cbb
d0198fdff7
refactor(build): 更新项目配置和链接器设置 - 修改GD32C103CB的ROM基地址和大小配置 - 更新系统时钟向量表偏移量设置 - 在cproject.yml中添加BIN输出格式支持 - 增加-O3优化级别和代码移除选项 - 更新csolution版本依赖 feat(device): 优化ADC采样和配置管理 - 将DengFOC依赖替换为FOC模块 - 从config.h引入配置常量 - 重命名FILTER_SIZE为ADC_FILTER_SIZE以提高清晰度 - 优化温度和电流采样滤波实现 refactor(algorithm): 简化FOC控制函数接口 - 为angle_control、velocity_control等函数移除不必要的参数 - 统一函数指针类型定义 - 优化电流计算函数的代码格式 - 调整PID控制器初始化参数
292 lines
8.3 KiB
C++
292 lines
8.3 KiB
C++
#include "ang_sensor.h"
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#include "Can.h"
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#include "Filter.h"
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#include "flash.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 ANG_SENS_DEBUG 1
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#define ANG_SPI_CS_ENABLE() gpio_bit_reset(GPIOA, GPIO_PIN_15)
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#define ANG_SPI_CS_DISABLE() gpio_bit_set(GPIOA, GPIO_PIN_15)
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#define DRV_SPI_CS_ENABLE() gpio_bit_reset(GPIOB, GPIO_PIN_14)
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#define DRV_SPI_CS_DISABLE() gpio_bit_set(GPIOB, GPIO_PIN_14)
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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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angle_sensor KTH7823; // 角度传感器初始化
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extern FlashEEPROM flashEEP;
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extern EncoderAngleKalman Angle_kalman;
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extern EncoderVelocityKalman Vel_kalman;
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extern CAN_transmiter CAN0_transmiter; // CAN初始化
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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100个循环
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uint32_t timeout = 100;
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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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* @ 角度传感器类 初始化
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* @return 0:初始化成功 1:初始化失败
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*/
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u8 angle_sensor::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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return 0;
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}
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/**
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* @ 角度传感器类 设置当前角度
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* @param angle 输出级角度值
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* @return 0成功/1失败
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*/
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u8 angle_sensor::angle_set(float angle) {
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m_cumulativeAngle = angle * REDUCTION_RATIO; // 从Flash读取上次保存的角度
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m_firstUpdate = true;
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return 0;
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}
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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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inline float angle_sensor::read_sensorAngle(void) {
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uint16_t raw_data;
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ANG_SPI_CS_ENABLE();
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u8 result = spi_rw_half_word_dma(SPI0, DEFAULT_COMMAND, &raw_data);
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ANG_SPI_CS_DISABLE();
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if (result == 0) {
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// 单次浮点乘法优化：只计算一次度数，然后转换为弧度
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float angle_deg = (float)raw_data * ANGLESENS_FACTOR;
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current_angle_deg = angle_deg;
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current_angle_rad = angle_deg * DEG2RAD; // M_PI/180.0f
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return angle_deg;
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}
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// 仅在调试模式下输出错误，避免发布版本中的I/O开销
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if (result != 0) {
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// 使用更高效的串口输出替代printf（如果可用）
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printf("Error reading angle from sensor.\n");
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}
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return (float)FAULT_RECEIVE;
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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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read_sensorAngle();
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if (m_firstUpdate) {
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m_lastAngle = current_angle_deg;
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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 = current_angle_deg - 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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m_cumulativeAngle += delta;
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m_lastAngle = current_angle_deg;
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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 / REDUCTION_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 获取角度值(原始级)
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* @return 角度值(原始级)
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*/
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float angle_sensor::getcurrent_sensorangle(void) const {
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return current_angle_deg;
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}
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