Motor_v2/Robot_V2/Algorithm/FOC.cpp

#include "FOC.h"
#include "Can.h"
#include "Filter.h"
#include "Timer.h"
#include "adc.h"
#include "ang_sensor.h"
#include "config.h"
#include "motor.h"
#include "pid.h"
#include "systick.h"
#include <arm_math.h>
#include <cmath>
#include <cstdio>
#include <cstring>
#include <gd32c10x.h>

FOC_Controller FOC; // FOC控制初始化
extern sampler sampler;
extern angle_sensor KTH7823;
extern CAN_transmiter CAN0_transmiter;
extern EncoderVelocityKalman Vel_kalman; // 速度滤波
extern CurrentKalman Current_kalman;
extern u16 adc_value[3]; // regular DMA缓冲区：MCU温度 / DRV温度 / VBUS

// 齿槽转矩补偿：查表 + 线性插值
// angle_el: 电角度（度）
// 返回: 补偿电压值 (V)，叠加到 Uq 上
inline float FOC_Controller::get_cogging_compensation(float angle_el) {
	if (!cogging_comp_enabled) return 0.0f;

	// 归一化到 [0, 360)
	float angle = fmodf(angle_el, 360.0f);
	if (angle < 0.0f) angle += 360.0f;

	// 线性插值查表
	float index_f = angle / 360.0f * (float)COGGING_TABLE_SIZE;
	u16 idx0 = (u16)index_f;
	u16 idx1 = (idx0 + 1) % COGGING_TABLE_SIZE;
	float frac = index_f - (float)idx0;

	// 根据转向选择补偿表（带滞回，避免零速附近跳变）
	static float *last_table = cogging_table;
	if (rt_velocity < -0.5f) last_table = cogging_table_rev;
	else if (rt_velocity > 0.5f) last_table = cogging_table;
	float *table = last_table;
	float comp = table[idx0] * (1.0f - frac) + table[idx1] * frac;

	return -comp * cogging_comp_scale; // mA→V: 补偿电流(mA) × 换算系数(V/mA)
}

// === 齿槽转矩校准（DEBUG，平时不启用）===
// 启用方法：config.h 中 FOC_DEBUG 改为 1，通过 CAN 命令触发（RESET_ID bit4）
// 校准完成后把 C Array 硬编码到 init() 中，再改回 FOC_DEBUG 0
#if FOC_DEBUG
// 齿槽转矩校准静态数据
float FOC_Controller::cog_calib_run_data[6][COGGING_TABLE_SIZE] = {};
float FOC_Controller::cog_calib_accum[COGGING_TABLE_SIZE] = {};
u32 FOC_Controller::cog_calib_count[COGGING_TABLE_SIZE] = {};

/**
 * @brief 齿槽转矩校准 - 非阻塞状态机
 * 正转3次 + 反转3次，分开存储补偿表。
 * 只打印最终平均数据和 C Array。
 */
void FOC_Controller::calibrate_cogging_tick(void) {
	constexpr u32 SETTLE_TICKS = 16000;       // 800ms / 50us
	constexpr u32 STOP_TICKS = 10000;         // 500ms / 50us
	constexpr u32 TARGET_SAMPLES = 3 * COGGING_TABLE_SIZE * 8;
	constexpr float SLOW_VEL = 1.0f;         // 开环速度 rad/s
	constexpr u32 SAMPLE_DIV = 20;            // 1ms / 50us
	constexpr u8 TOTAL_RUNS = 6;              // 3正+3反

	switch (cog_calib_state) {
	case CogCalibState::IDLE:
		if (!cogging_calib_request) return;
		cogging_calib_request = false;

		cog_calib_run = 0;
		cog_calib_saved_mode = control_mode;
		cog_calib_saved_vel = target_velocity;
		cogging_comp_enabled = false;
		memset(cog_calib_run_data, 0, sizeof(cog_calib_run_data));

		printf("\r\n[COG] === Cogging Calibration: 3 fwd + 3 rev ===\r\n");

		control_mode = 6;
		target_velocity = SLOW_VEL;
		cog_calib_settle_tick = 0;
		cog_calib_state = CogCalibState::SETTLING;
		return;

	case CogCalibState::SETTLING:
		cog_calib_settle_tick++;
		if (cog_calib_settle_tick >= SETTLE_TICKS) {
			cog_calib_state = CogCalibState::SAMPLING;
			cog_calib_sample_count = 0;
			memset(cog_calib_accum, 0, sizeof(cog_calib_accum));
			memset(cog_calib_count, 0, sizeof(cog_calib_count));
		}
		return;

	case CogCalibState::SAMPLING:
		// 采样分频
		static u32 sample_div = 0;
		sample_div++;
		if (sample_div < SAMPLE_DIV) return;
		sample_div = 0;

