Motor_v2/Robot_V2/device/ang_sensor.cpp

#include "ang_sensor.h"
#include "gd32c10x_dma.h"
#include "gd32c10x_gpio.h"
#include "gd32c10x_spi.h"
#include <cstdio>
#include <cstring>
#include <stdint.h>
#include "initial.h"

#define SPI_CS_ENABLE() gpio_bit_reset(GPIOA, GPIO_PIN_15)
#define SPI_CS_DISABLE() gpio_bit_set(GPIOA, GPIO_PIN_15)

constexpr float ANGLE_FACTOR = 1.0f / 65536.0f * 360.0f;
constexpr float RAD_FACTOR = 1.0f / 65536.0f * 2.0f * 3.14159265358979323846f;
constexpr u16 DEFAULT_COMMAND = 0x0000;
constexpr u16 FAULT_RECEIVE = 0xFFFF;
constexpr float VELOCITY_SCALE = 1e4f;
constexpr float ANGLE_WRAP_THRESHOLD = 270.0f;
constexpr float ANGLE_WRAP_VALUE = 360.0f;
constexpr int SIZE_FLOAT = sizeof(float);

// DMA传输完成标志
volatile bool spi_dma_tx_complete = false;
volatile bool spi_dma_rx_complete = false;

/**
 * @brief SPI DMA initialization
 */
void spi_dma_init(void) {
	dma_parameter_struct dma_init_struct;

	// 使能DMA时钟
	rcu_periph_clock_enable(RCU_DMA0);

	// 初始化发送DMA通道
	dma_deinit(DMA0, DMA_CH2);
	dma_struct_para_init(&dma_init_struct);
	dma_init_struct.direction = DMA_MEMORY_TO_PERIPHERAL;
	dma_init_struct.memory_addr = (uint32_t)0; // 实际地址将在传输时设置
	dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
	dma_init_struct.memory_width = DMA_MEMORY_WIDTH_16BIT;
	dma_init_struct.number = 1;
	dma_init_struct.periph_addr = (uint32_t)(&SPI_DATA(SPI0));
	dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
	dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_16BIT;
	dma_init_struct.priority = DMA_PRIORITY_HIGH;
	dma_init(DMA0, DMA_CH2, &dma_init_struct);

	// 初始化接收DMA通道
	dma_deinit(DMA0, DMA_CH1);
	dma_struct_para_init(&dma_init_struct);
	dma_init_struct.direction = DMA_PERIPHERAL_TO_MEMORY;
	dma_init_struct.memory_addr = (uint32_t)0; // 实际地址将在传输时设置
	dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
	dma_init_struct.memory_width = DMA_MEMORY_WIDTH_16BIT;
	dma_init_struct.number = 1;
	dma_init_struct.periph_addr = (uint32_t)(&SPI_DATA(SPI0));
	dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
	dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_16BIT;
	dma_init_struct.priority = DMA_PRIORITY_HIGH;
	dma_init(DMA0, DMA_CH1, &dma_init_struct);

	// 使能SPI的DMA发送和接收功能
	spi_dma_enable(SPI0, SPI_DMA_TRANSMIT);
	spi_dma_enable(SPI0, SPI_DMA_RECEIVE);

	// 配置DMA中断
	nvic_irq_enable(DMA0_Channel2_IRQn, 0, 1);
	nvic_irq_enable(DMA0_Channel1_IRQn, 0, 1);

	// 使能DMA传输完成中断
	dma_interrupt_enable(DMA0, DMA_CH2, DMA_INT_FTF);
	dma_interrupt_enable(DMA0, DMA_CH1, DMA_INT_FTF);
}

/**
 * @brief Send or read half word through SPI using DMA
 *
 * @param[in] spi_periph SPI peripheral
 * @param[in] tx_data Data to transmit
 * @param[out] rx_data Pointer to store received data
 * @return 0 if success, -1 if error
 */
int spi_rw_half_word_dma(uint32_t spi_periph, uint16_t tx_data,
						 uint16_t *rx_data) {
	// 重置完成标志
	spi_dma_tx_complete = false;
	spi_dma_rx_complete = false;

