feat(FOC): 优化开环速度控制逻辑并提升性能
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:
+97
-74
@@ -1,16 +1,16 @@
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#include "Timer.h"
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#include "Can.h"
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#include "DengFOC.h"
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#include "Timer.h"
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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_rcu.h"
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#include "gd32c10x_timer.h"
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#include "DengFOC.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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#include <stdio.h>
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#include "Timer.h"
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// 配置定时器每100微秒中断一次
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// 系统时钟为120MHz，要得到100微秒的中断周期
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@@ -19,8 +19,8 @@
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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 TIMER1_PRESCALER = 0; // 不分频，计数器时钟为120MHz
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constexpr int TIMER1_PERIOD = 2999; // 120MHz / (0+1) / (5999+1) = 20kHz
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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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constexpr int TIMER1_CH0_PULSE = 0;
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constexpr int TIMER1_CH1_PULSE = 0;
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constexpr int TIMER1_CH2_PULSE = 0;
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@@ -33,6 +33,8 @@ static volatile std::u64 system_runtime_us = 0;
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// 声明外部FOC控制器对象
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extern FOC_Controlroller FOC;
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// 声明外部采样器对象
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extern sampler sampler;
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/**
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* @brief 设置引脚中断优先级
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@@ -99,17 +101,13 @@ void User_timer_init(void) {
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nvic_config();
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}
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/*!
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\brief 获取系统运行时间(毫秒)
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\param[in] none
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\param[out] none
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\retval 系统运行时间，单位为毫秒
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\brief 获取系统运行时间(毫秒)
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\param[in] none
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\param[out] none
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\retval 系统运行时间，单位为毫秒
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*/
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uint64_t get_system_runtime_us(void)
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{
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return system_runtime_us;
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}
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uint64_t get_system_runtime_us(void) { return system_runtime_us; }
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/**
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* @brief TIMER2中断处理函数
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@@ -120,30 +118,51 @@ 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
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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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// 每100us执行一次的操作可以放在这里
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// 在定时器中断中执行FOC控制，确保控制频率稳定
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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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if (total_us100_counter % 10 == 0) {
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// 每1ms执行的代码可以放在这里
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CAN0_transmiter.can0_send_flag = SET;
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if (total_us100_counter % 100 == 0) {
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// 每10ms执行的代码可以放在这里
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}
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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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if (total_us100_counter % 1000 == 0) {
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// 每100ms执行的代码可以放在这里
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}
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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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if (total_us100_counter % 10000 == 0) {
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// 每1s执行的代码可以放在这里
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// 重置计数器避免溢出
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total_us100_counter = 0;
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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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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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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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// 每1s执行的代码 (100ms * 10 = 1s)
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static uint8_t 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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// 可以添加每1s执行的代码
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}
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}
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}
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}
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}
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@@ -164,7 +183,8 @@ void timer1_gpio_config(void) {
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gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_1);
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gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_2);
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gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0|GPIO_PIN_12);
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gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ,
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GPIO_PIN_0 | GPIO_PIN_12);
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gpio_bit_set(GPIOB, GPIO_PIN_0);
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gpio_bit_set(GPIOB, GPIO_PIN_12);
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@@ -176,52 +196,53 @@ void timer1_gpio_config(void) {
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* @brief TIMER1 配置函数
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*/
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void timer1_pwm_config(void) {
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timer_parameter_struct timer_initpara;
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timer_oc_parameter_struct timer_ocinitpara;
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timer_parameter_struct timer_initpara;
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timer_oc_parameter_struct timer_ocinitpara;
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// 使能TIMER1时钟
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rcu_periph_clock_enable(RCU_TIMER1);
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// 使能TIMER1时钟
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rcu_periph_clock_enable(RCU_TIMER1);
