fix(FOC): 修正大角度下会导致角度控制失控的问题

移除冗余的 `_electricalAngle` 函数，修正 `setPhaseVoltage` 中电气角度的计算方式在定时器中断中增加实时角度更新，支持新增的无 PID 角度控制模式。
2025-11-10 02:08:03 +08:00
parent b33574d392
commit 7a602dda48
6 changed files with 35 additions and 28 deletions
@@ -15,7 +15,7 @@ constexpr float RAD_FACTOR = 1.0f / 65536.0f * 2.0f * 3.14159265358979323846f;
 constexpr u16 DEFAULT_COMMAND = 0x0000;
 constexpr u16 FAULT_RECEIVE = 0xFFFF;
 constexpr float VELOCITY_SCALE = 1e4f;
-constexpr float ANGLE_WRAP_THRESHOLD = 270.0f;
+constexpr float ANGLE_WRAP_THRESHOLD = 300.0f;
 constexpr float ANGLE_WRAP_VALUE = 360.0f;
 constexpr int SIZE_FLOAT = sizeof(float);

@@ -212,7 +212,7 @@ float angle_sensor::read_sensorAngle(void) {
 		SPI_CS_DISABLE();
 		current_angle_deg = u16data * ANGLE_FACTOR;
 		current_angle_rad = u16data * RAD_FACTOR;
-		return u16data * ANGLE_FACTOR;
+		return current_angle_deg;
 	} else {
 		SPI_CS_DISABLE();
 		// 处理读取错误