From d755715363ead8c48d859fd10c5838ad625f8306 Mon Sep 17 00:00:00 2001 From: cbb2625 <2625274797@qq.com> Date: Thu, 2 Oct 2025 23:50:12 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8DSPI=E9=80=9A=E9=81=93?= =?UTF-8?q?=E9=94=99=E8=AF=AF=E7=9A=84=E9=97=AE=E9=A2=98=EF=BC=8C=E5=A2=9E?= =?UTF-8?q?=E5=8A=A0=E7=9C=8B=E9=97=A8=E7=8B=97=E5=8A=9F=E8=83=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .vscode/c_cpp_properties.json | 18 ++ .../RTE/_Debug_GD32C103CB/RTE_Components.h | 4 + Robot_V2/Robot_V2.cproject.yml | 4 +- Robot_V2/device/Can.cpp | 4 +- Robot_V2/device/{tle5012b.c => tle5012b.cpp} | 177 +++++++++--------- Robot_V2/device/tle5012b.h | 3 +- Robot_V2/main.cpp | 38 ++-- Robot_V2/sys/initial.cpp | 16 +- Robot_V2/sys/initial.h | 1 + 9 files changed, 152 insertions(+), 113 deletions(-) create mode 100644 .vscode/c_cpp_properties.json rename Robot_V2/device/{tle5012b.c => tle5012b.cpp} (54%) diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..93ef6f1 --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,18 @@ +{ + "configurations": [ + { + "name": "windows-gcc-x86", + "includePath": [ + "${workspaceFolder}/**" + ], + "compilerPath": "C:/mingw/bin/gcc.exe", + "cStandard": "${default}", + "cppStandard": "${default}", + "intelliSenseMode": "windows-gcc-x86", + "compilerArgs": [ + "" + ] + } + ], + "version": 4 +} \ No newline at end of file diff --git a/Robot_V2/RTE/_Debug_GD32C103CB/RTE_Components.h b/Robot_V2/RTE/_Debug_GD32C103CB/RTE_Components.h index 6ef9920..5734403 100644 --- a/Robot_V2/RTE/_Debug_GD32C103CB/RTE_Components.h +++ b/Robot_V2/RTE/_Debug_GD32C103CB/RTE_Components.h @@ -27,6 +27,8 @@ #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:MISC@1.0.0 */ @@ -41,6 +43,8 @@ #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 */ diff --git a/Robot_V2/Robot_V2.cproject.yml b/Robot_V2/Robot_V2.cproject.yml index 3d7a525..9afbc85 100644 --- a/Robot_V2/Robot_V2.cproject.yml +++ b/Robot_V2/Robot_V2.cproject.yml @@ -15,7 +15,7 @@ project: files: - file: device/Can.cpp - file: device/Can.h - - file: device/tle5012b.c + - file: device/tle5012b.cpp - file: device/tle5012b.h - file: device/ADC.cpp - file: device/adc.h @@ -43,6 +43,8 @@ project: - component: Device:GD32C10x_libopt - component: Device:GD32C10x_StdPeripherals:DBG - component: Device:EVAL:GD32C10x + - component: Device:GD32C10x_StdPeripherals:FWDGT + - component: Device:GD32C10x_StdPeripherals:WWDGT output: type: - elf diff --git a/Robot_V2/device/Can.cpp b/Robot_V2/device/Can.cpp index 0fafe36..80f9690 100644 --- a/Robot_V2/device/Can.cpp +++ b/Robot_V2/device/Can.cpp @@ -247,10 +247,10 @@ void can_loopback_test(void) { 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"); + std::printf("CAN LO0PBACK SUCCESS\r\n"); } else { /* loopback test is failed */ - std::printf("CAN LO0PBACK FAIL"); + std::printf("CAN LO0PBACK FAIL\r\n"); } } diff --git a/Robot_V2/device/tle5012b.c b/Robot_V2/device/tle5012b.cpp similarity index 54% rename from Robot_V2/device/tle5012b.c rename to Robot_V2/device/tle5012b.cpp index f285ad8..d39d58b 100644 --- a/Robot_V2/device/tle5012b.c +++ b/Robot_V2/device/tle5012b.cpp @@ -4,11 +4,11 @@ #define SPI_TX_OFF() \ do { \ gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_5); \ - } while(0); + } while(0) #define SPI_TX_ON() \ do { \ gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_5); \ - } while(0); + } while(0) #define SPI_CS_ENABLE() gpio_bit_reset(GPIOA, GPIO_PIN_15) #define SPI_CS_DISABLE() gpio_bit_set(GPIOA, GPIO_PIN_15) @@ -20,42 +20,39 @@ */ /* SPI operation types */ -#define WRITE 0 /**< SPI Write Operation */ -#define READ 1 /**< SPI Read Operation */ +static constexpr uint16_t WRITE = 0; /**< SPI