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refactor(timer): 引入任务调度机制替代硬编码定时操作

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通过定义 `TaskScheduler` 结构体和相关枚举类型，
将原TIMER2中断中耦合的操作解耦成多个独立任务标志，
便于后续维护和扩展，并提高系统实时响应能力。

feat(FOC): 优化电压安全范围与PID参数配置
将电压计算中的 `voltage_power_supply` 替换为更安全的 `v_safe`，
并引入电压有效性检测逻辑。同时调整PID控制器参数以适配12V供电场景。
此外，统一布尔变量初始化方式，提升代码可读性和安全性。

chore(build): 更新CMSIS工具链版本依赖
更新vcpkg配置文件中CMSIS Toolbox的版本要求，
从2.11.0升级至2.12.0，确保构建环境兼容最新功能及修复。
This commit is contained in:
cbb
2025-11-13 02:04:58 +08:00
parent db2d08032c
commit 67a1c04458
13 changed files with 161 additions and 110 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Robot_V2/Algorithm/DengFOC.cpp
+18 -14
View File
@@ -4,12 +4,9 @@
#include "Timer.h"
#include "adc.h"
#include "ang_sensor.h"
#include "gd32c10x_dbg.h"
#include "initial.h"
#include "pid.h"
#include "systick.h"
#include <cmath>
#include <cstdio>
#include <gd32c10x.h>
#include <stdint.h>
@@ -76,13 +73,13 @@ inline void FOC_Controlroller::setPhaseVoltage(float Uq, float Ud) {
Uc = (-Ualpha - sqrt3 * Ubeta) * 0.5f + v_half;
// 计算占空比
float dc_a = _constrain(Ua / voltage_power_supply, 0.0f, 1.0f);
float dc_b = _constrain(Ub / voltage_power_supply, 0.0f, 1.0f);
float dc_c = _constrain(Uc / voltage_power_supply, 0.0f, 1.0f);
float dc_a = _constrain(Ua / v_safe, 0.0f, 1.0f);
float dc_b = _constrain(Ub / v_safe, 0.0f, 1.0f);
float dc_c = _constrain(Uc / v_safe, 0.0f, 1.0f);
// 设置PWM输出
dc_a = dc_a * limit_voltage / voltage_power_supply;
dc_b = dc_b * limit_voltage / voltage_power_supply;
dc_c = dc_c * limit_voltage / voltage_power_supply;
dc_a = dc_a * limit_voltage / v_safe;
dc_b = dc_b * limit_voltage / v_safe;
dc_c = dc_c * limit_voltage / v_safe;
Set_3Pwm(dc_a, dc_b, dc_c);
// std::printf("PWM:%f,%f,%f\n", dc_a, dc_b, dc_c);
}
@@ -101,9 +98,9 @@ void FOC_Controlroller::shut_down() {
*
*/
void FOC_Controlroller::resume() {
thermal_uncontrol = 0;
voltage_error = 0;
is_shut_down = 0;
thermal_uncontrol = false;
voltage_error = false;
is_shut_down = false;
gpio_bit_set(GPIOB, GPIO_PIN_12);
}
/**
@@ -112,7 +109,14 @@ void FOC_Controlroller::resume() {
*/
void FOC_Controlroller::update_power(void) {
voltage_power_supply = sampler.get_vbus_voltage();
v_half = voltage_power_supply * 0.5f;
if (voltage_power_supply < 36.0f and voltage_power_supply > 8.0f) {
voltage_error = false;
v_half = voltage_power_supply * 0.5f;
v_safe = voltage_power_supply * 0.95f;
}
else {
voltage_error = true;
}
}
/**
@@ -158,7 +162,7 @@ float FOC_Controlroller::velocity_open_loop() {
float FOC_Controlroller::angle_control(float target_angle) {
// 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() * DEG2RAD;
// 设置相电压
