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cbb
2025-10-02 02:52:07 +08:00
parent 6f89355a8a
commit 20fbb30067
19 changed files with 424 additions and 258 deletions
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Robot_V2.csolution.yml
+9
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@@ -27,6 +27,15 @@ solution:
target-types:
- type: GD32C103CB
device: GD32C103CB
target-set:
- set:
images:
- project-context: Robot_V2.Debug
debugger:
name: ST-Link@pyOCD
port: 3333
protocol: swd
clock: 10000000
# List of different build configurations.
build-types:
Robot_V2/RTE/Device/GD32C103CB/gd32c10x_can.c
+4 -1
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@@ -33,6 +33,7 @@ OF SUCH DAMAGE.
*/
#include "gd32c10x_can.h"
#include "stdio.h"
#include <stdlib.h>
#define CAN_ERROR_HANDLE(s) do{}while(1)
@@ -975,10 +976,12 @@ void can_message_receive(uint32_t can_periph, uint8_t fifo_number, can_receive_m
receive_message->rx_data[5] = (uint8_t)(GET_RFIFOMDATA1_DB5(CAN_RFIFOMDATA1(can_periph, fifo_number)));
receive_message->rx_data[6] = (uint8_t)(GET_RFIFOMDATA1_DB6(CAN_RFIFOMDATA1(can_periph, fifo_number)));
receive_message->rx_data[7] = (uint8_t)(GET_RFIFOMDATA1_DB7(CAN_RFIFOMDATA1(can_periph, fifo_number)));
} else {
} else {
CAN_ERROR_HANDLE("CAN FD function disabled \r\n");
}
} else {
/* check FD function has been enabled */
/* get receive data length */
canfd_recv_cnt = (uint8_t)(GET_RFIFOMP_DLENC(CAN_RFIFOMP(can_periph, fifo_number)));
Robot_V2/RTE/Device/GD32C103CB/gd32c10x_eval.c
+1 -1
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@@ -215,7 +215,7 @@ void gd_eval_com_init(uint32_t com)
/* USART configure */
usart_deinit(com);
usart_baudrate_set(com, 115200U);
usart_baudrate_set(com, 3000000U);
usart_receive_config(com, USART_RECEIVE_ENABLE);
usart_transmit_config(com, USART_TRANSMIT_ENABLE);
usart_enable(com);
Robot_V2/RTE/Device/GD32C103CB/gd32c10x_it.c
+139
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@@ -0,0 +1,139 @@
/*!
\file gd32c10x_it.c
\brief interrupt service routines
\version 2025-09-30, V1.0.0, firmware for GD32C10x
*/
/*
Copyright (c) 2025, 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 "gd32c10x.h"
#include "systick.h"
/*!
\brief this function handles NMI exception
\param[in] none
\param[out] none
\retval none
*/
void NMI_Handler(void)
{
}
/*!
\brief this function handles HardFault exception
\param[in] none
\param[out] none
\retval none
*/
void HardFault_Handler(void)
{
/* if Hard Fault exception occurs, go to infinite loop */
while (1){
}
}
/*!
\brief this function handles MemManage exception
\param[in] none
\param[out] none
\retval none
*/
void MemManage_Handler(void)
{
/* if Memory Manage exception occurs, go to infinite loop */
while (1){
}
}
/*!
\brief this function handles BusFault exception
\param[in] none
\param[out] none
\retval none
*/
void BusFault_Handler(void)
{
/* if Bus Fault exception occurs, go to infinite loop */
while (1){
}
}
/*!
\brief this function handles UsageFault exception
\param[in] none
\param[out] none
\retval none
*/
void UsageFault_Handler(void)
{
/* if Usage Fault exception occurs, go to infinite loop */
while (1){
}
}
/*!
\brief this function handles SVC exception
\param[in] none
\param[out] none
\retval none
*/
void SVC_Handler(void)
{
}
/*!
\brief this function handles DebugMon exception
\param[in] none
\param[out] none
\retval none
*/
void DebugMon_Handler(void)
{
}
/*!
\brief this function handles PendSV exception
\param[in] none
\param[out] none
\retval none
*/
void PendSV_Handler(void)
{
}
/*!
\brief this function handles SysTick exception
\param[in] none
\param[out] none
\retval none
*/
void SysTick_Handler(void)
{
delay_decrement();
}
Robot_V2/RTE/Device/GD32C103CB/startup_gd32c10x.s
+4 -2
View File
@@ -212,7 +212,9 @@ PendSV_Handler\
SysTick_Handler\
PROC
EXPORT SysTick_Handler [WEAK]
B .
