Motor_v2/Robot_V2/device/ADC.cpp

#include "adc.h"
#include "Can.h"
#include "FOC.h"
#include "Filter.h"
#include "config.h"
#include "initial.h"
#include "math.h"
#include "systick.h"
#include <cstdint>
#include <cstring>
#include <gd32c10x_dma.h>

constexpr float ADC_SCALE = 3.3f / 4096.0f;
constexpr float TEMP_FACTOR = 1000.0f / 4.3f;
constexpr float VCC_FACTOR = 11.0f;
constexpr float CURRENT_FACTOR =
	1.0f / 50.0f * 100.0f; // 50倍放大，100倍电流采样电阻, 单位mA
extern CAN_transmiter CAN0_transmiter;
extern FOC_Controller FOC;
sampler sampler;		// 采样器初始化
u16 adc_value[3] = {0};					// regular DMA: MCU温度 / DRV温度 / VBUS
static volatile u16 adc_current_value[3] = {0}; // injected 同步采样: U / V / W
static volatile u8 adc_current_frame_ready = 0;

static inline float current_adc_to_ma(u16 raw_adc) {
	return (raw_adc * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR;
}

/*!
	\brief      configure the DMA peripheral
	\param[in]  none
	\param[out] none
	\retval     none
*/
void dma_config(void) {
	/* enable DMA0 clock */
	rcu_periph_clock_enable(RCU_DMA0);
	/* ADC_DMA_channel configuration */
	dma_parameter_struct dma_data_parameter;

	/* ADC DMA_channel configuration */
	dma_deinit(DMA0, DMA_CH0);

	/* initialize DMA single data mode */
	dma_data_parameter.periph_addr = (uint32_t)(&ADC_RDATA(ADC0));
	dma_data_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
	dma_data_parameter.memory_addr = (uint32_t)(adc_value);
	dma_data_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
	dma_data_parameter.periph_width = DMA_PERIPHERAL_WIDTH_16BIT;
	dma_data_parameter.memory_width = DMA_MEMORY_WIDTH_16BIT;
	dma_data_parameter.direction = DMA_PERIPHERAL_TO_MEMORY;
	dma_data_parameter.number = 3;
	dma_data_parameter.priority = DMA_PRIORITY_HIGH;
	dma_init(DMA0, DMA_CH0, &dma_data_parameter);

	dma_circulation_enable(DMA0, DMA_CH0);

	/* enable DMA channel */
	dma_channel_enable(DMA0, DMA_CH0);
}

/*!
	\brief      configure the ADC peripheral
	\param[in]  none
	\param[out] none
	\retval     none
*/
void adc_config(void) {
	/* enable ADC clock */
	rcu_periph_clock_enable(RCU_ADC0);
	/* config ADC clock */
	rcu_adc_clock_config(RCU_CKADC_CKAPB2_DIV4);

	/* 复位ADC */
	adc_deinit(ADC0);
	/* ADC模式配置 */
	adc_mode_config(ADC_MODE_FREE);
	/* regular 组保留连续扫描，用于温度/VBUS 后台采样 */
	adc_special_function_config(ADC0, ADC_CONTINUOUS_MODE, ENABLE);
	adc_special_function_config(ADC0, ADC_SCAN_MODE, ENABLE);
	/* injected 组用于 PWM 同步电流采样，关闭自动串联，独立由 TIMER1 触发 */
	adc_special_function_config(ADC0, ADC_INSERTED_CHANNEL_AUTO, DISABLE);
	/* ADC数据右对齐配置 */
	adc_data_alignment_config(ADC0, ADC_DATAALIGN_RIGHT);
	/* 使能ADC温度传感器和内部参考电压 */
	adc_tempsensor_vrefint_enable();

	/* 配置ADC通道长度 */
	adc_channel_length_config(ADC0, ADC_REGULAR_CHANNEL, 3);
	/* 配置ADC规则通道 */
	adc_regular_channel_config(ADC0, 0, ADC_CHANNEL_16,
							   ADC_SAMPLETIME_41POINT5);
	adc_regular_channel_config(ADC0, 1, ADC_CHANNEL_9, ADC_SAMPLETIME_28POINT5);
	adc_regular_channel_config(ADC0, 2, ADC_CHANNEL_6, ADC_SAMPLETIME_28POINT5);