		{
			float real_angle = KTH7823.getcurrent_sensorangle();
			float angle_el = fmodf(real_angle * PP + KTH7823.calibration_angle, 360.0f);
			if (angle_el < 0.0f) angle_el += 360.0f;

			float iq = rt_current;

			if (fabsf(iq) < 5000.0f) {
				u16 idx = (u16)(angle_el / 360.0f * (float)COGGING_TABLE_SIZE);
				if (idx >= COGGING_TABLE_SIZE) idx = COGGING_TABLE_SIZE - 1;
				cog_calib_accum[idx] += iq;
				cog_calib_count[idx]++;
			}
			cog_calib_sample_count++;
		}
		if (cog_calib_sample_count >= TARGET_SAMPLES) {
			target_velocity = 0;
			cog_calib_state = CogCalibState::STOPPING;
			cog_calib_stop_tick = 0;
		}
		return;

	case CogCalibState::STOPPING:
		cog_calib_stop_tick++;
		if (cog_calib_stop_tick >= STOP_TICKS) {
			// 处理本轮数据：去直流
			float dc = 0;
			for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
				cog_calib_run_data[cog_calib_run][i] =
					(cog_calib_count[i] > 0) ? cog_calib_accum[i] / (float)cog_calib_count[i] : 0.0f;
				dc += cog_calib_run_data[cog_calib_run][i];
			}
			dc /= (float)COGGING_TABLE_SIZE;
			for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
				cog_calib_run_data[cog_calib_run][i] -= dc;
			}

			printf("[COG] Run %d/%d done. DC=%.2f mA\r\n",
				   cog_calib_run + 1, TOTAL_RUNS, dc);

			cog_calib_run++;
			if (cog_calib_run < TOTAL_RUNS) {
				// run 0~2 正转，run 3~5 反转
				control_mode = 6;
				target_velocity = (cog_calib_run < 3) ? SLOW_VEL : -SLOW_VEL;
				cog_calib_state = CogCalibState::SETTLING;
				cog_calib_settle_tick = 0;
			} else {
				cog_calib_state = CogCalibState::DONE;
			}
		}
		return;

	case CogCalibState::DONE:
		// 正转平均 (run 0~2)
		for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
			cogging_table[i] = (cog_calib_run_data[0][i] +
								 cog_calib_run_data[1][i] +
								 cog_calib_run_data[2][i]) / 3.0f;
		}
		// 反转平均 (run 3~5)
		for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
			cogging_table_rev[i] = (cog_calib_run_data[3][i] +
									 cog_calib_run_data[4][i] +
									 cog_calib_run_data[5][i]) / 3.0f;
		}
		cogging_comp_enabled = true;
		control_mode = cog_calib_saved_mode;
		target_velocity = cog_calib_saved_vel;

		// 打印正转平均
		printf("\r\n[COG] === FWD Average ===\r\n");
		for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
			float angle_deg = (float)i / (float)COGGING_TABLE_SIZE * 360.0f;
			printf("[COG] %.2f, %.2f\r\n", angle_deg, cogging_table[i]);
			fwdgt_counter_reload();
		}

		// 打印反转平均
		printf("\r\n[COG] === REV Average ===\r\n");
		for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
			float angle_deg = (float)i / (float)COGGING_TABLE_SIZE * 360.0f;
			printf("[COG] %.2f, %.2f\r\n", angle_deg, cogging_table_rev[i]);
			fwdgt_counter_reload();
		}