IMPORT delay_decrement
LDR R0, =delay_decrement
BX R0
ENDP
Default_Handler PROC
@@ -245,7 +247,7 @@ Default_Handler PROC
EXPORT TIMER0_UP_TIMER9_IRQHandler [WEAK]
EXPORT TIMER0_TRG_CMT_TIMER10_IRQHandler [WEAK]
EXPORT TIMER0_Channel_IRQHandler [WEAK]
EXPORT TIMER1_IRQHandler [WEAK]
EXPORT TIMER1_IRQHandler [WEAK]
EXPORT TIMER2_IRQHandler [WEAK]
EXPORT TIMER3_IRQHandler [WEAK]
EXPORT I2C0_EV_IRQHandler [WEAK]
Robot_V2/RTE/Device/GD32C103CB/system_gd32c10x.c
+5 -5
View File
@@ -46,15 +46,15 @@
/* select a system clock by uncommenting the following line */
/* use IRC8M */
//#define __SYSTEM_CLOCK_IRC8M (uint32_t)(__IRC8M)
//#define __SYSTEM_CLOCK_48M_PLL_IRC8M (uint32_t)(48000000)
// #define __SYSTEM_CLOCK_IRC8M (uint32_t)(__IRC8M)
// #define __SYSTEM_CLOCK_48M_PLL_IRC8M (uint32_t)(48000000)
//#define __SYSTEM_CLOCK_72M_PLL_IRC8M (uint32_t)(72000000)
//#define __SYSTEM_CLOCK_108M_PLL_IRC8M (uint32_t)(108000000)
//#define __SYSTEM_CLOCK_120M_PLL_IRC8M (uint32_t)(120000000)
// #define __SYSTEM_CLOCK_120M_PLL_IRC8M (uint32_t)(120000000)
/* use HXTAL(CK_HXTAL = 8M) */
//#define __SYSTEM_CLOCK_HXTAL (uint32_t)(__HXTAL)
//#define __SYSTEM_CLOCK_48M_PLL_HXTAL (uint32_t)(48000000)
// #define __SYSTEM_CLOCK_HXTAL (uint32_t)(__HXTAL)
// #define __SYSTEM_CLOCK_48M_PLL_HXTAL (uint32_t)(48000000)
//#define __SYSTEM_CLOCK_72M_PLL_HXTAL (uint32_t)(72000000)
//#define __SYSTEM_CLOCK_108M_PLL_HXTAL (uint32_t)(108000000)
#define __SYSTEM_CLOCK_120M_PLL_HXTAL (uint32_t)(120000000)
Robot_V2/RTE/_Debug_GD32C103CB/RTE_Components.h
-18
View File
@@ -17,48 +17,30 @@
/* GigaDevice::Device:GD32C10x_StdPeripherals:ADC@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_ADC
/* GigaDevice::Device:GD32C10x_StdPeripherals:BKP@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_BKP
/* GigaDevice::Device:GD32C10x_StdPeripherals:CAN@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_CAN
/* GigaDevice::Device:GD32C10x_StdPeripherals:CRC@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_CRC
/* GigaDevice::Device:GD32C10x_StdPeripherals:CTC@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_CTC
/* GigaDevice::Device:GD32C10x_StdPeripherals:DAC@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_DAC
/* GigaDevice::Device:GD32C10x_StdPeripherals:DBG@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_DBG
/* GigaDevice::Device:GD32C10x_StdPeripherals:DMA@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_DMA
/* GigaDevice::Device:GD32C10x_StdPeripherals:EXMC@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_EXMC
/* GigaDevice::Device:GD32C10x_StdPeripherals:EXTI@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_EXTI
/* GigaDevice::Device:GD32C10x_StdPeripherals:FMC@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_FMC
/* GigaDevice::Device:GD32C10x_StdPeripherals:FWDGT@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_FWDGT
/* GigaDevice::Device:GD32C10x_StdPeripherals:GPIO@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_GPIO
/* GigaDevice::Device:GD32C10x_StdPeripherals:I2C@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_I2C
/* GigaDevice::Device:GD32C10x_StdPeripherals:MISC@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_MISC
/* GigaDevice::Device:GD32C10x_StdPeripherals:PMU@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_PMU
/* GigaDevice::Device:GD32C10x_StdPeripherals:RCU@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_RCU
/* GigaDevice::Device:GD32C10x_StdPeripherals:RTC@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_RTC
/* GigaDevice::Device:GD32C10x_StdPeripherals:SPI_I2S@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_SPI
/* GigaDevice::Device:GD32C10x_StdPeripherals:TIMER@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_TIMER
/* GigaDevice::Device:GD32C10x_StdPeripherals:USART@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_USART
/* GigaDevice::Device:GD32C10x_StdPeripherals:WWDGT@1.0.0 */
#define RTE_DEVICE_STDPERIPHERALS_WWDGT
#endif /* RTE_COMPONENTS_H */
Robot_V2/Robot_V2.cproject.yml
+2 -12
View File
@@ -7,7 +7,7 @@ project:
- file: main.cpp
- group: sys
files:
- file: sys/systick.c
- file: sys/systick.cpp
- file: sys/systick.h
- file: sys/initial.cpp
- file: sys/initial.h
@@ -29,30 +29,20 @@ project:
- component: ARM::CMSIS:CORE
