From 1596b2beb080db3f3fe1a3a8f4b215ccd39d45db Mon Sep 17 00:00:00 2001
From: cbb <2625274797@qq.com>
Date: Sat, 24 Jan 2026 01:50:39 +0800
Subject: [PATCH] =?UTF-8?q?DRV8313=E5=85=BC=E5=AE=B9=E7=89=88=20refactor(a?=
 =?UTF-8?q?lgorithm):=20=E7=A7=BB=E9=99=A4=E5=86=97=E4=BD=99=E5=A4=B4?=
 =?UTF-8?q?=E6=96=87=E4=BB=B6=20=E7=A7=BB=E9=99=A4=E4=B8=8D=E5=BF=85?=
 =?UTF-8?q?=E8=A6=81=E7=9A=84stdint.h=E5=A4=B4=E6=96=87=E4=BB=B6=E5=BC=95?=
 =?UTF-8?q?=E7=94=A8=EF=BC=8C=E7=BB=9F=E4=B8=80=E4=BD=BF=E7=94=A8<cstdint>?=
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refactor(sys): 清理系统级头文件依赖
移除未使用的头文件引用，统一整型类型定义，优化初始
化过程中的GPIO配置
---
 Robot_V2/Algorithm/FOC.cpp    |  4 ++--
 Robot_V2/Algorithm/FOC.h      | 15 ++++++++++++---
 Robot_V2/Algorithm/Filter.cpp |  1 -
 Robot_V2/Algorithm/Filter.h   |  2 +-
 Robot_V2/Algorithm/pid.cpp    |  3 ++-
 Robot_V2/Algorithm/pid.h      | 33 ++++++++++++++++-----------------
 Robot_V2/device/ADC.cpp       |  3 +--
 Robot_V2/device/Can.cpp       | 10 +++++-----
 Robot_V2/device/Can.h         |  2 --
 Robot_V2/device/Timer.cpp     |  3 ---
 Robot_V2/device/Timer.h       |  4 ++--
 Robot_V2/device/adc.h         |  1 -
 Robot_V2/device/ang_sensor.h  |  2 +-
 Robot_V2/device/motor.cpp     | 18 ++++++++++++++++--
 Robot_V2/device/motor.h       |  5 ++++-
 Robot_V2/main.cpp             | 13 ++++---------
 Robot_V2/main.h               |  2 +-
 Robot_V2/sys/config.h         |  4 ++--
 Robot_V2/sys/flash.h          |  2 +-
 Robot_V2/sys/health.cpp       |  1 -
 Robot_V2/sys/health.h         |  2 +-
 Robot_V2/sys/initial.cpp      |  4 ++--
 Robot_V2/sys/initial.h        |  4 ++--
 Robot_V2/sys/systick.h        |  2 +-
 24 files changed, 76 insertions(+), 64 deletions(-)

diff --git a/Robot_V2/Algorithm/FOC.cpp b/Robot_V2/Algorithm/FOC.cpp
index d82f9a9..e2e875e 100644
--- a/Robot_V2/Algorithm/FOC.cpp
+++ b/Robot_V2/Algorithm/FOC.cpp
@@ -10,7 +10,6 @@
 #include <arm_math.h>
 #include <cmath>
 #include <gd32c10x.h>
-#include <stdint.h>
 
 
 FOC_Controlroller FOC; // FOC控制初始化
@@ -58,7 +57,7 @@ inline float FOC_Controlroller::cal_Iq_Id(float current_a, float current_b,
 	// arm_park_f32(I_alpha, I_beta, &I_d, &I_q, sin_el, cos_el);
 
 	return I_q * 1000.0f -
-		   KE_FACTOR * rt_velocity; // 返回Iq值，乘以1000以转换为mA
+		   KE_FACTOR * rt_velocity; // 返回Iq值，乘以100以转换为mA
 }
 
 /**
@@ -79,6 +78,7 @@ u8 FOC_Controlroller::init() {
 	ang_inVelAngloop.set_PID(ang_angloop_p * 100 / limit_voltage, 0.0f,
 							 5e-4); // 设置电机角度控制参数
 
