cbb
1596b2beb0
refactor(algorithm): 移除冗余头文件 移除不必要的stdint.h头文件引用，统一使用<cstdint> refactor(sys): 清理系统级头文件依赖 移除未使用的头文件引用，统一整型类型定义，优化初始 化过程中的GPIO配置
40 lines
796 B
C++
40 lines
796 B
C++
#ifndef _angsensor_H
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#define _angsensor_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "gd32c10x_eval.h"
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#include <cstring>
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#include "config.h"
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u16 spi_rw_half_word(u32 spi_periph, const u16 i_HalfWord);
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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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class angle_sensor {
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public:
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u8 init(void);
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float read_sensorAngle(void);
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float update(void);
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void reset(void);
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float getAngle(void) const;
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float getRawAngle(void) const;
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float getcurrent_sensorangle(void) const;
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u8 angle_set(float angle);
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protected:
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float m_cumulativeAngle;
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float current_angle_deg;
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float current_angle_rad;
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bool m_firstUpdate;
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float m_lastAngle;
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float m_lastcumulativeAngle;
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float velocity[VEL_FILTER_SIZE] = {0.0f};
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};
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#ifdef __cplusplus
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}
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#endif
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#endif |