- component: Device:Startup
- component: Device:GD32C10x_StdPeripherals:ADC
- component: Device:GD32C10x_StdPeripherals:BKP
- component: Device:GD32C10x_StdPeripherals:CAN
- component: Device:GD32C10x_StdPeripherals:CRC
- component: Device:GD32C10x_StdPeripherals:CTC
- component: Device:GD32C10x_StdPeripherals:DAC
- component: Device:GD32C10x_StdPeripherals:DBG
- component: Device:GD32C10x_StdPeripherals:DMA
- component: Device:GD32C10x_StdPeripherals:EXTI
- component: Device:GD32C10x_StdPeripherals:FMC
- component: Device:GD32C10x_StdPeripherals:FWDGT
- component: Device:GD32C10x_StdPeripherals:GPIO
- component: Device:GD32C10x_StdPeripherals:I2C
- component: Device:GD32C10x_StdPeripherals:MISC
- component: Device:GD32C10x_StdPeripherals:PMU
- component: Device:GD32C10x_StdPeripherals:RCU
- component: Device:GD32C10x_StdPeripherals:RTC
- component: Device:GD32C10x_StdPeripherals:SPI_I2S
- component: Device:GD32C10x_StdPeripherals:TIMER
- component: Device:GD32C10x_StdPeripherals:USART
- component: Device:GD32C10x_StdPeripherals:WWDGT
- component: Device:GD32C10x_libopt
- component: Device:GD32C10x_StdPeripherals:DBG
- component: Device:EVAL:GD32C10x
- component: Device:GD32C10x_StdPeripherals:EXMC
- component: CMSIS:DSP
output:
type:
- elf
Robot_V2/device/ADC.cpp
+6 -4
View File
@@ -1,4 +1,5 @@
#include "adc.h"
#include <cstdio>
#include <stdint.h>
#include "math.h"
@@ -11,10 +12,11 @@ constexpr float MAX_TEMP = 150.0f;
constexpr float MIN_TEMP = -40.0f;
constexpr float MAX_CURRENT = 50.0f;
constexpr float MIN_CURRENT = -0.1f;
constexpr float MAX_VCC = 40.0f;
constexpr float MIN_VCC = 0.0f;
constexpr float MAX_VCC = 65.0f;
constexpr float MIN_VCC = -0.1f;
extern const u16 adc_value[7];
u16 adc_value[7] = {0}; // 显式初始化数组元素为0
/**
* @brief 获取MCU温度
@@ -103,7 +105,7 @@ float get_vbus_voltage() {
vcc_latest = adc_value[6] * ADC_SCALE * VCC_FACTOR;
// 检查电压读数是否在有效范围内
if (vcc_latest > MAX_VCC || vcc_latest < MAX_VCC) {
if (vcc_latest > MAX_VCC || vcc_latest < MIN_VCC) {
return ERROR_ADC_VAL;
}
}
Robot_V2/device/Can.cpp
+143 -100
View File
@@ -1,7 +1,10 @@
#include "Can.h"
#include "gd32c10x_can.h"
#include "gd32c10x_eval.h"
#include <cstdio>
#include <inttypes.h>
#include <stdint.h>
#include <stdio.h>
#define DEV_CAN_LOOPBACK_ID 0x0000
#define DEV_CAN0_ID 0xaabb
@@ -12,10 +15,14 @@ u8 can_gpio_init() {
rcu_periph_clock_enable(RCU_CAN0);
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_AF);
/* configure CAN0 GPIO */
gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_MAX, GPIO_PIN_11);
gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_MAX, GPIO_PIN_12);
/* enable the EN GPIO clock */
rcu_periph_clock_enable(RCU_GPIOB);
gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
gpio_bit_reset(GPIOB, GPIO_PIN_13);
return 0;
}
@@ -27,6 +34,7 @@ u8 can_gpio_init() {
*/
void can_config(void) {
can_parameter_struct can_parameter;
can_filter_parameter_struct can_filter;
can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
/* initialize CAN register */
@@ -44,24 +52,31 @@ void can_config(void) {
can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
can_parameter.prescaler = 6;
can_parameter.prescaler = 12;
/* initialize CAN */
can_init(CAN0, &can_parameter);
/* initialize filter */
can1_filter_start_bank(14);
can_filter_mask_mode_init(DEV_CAN0_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0,
0);
/* initialize filter */
/* configure filter mode */
can_filter.filter_mode = CAN_FILTERMODE_MASK;
can_filter.filter_bits = CAN_FILTERBITS_32BIT;
/* configure filter ID */
can_filter.filter_list_high = (uint16_t)(DEV_CAN_LOOPBACK_ID >> 13U);
can_filter.filter_list_low = ((uint16_t)(DEV_CAN_LOOPBACK_ID)) << 3U | (1U << 2);
/* configure filter mask */
can_filter.filter_mask_high = 0x0000;
can_filter.filter_mask_low = 0x0000;
/* select receiver fifo */
can_filter.filter_fifo_number = CAN_FIFO0;
can_filter.filter_enable = ENABLE;
can_filter_init(&can_filter);
/* configure CAN0 NVIC */
nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
/* enable can receive FIFO0 not empty interrupt */
can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
/* enable the EN GPIO clock */
rcu_periph_clock_enable(RCU_GPIOB);
gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
gpio_bit_reset(GPIOB, GPIO_PIN_13);
}
/*!
