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。
124 lines
3.3 KiB
C++
124 lines
3.3 KiB
C++
/*!
|
|
\file systick.h
|
|
\brief the header file of systick
|
|
|
|
\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 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.
|
|
*/
|
|
|
|
#ifndef SYSTICK_H
|
|
#define SYSTICK_H
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
#include <cstdint>
|
|
|
|
/* configure systick */
|
|
/**
|
|
* @brief 配置 SysTick 定时器
|
|
* @return void
|
|
*/
|
|
void systick_config(void);
|
|
/* get system tick time in milliseconds */
|
|
/**
|
|
* @brief 获取系统毫秒计数
|
|
* @return uint32_t 返回值
|
|
*/
|
|
uint32_t get_systick_ms(void);
|
|
/* delay a time in milliseconds */
|
|
/**
|
|
* @brief 毫秒级阻塞延时
|
|
* @param[in] count 参数
|
|
* @return void
|
|
*/
|
|
void delay_1ms(uint32_t count);
|
|
/* delay a time in seconds */
|
|
/**
|
|
* @brief 秒级阻塞延时
|
|
* @param[in] count 参数
|
|
* @return void
|
|
*/
|
|
void delay_1s(uint32_t count);
|
|
/* delay decrement */
|
|
/**
|
|
* @brief 递减延时计数器
|
|
* @return void
|
|
*/
|
|
void delay_decrement(void);
|
|
/* 空闲任务计数（兼容接口，DWT 版本无需操作） */
|
|
/**
|
|
* @brief 记录空闲任务计数
|
|
* @return void
|
|
*/
|
|
void idle_task_count(void);
|
|
/* do_task 入口调用，记录忙碌起始周期 */
|
|
/**
|
|
* @brief 记录忙碌任务开始周期
|
|
* @return void
|
|
*/
|
|
void busy_task_enter(void);
|
|
/* do_task 出口调用，累加忙碌周期 */
|
|
/**
|
|
* @brief 记录忙碌任务结束并累加周期
|
|
* @return void
|
|
*/
|
|
void busy_task_exit(void);
|
|
/* 获取CPU使用率 */
|
|
/**
|
|
* @brief 获取 CPU 使用率
|
|
* @return uint8_t 返回值
|
|
*/
|
|
uint8_t get_cpu_usage(void);
|
|
/* 系统软复位 */
|
|
/**
|
|
* @brief 执行系统软复位
|
|
* @return void
|
|
*/
|
|
void system_soft_reset(void);
|
|
/* 准备进入低功耗模式 */
|
|
/**
|
|
* @brief 准备进入应用低功耗模式
|
|
* @param[in] save_data 参数
|
|
* @return void
|
|
*/
|
|
void app_prepare_deep_sleep(bool save_data);
|
|
/* 中断唤醒 */
|
|
/**
|
|
* @brief EXTI5_9 中断处理函数
|
|
* @return void
|
|
*/
|
|
void EXTI5_9_IRQHandler(void);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* SYSTICK_H */
|