		// 打印正转 C Array
		printf("\r\n[COG] --- FWD C Array ---\r\n");
		printf("static const float COGGING_TABLE_FWD[COGGING_TABLE_SIZE] = {\r\n");
		for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
			if (i % 8 == 0) printf("    ");
			printf("%.2ff", cogging_table[i]);
			if (i < COGGING_TABLE_SIZE - 1) printf(", ");
			if (i % 8 == 7 || i == COGGING_TABLE_SIZE - 1) printf("\r\n");
			fwdgt_counter_reload();
		}
		printf("};\r\n");

		// 打印反转 C Array
		printf("\r\n[COG] --- REV C Array ---\r\n");
		printf("static const float COGGING_TABLE_REV[COGGING_TABLE_SIZE] = {\r\n");
		for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
			if (i % 8 == 0) printf("    ");
			printf("%.2ff", cogging_table_rev[i]);
			if (i < COGGING_TABLE_SIZE - 1) printf(", ");
			if (i % 8 == 7 || i == COGGING_TABLE_SIZE - 1) printf("\r\n");
			fwdgt_counter_reload();
		}
		printf("};\r\n");

		printf("\r\n[COG] === Done. ===\r\n");
		cog_calib_state = CogCalibState::IDLE;
		return;
	}
}
#endif // FOC_DEBUG

// 初始变量及函数定义
#define _constrain(amt, low, high)                                             \
	((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
#define constrain(value, min, max, target_min, target_max)                     \
	((value - min) / (max - min) * (target_max - target_min))

// 校准步骤（代码模板）
void calibrate_zero_position(void) {
	// Set_3Pwm(.25, 0, 0); // 起劲
	// delay_1ms(1000);
	// KTH7823.update();

	// // 改进校准算法：获取当前传感器角度并计算补偿值
	// float current_sensor_angle = KTH7823.getcurrent_sensorangle();
	// float electrical_angle = fmodf(current_sensor_angle * PP, 360.0f); //
	// 计算当前电角度

	// // 计算需要的补偿值，使得当前位置对应0°电角度
	// KTH7823.calibration_angle = -electrical_angle;

	// // 对补偿角进行归一化处理，确保在[-180, 180]范围内
	// KTH7823.calibration_angle = fmodf(KTH7823.calibration_angle + 180.0f,
	// 360.0f); if (KTH7823.calibration_angle < 0) { KTH7823.calibration_angle
	// += 360.0f;
	// }
	// KTH7823.calibration_angle -= 180.0f;

	// Set_3Pwm(0, 0, 0); // 停止
}

// 通过Ia,Ib,Ic计算Iq,Id(目前仅输出Iq)
inline float FOC_Controller::cal_Iq_Id(float current_a, float current_b,
									   float current_c) {
	if (current_a == ERROR_ADC_VAL || current_b == ERROR_ADC_VAL ||
		current_c == ERROR_ADC_VAL) {
		return Current_kalman.getCurrent();
	}

	// 去除三相公共模偏置，使 Ia + Ib + Ic 更接近 0
	const float current_avg = (current_a + current_b + current_c) / 3.0f;
	current_a -= current_avg;
	current_b -= current_avg;
	current_c -= current_avg;

	// 计算电气角度
	float angle_el = fmod(shaft_angle * PP + KTH7823.calibration_angle, 360.0f);

	// Clarke变换 (使用三相电流)
	float I_alpha, I_beta;
	I_alpha = (2.0f / 3.0f) * current_a - (1.0f / 3.0f) * current_b -
			  (1.0f / 3.0f) * current_c;
	I_beta = _1_SQRT3 * current_b - _1_SQRT3 * current_c;

	// Park变换
	float sin_el, cos_el;
	arm_sin_cos_f32(angle_el, &sin_el, &cos_el);
	float I_q, I_d;
	I_q = I_beta * cos_el - I_alpha * sin_el;
	I_d = I_beta * sin_el + I_alpha * cos_el;

	// 返回Iq值，乘以1000以转换为mA
	return Current_kalman.update(I_q * 1000 - KE_FACTOR * rt_velocity);
	// return I_q * 1000 - KE_FACTOR * rt_velocity;
}

/**
 * @brief 电机控制类初始化函数
 *
 * @return u8 0表示初始化成功，1表示初始化失败
 */
u8 FOC_Controller::init() {
	motor_init(); // 电机驱动初始化