@@ -74,9 +89,13 @@ void canfd_config(void) {
can_parameter_struct can_parameter;
can_fdframe_struct can_fd_parameter;
can_fd_tdc_struct can_fd_tdc_parameter;
can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
/* initialize CAN register */
can_deinit(CAN0);
can_filter_parameter_struct can_filter;
/* enable CAN clock */
rcu_periph_clock_enable(RCU_CAN0);
/* initialize CAN register */
can_deinit(CAN0);
/* initialize CAN parameters */
can_parameter.time_triggered = DISABLE;
@@ -90,7 +109,7 @@ void canfd_config(void) {
can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
can_parameter.prescaler = 6;
can_parameter.prescaler = 12;
/* initialize CAN */
can_init(CAN0, &can_parameter);
@@ -110,23 +129,17 @@ void canfd_config(void) {
can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
/* CAN-FD data segement prescaler should be the same as non-data segement
* prescaler */
can_fd_parameter.data_prescaler = 6;
can_fd_parameter.data_prescaler = 12;
can_fd_init(CAN0, &can_fd_parameter);
/* initialize filter */
can1_filter_start_bank(14);
can_filter_mask_mode_init(DEV_CAN0_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0,
0);
/* initialize filter */
can1_filter_start_bank(14);
can_filter_mask_mode_init(DEV_CAN0_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0, 0);
/* configure CAN0 NVIC */
nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
/* enable can receive FIFO0 not empty interrupt */
can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
/* enable the EN GPIO clock */
rcu_periph_clock_enable(RCU_GPIOB);
gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
gpio_bit_reset(GPIOB, GPIO_PIN_13);
/* configure CAN0 NVIC */
nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
/* enable can receive FIFO0 not empty interrupt */
can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
}
/*!
@@ -137,27 +150,54 @@ void canfd_config(void) {
*/
void can_loopback_init(void) {
can_parameter_struct can_parameter;
can_fdframe_struct can_fd_parameter;
can_fd_tdc_struct can_fd_tdc_parameter;
can_filter_parameter_struct can_filter;
/* enable CAN clock */
rcu_periph_clock_enable(RCU_CAN0);
/* enable CAN clock */
rcu_periph_clock_enable(RCU_CAN0);
/* initialize CAN register */
can_deinit(CAN0);
/* initialize CAN register */
can_deinit(CAN0);
/* initialize CAN */
/* initialize CAN parameters */
can_parameter.time_triggered = DISABLE;
can_parameter.auto_bus_off_recovery = DISABLE;
can_parameter.auto_wake_up = DISABLE;
can_parameter.auto_retrans = DISABLE;
can_parameter.rec_fifo_overwrite = DISABLE;
can_parameter.trans_fifo_order = DISABLE;
can_parameter.auto_retrans = ENABLE;
can_parameter.rec_fifo_overwrite = ENABLE;
can_parameter.trans_fifo_order = ENABLE;
can_parameter.working_mode = CAN_LOOPBACK_MODE;
/* baudrate 1Mbps, sample piont at 80% */
can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
can_parameter.prescaler = 6;
can_parameter.prescaler = 12;
/* initialize CAN */
can_init(CAN0, &can_parameter);
can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter);
can_fd_parameter.fd_frame = ENABLE;
can_fd_parameter.excp_event_detect = ENABLE;
can_fd_parameter.delay_compensation = ENABLE;
can_fd_tdc_parameter.tdc_filter = 0x04;
can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET;
can_fd_tdc_parameter.tdc_offset = 0x04;
can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter;
can_fd_parameter.iso_bosch = CAN_FDMOD_ISO;
can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE;
/* FD mode data baudrate 2Mbps, sample piont at 80% */
can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ;
can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_3TQ;
can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
/* CAN-FD data segement prescaler should be the same as non-data segement
* prescaler */
can_fd_parameter.data_prescaler = 12;
can_fd_init(CAN0, &can_fd_parameter);
/* initialize filter */
can1_filter_start_bank(14);
can_filter_mask_mode_init(DEV_CAN_LOOPBACK_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0, 0);
}
/*!