	// 配置发送DMA
	dma_channel_disable(DMA0, DMA_CH2);
	dma_memory_address_config(DMA0, DMA_CH2, (uint32_t)&tx_data);
	dma_transfer_number_config(DMA0, DMA_CH2, 1);
	dma_channel_enable(DMA0, DMA_CH2);

	// 配置接收DMA
	dma_channel_disable(DMA0, DMA_CH1);
	dma_memory_address_config(DMA0, DMA_CH1, (uint32_t)rx_data);
	dma_transfer_number_config(DMA0, DMA_CH1, 1);
	dma_channel_enable(DMA0, DMA_CH1);

	// 等待传输完成，超时时间为1000个循环
	uint32_t timeout = 1000;
	while ((!spi_dma_tx_complete || !spi_dma_rx_complete) && --timeout) {
		// 空循环等待DMA传输完成
	}

	// 检查是否超时
	if (timeout == 0) {
		// 禁用DMA通道
		dma_channel_disable(DMA0, DMA_CH2);
		dma_channel_disable(DMA0, DMA_CH1);
		printf("SPI DMA transfer timeout\r\n");
		return -1;
	}

	return 0;
}

/**
 * @brief DMA0_Channel2中断处理函数
 * @param 无
 */
extern "C" void DMA0_Channel2_IRQHandler(void) {
	if (dma_interrupt_flag_get(DMA0, DMA_CH2, DMA_INT_FLAG_FTF)) {
		dma_interrupt_flag_clear(DMA0, DMA_CH2, DMA_INT_FLAG_FTF);
		spi_dma_tx_complete = true;
	}
}

/**
 * @brief DMA0_Channel1中断处理函数
 * @param 无
 */
extern "C" void DMA0_Channel1_IRQHandler(void) {
	if (dma_interrupt_flag_get(DMA0, DMA_CH1, DMA_INT_FLAG_FTF)) {
		dma_interrupt_flag_clear(DMA0, DMA_CH1, DMA_INT_FLAG_FTF);
		spi_dma_rx_complete = true;
	}
}
/**
 * @brief 角度传感器初始化
 * @param 无
 */
void KTH7823_gpio_init(void) {
	rcu_periph_clock_enable(RCU_GPIOA);
	rcu_periph_clock_enable(RCU_GPIOB);
	rcu_periph_clock_enable(RCU_SPI0);
	rcu_periph_clock_enable(RCU_AF);
	/* 关闭 JTAG，仅保留 SWD（释放 PA15、PB3、PB4） */
	gpio_pin_remap_config(GPIO_SWJ_SWDPENABLE_REMAP, ENABLE);

	/* -------- SPI0 全 remap：PB3/4/5 + PA15 -------- */
	gpio_pin_remap_config(GPIO_SPI0_REMAP, ENABLE);
	/* PA15 → NSS, 推挽输出 */
	gpio_init(GPIOA, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_15);
	/* PB3 → SCK, PB5 → MOSI, 推挽输出 */
	gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ,
			  GPIO_PIN_3 | GPIO_PIN_5);
	/* PB4 → MISO, 浮空输入 */
	gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ,
			  GPIO_PIN_4 | GPIO_PIN_10 | GPIO_PIN_11);
}

/**
 * @brief SPI 初始化
 *
 * @details Configures SPI hardware and initializes necessary settings
 */
void KTH7823_spi_init(void) {
	spi_parameter_struct spi_init_str;
	spi_struct_para_init(&spi_init_str);

