Motor_v2/Robot_V2/sys/config.h

#ifndef __CONFIG_H
#define __CONFIG_H
#include "gd32c10x_eval.h"
#include <cstdint>

// 如果使用CMSIS DSP库，需要定义ARM_MATH_CM4
#define ARM_MATH_CM4

#define EEP_DEBUG 1
#define OTA_DEBUG 1
#define SLEEP_DEBUG 1

// 版本号定义 - 可根据实际项目进行调整
constexpr u16 SOFTWARE_VERSION_MAJOR = 26;
constexpr u16 SOFTWARE_VERSION_MINOR = 1;
constexpr u16 SOFTWARE_VERSION_PATCH = 24;
constexpr u16 SOFTWARE_VERSION_BUILD = 1;

constexpr u16 HARDWARE_VERSION_MAJOR = 25;
constexpr u16 HARDWARE_VERSION_MINOR = 12;
constexpr u16 HARDWARE_VERSION_PATCH = 01;
constexpr u16 HARDWARE_VERSION_BUILD = 0;

constexpr u16 BOOT_VERSION_MAJOR = 26;
constexpr u16 BOOT_VERSION_MINOR = 1;
constexpr u16 BOOT_VERSION_PATCH = 12;
constexpr u16 BOOT_VERSION_BUILD = 0;

// Flash分区配置
constexpr u32 BOOTLOADER_SIZE = 0x6000;			  // 24KB
constexpr u32 BOOTLOADER_START_ADDR = 0x08000000; // BOOT起始地址
constexpr u32 APPLATEST_START_ADDR = 0x08012000;  // APP起始地址
constexpr u32 APPBACK_START_ADDR = 0x08006000;	  // APPBACK起始地址
constexpr u32 APP_MAX_SIZE = 0xC000;			  // 48KB
constexpr u32 FMC_PAGE_SIZE = 0x400;			  // 1KB
constexpr u32 SLEEP_CONFIG_START = 0x0801E400;	  // 睡眠配置起始地址
constexpr u32 SLEEP_CONFIG_END = 0x0801E800;	  // 睡眠配置结束地址
constexpr u32 FLASH_EMPTY = 0xFFFFFFFF;			  // 空数据
constexpr u32 SLEEP_ENABLE = 0x11111111;		  // 睡眠使能
constexpr u32 SLEEP_DISABLE = 0x00000000;		  // 睡眠禁止

// BOOT 相关
constexpr u32 OTA_CONFIG_NUM = 6;
constexpr u32 n_APP_LATEST_AVAL_ADDR = 0x0801E000;	// 最新APP可用地址
constexpr u32 n_APP_BACKUP_AVAL_ADDR = 0x0801E004;	// 备份APP可用地址
constexpr u32 n_APP_LATEST_EN_ADDR = 0x0801E008;	// 最新APP激活
constexpr u32 n_APP_BACKUP_EN_ADDR = 0x0801E00C;	// 备份APP激活
constexpr u32 n_APP_LATEST_CHECK_ADDR = 0x0801E010; // 最新APP校验
constexpr u32 n_APP_BACKUP_CHECK_ADDR = 0x0801E014; // 备份APP校验
constexpr u32 OTA_NOT_AVAL = 0xFFFFFFFF;
constexpr u32 OTA_AVAL = 0x00000000; // 全零表示可用

// 参数配置
constexpr u8 PP = 11;
constexpr float DIR = -1.0f;
constexpr u16 REDUCTION_RATIO = 25;
constexpr float CURRENT_OFFSET = -1.62f; // 当前电流传感器的零点偏移
constexpr float HOLD_PWM_DUTY = 0.95f;
constexpr u16 ANGLESENS_OFFSET = +0;
constexpr float KE_FACTOR = 14.0f;
// PID配置
constexpr float DEFAULT_current_loop_p = 6e-2f / 100 * 12; // 电流P

constexpr float DEFAULT_vel_loop_p = 0.018f / 100 * 12; // 速度P
constexpr float vel_loop_Ku = 3.600000e-03 * 0.7 * 100 / 12;
constexpr float vel_loop_Tu = 17.0f * 1e-3f;
constexpr float vel_loop_Ki = 1.2 * vel_loop_Ku / vel_loop_Tu;
constexpr float vel_loop_Kd = 0.075 * vel_loop_Ku * vel_loop_Tu * 2;

constexpr float DEFAULT_vel_angloop_p = 0.22f / 100; // 速度 速度-角度P
constexpr float vel_angloop_Ki = 12.0f;					  // 角度 速度-角度I
constexpr float vel_angloop_Kd = 6e-04f;				  // 角度 速度-角度D

constexpr float DEFAULT_ang_angloop_p = 120.0f / 100 * 12; // 角度 速度-角度P
constexpr float ang_angloop_Ki = 0.00f;					  // 角度 速度-角度I
constexpr float ang_angloop_Kd = 8e-04;					  // 角度 速度-角度D

