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Merge branch 'master' of http://172.30.0.1:8418/cbb/Robot_v2

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cbb
2026-03-09 01:47:30 +08:00
parent a26dd1cc8e c9934849c5
commit 1ee2f68a89
8 changed files with 359 additions and 171 deletions
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Robot_V2/device/Timer.cpp
+73 -43
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@@ -11,7 +11,7 @@
volatile u32 total_us100_counter = 0; // 总计数器，每 100 微秒增加 1
extern u16 adc_value[7];
extern FOC_Controller FOC;
extern FOC_Controlroller FOC;
extern TaskScheduler scheduler;
extern CAN_transmiter CAN0_transmiter;
// 添加系统运行时间计数器
@@ -131,49 +131,79 @@ void TIMER2_IRQHandler(void) {
}
timer_interrupt_flag_clear(TIMER2, TIMER_INT_UP);
// 固定任务：每 50us 执行电机控制
scheduler.taskFlags |= (1u << TASK_ANGLE_UPDATE) |
(1u << TASK_VELOCITY_UPDATE) |
(1u << TASK_MOTOR_CONTROL);
// 每50us执行一次的操作 - 电机控制
scheduler.taskFlags |= (1 << TASK_MOTOR_CONTROL);
scheduler.taskFlags |=
(1 << TASK_ANGLE_UPDATE) | (1 << TASK_VELOCITY_UPDATE);
// 每 100us 执行一次的任务（使用位运算替代布尔变量）
static u32 call_counter = 0;
call_counter++;
if ((call_counter & 1u) == 0u) { // 偶数次调用（每 100us）
// 使用查找表设置 1ms 周期内的任务
scheduler.taskFlags |= task_schedule_100us[total_us100_counter];
total_us100_counter++;
if (total_us100_counter >= 10u) {
total_us100_counter = 0;
// 每 1ms 执行的任务
static u32 ms1_counter = 0;
ms1_counter++;
if (ms1_counter >= 10u) {
ms1_counter = 0;
// 每 10ms 执行的任务
static u32 ms10_counter = 0;
ms10_counter++;
if (ms10_counter >= 10u) {
ms10_counter = 0;
// 每 100ms 执行的任务
static u32 ms100_counter = 0;
ms100_counter++;
if (ms100_counter >= 10u) {
ms100_counter = 0;
// 每 1s 任务预留位置
}
scheduler.taskFlags |= task_schedule_100ms[ms100_counter];
}
scheduler.taskFlags |= task_schedule_10ms[ms10_counter];
}
scheduler.taskFlags |= task_schedule_1ms[ms1_counter];
}
}
// 使用标志位控制，每100us执行一次其他任务
static bool isEvenCall = false;
isEvenCall = !isEvenCall;
if (isEvenCall) {
// 每100us执行一次的操作 - 保持原有频率
switch (total_us100_counter) { // 每1ms执行的代码，负载均衡
case 0: {
scheduler.taskFlags |= (1 << TASK_MCU_TEMP_UPDATE);
break;
}
case 1: {
scheduler.taskFlags |= (1 << TASK_DRV_TEMP_UPDATE);
break;
}
case 2: {
scheduler.taskFlags |= (1 << TASK_VBUS_UPDATE);
break;
}
case 3: {
break;
}
case 9: {
scheduler.taskFlags |= (1 << TASK_CAN_TRANSMIT);
break;
}
}
total_us100_counter++;
if (total_us100_counter > 9) {
total_us100_counter = 0;
// 可以添加每1ms执行的代码，无负载均衡
static u8 ms1_counter = 0;
switch (ms1_counter) { // 每10ms执行的代码，负载均衡
case 0: {
scheduler.taskFlags |= (1 << TASK_THERMAL_CONTROL);
break;
}
case 1: {
scheduler.taskFlags |= (1 << TASK_MAGNETIC_CHECK);
break;
}
case 2: {
break;
}
}
ms1_counter++;
if (ms1_counter > 9) {
ms1_counter = 0;
// 可以添加每10ms执行的代码，无负载均衡
static u8 ms10_counter = 0;
ms10_counter++;
if (ms10_counter > 9) {
ms10_counter = 0;
// 可以添加每100ms执行的代码
static u8 sec_counter = 0;
sec_counter++;
if (sec_counter > 9) {
sec_counter = 0;
// 可以添加每1s执行的代码
}
}
}
}
}
}
}
/**