 获取CPU使用率 */
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uint8_t get_cpu_usage(void);
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/* 系统软复位 */
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void system_soft_reset(void);
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#ifdef __cplusplus
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}
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#endif
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#endif /* SYSTICK_H */ |