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feat(FOC): 优化开环速度控制逻辑并提升性能

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refactor(ADC): 重构采样逻辑并封装为 sampler 类
refactor(CAN): 更新 CAN 发送器以使用新的sampler 接口
refactor(timer): 调整定时器中断结构并优化任务调度
This commit is contained in:
cbb
2025-10-19 23:20:28 +08:00
parent 34df732659
commit 7f0ca1857b
8 changed files with 309 additions and 151 deletions
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Robot_V2/device/Can.cpp
+7 -6
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@@ -19,6 +19,7 @@
extern CAN_transmiter CAN0_transmiter;
extern FOC_Controlroller FOC;
extern sampler sampler;
/*!
\brief initialize CAN GPIO
@@ -363,9 +364,9 @@ CAN_transmiter::CAN_transmiter() {
void CAN_transmiter::update(void) {
limit_velocity_union.f = FOC.limit_velocity;
limit_voltage = FOC.limit_voltage * 1000;
mcu_temp = get_mcu_temp() * 100;
motor_temp = get_drv_temp() * 100;
Power_Voltage = get_vbus_voltage() * 1000;
mcu_temp = sampler.get_mcu_temp() * 100;
motor_temp = sampler.get_drv_temp() * 100;
Power_Voltage = sampler.get_vbus_voltage() * 1000;
rt_angle_union.f = 0.0f;
rt_velocity_union.f = 0.0f;
Status_code = (gpio_input_bit_get(GPIOB, GPIO_PIN_2) == SET) ? 0 : 1;
@@ -375,9 +376,9 @@ void CAN_transmiter::update(void) {
target_angle_union.f = FOC.target_angle;
target_velocity_union.f = FOC.target_velocity;
u_current_union.f = get_current('U') * 1000;
w_current_union.f = get_current('W') * 1000;
v_current_union.f = get_current('V') * 1000;
u_current_union.f = sampler.get_current('U') * 1000;
w_current_union.f = sampler.get_current('W') * 1000;
v_current_union.f = sampler.get_current('V') * 1000;
}
/*!