Motor_v2/Robot_V2/sys/systick.cpp

/*!
	\file    systick.c
	\brief   the systick configuration file

	\version 2025-06-20, V1.5.1, firmware for GD32C10x
*/

/*
	Copyright (c) 2024, 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 "systick.h"
#include "Can.h"
#include "core_cmFunc.h"
#include "flash.h"
#include "gd32c10x.h"
#include "gd32c10x_exti.h"
#include "initial.h"
#include "motor.h"
#include <cstdio>

volatile static uint32_t delay;
extern CAN_transmiter CAN0_transmiter;
extern FlashEEPROM flashEEP;

/*!
	\brief      configure systick
	\param[in]  none
	\param[out] none
	\retval     none
*/
void systick_config(void) {
	/* setup systick timer for 1000Hz interrupts */
	if (SysTick_Config(SystemCoreClock / 1000U)) {
		/* capture error */
		while (1) {
		}
	}
	/* configure the systick handler priority */
	NVIC_SetPriority(SysTick_IRQn, 0x00U);
}
/*!
	\brief      delay a time in seconds
	\param[in]  count: count in seconds
	\param[out] none
	\retval     none
*/
void delay_1s(uint32_t count) {
	uint32_t i;
	for (i = 0; i < count; i++) {
		delay_1ms(1000);
	}
}

/*!
	\brief      delay a time in milliseconds
	\param[in]  count: count in milliseconds
	\param[out] none
	\retval     none
*/
void delay_1ms(uint32_t count) {
	delay = count;
	while (0U != delay) {
		fwdgt_counter_reload();
	}
}

/*!
	\brief      delay decrement
	\param[in]  none
	\param[out] none
	\retval     none
*/
void delay_decrement(void) {
	if (0U != delay) {
		delay--;
	}
}

/*!
	\brief      system soft reset
	\param[in]  none
	\param[out] none
	\retval     none
*/
void system_soft_reset(void) {
	/* Set the software reset bit */
	SCB->AIRCR = (0x05FA0000U | (SCB->AIRCR & (0x700U)) | (1U << 2));

	/* Data Synchronization Barrier */
	__DSB();

	/* Wait for reset */
	while (1) {
		__NOP();
	}
}

/*!
	\brief      prepare system to enter deep sleep mode
	\param[in]  none
	\param[out] none
	\retval     none
*/
void prepare_deep_sleep(bool save_data) {
	if (save_data) {
		flashEEP.save_system_config(true);
	}
	// 将SIT1044设置为低功耗待机模式
	// CAN0_transmiter.CAN_Sleep();
	motor_sleep();

	// 关闭不必要的外设时钟
	rcu_periph_clock_disable(RCU_TIMER0); // 关闭定时器时钟
	rcu_periph_clock_disable(RCU_TIMER1);
	rcu_periph_clock_disable(RCU_SPI0); // 关闭SPI时钟
	rcu_periph_clock_disable(RCU_I2C0); // 关闭I2C时钟
	rcu_periph_clock_disable(RCU_ADC0); // 关闭ADC时钟
	// 注意不要关闭GPIOB和AF的时钟，因为需要它们来处理唤醒中断

	// 设置深睡眠模式下的电压以进一步降低功耗
	rcu_deepsleep_voltage_set(RCU_DEEPSLEEP_V_0_8); // 设置最低电压

	// 配置PB8为输入模式，用于外部中断
	rcu_periph_clock_enable(RCU_GPIOB);
	rcu_periph_clock_enable(RCU_AF);
	gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_8);

	// 配置EXTI中断（连接到PB8引脚）
	gpio_exti_source_select(GPIO_PORT_SOURCE_GPIOB,
							GPIO_PIN_SOURCE_8); // 配置GPIOB的PIN8作为EXTI8的源
	exti_init(EXTI_8, EXTI_INTERRUPT, EXTI_TRIG_RISING); // 边沿触发
	exti_interrupt_enable(EXTI_8);
	nvic_irq_enable(EXTI5_9_IRQn, 0, 0); //

	// 确保中断标志已被清除
	exti_interrupt_flag_clear(EXTI_8);

	watchdog_init(5000); // 看门狗初始化
	// 进入深度睡眠
	pmu_to_deepsleepmode(PMU_LDO_LOWPOWER, WFI_CMD);
}

/**
 * @brief  EXTI5_9中断处理函数
 * @param  无
 * @retval 无
 */
void EXTI5_9_IRQHandler(void) {
	if (exti_interrupt_flag_get(EXTI_8) != RESET) {
		// 清除中断标志
		exti_interrupt_flag_clear(EXTI_8);
		// 禁用EXTI线8的中断，防止重复触发
		exti_interrupt_disable(EXTI_8);

		printf("MCU wake up\r\n");
		system_soft_reset();
	}
}