+
 	return 0;
 }
 
diff --git a/Robot_V2/Algorithm/FOC.h b/Robot_V2/Algorithm/FOC.h
index 27204a5..9c40f1c 100644
--- a/Robot_V2/Algorithm/FOC.h
+++ b/Robot_V2/Algorithm/FOC.h
@@ -3,12 +3,15 @@
 #define _FOC_H
 #include "config.h"
 #include "pid.h"
-#include <stdint.h>
+#include <cstdint>
 
 class FOC_Controlroller {
 
   public:
 	FOC_Controlroller();
+	
+	// 初始化函数
+	u8 init();
 
 	u8 control_mode = 0;
 	float limit_voltage = 0.0f;
@@ -22,10 +25,9 @@ class FOC_Controlroller {
 	bool voltage_error = false;
 	bool is_shut_down = false;
 	float voltage_power_supply = 24.0f; // 电源电压
-	float v_safe = voltage_power_supply * 1.05f;
+	float v_safe = voltage_power_supply * 0.95f;
 	float duty_a = 0, duty_b = 0, duty_c = 0;
 	float Ua = 0, Ub = 0, Uc = 0;
-	u8 init(void);
 	float velocity_open_loop(void);
 	float angle_control(void);
 	float angle_control_with_velocity_limit(void);
@@ -50,6 +52,13 @@ class FOC_Controlroller {
 	PIDController ang_inVelAngloop =
 		PIDController{ang_angloop_p * 100, 0.0f, 5e-4, 1000000, 999};
 
+	void update_pid_limits() {
+		vel_loop.limit = voltage_power_supply;
+		angle_loop.limit = voltage_power_supply;
+		current_loop.limit = voltage_power_supply;
+		vel_inVelAngloop.limit = voltage_power_supply;
+	}
+
   protected:
 	float shaft_angle = 0;
 	float Ualpha, Ubeta = 0;
diff --git a/Robot_V2/Algorithm/Filter.cpp b/Robot_V2/Algorithm/Filter.cpp
index 449dc00..4a5f776 100644
--- a/Robot_V2/Algorithm/Filter.cpp
+++ b/Robot_V2/Algorithm/Filter.cpp
@@ -4,7 +4,6 @@
 #include "config.h"
 #include <algorithm>
 #include <cstring>
-#include <stdint.h>
 
 extern angle_sensor KTH7823;
 extern CAN_transmiter CAN0_transmiter;
diff --git a/Robot_V2/Algorithm/Filter.h b/Robot_V2/Algorithm/Filter.h
index 26096bb..a0b3fb8 100644
--- a/Robot_V2/Algorithm/Filter.h
+++ b/Robot_V2/Algorithm/Filter.h
@@ -14,7 +14,7 @@ extern "C" {
 
 #ifdef __cplusplus
 #include <cstring>
-#include <stdint.h>
+#include <cstdint>
 
 float medium_filter(float values[], u8 size);
 
diff --git a/Robot_V2/Algorithm/pid.cpp b/Robot_V2/Algorithm/pid.cpp
index e650a96..82406bd 100644
--- a/Robot_V2/Algorithm/pid.cpp
+++ b/Robot_V2/Algorithm/pid.cpp
@@ -2,7 +2,8 @@
 #define _constrain(amt, low, high)                                             \
 	((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
 #include "Can.h"
-#include "math.h"
+#include <algorithm>
+#include <cmath>
 
 extern CAN_transmiter CAN0_transmiter;
 constexpr float TIME_SLICE = 1e-4;
diff --git a/Robot_V2/Algorithm/pid.h b/Robot_V2/Algorithm/pid.h
index d8fb2f1..59dfecf 100644
--- a/Robot_V2/Algorithm/pid.h
+++ b/Robot_V2/Algorithm/pid.h
@@ -1,26 +1,25 @@
 #ifndef PID_H
 #define PID_H
 
