58 lines
1.7 KiB
C++
58 lines
1.7 KiB
C++
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#include "health.h"
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#include "Can.h"
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#include "DengFOC.h"
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#include "adc.h"
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extern sampler sampler;
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extern CAN_transmiter CAN0_transmiter;
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extern FOC_Controlroller FOC;
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ThermalController thermalController; // 热量控制器初始化
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#define SQUARE(x) ((x) * (x))
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#define max(a, b, c) \
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((a) > (b) ? ((a) > (c) ? (a) : (c)) : ((b) > (c) ? (b) : (c)))
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constexpr u16 PROTECT_TIME = 3000; // 过热保护时间，单位*10ms
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/**
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** @brief 热能计算
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** @param None
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** @retval 热量值
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*/
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u32 ThermalController::update() {
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thermal_value = thermal_value * thermalRate;
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thermal_value +=
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SQUARE(sampler.get_drv_temp()) + SQUARE(sampler.get_mcu_temp());
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if (remainingTime10Ms) { // 当前已经过热停机，正在停机自然散热
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if (thermal_value < thermal_capacity * recoveryRate) {
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remainingTime10Ms = 1; // 可以恢复工作
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}
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if (remainingTime10Ms == 1) { // 过热恢复
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FOC.resume();
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CAN0_transmiter.ThermalStatus = 0;
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return --remainingTime10Ms;
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}
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return --remainingTime10Ms;
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} else { // 当前没有过热停机
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current_max =
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1000 * max(sampler.get_current('U'), sampler.get_current('V'),
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sampler.get_current('W')); // 获取电流最大值
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thermal_value +=
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SQUARE(current_max) * gapTimeMs / 100000; // 计算当前电流热积累值
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}
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if (thermal_value > thermal_capacity) {
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FOC.shut_down();
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remainingTime10Ms = PROTECT_TIME; // 过热停机
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CAN0_transmiter.ThermalStatus = 1;
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return remainingTime10Ms;
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}
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return thermal_value;
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}
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/**
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** @brief 温度检测
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** @param None
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*/
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void angsens_MG_check(void) {
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bool MGH = gpio_input_bit_get(GPIOB, GPIO_PIN_10);
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bool MGL = gpio_input_bit_get(GPIOB, GPIO_PIN_11);
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CAN0_transmiter.MagStatus = MGH or MGL;
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}
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