@@ -167,51 +207,51 @@ void can_loopback_init(void) {
\retval ErrStatus
*/
void can_loopback_test(void) {
can_trasnmit_message_struct transmit_message;
can_receive_message_struct receive_message;
uint32_t timeout = 0xFFFF;
uint8_t transmit_mailbox = 0;
can_trasnmit_message_struct transmit_message;
can_receive_message_struct receive_message;
uint32_t timeout = 0xFFFF;
uint8_t transmit_mailbox = 0;
can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &transmit_message);
/* initialize transmit message */
transmit_message.tx_sfid = DEV_CAN_LOOPBACK_ID;
transmit_message.tx_ft = CAN_FT_DATA;
transmit_message.tx_ff = CAN_FF_STANDARD;
transmit_message.tx_dlen = 2;
transmit_message.tx_data[0] = 0xAB;
transmit_message.tx_data[1] = 0xCD;
/* transmit message */
transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
/* waiting for transmit completed */
while ((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) &&
(0 != timeout)) {
timeout--;
}
timeout = 0xFFFF;
/* waiting for receive completed */
while ((can_receive_message_length_get(CAN0, CAN_FIFO0) < 1) &&
(0 != timeout)) {
timeout--;
}
can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);
can_message_receive(CAN0, CAN_FIFO0, &receive_message);
can_struct_para_init(CAN_FD_FRAME_STRUCT, &transmit_message);
transmit_message.tx_sfid = DEV_CAN_LOOPBACK_ID;
transmit_message.tx_efid = 0x00;
transmit_message.tx_ft = CAN_FT_DATA;
transmit_message.tx_ff = CAN_FF_EXTENDED;
transmit_message.tx_dlen = 12;
transmit_message.fd_flag = 1;
transmit_message.fd_brs = 1;
transmit_message.fd_esi = 0;
/* check the receive message */
if ((DEV_CAN_LOOPBACK_ID == receive_message.rx_sfid) &&
(CAN_FF_STANDARD == receive_message.rx_ff) &&
(2 == receive_message.rx_dlen) &&
(0xCDAB ==
(receive_message.rx_data[1] << 8 | receive_message.rx_data[0]))) {
/* loopback test is success */
printf("loopback success\r");
for (u8 i = 0U; i < receive_message.rx_dlen; i++) {
printf(" %02x", receive_message.rx_data[i]);
}
} else {
/* loopback test is failed */
printf("loopback failed\r");
int i = 0;
while (i++<transmit_message.tx_dlen) {
transmit_message.tx_data[i] = i;
}
/* transmit message */
transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
/* waiting for transmit completed */
while((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) && (0 != timeout)) {
timeout--;
}
timeout = 0xFFFF;
/* waiting for receive completed */
while((can_receive_message_length_get(CAN0, CAN_FIFO0) < 1) && (0 != timeout)) {
timeout--;
}
can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);
can_message_receive(CAN0, CAN_FIFO0, &receive_message);
/* check the receive message */
if((transmit_message.tx_sfid == receive_message.rx_sfid) && (transmit_message.tx_ff == receive_message.rx_ff)
&& (transmit_message.tx_dlen == receive_message.rx_dlen) ) {
/* loopback test is success */
std::printf("CAN LO0PBACK SUCCESS");
} else {
/* loopback test is failed */
std::printf("CAN LO0PBACK FAIL");
}
}
/*!
@@ -383,27 +423,6 @@ u8 CAN_transmiter::CANFD_Send(u32 id, u8 length, u8 *data) {
}
// 添加辅助函数用于将short类型数据打包到u8数组中
void pack_short_to_bytes(u8* buffer, u16 offset, short value) {
buffer[offset] = (u8)(value & 0xFF);
buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
}
// 添加辅助函数用于将u16类型数据打包到u8数组中
void pack_u16_to_bytes(u8* buffer, u16 offset, u16 value) {
buffer[offset] = (u8)(value & 0xFF);
buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
}
// 添加辅助函数用于将float类型数据打包到u8数组中
void pack_float_to_bytes(u8* buffer, u16 offset, float_union_t& float_union) {
buffer[offset] = float_union.b[0];
