cbb
bdf03517b3
- 添加静默模式功能，在接收到base_id=0x0000消息时停止发送10秒 - 修正节点ID加载逻辑，区分有效节点ID(0-65534)和Flash擦除状态(0xFFFF) - 添加静默模式相关的状态检查和时间管理功能 - 在CAN通信检查中集成静默模式处理流程 fix(FOC): 修复速度控制中的方向参数应用 - 在velocity_control、angle_control_with_velocity_limit和MIT_Mode函数中 正确应用DIR参数调整速度误差的符号 - 添加详细注释说明DIR参数对速度误差计算的影响 refactor(systick): 添加毫秒级系统时间功能 - 实现get_systick_ms()函数提供毫秒级系统时间 - 添加SysTick中断处理程序更新系统时间计数器 chore(init): 调整初始化顺序优化系统启动流程 - 将EEPROM初始化移至CAN初始化之前，确保正确的依赖关系
68 lines
2.3 KiB
C++
68 lines
2.3 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 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 */
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void idle_task_count(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 */ |