Motor_v2/Robot_V2/sys/systick.cpp

/*!
	\file    systick.c
	\brief   the systick configuration file

	\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 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.
*/

#include "systick.h"
#include "Can.h"
#include "config.h"
#include "flash.h"
#include "gd32c10x.h"
#include "gd32c10x_fmc.h"
#include "motor.h"
#include <cstdio>

// SLEEP 调试宏定义
#if SLEEP_DEBUG
/** @brief SLEEP_DEBUG_PRINT 宏定义 */
#define SLEEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)
#else
/** @brief SLEEP_DEBUG_PRINT 宏定义 */
#define SLEEP_DEBUG_PRINT(fmt, ...) ((void)0)
#endif

// SysTick 模块内部状态，仅在本文件访问：
// - delay / systick_ms 由 SysTick 中断维护，用 volatile 保证主循环可见性；
// - DWT 统计变量用于 CPU 占用率采样；
// - static 限制文件作用域，外部只能通过 get_systick_ms()/get_cpu_usage() 读取。
volatile static uint32_t delay;
volatile static uint32_t systick_ms = 0; // 系统运行时间（毫秒）

// ============================================================================
// DWT-based CPU usage measurement
// ============================================================================
// GD32C103 = Cortex-M4 @ 120MHz, DWT_CYCCNT 可用
//
// 原理：
//   do_task() 入口记录 CYCCNT → task_enter_cyccnt
//   do_task() 出口记录 CYCCNT → 差值 = 本次忙碌周期
//   累加到 busy_cycles_accum
//   SysTick 每 1s 统计：cpu% = busy_cycles_accum * 100 / SystemCoreClock
//
//   不需要 idle_task_count()，DWT 直接数周期
// ============================================================================

volatile static uint32_t task_enter_cyccnt = 0;    // do_task 入口 CYCCNT
volatile static uint32_t busy_cycles_accum = 0;    // 1s 内累计忙碌周期
volatile static uint16_t sample_seconds = 0;        // 统计窗口（秒）
volatile static uint8_t cpu_usage = 0;             // CPU 使用率（0~100%）
volatile static uint8_t dwt_initialized = 0;       // DWT 初始化标志
extern CAN_transmiter CAN0_transmiter;
extern FlashEEPROM flashEEP;

/*!
	\brief      初始化 DWT 周期计数器
	\note       使能 DWT 的 CYCCNT，用于精确测量 CPU 周期
*/
static void dwt_init(void) {
	/* 使能 DWT 和 ITM（TRCENA 位在 DEMCR 中） */
	CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
	/* 复位 CYCCNT */
	DWT->CYCCNT = 0;
	/* 使能 CYCCNT */
	DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
	dwt_initialized = 1;
}

/*!
	\brief      get system tick time in milliseconds
	\param[in]  none
	\param[out] none
	\retval     system time in ms
*/
uint32_t get_systick_ms(void) {
	return systick_ms;
}

/*!
	\brief      configure systick
	\param[in]  none
	\param[out] none
	\retval     none
*/
void systick_config(void) {
	/* 初始化 DWT 周期计数器 */
	dwt_init();

	/* setup systick timer for 1000Hz interrupts */
	if (SysTick_Config(SystemCoreClock / 1000U)) {
		/* capture error */
		while (1) {
		}
	}
	/* configure the systick handler priority */
	NVIC_SetPriority(SysTick_IRQn, 0x00U);
}

/*!
	\brief      SysTick handler - increment millisecond counter
	\param[in]  none
	\param[out] none
	\retval     none
*/
extern "C" void SysTick_Handler(void) {
	systick_ms++;      // 递增系统时间
	delay_decrement(); // 递减延时计数器

	/* 每 1 秒统计一次 CPU 占用率 */
	sample_seconds++;
	if (sample_seconds >= 1000U) {
		if (dwt_initialized) {
			/* 1 秒总周期 = SystemCoreClock (120,000,000) */
			/* CPU% = busy_cycles_accum * 100 / SystemCoreClock */
			uint64_t busy_64 = (uint64_t)busy_cycles_accum * 100U;
			uint32_t busy_percent = (uint32_t)(busy_64 / SystemCoreClock);
			if (busy_percent > 100U) {
				busy_percent = 100U;
			}
			cpu_usage = (uint8_t)busy_percent;
		}

		busy_cycles_accum = 0;
		sample_seconds = 0;
	}
}
/*!
	\brief      delay a time in seconds
	\param[in]  count: count in seconds
	\param[out] none
	\retval     none
*/
void delay_1s(uint32_t count) {
	uint32_t i;
	for (i = 0; i < count; i++) {
		delay_1ms(1000);
	}
}