	/* regular 组继续软件触发连续转换：本组只服务低速量 */
	adc_external_trigger_source_config(ADC0, ADC_REGULAR_CHANNEL,
									   ADC0_1_EXTTRIG_REGULAR_NONE);
	adc_external_trigger_config(ADC0, ADC_REGULAR_CHANNEL, ENABLE);

	/* injected 组改为 TIMER1 CH3 导出的 TRGO 触发，实现三相同一采样时刻锁存 */
	adc_channel_length_config(ADC0, ADC_INSERTED_CHANNEL, 4);
	adc_inserted_channel_config(ADC0, 0, ADC_CHANNEL_3, ADC_SAMPLETIME_55POINT5);
	adc_inserted_channel_config(ADC0, 1, ADC_CHANNEL_3, ADC_SAMPLETIME_55POINT5);
	adc_inserted_channel_config(ADC0, 2, ADC_CHANNEL_4, ADC_SAMPLETIME_55POINT5);
	adc_inserted_channel_config(ADC0, 3, ADC_CHANNEL_5, ADC_SAMPLETIME_55POINT5);
	adc_external_trigger_source_config(ADC0, ADC_INSERTED_CHANNEL,
									   ADC0_1_EXTTRIG_INSERTED_T1_TRGO);
	adc_external_trigger_config(ADC0, ADC_INSERTED_CHANNEL, ENABLE);

	/* 使能ADC接口 */
	adc_enable(ADC0);
	/* ADC校准 */
	adc_calibration_enable(ADC0);
	/* 使能ADC DMA功能 */
	adc_dma_mode_enable(ADC0);
	/* injected 完成中断负责搬运完整三相样本 */
	adc_interrupt_enable(ADC0, ADC_INT_EOIC);
	/* 先启动 regular 组连续后台采样 */
	adc_software_trigger_enable(ADC0, ADC_REGULAR_CHANNEL);
}
/**
 * @brief 采样类初始化
 */
u8 sampler::init() {
	dma_config(); // DMA采样ADC初始化
	adc_config(); // ADC初始化
	current_sample_head = 0;
	adc_current_frame_ready = 0;
	delay_1ms(1);

	const float current_init = current_adc_to_ma(
		static_cast<u16>((-CURRENT_OFFSET / ADC_SCALE) + 0.5f));
	// 初始采样
	for (int i = 0; i < ADC_FILTER_SIZE; i++) {
		mcu_temp_samples[i] =
			(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;

		currU_samples[i] = current_init;
		currV_samples[i] = current_init;
		currW_samples[i] = current_init;

		vbus_samples[i] = adc_value[2] * ADC_SCALE * VCC_FACTOR;

		float R_now = (float)adc_value[1] / (4096 - (float)adc_value[1]) * 4700;
		drv_temp_samples[i] =
			1.0f / (0.00335f + 0.00025f * log(R_now / 10000.0f)) - 273.15f;
		delay_1ms(1);
	}
	return 0;
}
/**
 * @brief 获取MCU温度
 * @return float
 * 温度值，单位为摄氏度，范围应在-40到145之间，如果读取失败则返回0.0f
 */
float sampler::get_mcu_temp() {
	tempora_sample = medium_filter(mcu_temp_samples, ADC_FILTER_SIZE);
	// 检查温度读数是否在有效范围内
	if (tempora_sample < MIN_TEMP or tempora_sample > MAX_TEMP) {
		return ERROR_ADC_VAL;
	}
	return tempora_sample;
}

/**
 * @brief 获取电机驱动温度
 * @return float 温度值，单位为摄氏度
 *
 * 通过热敏电阻分压电路计算温度值，使用Steinhart-Hart方程进行温度转换。
 * 如果计算结果超出有效范围(-40到255摄氏度)，则重新采样计算。
 */
float sampler::get_drv_temp() {
	tempora_sample = medium_filter(drv_temp_samples, ADC_FILTER_SIZE);
	// 检查温度读数是否在有效范围内
	if (tempora_sample < MIN_TEMP || tempora_sample > MAX_TEMP) {
		return ERROR_ADC_VAL;
	}
	return tempora_sample;
}

