cbb
971374d8ec
- 重构setPhaseVoltage函数实现，提高执行效率 - 增加update_power函数，动态更新电源电压 - 优化velocity_open_loop函数，调用、setPhaseVoltage避免重复代码 - 实现angle_control和velocity_control闭环控制函数 - 调整PID控制器参数初始化及增加参数设置接口 - 改进电流和编码器速度卡尔曼滤波器实现 - 更新CAN通信数据打包逻辑，增加测试字段 - 在定时器中断中集成多种控制模式切换逻辑 - 完善角度传感器数据处理，改进速度计算方法 - 减小速度滤波数组大小，提升响应速度
298 lines
8.4 KiB
C++
298 lines
8.4 KiB
C++
#include "ang_sensor.h"
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#include "gd32c10x_dma.h"
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#include "gd32c10x_gpio.h"
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#include "gd32c10x_spi.h"
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#include <cstdio>
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#include <cstring>
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#include <stdint.h>
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#define SPI_CS_ENABLE() gpio_bit_reset(GPIOA, GPIO_PIN_15)
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#define SPI_CS_DISABLE() gpio_bit_set(GPIOA, GPIO_PIN_15)
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constexpr float ANGLE_FACTOR = 1.0f / 65536.0f * 360.0f;
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constexpr float RAD_FACTOR = 1.0f / 65536.0f * 2.0f * 3.14159265358979323846f;
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constexpr u16 DEFAULT_COMMAND = 0x0000;
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constexpr u16 FAULT_RECEIVE = 0xFFFF;
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constexpr u16 REDDUCTION_RATIO = 25;
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constexpr float VELOCITY_SCALE = 1e4f;
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constexpr float ANGLE_WRAP_THRESHOLD = 270.0f;
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constexpr float ANGLE_WRAP_VALUE = 360.0f;
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constexpr int SIZE_FLOAT = sizeof(float);
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// DMA传输完成标志
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volatile bool spi_dma_tx_complete = false;
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volatile bool spi_dma_rx_complete = false;
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/**
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* @brief SPI DMA initialization
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*/
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void spi_dma_init(void) {
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dma_parameter_struct dma_init_struct;
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// 使能DMA时钟
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rcu_periph_clock_enable(RCU_DMA0);
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// 初始化发送DMA通道
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dma_deinit(DMA0, DMA_CH2);
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dma_struct_para_init(&dma_init_struct);
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dma_init_struct.direction = DMA_MEMORY_TO_PERIPHERAL;
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dma_init_struct.memory_addr = (uint32_t)0; // 实际地址将在传输时设置
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dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
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dma_init_struct.memory_width = DMA_MEMORY_WIDTH_16BIT;
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dma_init_struct.number = 1;
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dma_init_struct.periph_addr = (uint32_t)(&SPI_DATA(SPI0));
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dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
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dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_16BIT;
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dma_init_struct.priority = DMA_PRIORITY_HIGH;
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dma_init(DMA0, DMA_CH2, &dma_init_struct);
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// 初始化接收DMA通道
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dma_deinit(DMA0, DMA_CH1);
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dma_struct_para_init(&dma_init_struct);
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dma_init_struct.direction = DMA_PERIPHERAL_TO_MEMORY;
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dma_init_struct.memory_addr = (uint32_t)0; // 实际地址将在传输时设置
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dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
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dma_init_struct.memory_width = DMA_MEMORY_WIDTH_16BIT;
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dma_init_struct.number = 1;
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dma_init_struct.periph_addr = (uint32_t)(&SPI_DATA(SPI0));
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dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
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dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_16BIT;
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dma_init_struct.priority = DMA_PRIORITY_HIGH;
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dma_init(DMA0, DMA_CH1, &dma_init_struct);
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// 使能SPI的DMA发送和接收功能
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spi_dma_enable(SPI0, SPI_DMA_TRANSMIT);
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spi_dma_enable(SPI0, SPI_DMA_RECEIVE);
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// 配置DMA中断
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nvic_irq_enable(DMA0_Channel2_IRQn, 0, 1);
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nvic_irq_enable(DMA0_Channel1_IRQn, 0, 1);
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// 使能DMA传输完成中断
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dma_interrupt_enable(DMA0, DMA_CH2, DMA_INT_FTF);
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dma_interrupt_enable(DMA0, DMA_CH1, DMA_INT_FTF);
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}
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/**
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* @brief Send or read half word through SPI using DMA
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*
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* @param[in] spi_periph SPI peripheral
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* @param[in] tx_data Data to transmit
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* @param[out] rx_data Pointer to store received data
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* @return 0 if success, -1 if error
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*/
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int spi_rw_half_word_dma(uint32_t spi_periph, uint16_t tx_data,
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uint16_t *rx_data) {
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// 重置完成标志
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spi_dma_tx_complete = false;
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spi_dma_rx_complete = false;