-class PIDController
-{
-public:
-    PIDController(float P, float I, float D, float ramp, float limit);
-    ~PIDController() = default;
+class PIDController {
+  public:
+	PIDController(float P, float I, float D, float ramp, float limit);
+	~PIDController() = default;
 
-    float operator() (float error);
+	float operator()(float error);
 	void set_PID(float P, float I, float D);
 	void set_P_percent(float pp);
 
-    float P; //!< 比例增益(P环增益)
-    float I; //!< 积分增益（I环增益）
-    float D; //!< 微分增益（D环增益）
-    float output_ramp; 
-    float limit; 
-protected:
-    float error_prev; //!< 最后的跟踪误差值
-    float output_prev;  //!< 最后一个 pid 输出值
-    float integral_prev; //!< 最后一个积分分量值
-    unsigned long timestamp_prev; //!< 上次执行时间戳
-};
+	float P; //!< 比例增益(P环增益)
+	float I; //!< 积分增益（I环增益）
+	float D; //!< 微分增益（D环增益）
+	float output_ramp;
+	float limit;
 
+  protected:
+	float error_prev;			  //!< 最后的跟踪误差值
+	float output_prev;			  //!< 最后一个 pid 输出值
+	float integral_prev;		  //!< 最后一个积分分量值
+	unsigned long timestamp_prev; //!< 上次执行时间戳
+};
 #endif
\ No newline at end of file
diff --git a/Robot_V2/device/ADC.cpp b/Robot_V2/device/ADC.cpp
index 8d6ebf8..2ea86bf 100644
--- a/Robot_V2/device/ADC.cpp
+++ b/Robot_V2/device/ADC.cpp
@@ -2,13 +2,12 @@
 #include "Can.h"
 #include "FOC.h"
 #include "Filter.h"
-#include "arm_math.h"
 #include "config.h"
 #include "math.h"
 #include "systick.h"
 #include <cstring>
 #include <gd32c10x_dma.h>
-#include <stdint.h>
+#include <cstdint>
 
 constexpr float ADC_SCALE = 3.3f / 4096.0f;
 constexpr float TEMP_FACTOR = 1000.0f / 4.3f;
diff --git a/Robot_V2/device/Can.cpp b/Robot_V2/device/Can.cpp
index 4e191c4..648afc3 100644
--- a/Robot_V2/device/Can.cpp
+++ b/Robot_V2/device/Can.cpp
@@ -17,9 +17,6 @@
 #include <cstdlib>
 #include <cstring>
 #include <random>
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
 
 constexpr u16 CANX = CAN0;
 
@@ -55,8 +52,10 @@ u8 can_gpio_init() {
 	gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9); // tx
 	gpio_pin_remap_config(GPIO_CAN0_PARTIAL_REMAP, ENABLE);
 	/* enable the EN GPIO clock */
-	gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
+	gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ,
+			  GPIO_PIN_13 | GPIO_PIN_14);
 	gpio_bit_reset(GPIOB, GPIO_PIN_13);
+	gpio_bit_reset(GPIOB, GPIO_PIN_14);
 	return 0;
 }
 
@@ -604,7 +603,8 @@ void CAN_transmiter::communication_check() {
 			P_config = unpack_bytes_to_u16(receive_message.rx_data, 19);
 			FOC.angle_loop.set_P_percent(angle_loop_p * P_config / voltage);
 			P_config = unpack_bytes_to_u16(receive_message.rx_data, 21);
-			FOC.vel_inVelAngloop.set_P_percent(vel_angloop_p * P_config / voltage);
+			FOC.vel_inVelAngloop.set_P_percent(vel_angloop_p * P_config /
+											   voltage);
 		} else if (receive_message.rx_efid == CANFD_RESET_ID) {
 			u8 first_byte = receive_message.rx_data[0];
 			u8 eigth_byte = receive_message.rx_data[7];
diff --git a/Robot_V2/device/Can.h b/Robot_V2/device/Can.h
index eeaf828..d897add 100644
--- a/Robot_V2/device/Can.h
+++ b/Robot_V2/device/Can.h
@@ -7,8 +7,6 @@ extern "C" {
 #endif
 