	// 齿槽转矩补偿表（硬编码，3正+3反平均，用真实角度算Iq）
	static const float COGGING_TABLE_FWD[COGGING_TABLE_SIZE] = {
		29.28f, 28.84f, 28.26f, 28.83f, 29.79f, 30.26f, 29.52f, 28.77f,
		28.23f, 27.68f, 26.65f, 25.19f, 23.92f, 22.59f, 19.61f, 16.77f,
		13.32f, 10.40f, 7.64f, 3.51f, -0.83f, -4.96f, -8.19f, -11.11f,
		-13.40f, -14.39f, -15.69f, -15.99f, -16.39f, -15.50f, -14.76f, -14.21f,
		-13.76f, -13.88f, -13.22f, -11.18f, -10.65f, -10.54f, -10.62f, -10.23f,
		-9.52f, -8.19f, -6.31f, -4.14f, -1.94f, -0.25f, 2.06f, 4.08f,
		6.05f, 8.30f, 9.74f, 11.38f, 13.32f, 15.65f, 17.55f, 20.22f,
		21.72f, 22.28f, 23.30f, 24.78f, 23.53f, 23.35f, 23.00f, 21.42f,
		20.35f, 20.57f, 20.07f, 18.18f, 17.04f, 16.03f, 14.81f, 13.71f,
		12.47f, 10.93f, 9.38f, 6.53f, 4.63f, 3.37f, 1.29f, -1.28f,
		-5.08f, -11.11f, -16.35f, -21.00f, -24.61f, -28.30f, -31.11f, -33.48f,
		-35.25f, -36.54f, -38.01f, -38.69f, -39.27f, -39.52f, -38.18f, -36.55f,
		-34.96f, -33.14f, -31.92f, -31.45f, -31.32f, -30.25f, -29.60f, -28.72f,
		-27.51f, -25.30f, -22.66f, -20.87f, -18.19f, -16.10f, -13.25f, -10.81f,
		-8.00f, -4.67f, -2.28f, 0.87f, 3.83f, 7.25f, 10.56f, 13.70f,
		17.70f, 19.90f, 22.14f, 23.62f, 24.53f, 26.03f, 26.96f, 27.95f,
	};
	static const float COGGING_TABLE_REV[COGGING_TABLE_SIZE] = {
		22.45f, 24.95f, 26.05f, 26.01f, 26.11f, 25.87f, 26.20f, 26.23f,
		26.19f, 25.87f, 25.97f, 26.09f, 24.77f, 24.22f, 23.71f, 22.10f,
		19.84f, 17.60f, 15.36f, 12.99f, 9.54f, 5.35f, 1.71f, -1.94f,
		-4.15f, -6.16f, -7.93f, -9.10f, -10.01f, -10.25f, -10.85f, -11.74f,
		-11.98f, -10.78f, -9.65f, -8.89f, -8.14f, -6.85f, -5.94f, -5.37f,
		-4.28f, -3.38f, -3.36f, -3.40f, -2.81f, -2.36f, -1.04f, -0.18f,
		1.08f, 2.15f, 4.19f, 5.51f, 7.33f, 8.64f, 10.46f, 11.89f,
		13.42f, 14.83f, 17.11f, 19.12f, 20.76f, 21.88f, 22.35f, 22.86f,
		22.73f, 22.13f, 21.10f, 20.53f, 18.65f, 17.09f, 15.47f, 14.76f,
		14.02f, 12.94f, 11.98f, 10.29f, 8.11f, 5.83f, 4.23f, 2.42f,
		1.03f, -1.80f, -4.01f, -7.93f, -11.79f, -15.90f, -20.22f, -23.04f,
		-25.66f, -28.80f, -30.45f, -32.11f, -33.17f, -33.97f, -34.68f, -34.26f,
		-34.18f, -33.78f, -32.47f, -31.11f, -29.40f, -27.89f, -27.05f, -26.72f,
		-25.59f, -24.86f, -23.61f, -22.97f, -22.89f, -21.81f, -20.78f, -19.23f,
		-17.74f, -15.09f, -13.18f, -10.51f, -8.18f, -5.89f, -3.35f, -0.02f,
		2.02f, 3.87f, 6.37f, 9.11f, 12.33f, 14.63f, 17.12f, 19.12f,
	};
	memcpy(cogging_table, COGGING_TABLE_FWD, sizeof(COGGING_TABLE_FWD));
	memcpy(cogging_table_rev, COGGING_TABLE_REV, sizeof(COGGING_TABLE_REV));
	cogging_comp_enabled = true;

