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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/Can.h
+21 -12
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@@ -17,30 +17,39 @@ typedef union {
} float_union_t;
// 添加辅助函数用于将u16类型数据打包到u8数组中
static inline void pack_u16_to_bytes(u8 * const buffer, const u16 offset, const u16 value) {
*(reinterpret_cast<u16*>(buffer + offset)) = value;
static inline void pack_u16_to_bytes(u8 *buffer, u16 offset, u16 value) {
buffer[offset] = (u8)(value & 0xFF);
buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
}
// 添加辅助函数用于将float类型数据打包到u8数组中
static inline void pack_float_to_bytes(u8 * const buffer, const u16 offset,
const float_union_t &float_union) {
*(reinterpret_cast<u32*>(buffer + offset)) = *(reinterpret_cast<const u32*>(float_union.b));
static inline void pack_float_to_bytes(u8 *buffer, u16 offset,
float_union_t &float_union) {
buffer[offset] = float_union.b[0];
buffer[offset + 1] = float_union.b[1];
buffer[offset + 2] = float_union.b[2];
buffer[offset + 3] = float_union.b[3];
}
// 添加辅助函数用于从u8数组中解包short类型数据
static inline short unpack_bytes_to_short(const u8 * const buffer, const u16 offset) {
return *(reinterpret_cast<const short*>(buffer + offset));
static inline short unpack_bytes_to_short(u8 *buffer, u16 offset) {
short value = (short)(buffer[offset] | (buffer[offset + 1] << 8));
return value;
}
// 添加辅助函数用于从u8数组中解包u16类型数据
static inline u16 unpack_bytes_to_u16(const u8 * const buffer, const u16 offset) {
return *(reinterpret_cast<const u16*>(buffer + offset));
static inline u16 unpack_bytes_to_u16(u8 *buffer, u16 offset) {
u16 value = (u16)(buffer[offset] | (buffer[offset + 1] << 8));
return value;
}
// 添加辅助函数用于从u8数组中解包float类型数据
static inline float_union_t unpack_bytes_to_float(const u8 * const buffer, const u16 offset) {
static float_union_t float_union;
*(reinterpret_cast<u32*>(float_union.b)) = *(reinterpret_cast<const u32*>(buffer + offset));
static inline float_union_t unpack_bytes_to_float(u8 *buffer, u16 offset) {
float_union_t float_union;
float_union.b[0] = buffer[offset];
float_union.b[1] = buffer[offset + 1];
float_union.b[2] = buffer[offset + 2];
float_union.b[3] = buffer[offset + 3];
return float_union;
}