 #include "gd32c10x_can.h"
-#include "stdint.h"
-#include <stdio.h>
 
 // 定义一个联合体类型用于float和byte数组之间的转换
 typedef union {
diff --git a/Robot_V2/device/Timer.cpp b/Robot_V2/device/Timer.cpp
index 18ca60e..5838bdd 100644
--- a/Robot_V2/device/Timer.cpp
+++ b/Robot_V2/device/Timer.cpp
@@ -8,9 +8,6 @@
 #include "gd32c10x_rcu.h"
 #include "gd32c10x_timer.h"
 #include "initial.h"
-#include <stdbool.h>
-#include <stdint.h>
-#include <stdio.h>
 
 volatile u32 total_us100_counter = 0; // 总计数器，每100微秒增加1
 extern u16 adc_value[7];
diff --git a/Robot_V2/device/Timer.h b/Robot_V2/device/Timer.h
index 9029aeb..248b317 100644
--- a/Robot_V2/device/Timer.h
+++ b/Robot_V2/device/Timer.h
@@ -5,10 +5,10 @@
 extern "C" {
 #endif
 
-#include <stdint.h>
+#include <cstdint>
 
 void User_timer_init(void);
-void Set_Pwm(uint16_t channel, float duty_cycle);
+void Set_Pwm(u16 channel, float duty_cycle);
 void Set_3Pwm(float duty_cycle0, float duty_cycle1,float duty_cycle2);
 void TIMER2_IRQHandler(void);
 
diff --git a/Robot_V2/device/adc.h b/Robot_V2/device/adc.h
index 65e3834..3283034 100644
--- a/Robot_V2/device/adc.h
+++ b/Robot_V2/device/adc.h
@@ -5,7 +5,6 @@
 extern "C" {
 #endif
 
-#include "stdint.h"
 #include "config.h"
 
 class sampler {
diff --git a/Robot_V2/device/ang_sensor.h b/Robot_V2/device/ang_sensor.h
index b9cd594..2503b12 100644
--- a/Robot_V2/device/ang_sensor.h
+++ b/Robot_V2/device/ang_sensor.h
@@ -4,7 +4,7 @@
 extern "C" {
 #endif
 #include "gd32c10x_eval.h"
-#include "stdio.h"
+#include <cstring>
 #include "config.h"
 
 u16 spi_rw_half_word(u32 spi_periph, const u16 i_HalfWord);
diff --git a/Robot_V2/device/motor.cpp b/Robot_V2/device/motor.cpp
index 083740e..1dffc51 100644
--- a/Robot_V2/device/motor.cpp
+++ b/Robot_V2/device/motor.cpp
@@ -1,6 +1,7 @@
 #include "motor.h"
 #include "Timer.h"
 #include "gd32c10x_eval.h"
+#include "gd32c10x_gpio.h"
 #include <cstdio>
 
 /**
@@ -16,6 +17,11 @@ void motor_init(void) {
 	/* 配置GPIOB的PB14为推挽输出 SPICS */
 	gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ,
 			  GPIO_PIN_14 | GPIO_PIN_12);
+	
+	// 使能GPIOC时钟，用于电机驱动使能引脚
+	rcu_periph_clock_enable(RCU_MOTOR_EN_GPIO);
+	// 配置PC13为推挽输出，用于控制电机驱动器使能
+	gpio_init(MOTOR_EN_GPIO_PORT, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, MOTOR_EN_GPIO_PIN);
 }
 
 /**
@@ -30,9 +36,17 @@ void motor_reset(void) {
 /**
  * @brief  电机休眠
  */
-void motor_sleep(void) { gpio_bit_reset(GPIOB, GPIO_PIN_12); }
+void motor_sleep(void) { 
+	gpio_bit_reset(GPIOB, GPIO_PIN_12); 
+	// 同时禁用电机驱动器
+	gpio_bit_reset(MOTOR_EN_GPIO_PORT, MOTOR_EN_GPIO_PIN);
+}
 