	FOC.cur_loop_p = DEFAULT_current_loop_p * 100 / limit_voltage;
	FOC.cur_MIT_p = DEFAULT_current_MIT_p * 100 / limit_voltage;
	FOC.vel_loop_p = DEFAULT_vel_loop_p * 100 / limit_voltage;
	FOC.vel_angloop_p = DEFAULT_vel_angloop_p * 100;
	FOC.vel_MIT_p = DEFAULT_vel_MIT_p * 100;
	FOC.ang_loop_p = DEFAULT_angle_loop_p * 100 / limit_voltage;
	FOC.ang_angloop_p = DEFAULT_angle_angloop_p * 100 / limit_voltage;
	FOC.ang_MIT_p = DEFAULT_angle_MIT_p * 100 / limit_voltage;
	return 0;
}

/**
 * @brief 电机控制类构造函数
 *
 */
FOC_Controller::FOC_Controller() { ; }

/**
 * @brief 使用SVPWM算法设置电机输出
 *
 * @param Uq: q轴电压
 * @param Ud: d轴电压
 */
inline void FOC_Controller::setSVPWM_PhaseVoltage(float Uq, float Ud) {
	// 计算电气角度
	float angle_el = shaft_angle * PP + KTH7823.calibration_angle;

	// 对电角度进行归一化，确保在[0, 360)范围内
	angle_el = fmodf(angle_el, 360.0f);

	// 帕克逆变换
	float sin_el, cos_el;
	arm_sin_cos_f32(angle_el, &sin_el, &cos_el);
	float Ualpha = Ud * cos_el - Uq * sin_el;
	float Ubeta = Ud * sin_el + Uq * cos_el;

	// 计算角度并归一化到 [0, 2π)
	float angle = atan2f(Ubeta, Ualpha);
	if (angle < 0.0f)
		angle += 2.0f * PI;

	// 扇区与局部角度
	int sector = (int)(angle * INV_PI_3) + 1;
	if (sector < 1)
		sector = 1;
	else if (sector > 6)
		sector = 6;
	float local_angle = angle - (sector - 1) * PI_3;

	// 模长计算
	float magnitude = sqrtf(Ualpha * Ualpha + Ubeta * Ubeta);

	// 计算电压调制比，同时限制最大输出电压
	float modulation_index =
		(magnitude / voltage_power_supply); // 90%作为安全裕量

	// 电压限制
	if (limit_voltage > voltage_power_supply) {
		limit_voltage = voltage_power_supply;
	}
	float limit_percent = limit_voltage / v_safe;
	if (modulation_index > limit_percent) {
		// 限制电压
		modulation_index = limit_percent;
		// 同时相应地调整magnitude，保持电压矢量方向不变，根据调整后的调制比反推magnitude
		magnitude = voltage_power_supply * limit_percent;
	}

	// local_angle 是弧度，arm_sin_cos_f32 期望度数，需转换
	float sin_l, cos_l;
	arm_sin_cos_f32(local_angle * RAD2DEG, &sin_l, &cos_l);
	float T1 = modulation_index * (SQRT3DV2 * cos_l - COS_PI_3 * sin_l);
	float T2 = modulation_index * sin_l;
	float T0 = 1.0f - T1 - T2;

	// 计算占空比（按规范化时间映射）
	switch (sector) {
	case 1:
		duty_a = 0.5f * T0 + T1 + T2;
		duty_b = 0.5f * T0 + T2;
		duty_c = 0.5f * T0;
		break;
	case 2:
		duty_a = 0.5f * T0 + T1;
		duty_b = 0.5f * T0 + T1 + T2;
		duty_c = 0.5f * T0;
		break;
	case 3:
		duty_a = 0.5f * T0;
		duty_b = 0.5f * T0 + T1 + T2;
		duty_c = 0.5f * T0 + T2;
		break;
	case 4:
		duty_a = 0.5f * T0;
		duty_b = 0.5f * T0 + T1;
		duty_c = 0.5f * T0 + T1 + T2;
		break;
	case 5:
		duty_a = 0.5f * T0 + T2;
		duty_b = 0.5f * T0;
		duty_c = 0.5f * T0 + T1 + T2;
		break;
	case 6:
		duty_a = 0.5f * T0 + T1 + T2;
		duty_b = 0.5f * T0;
		duty_c = 0.5f * T0 + T1;
		break;
	default:
		duty_a = 0.5f;
		duty_b = 0.5f;
		duty_c = 0.5f;
		break;
	}
	// 设置PWM输出
	Set_3Pwm(duty_a, duty_b, duty_c);
}