Robot_V2/Algorithm/DengFOC.h
+13 -7
View File
@@ -14,10 +14,10 @@ class FOC_Controlroller {
float target_velocity = 0.0f;
float rt_angle = 0.0f;
float rt_velocity = 0.0f;
bool thermal_uncontrol = 0;
bool voltage_error = 0;
bool is_shut_down = 0;
float voltage_power_supply = 24.0f; // 电源电压
bool thermal_uncontrol = false;
bool voltage_error = false;
bool is_shut_down = false;
float voltage_power_supply = 24.0f; // 电源电压
float velocity_open_loop();
float angle_control(float target_angle);
@@ -36,10 +36,16 @@ class FOC_Controlroller {
float Ualpha, Ubeta = 0, Ua = 0, Ub = 0, Uc = 0;
float zero_electric_angle = 0;
float v_half = voltage_power_supply * 0.5f; // 电源电压的一半
float v_safe = voltage_power_supply * 0.95f;
PIDController vel_loop =PIDController{1.8f, 1.2f, 0.0002f, 1000000, voltage_power_supply};
PIDController angle_loop =
PIDController{140.0f, 80.0f, 0.005f, 10000000, voltage_power_supply};
// PIDController vel_loop =PIDController{1.8f, 1.2f, 0.0002f, 1000000,
// voltage_power_supply};//8V
// PIDController angle_loop = PIDController{140.0f, 80.0f, 0.005f, 10000000,
// voltage_power_supply}; // 8V
PIDController vel_loop = PIDController{1.0f, 0.85f, 0.0002f, 1000000,
voltage_power_supply}; // 12V
PIDController angle_loop = PIDController{70.0f, 75.0f, 0.0001f, 10000000,
voltage_power_supply}; // 12V
void setPhaseVoltage(float Uq, float Ud);
};
Robot_V2/Algorithm/Filter.cpp
+1
View File
@@ -2,6 +2,7 @@
#include "ang_sensor.h"
#include <algorithm>
#include <array>
#include <cstdio>
#include <cstring>
#include <stdint.h>
Robot_V2/Algorithm/Filter.h
+1 -1
View File
@@ -1,6 +1,7 @@
#ifndef _FILTER_H
#define _FILTER_H
#include <cstdio>
#ifdef __cplusplus
extern "C" {
#endif
@@ -95,7 +96,6 @@ template <typename T> class KalmanFilter {
x += K * (measurement - x); // 更新状态估计
P = (1 - K) * P; // 更新误差协方差
return x;
}
Robot_V2/Algorithm/pid.cpp
-1
View File
@@ -1,5 +1,4 @@
#include "pid.h"
#include "Timer.h"
#define _constrain(amt, low, high) \
((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
#include "Can.h"
Robot_V2/Algorithm/thermal.cpp
+2 -3
View File
@@ -2,7 +2,6 @@
#include "Can.h"
#include "DengFOC.h"
#include "adc.h"
#include <cstdio>
extern sampler sampler;
extern CAN_transmiter CAN0_transmiter;
@@ -12,7 +11,7 @@ extern FOC_Controlroller FOC;
((a) > (b) ? ((a) > (c) ? (a) : (c)) : ((b) > (c) ? (b) : (c)))
constexpr u16 PROTECT_TIME = 6000; // 过热保护时间，单位*10ms
u16 ThermalController::update() {
u32 ThermalController::update() {
thermal_value = thermal_value * thermalRate;
thermal_value +=
SQUARE(sampler.get_drv_temp()) + SQUARE(sampler.get_mcu_temp());
@@ -38,5 +37,5 @@ u16 ThermalController::update() {
remainingTime10Ms = PROTECT_TIME; // 过热停机10秒
