cbb
71a92fa68e
重新配置CAN引脚映射并实现基于DMA的数据收发机制，提升通信效率。增加了DMA通道4和5的中断处理函数，用于接收和发送CAN消息。修改了CAN发送函数以支持DMA传输，并去除了原有的轮询等待机制。 feat(ADC): 重新实现ADC与DMA初始化配置 将ADC和DMA的配置迁移至ADC.cpp文件中，完善了DMA循环采样模式配置及ADC多通道扫描功能。删除了initial.cpp中重复的初始化代码，并修正了相关头文件包含。 chore(headers): 清理冗余头文件引用 多个源文件中删除了不必要的标准库和硬件无关头文件引用，减少编译依赖，提高代码清晰度。
115 lines
3.1 KiB
C++
115 lines
3.1 KiB
C++
#include "ang_sensor.h"
|
||
#include "gd32c10x_gpio.h"
|
||
#include "gd32c10x_spi.h"
|
||
|
||
#define SPI_CS_ENABLE() gpio_bit_reset(GPIOA, GPIO_PIN_15)
|
||
#define SPI_CS_DISABLE() gpio_bit_set(GPIOA, GPIO_PIN_15)
|
||
constexpr float ANGLE_FACTOR = 1.0f / 65536.0f * 360.0f;
|
||
|
||
/**
|
||
* @brief Send or read half word through SPI
|
||
*
|
||
* @param[in] spi_periph SPI peripheral
|
||
* @param[in] i_HalfWord data
|
||
*/
|
||
uint16_t spi_rw_half_word(uint32_t spi_periph, const uint16_t i_HalfWord) {
|
||
uint32_t to;
|
||
uint16_t data = 0xFFFF;
|
||
bool ok = true;
|
||
|
||
/* ---------- Send data ---------- */
|
||
to = 200;
|
||
while ((RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_TBE)) && --to)
|
||
;
|
||
if (to == 0)
|
||
ok = false;
|
||
|
||
if (ok) {
|
||
if (RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_RBNE)) {
|
||
(void)spi_i2s_data_receive(spi_periph); /* throw Dummy */
|
||
}
|
||
spi_i2s_data_transmit(spi_periph, i_HalfWord);
|
||
/* wait rx succ*/
|
||
to = 200;
|
||
while ((RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_RBNE)) && --to)
|
||
;
|
||
if (to == 0)
|
||
ok = false;
|
||
else
|
||
data = spi_i2s_data_receive(spi_periph); /* throw Dummy */
|
||
}
|
||
|
||
/* ---------- wait bsu idle ---------- */
|
||
if (ok) {
|
||
to = 200;
|
||
while ((SET == spi_i2s_flag_get(spi_periph, SPI_FLAG_TRANS)) &&
|
||
SET == spi_i2s_flag_get(spi_periph, SPI_FLAG_RBNE) && --to)
|
||
;
|
||
if (to == 0)
|
||
ok = false;
|
||
}
|
||
|
||
return ok ? data : 0xFFFF;
|
||
}
|
||
|
||
void KHT7823_gpio_init(void) {
|
||
rcu_periph_clock_enable(RCU_GPIOA);
|
||
rcu_periph_clock_enable(RCU_GPIOB);
|
||
rcu_periph_clock_enable(RCU_SPI0);
|
||
rcu_periph_clock_enable(RCU_AF);
|
||
/* 关闭 JTAG，仅保留 SWD（释放 PA15、PB3、PB4） */
|
||
gpio_pin_remap_config(GPIO_SWJ_SWDPENABLE_REMAP, ENABLE);
|
||
|
||
/* -------- SPI0 全 remap：PB3/4/5 + PA15 -------- */
|
||
gpio_pin_remap_config(GPIO_SPI0_REMAP, ENABLE);
|
||
/* PA15 → NSS, 推挽输出 */
|
||
gpio_init(GPIOA, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_15);
|
||
/* PB3 → SCK, PB5 → MOSI, 推挽输出 */
|
||
gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ,
|
||
GPIO_PIN_3 | GPIO_PIN_5);
|
||
/* PB4 → MISO, 浮空输入 */
|
||
gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ,
|
||
GPIO_PIN_4 | GPIO_PIN_10 | GPIO_PIN_11);
|
||
}
|
||
/**
|
||
* @brief Initialize SPI module
|
||
*
|
||
* @details Configures SPI hardware and initializes necessary settings
|
||
*/
|
||
void KHT7823_spi_init(void) {
|
||
spi_parameter_struct spi_init_str;
|
||
spi_struct_para_init(&spi_init_str);
|
||
|
||
/* SPI参数：16bit, 主机, 全双工, CPOL=1 CPHA=1, MSB first */
|
||
spi_init_str.device_mode = SPI_MASTER;
|
||
spi_init_str.trans_mode = SPI_TRANSMODE_FULLDUPLEX;
|
||
spi_init_str.frame_size = SPI_FRAMESIZE_16BIT;
|
||
spi_init_str.clock_polarity_phase = SPI_CK_PL_HIGH_PH_2EDGE;
|
||
spi_init_str.nss = SPI_NSS_SOFT;
|
||
spi_init_str.endian = SPI_ENDIAN_MSB;
|
||
|
||
spi_init_str.prescale = 24; /* 5MHz @ 120MHz */
|
||
spi_init(SPI0, &spi_init_str);
|
||
spi_nss_output_enable(SPI0);
|
||
spi_nssp_mode_enable(SPI0);
|
||
spi_enable(SPI0);
|
||
}
|
||
|
||
void KHT7823_init(void) {
|
||
KHT7823_gpio_init();
|
||
KHT7823_spi_init();
|
||
}
|
||
|
||
float KHT7823_readAngle() {
|
||
u16 u16Command = 0x0000; // 读取角度命令
|
||
|
||
float ang = 0;
|
||
SPI_CS_ENABLE();
|
||
// 发送命令1，同时接收回答1
|
||
u16 u16data = spi_rw_half_word(SPI0, u16Command);
|
||
SPI_CS_DISABLE();
|
||
|
||
ang = u16data * ANGLE_FACTOR;
|
||
|
||
return ang;
|
||
} |