buffer[offset + 1] = float_union.b[1];
buffer[offset + 2] = float_union.b[2];
buffer[offset + 3] = float_union.b[3];
}
/**
* @brief CAN发送函数
* @retval 0: 发送失败
@@ -412,7 +431,31 @@ void pack_float_to_bytes(u8* buffer, u16 offset, float_union_t& float_union) {
u8 CAN_transmiter::CAN_all_Send(){
u32 success_flag = 0;
constexpr u32 RT_Vel_Ang_FEED = 0x101;
constexpr u32 SET_Vel_Ang_FEED = 0x110;
constexpr u32 Current_FEED = 0x117;
constexpr u32 Status_FEED = 0x118;
constexpr u32 Limit_Vel_Vol_FEED = 0x119;
//打包RT_Vel_Ang_FEED
pack_float_to_bytes(transmit_data, 0, rt_angle_union);
pack_float_to_bytes(transmit_data, 4, rt_velocity_union);
//打包SET_Vel_Ang_FEED
pack_float_to_bytes(transmit_data, 0, target_angle_union);
pack_float_to_bytes(transmit_data, 4, target_velocity_union);
//打包Current_FEED
pack_float_to_bytes(transmit_data, 0, u_current_union);
pack_float_to_bytes(transmit_data, 4, w_current_union);
pack_float_to_bytes(transmit_data, 8, v_current_union);
//打包Status_FEED
transmit_data[0] = Status_code;
transmit_data[1] = controller_Mode;
pack_short_to_bytes(transmit_data, 2, motor_temp);
pack_short_to_bytes(transmit_data, 4, mcu_temp);
pack_short_to_bytes(transmit_data, 6, Power_Voltage);
//打包Limit_Vel_Vol_FEED
pack_float_to_bytes(transmit_data, 0, limit_velocity_union);
pack_short_to_bytes(transmit_data, 4, limit_voltage);
return success_flag;
}
Robot_V2/device/Can.h
+26 -5
View File
@@ -11,17 +11,38 @@ extern "C" {
#include "stdint.h"
#include <stdio.h>
u8 can_gpio_init(void);
void can_config(void);
void canfd_config(void);
void can_loopback_init(void);
void can_loopback_test(void);
// 定义一个联合体类型用于float和byte数组之间的转换
typedef union {
float f;
u8 b[4];
} float_union_t;
// 添加辅助函数用于将short类型数据打包到u8数组中
static inline void pack_short_to_bytes(u8* buffer, u16 offset, short value) {
buffer[offset] = (u8)(value & 0xFF);
buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
}
// 添加辅助函数用于将u16类型数据打包到u8数组中
static inline void pack_u16_to_bytes(u8* buffer, u16 offset, u16 value) {
buffer[offset] = (u8)(value & 0xFF);
buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
}
// 添加辅助函数用于将float类型数据打包到u8数组中
static inline void pack_float_to_bytes(u8* buffer, u16 offset, float_union_t& float_union) {
buffer[offset] = float_union.b[0];
buffer[offset + 1] = float_union.b[1];
buffer[offset + 2] = float_union.b[2];
buffer[offset + 3] = float_union.b[3];
}
u8 can_gpio_init(void);
void can_config(void);
void canfd_config(void);
void can_loopback_init(void);
void can_loopback_test(void);
/*!
\brief CAN通信类
\note 封装CAN发送和接收功能
Robot_V2/device/Timer.cpp
+48 -39
View File
@@ -1,18 +1,22 @@
#include "Timer.h"
#include "adc.h"
#include "gd32c10x.h"
#include "gd32c10x_gpio.h"
#include "gd32c10x_timer.h"
#include "initial.h"
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
constexpr int TIMER1_PRESCALER = 11999;
constexpr int TIMER1_PERIOD = 9999;
constexpr int TIMER1_PRESCALER = 1199;
constexpr int TIMER1_PERIOD = 9;
constexpr int TIMER0_PRESCALER = 5999;
constexpr int TIMER0_PERIOD = 15999;
constexpr int TIMER0_CH0_PULSE = 4000;
constexpr int TIMER0_CH1_PULSE = 6000;
constexpr int TIMER0_CH2_PULSE = 8000;
extern u16 adc_value[7];
/**
* @brief 设置引脚中断优先级
@@ -22,7 +26,7 @@ constexpr int TIMER0_CH2_PULSE = 8000;
*/
void nvic_config(void) {
/* 设置NVIC优先级分组，1位抢占优先级，3位响应优先级 */
nvic_priority_group_set(NVIC_PRIGROUP_PRE1_SUB3);
nvic_priority_group_set(NVIC_PRIGROUP_PRE2_SUB2);
/* 使能TIMER1中断，设置抢占优先级为1，子优先级为1 */
nvic_irq_enable(TIMER1_IRQn, 1, 1);
}
@@ -40,7 +44,7 @@ void timer1_config(void) {
1s).