Write Operation */ +static constexpr uint16_t READ = 1; /**< SPI Read Operation */ /* SPI communication constants */ -#define DUMMY_BYTE 0xFFFF /**< Dummy byte for SPI read operations */ +static constexpr uint16_t DUMMY_BYTE = 0xFFFF; /**< Dummy byte for SPI read operations */ -#define WR_REG 0x0000 /**< Write command - MSB is 0 */ -#define RD_REG 0x8000 /**< Read command - MSB is 1 */ +static constexpr uint16_t WR_REG = 0x0000; /**< Write command - MSB is 0 */ +static constexpr uint16_t RD_REG = 0x8000; /**< Read command - MSB is 1 */ -#define LockValue_LADDR 0x0000 /**< Lock value for addresses 0x00-0x04 */ -#define LockValue_HADDR 0x5000 /**< Lock value for addresses 0x05-0x11 */ +static constexpr uint16_t LockValue_LADDR = 0x0000; /**< Lock value for addresses 0x00-0x04 */ +static constexpr uint16_t LockValue_HADDR = 0x5000; /**< Lock value for addresses 0x05-0x11 */ /* Update buffer access command */ -#define UPD_CMD 0x0400 /**< Update command - bit 10 is 1, access update buffer */ +static constexpr uint16_t UPD_CMD = 0x0400; /**< Update command - bit 10 is 1, access update buffer */ /* Read command values */ -#define READ_STAT_VALUE 0x8001 /**< Read status register */ -#define READ_ACSTAT_VALUE 0x8011 /**< Read activation status register */ -#define READ_ANGLE_VALUE 0x8021 /**< Read angle value register */ -#define READ_SPEED_VALUE 0x8031 /**< Read speed value register */ +static constexpr uint16_t READ_STAT_VALUE = 0x8001; /**< Read status register */ +static constexpr uint16_t READ_ACSTAT_VALUE = 0x8011; /**< Read activation status register */ +static constexpr uint16_t READ_ANGLE_VALUE = 0x8021; /**< Read angle value register */ +static constexpr uint16_t READ_SPEED_VALUE = 0x8031; /**< Read speed value register */ /* Write command values and their corresponding data */ -#define WRITE_MOD1_VALUE 0x5061 /**< Write to MOD1 register (0_1010_0_000110_0001) */ -#define MOD1_VALUE 0x0001 /**< MOD1 register configuration value */ +static constexpr uint16_t WRITE_MOD1_VALUE = 0x5061; /**< Write to MOD1 register (0_1010_0_000110_0001) */ +static constexpr uint16_t MOD1_VALUE = 0x0001; /**< MOD1 register configuration value */ -#define WRITE_MOD2_VALUE 0x5081 /**< Write to MOD2 register (0_1010_0_001000_0001) */ -#define MOD2_VALUE 0x0809 /**< MOD2 register configuration value */ +static constexpr uint16_t WRITE_MOD2_VALUE = 0x5081; /**< Write to MOD2 register (0_1010_0_001000_0001) */ +static constexpr uint16_t MOD2_VALUE = 0x0809; /**< MOD2 register configuration value */ -#define WRITE_MOD3_VALUE 0x5091 /**< Write to MOD3 register (0_1010_0_001001_0001) */ -#define MOD3_VALUE 0x0000 /**< MOD3 register configuration value */ - -#define WRITE_MOD4_VALUE 0x50E1 /**< Write to MOD4 register (0_1010_0_001110_0001) */ -#define MOD4_VALUE \ - 0x0080 /**< MOD4 register value: 12-bit 4096, absolute count disable 0x0080; \ - enable 0x0000 */ +static constexpr uint16_t WRITE_MOD3_VALUE = 0x5091; /**< Write to MOD3 register (0_1010_0_001001_0001) */ +static constexpr uint16_t MOD3_VALUE = 0x0000; /**< MOD3 register configuration value */ +static constexpr uint16_t WRITE_MOD4_VALUE = 0x50E1; /**< Write to MOD4 register (0_1010_0_001110_0001) */ +static constexpr uint16_t MOD4_VALUE = 0x0080; /**< MOD4 register value: 12-bit 4096, absolute count disable 0x0080; enable 0x0000 */ /** * @brief Send or read half word through SPI @@ -113,10 +110,10 @@ uint16_t cdd_TLI5012_WriteReg(uint16_t i_Cmd, uint16_t i_Data) { uint16_t result = 0xFFFF; /* Default error code */ SPI_CS_ENABLE(); - result = spi_rw_half_word(SPI0, i_Cmd); - result = spi_rw_half_word(SPI0, i_Data); + result = spi_rw_half_word(SPI2, i_Cmd); + result = spi_rw_half_word(SPI2, i_Data); SPI_TX_OFF(); /* Configure MOSI as input to avoid conflicts */ - result = spi_rw_half_word(SPI0, DUMMY_BYTE); + result = spi_rw_half_word(SPI2, DUMMY_BYTE); SPI_CS_DISABLE(); SPI_TX_ON(); /* Restore MOSI as output */ return result; @@ -133,10 +130,10 @@ uint16_t cdd_TLI5012_ReadReg(uint16_t i_Cmd, uint16_t * const i_Data) { uint16_t result = 0xFFFF; /* Default error code */ SPI_CS_ENABLE(); - *i_Data = spi_rw_half_word(SPI0, i_Cmd); + *i_Data = spi_rw_half_word(SPI2, i_Cmd); SPI_TX_OFF(); /* Configure MOSI as input to avoid conflicts */ - *i_Data = spi_rw_half_word(SPI0, DUMMY_BYTE); - result = spi_rw_half_word(SPI0, DUMMY_BYTE); + *i_Data = spi_rw_half_word(SPI2, DUMMY_BYTE); + result = spi_rw_half_word(SPI2, DUMMY_BYTE); SPI_CS_DISABLE(); SPI_TX_ON(); /* Restore MOSI as output */ return result; @@ -169,7 +166,7 @@ void tle5012b_spi_init(void) spi_parameter_struct spi_init_str; spi_struct_para_init(&spi_init_str); - /* SPI0 parameter config */ + /* SPI2 parameter config */ spi_init_str.device_mode = SPI_MASTER; spi_init_str.trans_mode = SPI_TRANSMODE_FULLDUPLEX; spi_init_str.frame_size = SPI_FRAMESIZE_16BIT; @@ -226,82 +223,82 @@ void cdd_TLI5012_Init(void) u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); printf("\r\n [TLI5012Init] read MOD1: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); - /* Write MOD1 register with configuration value */ - u16Command = WRITE_MOD1_VALUE; - u16Data = MOD1_VALUE; - u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); - printf("\r\n [TLI5012Init] [MOD1] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); + // /* Write MOD1 register with configuration value */ + // u16Command = WRITE_MOD1_VALUE; + // u16Data = MOD1_VALUE; + // u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); + // printf("\r\n [TLI5012Init] [MOD1] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); - /* Verify MOD1 register write operation */ - u16Command = RD_REG | WRITE_MOD1_VALUE; - u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); - printf("\r\n [TLI5012Init] read MOD1: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); + // /* Verify MOD1 register write operation */ + // u16Command = RD_REG | WRITE_MOD1_VALUE; + // u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); + // printf("\r\n [TLI5012Init] read MOD1: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); - /* ---------- Step 4: Configure MOD2 register ---------- */ - /* Read current MOD2 register value */ - u16Command = RD_REG | WRITE_MOD2_VALUE; - u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); - printf("\r\n [TLI5012Init] read MOD2: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); + // /* ---------- Step 4: Configure MOD2 register ---------- */ + // /* Read current MOD2 register value */ + // u16Command = RD_REG | WRITE_MOD2_VALUE; + // u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); + // printf("\r\n [TLI5012Init] read MOD2: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); - /* Write MOD2 register with configuration value */ - u16Command = WRITE_MOD2_VALUE; - u16Data = MOD2_VALUE; - u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); - printf("\r\n [TLI5012Init] [MOD2] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); + // /* Write MOD2 register with configuration value */ + // u16Command = WRITE_MOD2_VALUE; + // u16Data = MOD2_VALUE; + // u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); + // printf("\r\n [TLI5012Init] [MOD2] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); - /* Verify MOD2 register write operation */ - u16Command = RD_REG | WRITE_MOD2_VALUE; - u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); - printf("\r\n [TLI5012Init] read