/**
 * @brief 电机关机（通用关机，不带原因标记）
 *
 */
void FOC_Controller::shut_down() {
	drv_stop();
	motor_sleep();
	is_shut_down = true;
}

/**
 * @brief 过热关机
 *
 */
void FOC_Controller::shut_down_thermal() {
	drv_stop();
	motor_sleep();
	is_shut_down = true;
	thermal_shutdown = true;
}

/**
 * @brief 过热恢复
 *
 */
void FOC_Controller::resume_from_thermal() {
	thermal_shutdown = false;
	if (!voltage_error && !over_current) {
		is_shut_down = false;
		motor_resume();
	}
}
/**
 * @brief 占空比置0
 *
 */
void FOC_Controller::drv_stop() { Set_3Pwm(0.0f, 0.0f, 0.0f); }
/**
 * @brief 电机锁止
 */
float FOC_Controller::drv_hold() {
	float hold_pwm_duty = HOLD_PWM_DUTY;
	if (HOLD_PWM_DUTY > 0.95f) {
		hold_pwm_duty = 0.95f;
	} else if (HOLD_PWM_DUTY < 0.0f) {
		hold_pwm_duty = 0.0f;
	}
	Set_3Pwm(hold_pwm_duty, 0, 0);
	return hold_pwm_duty;
}


/**
 * @brief PWM模式（调试）
 */
float FOC_Controller::PWM_out() {
	float hold_pwm_duty = target_velocity/100;
	Set_3Pwm(hold_pwm_duty, hold_pwm_duty, hold_pwm_duty);
	return hold_pwm_duty;
}


/**
 * @brief 电机恢复
 *
 */
void FOC_Controller::resume() {
	over_current = false;
	voltage_error = false;
	is_shut_down = false;
	motor_resume();
}
/**
 * @brief 更新电源电压
 *
 */
void FOC_Controller::update_power(float voltage) {
	if (voltage < 36.0f and voltage > 8.0f) {
		voltage_error = false;
		voltage_power_supply = voltage;
		v_half = voltage * 0.5f;
		v_safe = voltage * 1.1f;
	} else {
		voltage_error = true;
	}
}

/**
 * @brief 快速电压检测（在电机控制循环中每100us调用一次）
 *
 * 直接从DMA缓冲区读取最新ADC值，检测电压跌幅
 * 响应时间 < 200us
 *
 * 算法：
 * 1. 使用峰值检测算法跟踪当前额定电压（vbus_reference）
 *    - 电压上升时，基准电压跟随
 *    - 电压下跌时，基准电压保持（不跟随下跌）
 * 2. 计算电压跌幅 = 基准电压 - 当前电压
 * 3. 关机条件（满足任一即可）：
 *    - 电压跌幅超过 VBUS_DROP_THRESHOLD
 *    - 电压低于绝对下限 VBUS_ABSOLUTE_MIN
 *
 * 参数定义在 config.h 中:
 * - VBUS_DROP_THRESHOLD: 电压跌幅阈值 (默认5V)
 * - VBUS_ABSOLUTE_MIN: 绝对最低电压 (默认8V)
 * - VBUS_DEBOUNCE_COUNT: 防抖计数 (默认5次)
 */
void FOC_Controller::fast_voltage_check(void) {
	// 直接从DMA缓冲区读取最新ADC值（regular rank2 是 VBUS）
	float current_vbus = adc_value[2] * (3.3f / 4096.0f) * 11.0f;

	// 更新基准电压（峰值检测）
	// 电压上升时，基准电压跟随；电压下跌时，基准电压保持
	if (current_vbus > vbus_reference) {
		vbus_reference = current_vbus;
	}
	// 电压下跌时不更新基准电压，保持之前的峰值

	// 更新上次电压值
	last_vbus_fast = current_vbus;