return remainingTime10Ms;
}
return remainingTime10Ms;
return thermal_value;
}
Robot_V2/Algorithm/thermal.h
+1 -1
View File
@@ -17,7 +17,7 @@ class ThermalController {
u16 gapTimeMs = 10; // 单次计算间隔ms
u16 remainingTime10Ms = 0; // 过热冷却剩余ms
public:
u16 update();
u32 update();
void reset() {
thermal_value = 0;
remainingTime10Ms = 0;
Robot_V2/device/ADC.cpp
-2
View File
@@ -1,8 +1,6 @@
#include "adc.h"
#include "Filter.h"
#include "Can.h"
#include "gd32c10x_can.h"
#include "gd32c10x_eval.h"
#include "math.h"
#include <cstring>
#include <gd32c10x_dma.h>
Robot_V2/device/Timer.cpp
+15 -51
View File
@@ -1,21 +1,17 @@
#include "Timer.h"
#include "Can.h"
#include "DengFOC.h"
#include "Filter.h"
#include "Timer.h"
#include "adc.h"
#include "ang_sensor.h"
#include "gd32c10x.h"
#include "gd32c10x_gpio.h"
#include "gd32c10x_misc.h"
#include "gd32c10x_rcu.h"
#include "gd32c10x_timer.h"
#include "thermal.h"
#include <cstdio>
#include "initial.h"
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
constexpr int TIMER2_PRESCALER = 119; // 120MHz / 120 = 1MHz
constexpr int TIMER2_PERIOD = 99; // 1MHz / 100 = 100us
constexpr int TIMER3_PRESCALER = 119; // 120MHz / 120 = 1MHz
@@ -29,18 +25,11 @@ constexpr int TIMER1_CH2_PULSE = 0;
static u32 total_us100_counter = 0; // 总计数器，每100微秒增加1
extern u16 adc_value[7];
extern CAN_transmiter CAN0_transmiter;
extern FOC_Controlroller FOC;
extern TaskScheduler scheduler;
// 添加系统运行时间计数器
static volatile std::u64 system_runtime_us = 0;
// 声明外部FOC控制器对象
extern FOC_Controlroller FOC;
// 声明外部采样器对象
extern sampler sampler;
extern angle_sensor KTH7823;
extern EncoderVelocityKalman Vel_kalman;
extern ThermalController thermalController; // 热量控制器初始化
/**
* @brief 设置引脚中断优先级
* @return void
@@ -167,53 +156,28 @@ void TIMER2_IRQHandler(void) {
// 清除更新中断标志
timer_interrupt_flag_clear(TIMER2, TIMER_INT_UP);
// 增加总计数器 (使用更高效的位运算代替取模运算)
total_us100_counter++;
// system_runtime_us += 100;
// 每100us执行一次的操作
sampler.update_current(); // 更新电流采样值
KTH7823.update(); // 更新角度传感器值
FOC.rt_velocity = Vel_kalman.update(KTH7823.getVelocity());
FOC.rt_angle = KTH7823.getAngle();
switch (FOC.control_mode) {
case 0: {
break;
}
case 1: {
FOC.angle_control(FOC.target_angle); // 角度闭环控制
break;
}
case 2: {
FOC.velocity_control(FOC.target_velocity); // 速度闭环控制
break;
}
case 3: {
FOC.angle_control_NPID(FOC.target_angle); // 角度闭环控制
break;
}
case 4: {
FOC.velocity_open_loop(); // 速度闭环控制
break;
}
}
total_us100_counter++;
scheduler.taskFlags |=
(1 << TASK_CURRENT_UPDATE) | (1 << TASK_ANGLE_UPDATE) |
(1 << TASK_VELOCITY_UPDATE) | (1 << TASK_MOTOR_CONTROL);
switch (total_us100_counter) { // 每1ms执行的代码，负载均衡
case 1: {
// 设置CAN发送标志
CAN0_transmiter.can0_send_flag = SET;