----------------------------------------------------------------------------
*/
timer_parameter_struct timer_initpara;
timer_parameter_struct timer_struct;
/* 使能TIMER1时钟 */
rcu_periph_clock_enable(RCU_TIMER1);
@@ -48,16 +52,16 @@ void timer1_config(void) {
/* 复位TIMER1外设到默认状态 */
timer_deinit(TIMER1);
/* 初始化TIMER初始化参数结构体 */
timer_struct_para_init(&timer_initpara);
timer_struct_para_init(&timer_struct);
/* TIMER1配置参数设置 */
timer_initpara.prescaler =
timer_struct.prescaler =
TIMER1_PRESCALER; /* 预分频值：12000分频(从0开始计数) */
timer_initpara.alignedmode = TIMER_COUNTER_EDGE; /* 边沿对齐模式 */
timer_initpara.counterdirection = TIMER_COUNTER_UP; /* 向上计数模式 */
timer_initpara.period =
timer_struct.alignedmode = TIMER_COUNTER_EDGE; /* 边沿对齐模式 */
timer_struct.counterdirection = TIMER_COUNTER_UP; /* 向上计数模式 */
timer_struct.period =
TIMER1_PERIOD; /* 自动重装载值：10000次计数(从0开始计数) */
timer_initpara.clockdivision = TIMER_CKDIV_DIV1; /* 时钟分频值：1分频 */
timer_init(TIMER1, &timer_initpara);
timer_struct.clockdivision = TIMER_CKDIV_DIV1; /* 时钟分频值：1分频 */
timer_init(TIMER1, &timer_struct);
/* 清除更新中断标志位 */
timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_UP);
@@ -73,10 +77,10 @@ void timer1_config(void) {
* @return void
*/
void User_timer_init(void) {
/* 配置TIMER1中断 */
nvic_config();
/* 配置TIMER1 */
timer1_config();
/* 配置TIMER1中断 */
nvic_config();
}
/**
@@ -84,35 +88,41 @@ void User_timer_init(void) {
* @return void
*/
void TIMER1_IRQHandler(void) {
u32 cnt = timer_counter_read(TIMER1);
// 检查更新中断标志并处理
if (timer_interrupt_flag_get(TIMER1, TIMER_INT_UP) != RESET) {
// 清除更新中断标志
timer_interrupt_flag_clear(TIMER1, TIMER_INT_UP);
// 使用静态变量来跟踪定时器事件
static u8 ms_counter = 0;
static u8 tens_counter = 0;
static u8 hundreds_counter = 0;
static u16 seconds_counter = 0;
// 根据计数器值执行不同的定时任务
// 每100us执行一次
// (此处可以添加需要每100us执行的代码)
// 增加计数器
ms_counter++;
if (ms_counter >= 10) {
ms_counter = 0;
tens_counter++;
// 每1ms执行的代码可以放在这里
if (tens_counter >= 10) {
tens_counter = 0;
hundreds_counter++;
// 每1ms执行一次 (100us * 10)
if (cnt % 10 == 0) {
// 添加需要每1ms执行的代码
}
// 每10ms执行的代码可以放在这里
// 每10ms执行一次 (100us * 100)
if (cnt % 100 == 0) {
// 添加需要每10ms执行的代码
}
if (hundreds_counter >= 10) {
hundreds_counter = 0;
seconds_counter++;
// 每100ms执行的代码可以放在这里
// 每100ms执行一次 (100us * 1000)
if (cnt % 1000 == 0) {
// 添加需要每100ms执行的代码
}
// 每1s执行一次 (100us * 10000)
if (cnt % 10000 == 0) {
// 添加需要每1s执行的代码
}
if (SET == timer_interrupt_flag_get(TIMER1, TIMER_INT_FLAG_UP)) {
/* 清除更新中断标志位 */
timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_UP);
if (seconds_counter >= 10) {
seconds_counter = 0;
// 每1s执行的代码可以放在这里
}
}
}
}
}
}
@@ -133,7 +143,6 @@ void timer0_gpio_config(void) {
gpio_pin_remap_config(GPIO_TIMER0_FULL_REMAP, ENABLE);
}
/**
* @brief TIMER0 配置函数
*/
Robot_V2/device/Timer.h
+1 -1
View File
@@ -10,7 +10,7 @@ extern "C" {
void User_timer_init(void);
void Timer0_init(void);
void Set_Pwm(u16 channel,u32 pulse);
void TIMER1_IRQHandler(void);
#ifdef __cplusplus
}
#endif
Robot_V2/device/adc.h
-1
View File
@@ -7,7 +7,6 @@ extern "C" {
#include "stdint.h"
const u16 adc_value[7] = {0}; // 显式初始化数组元素为0
float get_mcu_temp(void);
float get_drv_temp(void);
float get_vbus_voltage(void);
Robot_V2/main.cpp
+28 -67
View File
@@ -5,89 +5,50 @@
#include "adc.h"
#include "initial.h"
#include "systick.h"
#include "core_cm4.h"
#include "tle5012b.h"
#include <cstdio>
// 全局变量定义
CurrentKalman kalman(0.0f, 0.0026f, 4.8f, 0.0001f, 1e-6f, 0.02f);
CircularBuffer buffer;
int main(void) {
systick_config();
adc_config();
dma_config();
// 调试串口初始化
USART0_init();
CAN_transmiter CAN0_transmiter;
User_timer_init();
// CAN初始化
// CAN_transmiter CAN0_transmiter;
// 初始化CAN硬件
can_gpio_init();
can_config();
int main(void) {
systick_config(); // 系统时钟初始化
USART0_init(); // 调试串口初始化