 /**
  * @brief  电机启动
  */
-void motor_resume(void) { gpio_bit_set(GPIOB, GPIO_PIN_12); }
\ No newline at end of file
+void motor_resume(void) { 
+	gpio_bit_set(GPIOB, GPIO_PIN_12); 
+	// 同时启用电机驱动器
+	gpio_bit_set(MOTOR_EN_GPIO_PORT, MOTOR_EN_GPIO_PIN);
+}
\ No newline at end of file
diff --git a/Robot_V2/device/motor.h b/Robot_V2/device/motor.h
index dc198a3..d4c74c1 100644
--- a/Robot_V2/device/motor.h
+++ b/Robot_V2/device/motor.h
@@ -1,11 +1,14 @@
 #ifndef _MOTOR_H
 #define _MOTOR_H
 
+// 定义电机驱动使能引脚
+#define MOTOR_EN_GPIO_PORT     GPIOC
+#define MOTOR_EN_GPIO_PIN      GPIO_PIN_13
+#define RCU_MOTOR_EN_GPIO      RCU_GPIOC
 
 void motor_init(void);
 void motor_reset(void);
 void motor_resume(void);
 void motor_sleep(void);
 
-
 #endif
\ No newline at end of file
diff --git a/Robot_V2/main.cpp b/Robot_V2/main.cpp
index 2a54fd6..ba0b5af 100644
--- a/Robot_V2/main.cpp
+++ b/Robot_V2/main.cpp
@@ -9,13 +9,8 @@
 #include "health.h"
 #include "initial.h"
 #include "motor.h"
-#include "sys/flash.h"
-#include "sys/initial.h"
 #include "systick.h"
-#include <arm_math.h>
-#include <cmath>
-#include <cstdio>
-#include <stdint.h>
+
 extern CAN_transmiter CAN0_transmiter;		// CAN初始化
 extern sampler sampler;						// 采样器
 extern angle_sensor KTH7823;				// 角度传感器
@@ -96,11 +91,11 @@ void do_task(u32 currentTasks) {
 												   // 角度闭环控制，带速度限制
 			&FOC_Controlroller::velocity_control,  // 2: 速度闭环控制
 			&FOC_Controlroller::current_control,   // 3: 电流闭环控制
-			&FOC_Controlroller::velocity_open_loop // 4: 速度开环控制
+			&FOC_Controlroller::velocity_open_loop, // 4: 速度开环控制
 		};
 
 		// 边界检查，防止数组越界
-		if (FOC.control_mode >= 0 && FOC.control_mode < 5) {
+		if (FOC.control_mode >= 0 && FOC.control_mode < 5) {  // 更新为7个控制模式
 			// 调用对应的控制函数
 			(FOC.*control_functions[FOC.control_mode])();
 		}
@@ -120,7 +115,7 @@ void do_task(u32 currentTasks) {
 	if (currentTasks & (1 << TASK_VBUS_UPDATE)) { // 更新vbus电压值
 		power_manage();
 	}
-	if (currentTasks & (1 << TASK_CAN_TRANSMIT)) { // CAN通信
+	if (currentTasks & (1 << TASK_CAN_TRANSMIT)) {	  // CAN通信
 		// CAN0_transmiter.testfloat_union.f = cnt_test; // 负载检测
 		cnt_test = 0;
 		CAN0_transmiter.can0_send_flag = SET;
diff --git a/Robot_V2/main.h b/Robot_V2/main.h
index f39ea43..ab1c246 100644
--- a/Robot_V2/main.h
+++ b/Robot_V2/main.h
@@ -34,7 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #ifndef MAIN_H
 #define MAIN_H
-#include "stdint.h"
+#include <cstdint>
 
 void do_task(u32 currentTasks);
 u8 hardware_init(void);
diff --git a/Robot_V2/sys/config.h b/Robot_V2/sys/config.h
index fd15d78..9a4e872 100644
--- a/Robot_V2/sys/config.h
+++ b/Robot_V2/sys/config.h
@@ -1,6 +1,6 @@
 #ifndef __CONFIG_H
 #define __CONFIG_H
-#include <stdint.h>
+#include <cstdint>
 
