#ifndef __SYSTICK_H #define __SYSTICK_H #include <stdbool.h> #include "yc_drv_common.h" //#include "core_cm0.h" typedef int32_t vs32; typedef int16_t vs16; typedef int8_t vs8; #define TICK_PER_SECOND 1000 #define TICK_US (1000) #define IMU_LOOP_TIME 2000 //��λΪuS #define PID_INNER_LOOP_TIME 2000 //��λΪus #define PID_OUTER_LOOP_TIME 5000 //��λΪus #define GYRO_CF_TAU 8.5f #define ACC_LPF_CUT 30.0f //���ٶȵ�ͨ�˲�����ֹƵ�� #define GYRO_LPF_CUT 25.0f //�����ǵ�ͨ�˲�����ֹƵ�� //#define GYRO_CF_TAU 1.2f /*---------------------------------------------*/ /*-------------------�������ݷ��ͷ�ʽѡ��-----------------*/ //#define ANO_DT_USE_Bluetooth //#define ANO_DT_USE_NRF24l01 /*--------------------------------------------------------*/ extern uint32_t tick_count; /** * @brief Initialize systick and start systick * @retval none */ void systick_init(void); void delay_us(uint32_t us); void delay_10ms(uint32_t ms); uint32_t systick_get_us(void); uint32_t systick_get_ms(void); #endif