User_timer_init(); // Timer初始化
adc_config(); // ADC初始化
dma_config(); // DMA采样ADC初始化
tle5012b_gpio_init(); // TLI5012B初始化
tle5012b_spi_init();
// cdd_TLI5012_Init();
// 初始化CAN回环测试
can_loopback_init();
can_loopback_test();
// TLI5012B初始化
tle5012b_gpio_init();
tle5012b_spi_init();
cdd_TLI5012_Init();
can_trasnmit_message_struct g_transmit_message;
can_receive_message_struct g_receive_message;
FlagStatus can0_receive_flag;
// CAN发送初始化
can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &g_transmit_message);
g_transmit_message.tx_sfid = 0x00;
g_transmit_message.tx_efid = 0x00;
g_transmit_message.tx_ft = CAN_FT_DATA;
g_transmit_message.tx_ff = CAN_FF_EXTENDED;
g_transmit_message.tx_dlen = 8;
g_transmit_message.fd_flag = 0;
g_transmit_message.fd_brs = 1;
g_transmit_message.fd_esi = 0;
// CAN接收初始化
can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &g_receive_message);
/* print out the clock frequency of system, AHB, APB1 and APB2 */
printf("\r\nCK_SYS is %d", rcu_clock_freq_get(CK_SYS));
printf("\r\nCK_AHB is %d", rcu_clock_freq_get(CK_AHB));
printf("\r\nCK_APB1 is %d", rcu_clock_freq_get(CK_APB1));
printf("\r\nCK_APB2 is %d", rcu_clock_freq_get(CK_APB2));
// can_loopback_init();
// can_loopback_test();
// TLI5012B测试
Test_TLI5012B();
// Test_TLI5012B();
extern u16 adc_value[7];
while (1) {
/* delay a time in milliseconds */
delay_1ms(10);
/* value print */
printf(" the temperature data is %2.2f degrees Celsius\r\n",
get_mcu_temp());
printf(" the drv_temperature data is %2.2f degrees Celsius\r\n",
get_drv_temp());
// g_transmit_message.tx_efid = 0x201;
// g_transmit_message.tx_data[0] = 0xaa;
// g_transmit_message.tx_data[1] = 0xbb;
// g_transmit_message.tx_data[2] = 0xcc;
// g_transmit_message.tx_data[3] = 0xdd;
// g_transmit_message.tx_data[4] = 0xee;
// g_transmit_message.tx_data[5] = 0xff;
// g_transmit_message.tx_data[6] = 0x00;
// g_transmit_message.tx_data[7] = 0x11;
// g_transmit_message.tx_data[8] = 0x22;
// g_transmit_message.tx_data[9] = 0x33;
// g_transmit_message.tx_data[10] = 0x44;
// g_transmit_message.tx_data[11] = 0x55;
printf("\r\n can0 transmit data: ");
for (u8 i = 0U; i < g_transmit_message.tx_dlen; i++) {
printf(" %02x", g_transmit_message.tx_data[i]);
}
/* transmit message */
can_message_transmit(CAN0, &g_transmit_message);
printf(" the U current data is %2.2f mA\r\n",get_current('U'));
printf(" the V current data is %2.2f mA\r\n",get_current('V'));
printf(" the W current data is %2.2f mA\r\n",get_current('W'));
printf(" the VBUS is %2.2f V\r\n",get_vbus_voltage());
printf("\n----------------------------------------------------\n");
delay_1ms(200);
// Set_Pwm(0, 1500);
Set_Pwm(0, 1500);
}
}
}
Robot_V2/sys/initial.cpp
+2 -1
View File
@@ -1,6 +1,8 @@
#include "initial.h"
#include "systick.h"
#include <stdint.h>
extern u16 adc_value[7];
/*!
\brief configure the DMA peripheral
@@ -78,7 +80,6 @@ void adc_config(void) {
/* 使能ADC接口 */
adc_enable(ADC0);
delay_1ms(1);
/* ADC校准 */
adc_calibration_enable(ADC0);
Robot_V2/sys/initial.h
+1
View File
@@ -13,6 +13,7 @@ void rcu_config(void);
void adc_config(void);
void dma_config(void);
static volatile uint32_t timer_delay_count = 0; // volatile 很重要！
int fputc(int ch, FILE *f); // 声明fputc函数以重载标准库实现
u8 tle5210b_init(void);
Robot_V2/sys/systick.c → Robot_V2/sys/systick.cpp
+3 -1
View File
@@ -34,6 +34,8 @@ OF SUCH DAMAGE.
#include "gd32c10x.h"
#include "systick.h"
#include "initial.h"
#include <cstdio>
volatile static uint32_t delay;
@@ -80,4 +82,4 @@ void delay_decrement(void)
if (0U != delay){
delay--;
}
}
}
Robot_V2/sys/systick.h
+2
View File
@@ -47,6 +47,8 @@ void delay_1ms(uint32_t count);
/* delay decrement */
void delay_decrement(void);
void timer_delay_ms(uint32_t ms);
#ifdef __cplusplus
}
#endif