 // 如果使用CMSIS DSP库，需要定义ARM_MATH_CM4
 #define ARM_MATH_CM4
@@ -12,7 +12,7 @@
 // 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 = 20;
+constexpr u16 SOFTWARE_VERSION_PATCH = 24;
 constexpr u16 SOFTWARE_VERSION_BUILD = 1;
 
 constexpr u16 HARDWARE_VERSION_MAJOR = 25;
diff --git a/Robot_V2/sys/flash.h b/Robot_V2/sys/flash.h
index 4958a8f..849fb09 100644
--- a/Robot_V2/sys/flash.h
+++ b/Robot_V2/sys/flash.h
@@ -2,7 +2,7 @@
 #define __FLASH_H
 
 #include "gd32c10x.h" // 添加GD32主头文件以确保外设函数声明可用
-#include <stdint.h>
+#include <cstdint>
 
 // 修改后 - 强制4字节对齐
 #define ALIGN_4BYTE(addr) ((addr) & 0xFFFFFFFC) // 4字节对齐
diff --git a/Robot_V2/sys/health.cpp b/Robot_V2/sys/health.cpp
index 2b7af17..cd0a76b 100644
--- a/Robot_V2/sys/health.cpp
+++ b/Robot_V2/sys/health.cpp
@@ -1,6 +1,5 @@
 #include "health.h"
 #include "config.h"
-#include <stdint.h>
 #include "Can.h"
 #include "FOC.h"
 #include "adc.h"
diff --git a/Robot_V2/sys/health.h b/Robot_V2/sys/health.h
index a3b22cf..81925b4 100644
--- a/Robot_V2/sys/health.h
+++ b/Robot_V2/sys/health.h
@@ -1,7 +1,7 @@
 #ifndef _HEALTH_H
 #define _HEALTH_H
 
-#include "stdint.h"
+#include <cstdint>
 typedef int32_t q16_16_t; // Q16.16格式
 // 定点数运算宏
 #define Q16_16_ONE 65536 // 1.0 in Q16.16
diff --git a/Robot_V2/sys/initial.cpp b/Robot_V2/sys/initial.cpp
index 25811fe..a1d8118 100644
--- a/Robot_V2/sys/initial.cpp
+++ b/Robot_V2/sys/initial.cpp
@@ -162,10 +162,10 @@ void unused_pin_init() {
 	gpio_init(GPIOB, GPIO_MODE_IPU, GPIO_OSPEED_2MHZ,
 			  GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_15);
 	gpio_init(GPIOC, GPIO_MODE_IPU, GPIO_OSPEED_2MHZ,
-			  GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15);
+			  GPIO_PIN_14 | GPIO_PIN_15);
 	gpio_bit_reset(GPIOA, GPIO_PIN_8 | GPIO_PIN_11 | GPIO_PIN_12);
 	gpio_bit_reset(GPIOB, GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_15);
-	gpio_bit_reset(GPIOC, GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15);
+	gpio_bit_reset(GPIOC, GPIO_PIN_14 | GPIO_PIN_15);
 }
 
 /*!
diff --git a/Robot_V2/sys/initial.h b/Robot_V2/sys/initial.h
index b2b20f8..088ab54 100644
--- a/Robot_V2/sys/initial.h
+++ b/Robot_V2/sys/initial.h
@@ -7,8 +7,8 @@ extern "C" {
 
 #include "config.h"
 #include "gd32c10x_eval.h"
-#include "stdint.h"
-#include <stdio.h>
+#include <cstdint>
+#include <cstdio>
 
 // 任务标志定义
 typedef enum {
diff --git a/Robot_V2/sys/systick.h b/Robot_V2/sys/systick.h
index 99dd74c..494cf61 100644
--- a/Robot_V2/sys/systick.h
+++ b/Robot_V2/sys/systick.h
@@ -38,7 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifdef __cplusplus
 extern "C" {
 #endif
-#include <stdint.h>
+#include <cstdint>
 
 /* configure systick */
 void systick_config(void);