cbb
9955132e0e
- 在velocity_control()函数中添加目标速度突变检测，当速度变化 超过5.0f时自动清零积分项 - 在angle_control_with_velocity_limit()函数中添加相同的速度 突变检测逻辑 - 在MIT_Mode()函数中实现速度环积分清零功能 - 添加reset_integral()方法到PID控制器用于清零积分项 refactor(Filter): 将角度卡尔曼滤波器替换为α-β观测器 - 重构EncoderAngleKalman类，将内部卡尔曼滤波器改为α-β观 测器算法 - 保留原有的接口名称和参数以维持兼容性 - 添加ANGLE_OBSERVER_ALPHA和ANGLE_OBSERVER_BETA配置参数 - 修改速度获取逻辑，直接从观测器状态获取速度估计值 perf(systick): 实现基于DWT的CPU使用率监测 - 使用DWT周期计数器精确测量任务执行周期 - 添加busy_task_enter()和busy_task_exit()函数追踪忙碌周期 - 实现每秒统计CPU占用率并提供get_cpu_usage()接口 - 在CAN数据包中添加CPU使用率传输字段 fix(Can): 修复CANFD数据包中的整数打包问题 - 将16位整数正确拆分为两个字节进行传输 - 修正了test_u16数据的字节序打包方式 chore(config): 更新软件版本号并优化配置参数 - 将版本号从26.4.26更新到26.5.17 - 调整角度/速度α-β观测器的相关增益参数
73 lines
2.5 KiB
C++
73 lines
2.5 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 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 <cstdint>
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/* configure systick */
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void systick_config(void);
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/* get system tick time in milliseconds */
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uint32_t get_systick_ms(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（兼容接口，DWT 版本无需操作） */
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void idle_task_count(void);
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/* do_task 入口调用，记录忙碌起始周期 */
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void busy_task_enter(void);
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/* do_task 出口调用，累加忙碌周期 */
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void busy_task_exit(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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/* 准备进入低功耗模式 */
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void app_prepare_deep_sleep(bool save_data);
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/* 中断唤醒 */
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void EXTI5_9_IRQHandler(void);
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#ifdef __cplusplus
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}
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#endif
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#endif /* SYSTICK_H */
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