MOD2: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); + // /* Verify MOD2 register write operation */ + // u16Command = RD_REG | WRITE_MOD2_VALUE; + // u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); + // printf("\r\n [TLI5012Init] read MOD2: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); - /* ---------- Step 5: Configure MOD3 register ---------- */ - /* Read current MOD3 register value */ - u16Command = RD_REG | WRITE_MOD3_VALUE; - u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); - printf("\r\n [TLI5012Init] read MOD3: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); + // /* ---------- Step 5: Configure MOD3 register ---------- */ + // /* Read current MOD3 register value */ + // u16Command = RD_REG | WRITE_MOD3_VALUE; + // u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); + // printf("\r\n [TLI5012Init] read MOD3: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); - /* Write MOD3 register with configuration value */ - u16Command = WRITE_MOD3_VALUE; - u16Data = MOD3_VALUE; - u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); - printf("\r\n [TLI5012Init] [MOD3] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); + // /* Write MOD3 register with configuration value */ + // u16Command = WRITE_MOD3_VALUE; + // u16Data = MOD3_VALUE; + // u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); + // printf("\r\n [TLI5012Init] [MOD3] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); - /* Verify MOD3 register write operation */ - u16Command = RD_REG | WRITE_MOD3_VALUE; - u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); - printf("\r\n [TLI5012Init] read MOD3: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); + // /* Verify MOD3 register write operation */ + // u16Command = RD_REG | WRITE_MOD3_VALUE; + // u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); + // printf("\r\n [TLI5012Init] read MOD3: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); - /* Optional: Configure MOD3 register with SSC_OD = 1 (commented out) */ + // /* Optional: Configure MOD3 register with SSC_OD = 1 (commented out) */ - u16Command = 0x5091; - u16Data |= 0x0004; // Set SSC_OD bit - u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); - printf("\r\n [TLI5012Init] [MOD3] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); + // u16Command = 0x5091; + // u16Data |= 0x0004; // Set SSC_OD bit + // u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); + // printf("\r\n [TLI5012Init] [MOD3] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); - /* ---------- Step 6: Configure MOD4 register ---------- */ - /* Read current MOD4 register value */ - u16Command = RD_REG | WRITE_MOD4_VALUE; - u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); - printf("\r\n [TLI5012Init] read MOD4: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); + // /* ---------- Step 6: Configure MOD4 register ---------- */ + // /* Read current MOD4 register value */ + // u16Command = RD_REG | WRITE_MOD4_VALUE; + // u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); + // printf("\r\n [TLI5012Init] read MOD4: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); - /* Write MOD4 register with configuration value */ - u16Command = WRITE_MOD4_VALUE; - u16Data = MOD4_VALUE; - u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); - printf("\r\n [TLI5012Init] [MOD4] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); + // /* Write MOD4 register with configuration value */ + // u16Command = WRITE_MOD4_VALUE; + // u16Data = MOD4_VALUE; + // u16Safe = cdd_TLI5012_WriteReg(u16Command, u16Data); + // printf("\r\n [TLI5012Init] [MOD4] write u16Data: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); - /* Verify