/*!
	\brief      delay a time in milliseconds
	\param[in]  count: count in milliseconds
	\param[out] none
	\retval     none
*/
void delay_1ms(uint32_t count) {
	delay = count;
	while (0U != delay) {
		fwdgt_counter_reload();
	}
}

/*!
	\brief      delay decrement
	\param[in]  none
	\param[out] none
	\retval     none
*/
void delay_decrement(void) {
	if (0U != delay) {
		delay--;
	}
}

/*!
	\brief      空闲任务计数（兼容接口，DWT 版本无需操作）
*/
void idle_task_count(void) {
	/* DWT 版本：空闲周期 = 总周期 - 忙碌周期，无需手动计数 */
}

/*!
	\brief      do_task 入口调用，记录忙碌起始周期
*/
void busy_task_enter(void) {
	if (dwt_initialized) {
		task_enter_cyccnt = DWT->CYCCNT;
	}
}

/*!
	\brief      do_task 出口调用，累加忙碌周期
*/
void busy_task_exit(void) {
	if (dwt_initialized) {
		busy_cycles_accum += (DWT->CYCCNT - task_enter_cyccnt);
	}
}

/**
 * @brief 获取 CPU 使用率
 * @return uint8_t 返回值
 */
uint8_t get_cpu_usage(void) { return cpu_usage; }

/*!
	\brief      system soft reset
	\param[in]  none
	\param[out] none
	\retval     none
*/
void system_soft_reset(void) {
	/* Set the software reset bit */
	SCB->AIRCR = (0x05FA0000U | (SCB->AIRCR & (0x700U)) | (1U << 2));

	/* Data Synchronization Barrier */
	__DSB();

	/* Wait for reset */
	while (1) {
		__NOP();
	}
}

/*!
	\brief      prepare system to enter deep sleep mode
	\param[in]  none
	\param[out] none
	\retval     none
*/
void app_prepare_deep_sleep(bool save_data) {
	if (save_data) {
		flashEEP.save_system_config(true);
	}
	// 将 SIT1044 设置为低功耗待机模式
	// CAN0_transmiter.CAN_Sleep();
	motor_sleep();
	// 在睡眠前调整看门狗超时时间为最大值，使其在唤醒前不会触发
	fwdgt_write_enable();
	fwdgt_config(0xFFF, FWDGT_PSC_DIV256); // 设置最大超时时间
	fwdgt_write_disable();

	uint32_t primask = __get_PRIMASK();
	__disable_irq();
	// 遍历最后一个数字，后一个地址写 +1
	for (u32 address = SLEEP_CONFIG_END - SIZE_U32;
		 address >= SLEEP_CONFIG_START; address -= SIZE_U32) { // 遍历睡眠存储区
		volatile u32 *flash_ptr = (volatile u32 *)address;
		u32 sleep_enable = *flash_ptr;
		if (sleep_enable == FLASH_EMPTY and
			address > SLEEP_CONFIG_START) { // 空数据且未到头跳过
			continue;
		} else { // 有数据的话读取
			SLEEP_DEBUG_PRINT("app sleep found %08x at %08x\r\n", sleep_enable, address);
			if (address == SLEEP_CONFIG_END - SIZE_U32) {
				fmc_unlock();
				fmc_state_enum fmc_status =
					fmc_page_erase(SLEEP_CONFIG_START); // 擦除已满的页
				if (fmc_status != FMC_READY) {			// 擦除失败报错
					fmc_lock();
					flashEEP.EEPROMStatus = FLASH_EEPROM_ERASE_ERROR;
					__set_PRIMASK(primask); // 失败返回前恢复进入前的中断状态
					return;
				}
				address = SLEEP_CONFIG_START - SIZE_U32; // 重新开始写入
			}
			address += SIZE_U32;
			SLEEP_DEBUG_PRINT("app sleep prepare write %08x at %08x\r\n", SLEEP_ENABLE,
				   address);
			fmc_state_enum fmc_status =
				write_ADDRESS(address, SLEEP_ENABLE); // 写入数据
#if SLEEP_DEBUG
			volatile u32 *flash_ptr = (volatile u32 *)address;
			u32 sleep_check = *flash_ptr;
			SLEEP_DEBUG_PRINT("app sleep wrote %08x at %08x\r\n", sleep_check, address);
#endif
			if (fmc_status != FMC_READY) { // 写入失败报错
				flashEEP.EEPROMStatus = FLASH_EEPROM_WRITE_ERROR;
				SLEEP_DEBUG_PRINT("app wrote %08x at %08x ERROR\r\n", SLEEP_ENABLE,
					   address);
				__set_PRIMASK(primask); // 失败返回前恢复进入前的中断状态
				return;
			}
			break;
		}
	}
	jumpToBOOT(); // 跳转到 bootloader 正式休眠，进入低功耗待机模式
}