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// 配置发送DMA
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dma_channel_disable(DMA0, DMA_CH2);
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dma_memory_address_config(DMA0, DMA_CH2, (uint32_t)&tx_data);
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dma_transfer_number_config(DMA0, DMA_CH2, 1);
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dma_channel_enable(DMA0, DMA_CH2);
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// 配置接收DMA
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dma_channel_disable(DMA0, DMA_CH1);
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dma_memory_address_config(DMA0, DMA_CH1, (uint32_t)rx_data);
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dma_transfer_number_config(DMA0, DMA_CH1, 1);
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dma_channel_enable(DMA0, DMA_CH1);
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// 等待传输完成，超时时间为1000个循环
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uint32_t timeout = 1000;
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while ((!spi_dma_tx_complete || !spi_dma_rx_complete) && --timeout) {
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// 空循环等待DMA传输完成
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}
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// 检查是否超时
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if (timeout == 0) {
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// 禁用DMA通道
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dma_channel_disable(DMA0, DMA_CH2);
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dma_channel_disable(DMA0, DMA_CH1);
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printf("SPI DMA transfer timeout\r\n");
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return -1;
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}
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return 0;
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}
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/**
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* @brief DMA0_Channel2中断处理函数
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* @param 无
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*/
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extern "C" void DMA0_Channel2_IRQHandler(void) {
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if (dma_interrupt_flag_get(DMA0, DMA_CH2, DMA_INT_FLAG_FTF)) {
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dma_interrupt_flag_clear(DMA0, DMA_CH2, DMA_INT_FLAG_FTF);
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spi_dma_tx_complete = true;
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}
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}
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/**
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* @brief DMA0_Channel1中断处理函数
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* @param 无
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*/
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extern "C" void DMA0_Channel1_IRQHandler(void) {
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if (dma_interrupt_flag_get(DMA0, DMA_CH1, DMA_INT_FLAG_FTF)) {
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dma_interrupt_flag_clear(DMA0, DMA_CH1, DMA_INT_FLAG_FTF);
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spi_dma_rx_complete = true;
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}
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}
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/**
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* @brief 角度传感器初始化
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* @param 无
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*/
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void KTH7823_gpio_init(void) {
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rcu_periph_clock_enable(RCU_GPIOA);
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rcu_periph_clock_enable(RCU_GPIOB);
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rcu_periph_clock_enable(RCU_SPI0);
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rcu_periph_clock_enable(RCU_AF);
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/* 关闭 JTAG，仅保留 SWD（释放 PA15、PB3、PB4） */
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gpio_pin_remap_config(GPIO_SWJ_SWDPENABLE_REMAP, ENABLE);
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/* -------- SPI0 全 remap：PB3/4/5 + PA15 -------- */
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gpio_pin_remap_config(GPIO_SPI0_REMAP, ENABLE);
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/* PA15 → NSS, 推挽输出 */
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gpio_init(GPIOA, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_15);
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/* PB3 → SCK, PB5 → MOSI, 推挽输出 */
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gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ,
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GPIO_PIN_3 | GPIO_PIN_5);
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/* PB4 → MISO, 浮空输入 */
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gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ,
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GPIO_PIN_4 | GPIO_PIN_10 | GPIO_PIN_11);
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}
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/**
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* @brief SPI 初始化
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*
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* @details Configures SPI hardware and initializes necessary settings
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*/
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void KTH7823_spi_init(void) {
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spi_parameter_struct spi_init_str;
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spi_struct_para_init(&spi_init_str);
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/* SPI参数：16bit, 主机, 全双工, CPOL=1 CPHA=1, MSB first */
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spi_init_str.device_mode = SPI_MASTER;
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spi_init_str.trans_mode = SPI_TRANSMODE_FULLDUPLEX;
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spi_init_str.frame_size = SPI_FRAMESIZE_16BIT;
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spi_init_str.clock_polarity_phase = SPI_CK_PL_HIGH_PH_2EDGE;
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spi_init_str.nss = SPI_NSS_SOFT;
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spi_init_str.endian = SPI_ENDIAN_MSB;
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spi_init_str.prescale = 24; /* 5MHz @ 120MHz */
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spi_init(SPI0, &spi_init_str);
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spi_nss_output_enable(SPI0);
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spi_nssp_mode_enable(SPI0);
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spi_enable(SPI0);
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}