	// 计算电压跌幅（相对于基准电压）
	float voltage_drop = vbus_reference - current_vbus;

	// 关机条件（满足任一即可）：
	// 1. 电压跌幅超过阈值
	// 2. 电压低于绝对下限
	bool drop_exceeded = (voltage_drop > VBUS_DROP_THRESHOLD);
	bool below_absolute = (current_vbus < VBUS_ABSOLUTE_MIN);

	if ((drop_exceeded || below_absolute) && (!is_shut_down)) {
		// 电压跌落计数（防抖）
		vbus_drop_count++;

		if (vbus_drop_count >= VBUS_DEBOUNCE_COUNT) {
			// 确认需要关机，立即停机
			drv_stop();
			motor_sleep();
			is_shut_down = true;
			emergency_shutdown = true; // 标记紧急关机，低频任务会执行保存
			vbus_drop_count = 0;	 // 重置计数器
		}
	} else {
		// 电压正常，重置计数器
		vbus_drop_count = 0;
	}
}

/**
 * @brief 速度开环控制
 *
 * @param target_velocity: 目标速度
 * @return float: q轴电压
 */
float FOC_Controller::velocity_open_loop() {
	// 通过时间间隔和目标速度计算需要转动的机械角度，存储在 shaft_angle 中
	shaft_angle =
		fmod(shaft_angle + target_velocity * REDUCTION_RATIO / MOTOR_FREQUENCY,
			 360.0f);
	rt_current = cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'),
						   sampler.get_current('W'));

	// 因为在开环控制中，Ud 始终为 0，只控制 Uq
	const float Uq = _constrain(target_velocity * REDUCTION_RATIO * 0.005f,
								2.0f, voltage_power_supply * 0.5f);
	// 齿槽转矩补偿
	float angle_el_cog = fmodf(shaft_angle * PP + KTH7823.calibration_angle, 360.0f);
	setSVPWM_PhaseVoltage(Uq + get_cogging_compensation(angle_el_cog), 0.0f);
	return limit_voltage;
}

/**
 * @brief 角度闭环控制
 *
 * @param target_angle: 目标角度
 * @return float: 当前角度
 */
float FOC_Controller::angle_control() {
	// PID 控制计算
	float Uq = angle_loop(target_angle - rt_angle);

	// 获取电机轴角度
	shaft_angle = KTH7823.getcurrent_sensorangle();
	rt_current = cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'),
						   sampler.get_current('W'));
	// 齿槽转矩补偿
	float angle_el_cog = fmodf(shaft_angle * PP + KTH7823.calibration_angle, 360.0f);
	// 设置相电压
	setSVPWM_PhaseVoltage(Uq + get_cogging_compensation(angle_el_cog), 0.0f);
	return shaft_angle;
}

/**
 * @brief 速度闭环控制
 *
 * @param target_velocity: 目标速度
 * @return float: 当前速度
 */
float FOC_Controller::velocity_control() {
	// 速度误差计算
	float velocity_error = (target_velocity - rt_velocity) * DIR * REDUCTION_RATIO;

	// 目标速度突变检测：target 大幅变化时清积分
	static float last_target_vel = 0.0f;
	const float target_delta = target_velocity - last_target_vel;
	if (fabsf(target_delta) > 5.0f) {
		vel_loop.reset_integral();
	}
	last_target_vel = target_velocity;

	// PID 控制计算
	float Uq = vel_loop(velocity_error);
	CAN0_transmiter.testfloat_union.f = Uq;

	// 获取电机轴角度
	shaft_angle = KTH7823.getcurrent_sensorangle();
	// 齿槽转矩补偿
	float angle_el_cog = fmodf(shaft_angle * PP + KTH7823.calibration_angle, 360.0f);
	// 设置相电压
	setSVPWM_PhaseVoltage(Uq + get_cogging_compensation(angle_el_cog), 0.0f);
	rt_current = cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'),
						   sampler.get_current('W'));

	return rt_velocity;
}

float FOC_Controller::current_control() {
	// PID 控制计算
	float Iq = rt_current =
		cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'),
				  sampler.get_current('W'));
	float Uq = current_loop(target_current - Iq);
	if (Uq > limit_voltage) {
		Uq = limit_voltage;
	} else if (Uq < -limit_voltage) {
		Uq = -limit_voltage;
	}
	// 获取电机轴角度
	shaft_angle = KTH7823.getcurrent_sensorangle();
	CAN0_transmiter.testfloat_union.f = shaft_angle;
	// 齿槽转矩补偿
	float angle_el_cog = fmodf(shaft_angle * PP + KTH7823.calibration_angle, 360.0f);
	// 设置相电压
	setSVPWM_PhaseVoltage(Uq + get_cogging_compensation(angle_el_cog), 0.0f);
	return 1;
}