mode = FOC.control_mode;
scheduler.taskFlags |= (1 << TASK_MCU_TEMP_UPDATE);
break;
}
case 2: {
sampler.update_mcu_temp();
scheduler.taskFlags |= (1 << TASK_DRV_TEMP_UPDATE);
break;
}
case 3: {
sampler.update_drv_temp();
scheduler.taskFlags |= (1 << TASK_VBUS_UPDATE);
break;
}
case 4: {
sampler.update_vbus_voltage();
scheduler.taskFlags |= (1 << TASK_CAN_TRANSMIT);
break;
}
}
@@ -224,11 +188,10 @@ void TIMER2_IRQHandler(void) {
ms10_counter++;
switch (ms10_counter) { // 每10ms执行的代码，负载均衡
case 1: {
FOC.update_power();
scheduler.taskFlags |= (1 << TASK_THERMAL_CONTROL);
break;
}
case 2: {
thermalController.update();
break;
}
}
@@ -239,6 +202,7 @@ void TIMER2_IRQHandler(void) {
ms100_counter++;
switch (ms100_counter) { // 每100ms执行的代码，负载均衡
case 1: {
break;
}
if (ms100_counter >= 10) {
Robot_V2/device/ang_sensor.h
-1
View File
@@ -1,6 +1,5 @@
#ifndef _angsensor_H
#define _angsensor_H
#include <cstdio>
#ifdef __cplusplus
extern "C" {
#endif
Robot_V2/main.cpp
+76 -13
View File
@@ -1,34 +1,97 @@
#include "main.h"
#include "Can.h"
#include "DengFOC.h"
#include "Filter.h"
#include "Timer.h"
#include "adc.h"
#include "ang_sensor.h"
#include "thermal.h"
#include "core_cm4.h"
#include "initial.h"
#include "systick.h"
#include "thermal.h"
TaskScheduler scheduler = {0};
// 全局变量定义
CAN_transmiter CAN0_transmiter; // CAN初始化
FOC_Controlroller FOC; // FOC控制初始化
sampler sampler; // 采样器初始化
angle_sensor KTH7823; // 角度传感器初始化
CAN_transmiter CAN0_transmiter; // CAN初始化
FOC_Controlroller FOC; // FOC控制初始化
sampler sampler; // 采样器初始化
angle_sensor KTH7823; // 角度传感器初始化
ThermalController thermalController; // 热量控制器初始化
extern EncoderVelocityKalman Vel_kalman;
int main(void) {
systick_config(); // 系统时钟初始化
USART0_init(); // 调试串口初始化
User_timer_init(); // Timer初始化
driver_init(); // 电机驱动初始化
watchdog_init(5000); // 看门狗初始化
systick_config(); // 系统时钟初始化
USART0_init(); // 调试串口初始化
User_timer_init(); // Timer初始化
driver_init(); // 电机驱动初始化
angsens_MG_test(); // 角度传感器磁感应强度测试
delay_1ms(10);
angsens_MG_test(); // 角度传感器磁感应强度测试
watchdog_init(5000); // 看门狗初始化
while (1) {
// delay_1ms(100);
fwdgt_counter_reload(); // 看门狗复位
// std::printf("1\n");
fwdgt_counter_reload(); // 看门狗复位
CAN0_transmiter.communication_check(); // CAN通信
// 保存当前任务标志快照以提高效率并确保一致性
u32 currentTasks = scheduler.taskFlags;
// 一次性清除所有已处理的任务标志
scheduler.taskFlags &= ~currentTasks;
// 按照优先级和重要性处理任务
if (currentTasks &
(1 << TASK_MOTOR_CONTROL)) { // 电机控制任务(最高优先级)
switch (FOC.control_mode) {
case 0: {
break;
}
case 1: {
FOC.angle_control(FOC.target_angle); // 角度闭环控制
break;
}
case 2: {
FOC.velocity_control(FOC.target_velocity); // 速度闭环控制
break;
}
case 3: {
FOC.angle_control_NPID(FOC.target_angle); // 角度闭环控制
break;
}
case 4: {