constexpr float DEFAULT_angle_loop_p = 60.0f / 100 * 12; // 角度P

constexpr float DEFAULT_vel_MIT_p = 25.0f / 100 * 12; // 速度 速度-角度P
constexpr float vel_MIT_Ku = 6.72f * 100 / 12;
constexpr float vel_MIT_Tu = 62.0f * 1e-3f;
constexpr float vel_MIT_Ki = 3e-2f;
constexpr float vel_MIT_Kd = 5.355000e-05f;
// 常量定义
constexpr u8 SIZE_FLOAT = sizeof(float);
constexpr u8 SIZE_U32 = sizeof(uint32_t);
constexpr float ADC_MAX = 65536.0f;
constexpr float PI = 3.14159265358979323846f;
constexpr float INV_PI_3 = 3.0f / PI;
constexpr float PI_3 = PI / 3.0f;
constexpr float _1_SQRT3 = 0.57735026919f; // 1/sqrt(3)
constexpr float SQRT3 = 1.7320508075688772f;
constexpr float SQRT3DV2 = 0.8660254037844386f; // sqrt(3)/2
constexpr float COS_PI_3 = 0.5f;
constexpr float ANGLE_FACTOR = 25.0f / 180.0f * PI;
constexpr float DEG2RAD = 1.0f / 180.0f * PI;
constexpr float RAD2DEG = 180.0f / PI; // 修正RAD2DEG定义，应该是180/π
constexpr u8 DEFAULT_VALUE = 0;
constexpr u8 CONFIG_SAVED_NUM = 6;

// 三角函数快速计算LUT
constexpr u16 LUT_SIZE = 1024;
constexpr u16 LUT_MASK = (LUT_SIZE - 1);
constexpr u16 LUT_SCALE = (LUT_SIZE / (2.0f * PI));

// CAN相关
constexpr u16 DEV_CAN0_ID = 0x0000;
constexpr u16 DEV_CAN0_MASK = 0x0000;
constexpr u16 DEV_CAN_LOOPBACK_ID = 0x0000;
// 反馈ID
constexpr u32 CANFD_STATUS_ID = 0x00010100;
constexpr u32 CANFD_CONFIG_ID = 0x00010101;
constexpr u32 CANFD_VERSION_ID = 0x00010000;
// 命令ID
constexpr u32 CANFD_CMD_ID = 0x00010200;
constexpr u32 CANFD_RESET_ID = 0x00010301;
// OTA相关ID
constexpr u32 CANFD_BOOT_ID = 0x00000000;
constexpr u32 CANFD_OTA_REQ_ID = 0x00000100;
constexpr u32 CANFD_OTA_DATA_ID = 0x00000101;
constexpr u32 CANFD_OTA_ACK_ID = 0x00000102;
constexpr u32 CANFD_OTA_WAIT_ID = 0x00000103;

// ADC
constexpr u8 ADC_FILTER_SIZE = 6;
constexpr u8 BLOCK_SIZE = ADC_FILTER_SIZE * SIZE_FLOAT;
constexpr float ERROR_ADC_VAL = 255.0f;
constexpr float MAX_TEMP = 150.0f;
constexpr float MIN_TEMP = -40.0f;
constexpr float MAX_CURRENT = 40.0f;
constexpr float MIN_CURRENT = -40.0f;
constexpr float MAX_VCC = 65.0f;
constexpr float MIN_VCC = -0.1f;

// ang_sensor
constexpr u16 VEL_FILTER_SIZE = 4;
constexpr u16 DEFAULT_COMMAND = 0x0000;
constexpr u16 FAULT_RECEIVE = 0xFFFF;
constexpr float ANGLE_WRAP_THRESHOLD = 300.0f;
constexpr float ANGLE_WRAP_VALUE = 360.0f;
constexpr float RAD_FACTOR = 1.0f / ADC_MAX * 2.0f * PI;
constexpr float ANGLESENS_FACTOR = 1.0f / ADC_MAX * 360.0f;

// TIMER2-任务调度
constexpr int TIMER2_PRESCALER = 119; // 120MHz / 120 = 1MHz
constexpr int TIMER2_PERIOD = 49;	  // 1 / 1MHz * 50 = 50us
constexpr float TIME_SLICE =
	(TIMER2_PERIOD + 1) * (TIMER2_PRESCALER + 1) / 120000000.0f; // 周期
constexpr float TIMER2_FREQUENCY = 1 / TIME_SLICE;				 // 频率

// TIMER1-PWM
constexpr int TIMER1_PRESCALER = 0; // 不分频，计数器时钟为120MHz
constexpr int TIMER1_PERIOD = 5999; // 120MHz / (0+1) / (5999+1) = 20kHz
constexpr int TIMER1_DEFAULT_PULSE = 0;
constexpr int TIMER1_CH3_COMPARE_VALUE =
	(TIMER1_PERIOD + 1) * 0.5 - 1; // PWM周期50%位置触发中断

#endif