/**
 * @brief 带速度限制的角度闭环控制
 *
 * @param target_angle: 目标角度
 * @param max_velocity: 最大速度限制 (单位: rad/s)
 * @return float: 当前角度
 */
float FOC_Controller::angle_control_with_velocity_limit() {
	// 计算角度误差
	float angle_error = target_angle - rt_angle;

	ang_inVelAngloop.set_P(ang_angloop_p);
	// 使用角度PID控制器计算目标速度
	float target_velocity = ang_inVelAngloop(angle_error);

	// 使用速度PID控制器计算最终输出电压
	// 根据目标速度大小，选择不同的PID参数
	if (target_velocity < -120.0f) {
		vel_inVelAngloop.set_P(vel_angloop_p * 2.0f);
	} else if (target_velocity < -30.0f) {
		vel_inVelAngloop.set_P(vel_angloop_p * 1.5f);
	} else {
		vel_inVelAngloop.set_P(vel_angloop_p);
	}
	float velocity_error = target_velocity - rt_velocity;

	// 目标速度突变检测：target 大幅变化时清积分
	static float last_vang_target_vel = 0.0f;
	if (fabsf(target_velocity - last_vang_target_vel) > 5.0f) {
		vel_inVelAngloop.reset_integral();
	}
	last_vang_target_vel = target_velocity;

	static float last_velocity_error = 0.0f;
	last_velocity_error = velocity_error;

	float Uq = vel_inVelAngloop(velocity_error)* DIR;

	// 获取电机轴角度
	shaft_angle = KTH7823.getcurrent_sensorangle();
	CAN0_transmiter.testfloat_union.f = shaft_angle;
	// 获取当前实际电流值
	rt_current = cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'),
						   sampler.get_current('W'));
	// 齿槽转矩补偿
	float angle_el_cog = fmodf(shaft_angle * PP + KTH7823.calibration_angle, 360.0f);
	// 设置相电压
	setSVPWM_PhaseVoltage(Uq + get_cogging_compensation(angle_el_cog), 0.0f);

	return shaft_angle;
}

/**
 * @brief MIT控制
 *
 * @param target_angle: 目标角度
 * @param max_velocity: 最大速度限制 (单位: rad/s)
 * @return float: 当前角度
 */
float FOC_Controller::MIT_Mode() {
	// 第一层：角度环（外环）
	float angle_error = target_angle - rt_angle;
	ang_inMITloop.set_P(ang_MIT_p);
	float target_velocity =
		ang_inMITloop(angle_error);

	// 第二层：速度环（中环）
	float velocity_error = (target_velocity - rt_velocity)* DIR;

	// 目标速度变化检测：target 大幅变化时清积分
	static float last_mit_target_vel = 0.0f;
	if (fabsf(target_velocity - last_mit_target_vel) > 5.0f) {
		vel_inMITloop.reset_integral();
	}
	last_mit_target_vel = target_velocity;

	vel_inMITloop.set_P(vel_MIT_p);
	float target_current = vel_inMITloop(velocity_error);

	// 第三层：电流环（内环）
	rt_current = cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'),
						   sampler.get_current('W'));

	float current_error = target_current - rt_current;
	current_inMITloop.set_P(cur_MIT_p);
	float Uq = current_inMITloop(current_error);

	// 获取电机轴角度
	shaft_angle = KTH7823.getcurrent_sensorangle();

	// 齿槽转矩补偿
	float angle_el_cog = fmodf(shaft_angle * PP + KTH7823.calibration_angle, 360.0f);
	// 设置相电压
	setSVPWM_PhaseVoltage(Uq + get_cogging_compensation(angle_el_cog), 0.0f);

	return shaft_angle;
}