FOC.velocity_open_loop(); // 速度开环控制
break;
}
}
}
if (currentTasks & (1 << TASK_CURRENT_UPDATE)) { // 更新电流采样值
sampler.update_current();
}
if (currentTasks & (1 << TASK_ANGLE_UPDATE)) { // 更新角度传感器值
KTH7823.update();
FOC.rt_angle = KTH7823.getAngle();
}
if (currentTasks & (1 << TASK_VELOCITY_UPDATE)) { // 更新速度传感器值
FOC.rt_velocity = Vel_kalman.update(KTH7823.getVelocity());
}
if (currentTasks & (1 << TASK_VBUS_UPDATE)) { // 更新vbus电压值
sampler.update_vbus_voltage();
FOC.update_power();
}
if (currentTasks & (1 << TASK_MCU_TEMP_UPDATE)) { // 更新mcu温度传感器值
sampler.update_mcu_temp();
}
if (currentTasks &
(1 << TASK_DRV_TEMP_UPDATE)) { // 更新电机温度传感器值
sampler.update_drv_temp();
}
if (currentTasks & (1 << TASK_THERMAL_CONTROL)) { // 热量控制
CAN0_transmiter.testfloat_union.f = thermalController.update();
}
if (currentTasks & (1 << TASK_CAN_TRANSMIT)) { // CAN通信
CAN0_transmiter.can0_send_flag = SET;
CAN0_transmiter.communication_check();
}
}
}
Robot_V2/sys/initial.h
+20 -2
View File
@@ -4,9 +4,10 @@
#ifdef __cplusplus
extern "C" {
#endif
#include "gd32c10x_eval.h"
#include "stdint.h"
#include <stdio.h>
#include "gd32c10x_eval.h"
constexpr u16 REDUCTION_RATIO = 25;
constexpr float DEG2RAD = 1.0f / 360.0f * 6.28318530718f;
@@ -14,14 +15,31 @@ constexpr float RAD2DEG = 360.0f / 6.28318530718f;
void rcu_config(void);
static volatile uint32_t timer_delay_count = 0; // volatile 很重要！
int fputc(int ch, FILE *f); // 声明fputc函数以重载标准库实现
int fputc(int ch, FILE *f); // 声明fputc函数以重载标准库实现
u8 tle5210b_init(void);
u8 USART0_init(void);
u8 watchdog_init(u32 time);
void driver_init(void);
void angsens_MG_test(void);
// 任务标志定义
typedef enum {
TASK_MOTOR_CONTROL = 0,
TASK_CURRENT_UPDATE,
TASK_VELOCITY_UPDATE,
TASK_ANGLE_UPDATE,
TASK_MCU_TEMP_UPDATE,
TASK_DRV_TEMP_UPDATE,
TASK_VBUS_UPDATE,
TASK_THERMAL_CONTROL,
TASK_CAN_TRANSMIT,
TASK_COUNT
} SystemTask;
// 任务管理结构
typedef struct {
volatile u32 taskFlags; // 任务标志位(每个位代表一个任务)
} TaskScheduler;
#ifdef __cplusplus
}
vcpkg-configuration.json
+14 -14
View File
@@ -1,16 +1,16 @@
{
"registries": [
{
"name": "arm",
"kind": "artifact",
"location": "https://artifacts.tools.arm.com/vcpkg-registry"
}
],
"requires": {
"arm:tools/open-cmsis-pack/cmsis-toolbox": "2.11.0",
"arm:tools/kitware/cmake": "3.31.5",
"arm:tools/ninja-build/ninja": "1.12.1",
"arm:tools/arm/mdk-toolbox": "1.1.0",
"arm:compilers/arm/armclang": "6.24.0"
}
"registries": [
{
"name": "arm",
"kind": "artifact",
"location": "https://artifacts.tools.arm.com/vcpkg-registry"
}
],
"requires": {
"arm:tools/open-cmsis-pack/cmsis-toolbox": "2.12.0",
"arm:tools/kitware/cmake": "3.31.5",
"arm:tools/ninja-build/ninja": "1.12.1",
"arm:tools/arm/mdk-toolbox": "1.1.0",
"arm:compilers/arm/armclang": "6.24.0"
}
}