feat(FOC): 添加开关机功能并优化定时器配置
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+97
-12
@@ -5,8 +5,10 @@
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#include "adc.h"
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#include "gd32c10x.h"
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#include "gd32c10x_gpio.h"
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#include "gd32c10x_misc.h"
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#include "gd32c10x_rcu.h"
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#include "gd32c10x_timer.h"
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#include "systick.h"
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#include <cstdio>
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#include <stdbool.h>
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#include <stdint.h>
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@@ -18,6 +20,8 @@
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// 然后设置周期为99，即计数100次，1MHz/100 = 10kHz = 100微秒
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constexpr int TIMER2_PRESCALER = 119; // 120MHz / 120 = 1MHz
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constexpr int TIMER2_PERIOD = 99; // 1MHz / 100 = 100us
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constexpr int TIMER3_PRESCALER = 119; // 120MHz / 120 = 1MHz
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constexpr int TIMER3_PERIOD = 9999; // 1MHz / 10000 = 100Hz = 10ms
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constexpr int TIMER1_PRESCALER = 0; // 不分频，计数器时钟为120MHz
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constexpr int TIMER1_PERIOD = 5999; // 120MHz / (0+1) / (5999+1) = 20kHz
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@@ -47,13 +51,14 @@ void nvic_config(void) {
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nvic_priority_group_set(NVIC_PRIGROUP_PRE2_SUB2);
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/* 使能TIMER2中断，设置抢占优先级为1，子优先级为1 */
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nvic_irq_enable(TIMER2_IRQn, 1, 1);
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nvic_irq_enable(TIMER3_IRQn, 1, 2);
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}
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/**
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* @brief 配置定时器1
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* @brief 配置定时器2
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* @return void
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*
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*配置定时器1
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*配置定时器2，用于定时执行FOC控制、采样、CAN发送等任务
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*/
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void TIMER2_config(void) {
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/* ----------------------------------------------------------------------------
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@@ -90,6 +95,47 @@ void TIMER2_config(void) {
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timer_enable(TIMER2);
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}
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/**
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* @brief 配置定时器3
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* @return void
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*
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*配置定时器3，用于诊断恢复
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*/
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void TIMER3_config(void) {
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/* ----------------------------------------------------------------------------
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TIMER3 Configuration:
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TIMER3CLK = SystemCoreClock/120 = 1MHz, the period is 10ms(10000/1000000 =
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10ms).
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----------------------------------------------------------------------------
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*/
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timer_parameter_struct timer_struct;
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/* 使能TIMER3时钟 */
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rcu_periph_clock_enable(RCU_TIMER3);
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/* 复位TIMER3外设到默认状态 */
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timer_deinit(TIMER3);
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/* 初始化TIMER初始化参数结构体 */
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timer_struct_para_init(&timer_struct);
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/* TIMER3配置参数设置 */
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timer_struct.prescaler =
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TIMER3_PRESCALER; /* 预分频值：120分频(从0开始计数) */
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timer_struct.alignedmode = TIMER_COUNTER_EDGE; /* 边沿对齐模式 */
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timer_struct.counterdirection = TIMER_COUNTER_UP; /* 向上计数模式 */
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timer_struct.period =
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TIMER3_PERIOD; /* 自动重装载值：10000次计数(从0开始计数) */
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timer_struct.clockdivision = TIMER_CKDIV_DIV1; /* 时钟分频值：1分频 */
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timer_init(TIMER3, &timer_struct);
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/* 清除更新中断标志位 */
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timer_interrupt_flag_clear(TIMER3, TIMER_INT_FLAG_UP);
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/* 使能更新中断 */
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timer_interrupt_enable(TIMER3, TIMER_INT_UP);
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/* 使能TIMER3 */
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timer_enable(TIMER3);
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}
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/**
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* @brief 配置TIMER2中断
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* @return void
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@@ -118,45 +164,52 @@ void TIMER2_IRQHandler(void) {
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if (timer_interrupt_flag_get(TIMER2, TIMER_INT_UP) != RESET) {
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// 清除更新中断标志
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timer_interrupt_flag_clear(TIMER2, TIMER_INT_UP);
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// 增加总计数器 (使用更高效的位运算代替取模运算)
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total_us100_counter++;
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system_runtime_us += 100;
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// 在定时器中断中执行FOC控制，确保控制频率稳定 (最高频操作放在最前)
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FOC.velocity_open_loop(FOC.target_velocity);
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// 每100us执行一次的操作
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sampler.update_current();
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// 每1ms执行的代码 (100us * 10 = 1ms)
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if (total_us100_counter >= 10) {
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total_us100_counter = 0; // 重置计数器
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// 设置CAN发送标志
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CAN0_transmiter.can0_send_flag = SET;
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// 更新各种传感器数据
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sampler.update_mcu_temp();
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sampler.update_drv_temp();
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sampler.update_vbus_voltage();
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// 每10ms执行的代码 (1ms * 10 = 10ms)
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static uint8_t ms10_counter = 0;
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static u8 ms10_counter = 0;
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ms10_counter++;
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if (ms10_counter >= 10) {
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ms10_counter = 0;
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// 可以添加每10ms执行的代码
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// 每100ms执行的代码 (10ms * 10 = 100ms)
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static uint8_t ms100_counter = 0;
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static u8 ms100_counter = 0;
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ms100_counter++;
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if (ms100_counter >= 10) {
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ms100_counter = 0;
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// 可以添加每100ms执行的代码
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// if (sampler.get_current('U') > 1.0 ||
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// sampler.get_current('V') > 1.0 ||
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// sampler.get_current('W') > 1.0) {
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// if (FOC.is_shut_down == 0) {
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// FOC.shut_down();
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// }
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// }
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// 每1s执行的代码 (100ms * 10 = 1s)
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static uint8_t sec_counter = 0;
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static u8 sec_counter = 0;
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sec_counter++;
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if (sec_counter >= 10) {
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sec_counter = 0;
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@@ -168,6 +221,38 @@ void TIMER2_IRQHandler(void) {
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}
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}
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/**
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* @brief TIMER3中断处理函数
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* @return void
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*/
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void TIMER3_IRQHandler(void) {
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// 检查更新中断标志并处理
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if (timer_interrupt_flag_get(TIMER3, TIMER_INT_UP) != RESET) {
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// 清除更新中断标志
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timer_interrupt_flag_clear(TIMER3, TIMER_INT_UP);
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static u8 count = 0;
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count++;
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if (FOC.is_shut_down > 0)
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FOC.is_shut_down--;
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else
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FOC.resume();
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// 10ms测试代码
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if (count >= 10) {
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count = 0;
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// 100ms测试代码
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static u8 count_10 = 0;
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count_10++;
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if (count_10 >= 10) {
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count_10 = 0;
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// 1s测试代码
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}
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}
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}
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}
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/**
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* @brief TIMER1 GPIO配置函数
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*/
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