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/**
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* @brief KTH7823 初始化
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*/
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void angle_sensor::KTH7823_init(void) {
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KTH7823_gpio_init(); // GPIO初始化
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KTH7823_spi_init(); // SPI初始化
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spi_dma_init(); // DMA初始化
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}
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/**
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* @brief 角度传感器构造函数
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*/
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angle_sensor::angle_sensor(void) { KTH7823_init(); }
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/**
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* @brief 读取传感器数据
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* @return 传感器数据
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*/
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float angle_sensor::read_sensorAngle(void) {
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u16 u16data = FAULT_RECEIVE;
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SPI_CS_ENABLE();
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// 使用DMA发送命令并接收数据
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if (!spi_rw_half_word_dma(SPI0, DEFAULT_COMMAND, &u16data)) {
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SPI_CS_DISABLE();
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return u16data * ANGLE_FACTOR;
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} else {
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SPI_CS_DISABLE();
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// 处理读取错误
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printf("Error reading angle from sensor.\n");
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return FAULT_RECEIVE; // 错误返回
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}
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}
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/**
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* @brief 更新传感器角度（输出级）
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* @return 累积角度值
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*/
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float angle_sensor::update(void) {
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float currentAngle = read_sensorAngle();
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if (m_firstUpdate) {
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m_lastAngle = currentAngle;
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m_firstUpdate = false;
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return m_cumulativeAngle;
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}
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// 计算角度变化
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float delta = currentAngle - m_lastAngle;
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// 处理角度绕回情况（0度和360度之间的跳变）
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// 如果变化超过180度，说明发生了绕回
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if (delta > ANGLE_WRAP_THRESHOLD) {
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// 从接近360度绕回到接近0度
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delta -= ANGLE_WRAP_VALUE;
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} else if (delta < -ANGLE_WRAP_THRESHOLD) {
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// 从接近0度绕到接近360度
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delta += ANGLE_WRAP_VALUE;
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}
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std::memmove(velocity, velocity + 1, SIZE_FLOAT * (VEL_FILTER_SIZE - 1));
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velocity[VEL_FILTER_SIZE - 1] = delta * VELOCITY_SCALE;
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m_cumulativeAngle += delta;
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m_lastAngle = currentAngle;
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return m_cumulativeAngle;
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}
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/**
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* @brief 获取累积角度值(输出级)
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* @return 累积角度值
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*/
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float angle_sensor::getAngle(void) const {
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return m_cumulativeAngle / REDDUCTION_RATIO;
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}
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/**
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* @brief 获取累积角度值(原始级)
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* @return 累积角度值
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*/
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float angle_sensor::getRawAngle(void) const { return m_cumulativeAngle; }
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/**
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* @brief 获取速度值(输出级)
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* @return 速度值(输出级)
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*/
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float angle_sensor::getVelocity(void) const {
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return getRawVelocity() / REDDUCTION_RATIO;
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}
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/**
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* @brief 获取速度值(原始级)
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* @return 速度值(原始级)
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*/
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float angle_sensor::getRawVelocity(void) const {
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float velocity_filted = 0;
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for (int i = 0; i < VEL_FILTER_SIZE - 1; i++) {
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velocity_filted += velocity[i];
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}
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return velocity_filted / (VEL_FILTER_SIZE - 1);
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// return velocity[VEL_FILTER_SIZE - 1];
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}
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/**
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* @brief 重置累积角度值
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*/
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void angle_sensor::reset(void) {
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m_cumulativeAngle = 0.0f;
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m_firstUpdate = true;
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} |