	/* SPI参数：16bit, 主机, 全双工, CPOL=1 CPHA=1, MSB first */
	spi_init_str.device_mode = SPI_MASTER;
	spi_init_str.trans_mode = SPI_TRANSMODE_FULLDUPLEX;
	spi_init_str.frame_size = SPI_FRAMESIZE_16BIT;
	spi_init_str.clock_polarity_phase = SPI_CK_PL_HIGH_PH_2EDGE;
	spi_init_str.nss = SPI_NSS_SOFT;
	spi_init_str.endian = SPI_ENDIAN_MSB;

	spi_init_str.prescale = 24; /* 5MHz @ 120MHz */
	spi_init(SPI0, &spi_init_str);
	spi_nss_output_enable(SPI0);
	spi_nssp_mode_enable(SPI0);
	spi_enable(SPI0);
}

/**
 * @brief KTH7823 初始化
 */
void angle_sensor::KTH7823_init(void) {
	KTH7823_gpio_init(); // GPIO初始化
	KTH7823_spi_init();	 // SPI初始化
	spi_dma_init();		 // DMA初始化
}
/**
 * @brief 角度传感器构造函数
 */
angle_sensor::angle_sensor(void) { KTH7823_init(); }

/**
 * @brief 读取传感器数据
 * @return 传感器数据
 */
float angle_sensor::read_sensorAngle(void) {
	u16 u16data = FAULT_RECEIVE;

	SPI_CS_ENABLE();
	// 使用DMA发送命令并接收数据
	if (!spi_rw_half_word_dma(SPI0, DEFAULT_COMMAND, &u16data)) {
		SPI_CS_DISABLE();
		return u16data * ANGLE_FACTOR;
	} else {
		SPI_CS_DISABLE();
		// 处理读取错误
		printf("Error reading angle from sensor.\n");
		return FAULT_RECEIVE; // 错误返回
	}
}
/**
 * @brief 更新传感器角度（输出级）
 * @return 累积角度值
 */
float angle_sensor::update(void) {

	float currentAngle = read_sensorAngle();

	if (m_firstUpdate) {
		m_lastAngle = currentAngle;
		m_firstUpdate = false;
		return m_cumulativeAngle;
	}

	// 计算角度变化
	float delta = currentAngle - m_lastAngle;

	// 处理角度绕回情况（0度和360度之间的跳变）
	// 如果变化超过180度，说明发生了绕回
	if (delta > ANGLE_WRAP_THRESHOLD) {
		// 从接近360度绕回到接近0度
		delta -= ANGLE_WRAP_VALUE;
	} else if (delta < -ANGLE_WRAP_THRESHOLD) {
		// 从接近0度绕到接近360度
		delta += ANGLE_WRAP_VALUE;
	}

	std::memmove(velocity, velocity + 1, SIZE_FLOAT * (VEL_FILTER_SIZE - 1));
	velocity[VEL_FILTER_SIZE - 1] = delta * VELOCITY_SCALE;

	m_cumulativeAngle += delta;
	m_lastAngle = currentAngle;

	return m_cumulativeAngle;
}

/**
 * @brief 获取累积角度值(输出级)
 * @return 累积角度值
 */
float angle_sensor::getAngle(void) const {
	return m_cumulativeAngle / REDUCTION_RATIO;
}

/**
 * @brief 获取累积角度值(原始级)
 * @return 累积角度值
 */
float angle_sensor::getRawAngle(void) const { return m_cumulativeAngle; }

/**
 * @brief 获取速度值(输出级)
 * @return 速度值(输出级)
 */
float angle_sensor::getVelocity(void) const {
	return getRawVelocity() / REDUCTION_RATIO;
}

/**
 * @brief 获取速度值(原始级)
 * @return 速度值(原始级)
 */
float angle_sensor::getRawVelocity(void) const {
	float velocity_filted = 0;
	for (int i = 0; i < VEL_FILTER_SIZE - 1; i++) {
		velocity_filted += velocity[i];
	}
	return velocity_filted / (VEL_FILTER_SIZE - 1);
	// return velocity[VEL_FILTER_SIZE - 1];
}

/**
 * @brief 重置累积角度值
 */
void angle_sensor::reset(void) {
	m_cumulativeAngle = 0.0f;
	m_firstUpdate = true;
}