/**
 * @brief 获取电流值
 * @param type 电流类型，'U'表示U相电流，'V'表示V相电流，'W'表示W相电流
 * @return float 电流值，单位为安培
 *
 * 通过ADC采样计算各相电流值
 */
float sampler::get_current(char type) {
	u8 idx = (current_sample_head == 0U) ? (ADC_FILTER_SIZE - 1U)
										 : (current_sample_head - 1U);
	switch (type) {
	case 'U': {
		tempora_sample = currU_samples[idx];
		break;
	}
	case 'V': {
		tempora_sample = currV_samples[idx];
		break;
	}
	case 'W': {
		tempora_sample = currW_samples[idx];
		break;
	}
	default: {
		return ERROR_ADC_VAL;
	}
	}
	if (tempora_sample < MIN_CURRENT or tempora_sample > MAX_CURRENT) {
		return ERROR_ADC_VAL;
	}

	return tempora_sample;
}

/**
 * @brief 获取供电电压
 * @return float 电压值，单位为伏特
 *
 * 通过ADC采样计算供电电压值，使用迭代方式确保获取有效的电压读数。
 * 如果计算结果超出有效范围(-40到255伏特)，则重新采样计算。
 */
float sampler::get_vbus_voltage() {
	tempora_sample = medium_filter(vbus_samples, ADC_FILTER_SIZE);
	// 检查电压读数是否在有效范围内
	const u8 mid = ADC_FILTER_SIZE / 2;
	if (vbus_samples[mid] > MAX_VCC or vbus_samples[mid] < MIN_VCC) {
		return ERROR_ADC_VAL;
	}
	return tempora_sample;
}

/**
 * @brief 更新MCU温度
 *
 * 通过ADC采样计算MCU温度值，使用Steinhart-Hart方程进行温度转换。
 * 如果计算结果超出有效范围(-40到255摄氏度)，则重新采样计算。
 */
void sampler::update_mcu_temp() {
	memmove(mcu_temp_samples, mcu_temp_samples + 1,
			(ADC_FILTER_SIZE - 1) * sizeof(float));
	mcu_temp_samples[ADC_FILTER_SIZE - 1] =
		(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;
}

/**
 * @brief 更新MCU温度
 */
void sampler::update_drv_temp() {
	memmove(drv_temp_samples, drv_temp_samples + 1,
			(ADC_FILTER_SIZE - 1) * sizeof(float));
	float R_now = (float)adc_value[1] / (4096 - (float)adc_value[1]) * 4700;
	drv_temp_samples[ADC_FILTER_SIZE - 1] =
		1.0f / (0.00335f + 0.00025f * log(R_now / 10000.0f)) - 273.15f;
}

/**
 * @brief 更新相电流
 */
void sampler::update_current() {
	if (adc_current_frame_ready == 0U) {
		return;
	}

	const u8 idx = current_sample_head;
	currU_samples[idx] = current_adc_to_ma(adc_current_value[0]);
	currV_samples[idx] = current_adc_to_ma(adc_current_value[1]);
	currW_samples[idx] = current_adc_to_ma(adc_current_value[2]);

	current_sample_head++;
	if (current_sample_head >= ADC_FILTER_SIZE) {
		current_sample_head = 0;
	}
	adc_current_frame_ready = 0U;
}

/**
 * @brief 更新供电电压
 */
void sampler::update_vbus_voltage() {
	memmove(vbus_samples, vbus_samples + 1, (ADC_FILTER_SIZE - 1) * sizeof(float));
	vbus_samples[ADC_FILTER_SIZE - 1] = adc_value[2] * ADC_SCALE * VCC_FACTOR;
}

extern "C" void ADC0_1_IRQHandler(void) {
	if (adc_interrupt_flag_get(ADC0, ADC_INT_FLAG_EOIC) != RESET) {
		/* 丢弃 rank0 dummy，真实样本使用 rank1/2/3，对应 U/V/W 同一 PWM 时刻 */
		(void)adc_inserted_data_read(ADC0, ADC_INSERTED_CHANNEL_0);
		adc_current_value[0] = adc_inserted_data_read(ADC0, ADC_INSERTED_CHANNEL_1);
		adc_current_value[1] = adc_inserted_data_read(ADC0, ADC_INSERTED_CHANNEL_2);
		adc_current_value[2] = adc_inserted_data_read(ADC0, ADC_INSERTED_CHANNEL_3);
		adc_current_frame_ready = 1U;
		adc_interrupt_flag_clear(ADC0, ADC_INT_FLAG_EOIC);

		extern TaskScheduler scheduler;
		scheduler.taskFlags |= (1u << TASK_CURRENT_UPDATE);
	}
}