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fix:修复任务调度不准确的问题，

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feat:优化电流采样速率
feat:优化PIDramp效率
feat:优化角度采样效率
fix:回滚CAN打包逻辑
feat:去除timer3
feat(FOC): 优化帕克逆变换与克拉克逆变换计算方式
将原有的三角函数计算替换为查表法，提高运算效率。同时添加了 sqrt(3)/2 的预计算常量，并优化了电压限制部分的计算逻辑，减少重复运算。
This commit is contained in:
cbb
2025-11-23 18:31:47 +08:00
parent 59f161bd73
commit 871e33e10f
14 changed files with 503 additions and 189 deletions
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Robot_V2/device/ADC.cpp
+18 -14
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@@ -1,6 +1,6 @@
#include "adc.h"
#include "Filter.h"
#include "Can.h"
#include "Filter.h"
#include "math.h"
#include <cstring>
#include <gd32c10x_dma.h>
@@ -20,7 +20,7 @@ constexpr float MIN_CURRENT = -40.0f;
constexpr float MAX_VCC = 65.0f;
constexpr float MIN_VCC = -0.1f;
extern CAN_transmiter CAN0_transmiter;
sampler sampler; // 采样器初始化
sampler sampler; // 采样器初始化
u16 adc_value[6] = {0}; // 显式初始化数组元素为0
/*!
@@ -139,7 +139,7 @@ sampler::sampler() {
float sampler::get_mcu_temp() {
tempora_sample = medium_filter(mcu_temp_samples, FILTER_SIZE + 1);
// 检查温度读数是否在有效范围内
if (tempora_sample < MIN_TEMP || tempora_sample > MAX_TEMP) {
if (tempora_sample < MIN_TEMP or tempora_sample > MAX_TEMP) {
return ERROR_ADC_VAL;
}
return tempora_sample;
@@ -186,7 +186,7 @@ float sampler::get_current(char type) {
return ERROR_ADC_VAL;
}
}
if (tempora_sample < MIN_CURRENT || tempora_sample > MAX_CURRENT) {
if (tempora_sample < MIN_CURRENT or tempora_sample > MAX_CURRENT) {
return ERROR_ADC_VAL;
}
return tempora_sample;
@@ -202,7 +202,7 @@ float sampler::get_current(char type) {
float sampler::get_vbus_voltage() {
tempora_sample = medium_filter(vbus_samples, FILTER_SIZE + 1);
// 检查电压读数是否在有效范围内
if (vbus_samples[FILTER_SIZE / 2] > MAX_VCC ||
if (vbus_samples[FILTER_SIZE / 2] > MAX_VCC or
vbus_samples[FILTER_SIZE / 2] < MIN_VCC) {
return ERROR_ADC_VAL;
}
@@ -237,16 +237,20 @@ void sampler::update_drv_temp() {
* @brief 更新相电流
*/
void sampler::update_current() {
memmove(currU_samples, currU_samples + 1, FILTER_SIZE * sizeof(float));
memmove(currV_samples, currV_samples + 1, FILTER_SIZE * sizeof(float));
memmove(currW_samples, currW_samples + 1, FILTER_SIZE * sizeof(float));
u8 idx = current_sample_index;
// 优化计算
const float scale = ADC_SCALE * CURRENT_FACTOR;
const float offset = CURRENT_OFFSET * CURRENT_FACTOR;
currU_samples[FILTER_SIZE] =
(adc_value[2] * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR;
currV_samples[FILTER_SIZE] =
(adc_value[3] * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR;
currW_samples[FILTER_SIZE] =
(adc_value[4] * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR;
currU_samples[idx] = adc_value[2] * scale + offset;
currV_samples[idx] = adc_value[3] * scale + offset;
currW_samples[idx] = adc_value[4] * scale + offset;
// 更新索引
current_sample_index++;
if (current_sample_index >= FILTER_SIZE - 1) {
current_sample_index = 0;
}
}
/**