MOD4 register write operation */ - u16Command = RD_REG | WRITE_MOD4_VALUE; - u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); - printf("\r\n [TLI5012Init] read MOD4: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); + // /* Verify MOD4 register write operation */ + // u16Command = RD_REG | WRITE_MOD4_VALUE; + // u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); + // printf("\r\n [TLI5012Init] read MOD4: 0x%04X, SafeWord: 0x%04X \r\n", u16Data, u16Safe); } void Test_TLI5012B(void) { - uint16_t u16Command = 0x8021; + uint16_t u16Command = READ_ANGLE_VALUE; uint16_t u16Data = 0x0000; uint16_t u16Safe = 0x0000; float angle = 0; @@ -309,7 +306,7 @@ void Test_TLI5012B(void) u16Safe = cdd_TLI5012_ReadReg(u16Command, &u16Data); u16Data = u16Data & 0x7FFF; printf ( "\r\n AVAL = 0x%04X, SafeWord = 0x%04X \r\n", u16Data, u16Safe); - // angle = 360*( ((int16_t)(u16Data << 1)) >> 1)/32768; + // angle = 360*( ((int16_t)(u16Data << 1)) >> 1)/32768; angle = ( 360*( ( (int16_t)(u16Data << 1) ) >> 1 ) ) >> 15; printf ( "\r\n angle = %f, AVAL = %d \r\n", angle, (((int16_t)(u16Data << 1)) >> 1)); } diff --git a/Robot_V2/device/tle5012b.h b/Robot_V2/device/tle5012b.h index 6c21a18..c921ba4 100644 --- a/Robot_V2/device/tle5012b.h +++ b/Robot_V2/device/tle5012b.h @@ -4,8 +4,7 @@ extern "C" { #endif #include "gd32c10x_eval.h" -#include - +#include "stdio.h" void tle5012b_gpio_init(void); void tle5012b_spi_init(void); diff --git a/Robot_V2/main.cpp b/Robot_V2/main.cpp index 59e2e89..ce5471a 100644 --- a/Robot_V2/main.cpp +++ b/Robot_V2/main.cpp @@ -4,9 +4,11 @@ #include "Timer.h" #include "adc.h" #include "initial.h" +#include "sys/initial.h" #include "systick.h" #include "core_cm4.h" #include "tle5012b.h" +#include #include @@ -26,29 +28,31 @@ int main(void) { tle5012b_spi_init(); // cdd_TLI5012_Init(); + + + watchdog_init(1000); // 初始化CAN回环测试 // can_loopback_init(); - // can_loopback_test(); - - // TLI5012B测试 - // Test_TLI5012B(); - - extern u16 adc_value[7]; while (1) { - /* 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()); - 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"); + /* clear the FWDGT reset flag */ + fwdgt_counter_reload(); + + // can_loopback_test(); + // /* 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()); + // 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); + // TLI5012B测试 + // Test_TLI5012B(); - Set_Pwm(0, 1500); } } \ No newline at end of file diff --git a/Robot_V2/sys/initial.cpp b/Robot_V2/sys/initial.cpp index 59c1213..9476285 100644 --- a/Robot_V2/sys/initial.cpp +++ b/Robot_V2/sys/initial.cpp @@ -95,7 +95,6 @@ void GPIO_config(void) { rcu_periph_clock_enable(RCU_GPIOB); // 配置PB2为输入引脚，用于读取电机状态 gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_2); - } /* retarget the C library printf function to the USART */ @@ -104,6 +103,21 @@ u8 USART0_init() { return 1; } +/*! + \brief configure the watchdog peripheral + \param[in] none + \param[out] none + \retval none +*/ +u8 watchdog_init(u32 time) { + u8 status = 0; + /* configure FWDGT counter clock: 40KHz(IRC40K) / 64 = 0.625 KHz */ + /* time = reload_value / clock_frequency */ + status = fwdgt_config(time * 0.625, FWDGT_PSC_DIV64); + fwdgt_enable(); + return status; +} + int fputc(int ch, FILE *f) throw() { usart_data_transmit(EVAL_COM0, (uint8_t)ch); while (RESET == usart_flag_get(EVAL_COM0, USART_FLAG_TBE)) diff --git a/Robot_V2/sys/initial.h b/Robot_V2/sys/initial.h index 45ffe2a..32c22ec 100644 --- a/Robot_V2/sys/initial.h +++ b/Robot_V2/sys/initial.h @@ -18,6 +18,7 @@ int fputc(int ch, FILE *f); // 声明fputc函数以重载标准库实现 u8 tle5210b_init(void); u8 USART0_init(void); +u8 watchdog_init(u32 time); #ifdef __cplusplus }