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// 复位TIMER1
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timer_deinit(TIMER1);
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// 复位TIMER1
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timer_deinit(TIMER1);
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// 配置TIMER1基本参数
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timer_struct_para_init(&timer_initpara);
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timer_initpara.prescaler = TIMER1_PRESCALER; // 预分频器
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timer_initpara.counterdirection = TIMER_COUNTER_UP; // 向上计数
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timer_initpara.period = TIMER1_PERIOD; // 计数周期
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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timer_init(TIMER1, &timer_initpara);
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// 配置TIMER1基本参数
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timer_struct_para_init(&timer_initpara);
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timer_initpara.prescaler = TIMER1_PRESCALER; // 预分频器
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timer_initpara.counterdirection = TIMER_COUNTER_UP; // 向上计数
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timer_initpara.period = TIMER1_PERIOD; // 计数周期
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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timer_init(TIMER1, &timer_initpara);
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// 配置通道输出参数
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timer_channel_output_struct_para_init(&timer_ocinitpara);
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timer_ocinitpara.outputstate = TIMER_CCX_ENABLE;
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timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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// 配置通道输出参数
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timer_channel_output_struct_para_init(&timer_ocinitpara);
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timer_ocinitpara.outputstate = TIMER_CCX_ENABLE;
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timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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// 配置三个通道为PWM模式
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timer_channel_output_config(TIMER1, TIMER_CH_0, &timer_ocinitpara);
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timer_channel_output_config(TIMER1, TIMER_CH_1, &timer_ocinitpara);
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timer_channel_output_config(TIMER1, TIMER_CH_2, &timer_ocinitpara);
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// 配置三个通道为PWM模式
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timer_channel_output_config(TIMER1, TIMER_CH_0, &timer_ocinitpara);
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timer_channel_output_config(TIMER1, TIMER_CH_1, &timer_ocinitpara);
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timer_channel_output_config(TIMER1, TIMER_CH_2, &timer_ocinitpara);
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// 设置PWM模式和占空比
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timer_channel_output_mode_config(TIMER1, TIMER_CH_0, TIMER_OC_MODE_PWM0);
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timer_channel_output_mode_config(TIMER1, TIMER_CH_1, TIMER_OC_MODE_PWM0);
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timer_channel_output_mode_config(TIMER1, TIMER_CH_2, TIMER_OC_MODE_PWM0);
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// 设置PWM模式和占空比
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timer_channel_output_mode_config(TIMER1, TIMER_CH_0, TIMER_OC_MODE_PWM0);
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timer_channel_output_mode_config(TIMER1, TIMER_CH_1, TIMER_OC_MODE_PWM0);
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timer_channel_output_mode_config(TIMER1, TIMER_CH_2, TIMER_OC_MODE_PWM0);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0, TIMER1_CH0_PULSE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1, TIMER1_CH1_PULSE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2, TIMER1_CH2_PULSE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0,
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TIMER1_CH0_PULSE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1,
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TIMER1_CH1_PULSE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2,
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TIMER1_CH2_PULSE);
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// 使能主输出和自动重载
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timer_primary_output_config(TIMER1, ENABLE);
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timer_auto_reload_shadow_enable(TIMER1);
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// 启动TIMER1
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timer_enable(TIMER1);
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// 使能主输出和自动重载
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timer_primary_output_config(TIMER1, ENABLE);
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timer_auto_reload_shadow_enable(TIMER1);
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// 启动TIMER1
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timer_enable(TIMER1);
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}
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/*!
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\brief set PWM
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\param[in] channel: TIMER_CH_0/TIMER_CH_1/TIMER_CH_2/TIMER_CH_3 (valid
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@@ -233,14 +254,13 @@ void timer1_pwm_config(void) {
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*/
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void Set_Pwm(u16 channel, float duty_cycle) {
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float pulse = duty_cycle * TIMER1_PERIOD;
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if (channel <= 3) {
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timer_channel_output_pulse_value_config(TIMER1, channel, pulse);
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} else {
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} // Ensure channel is within valid range
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}
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/*!
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\brief set PWM
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\param[in] channel: TIMER_CH_0/TIMER_CH_1/TIMER_CH_2/TIMER_CH_3 (valid
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@@ -250,8 +270,11 @@ void Set_Pwm(u16 channel, float duty_cycle) {
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\retval none
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\note The channel parameter must be between 0 and 3 inclusive.
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*/
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void Set_3Pwm(float duty_cycle0, float duty_cycle1,float duty_cycle2) {
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0, duty_cycle0 * TIMER1_PERIOD);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1, duty_cycle1 * TIMER1_PERIOD);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2, duty_cycle2 * TIMER1_PERIOD);
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void Set_3Pwm(float duty_cycle0, float duty_cycle1, float duty_cycle2) {
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0,
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duty_cycle0 * TIMER1_PERIOD);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1,
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duty_cycle1 * TIMER1_PERIOD);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2,
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duty_cycle2 * TIMER1_PERIOD);
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}
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