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feat(ADC): 电流采样支持负数

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将 CURRENT_OFFSET 从 0 修改为 -1.60f 以校准电流采样偏差。
同时将 ADC 规则通道的采样时间从 55.5 周期调整为 28.5 周期，提高采样响应速度。

feat(timer): 新增 TIMER1 中断及 PWM 周期位置触发功能
新增 TIMER1_CH3 用于在 PWM 周期特定位置（如 50%）触发中断，并配置相关 NVIC 和中断处理逻辑。
修改 TIMER3 的定时周期注释与实际值一致，为 50 微秒。
重新组织 TIMER2 中断中的任务调度顺序，提升执行效率和逻辑清晰度。

refactor(main): 重构主循环任务处理顺序
调整 main.cpp 中任务执行顺序，确保高优先级任务及时处理。
将部分传感器更新任务移动至更合理的位置，保证数据同步性和控制实时性。
This commit is contained in:
cbb
2025-11-22 02:21:33 +08:00
parent 67a1c04458
commit a7a3805839
4 changed files with 70 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Robot_V2/device/ADC.cpp
+6 -6
View File
@@ -11,7 +11,7 @@ constexpr float ADC_SCALE = 3.3f / 4096.0f;
constexpr float TEMP_FACTOR = 1000.0f / 4.3f;
constexpr float VCC_FACTOR = 11.0f;
// constexpr float CURRENT_OFFSET = 0 - 4096.0f / 2.0f;
constexpr float CURRENT_OFFSET = 0;
constexpr float CURRENT_OFFSET = -1.60f;
constexpr float CURRENT_FACTOR =
1.0f / 50.0f * 100.0f; // 50倍放大，100倍电流采样电阻, 单位mA
constexpr float MAX_TEMP = 150.0f;
@@ -86,11 +86,11 @@ void adc_config(void) {
/* 配置ADC规则通道 */
adc_regular_channel_config(ADC0, 0, ADC_CHANNEL_16,
ADC_SAMPLETIME_239POINT5);
adc_regular_channel_config(ADC0, 1, ADC_CHANNEL_9, ADC_SAMPLETIME_55POINT5);
adc_regular_channel_config(ADC0, 2, ADC_CHANNEL_3, ADC_SAMPLETIME_55POINT5);
adc_regular_channel_config(ADC0, 3, ADC_CHANNEL_4, ADC_SAMPLETIME_55POINT5);
adc_regular_channel_config(ADC0, 4, ADC_CHANNEL_5, ADC_SAMPLETIME_55POINT5);
adc_regular_channel_config(ADC0, 5, ADC_CHANNEL_6, ADC_SAMPLETIME_55POINT5);
adc_regular_channel_config(ADC0, 1, ADC_CHANNEL_9, ADC_SAMPLETIME_28POINT5);
adc_regular_channel_config(ADC0, 2, ADC_CHANNEL_3, ADC_SAMPLETIME_28POINT5);
adc_regular_channel_config(ADC0, 3, ADC_CHANNEL_4, ADC_SAMPLETIME_28POINT5);
adc_regular_channel_config(ADC0, 4, ADC_CHANNEL_5, ADC_SAMPLETIME_28POINT5);
adc_regular_channel_config(ADC0, 5, ADC_CHANNEL_6, ADC_SAMPLETIME_28POINT5);
/* ADC触发配置 */
adc_external_trigger_source_config(ADC0, ADC_REGULAR_CHANNEL,
Robot_V2/device/Timer.cpp
+47 -8
View File
@@ -11,7 +11,6 @@
#include <stdint.h>
#include <stdio.h>
constexpr int TIMER2_PRESCALER = 119; // 120MHz / 120 = 1MHz
constexpr int TIMER2_PERIOD = 99; // 1MHz / 100 = 100us
constexpr int TIMER3_PRESCALER = 119; // 120MHz / 120 = 1MHz
@@ -22,6 +21,8 @@ constexpr int TIMER1_PERIOD = 5999; // 120MHz / (0+1) / (5999+1) = 20kHz
constexpr int TIMER1_CH0_PULSE = 0;
constexpr int TIMER1_CH1_PULSE = 0;
constexpr int TIMER1_CH2_PULSE = 0;
constexpr int TIMER1_CH3_COMPARE_VALUE =
(TIMER1_PERIOD + 1) * 0.5 - 1; // PWM周期50%位置触发中断
static u32 total_us100_counter = 0; // 总计数器，每100微秒增加1
extern u16 adc_value[7];
@@ -42,6 +43,8 @@ void nvic_config(void) {
/* 使能TIMER2中断，设置抢占优先级为1，子优先级为1 */
nvic_irq_enable(TIMER2_IRQn, 1, 1);
nvic_irq_enable(TIMER3_IRQn, 1, 2);
nvic_irq_enable(TIMER1_IRQn, 2,
1); // 使能TIMER1中断，抢占优先级2，子优先级1
}
/**
@@ -94,8 +97,8 @@ void TIMER2_config(void) {
void TIMER3_config(void) {
/* ----------------------------------------------------------------------------
TIMER3 Configuration:
TIMER3CLK = SystemCoreClock/120 = 1MHz, the period is 10ms(10000/1000000 =
10ms).
TIMER3CLK = SystemCoreClock/120 = 1MHz, the period is 50us(50/1000000 =
50us).
----------------------------------------------------------------------------
*/
timer_parameter_struct timer_struct;
@@ -113,7 +116,7 @@ void TIMER3_config(void) {
timer_struct.alignedmode = TIMER_COUNTER_EDGE; /* 边沿对齐模式 */
timer_struct.counterdirection = TIMER_COUNTER_UP; /* 向上计数模式 */
timer_struct.period =
TIMER3_PERIOD; /* 自动重装载值：10000次计数(从0开始计数) */
TIMER3_PERIOD; /* 自动重装载值：50次计数(从0开始计数) */
timer_struct.clockdivision = TIMER_CKDIV_DIV1; /* 时钟分频值：1分频 */
timer_init(TIMER3, &timer_struct);
@@ -158,13 +161,12 @@ void TIMER2_IRQHandler(void) {
// 每100us执行一次的操作
total_us100_counter++;
scheduler.taskFlags |=
(1 << TASK_CURRENT_UPDATE) | (1 << TASK_ANGLE_UPDATE) |
(1 << TASK_VELOCITY_UPDATE) | (1 << TASK_MOTOR_CONTROL);
scheduler.taskFlags |= (1 << TASK_ANGLE_UPDATE) |
(1 << TASK_VELOCITY_UPDATE) |
(1 << TASK_MOTOR_CONTROL);
switch (total_us100_counter) { // 每1ms执行的代码，负载均衡
case 1: {
mode = FOC.control_mode;
scheduler.taskFlags |= (1 << TASK_MCU_TEMP_UPDATE);
break;
}
@@ -180,6 +182,10 @@ void TIMER2_IRQHandler(void) {
scheduler.taskFlags |= (1 << TASK_CAN_TRANSMIT);
break;
}
case 9: {
mode = FOC.control_mode;
break;
}
}
if (total_us100_counter >= 10) {
total_us100_counter = 0;
@@ -304,10 +310,18 @@ void timer1_pwm_config(void) {
timer_channel_output_config(TIMER1, TIMER_CH_1, &timer_ocinitpara);
timer_channel_output_config(TIMER1, TIMER_CH_2, &timer_ocinitpara);
// 配置第四个通道(CH3)用于在PWM周期x%位置触发中断
timer_ocinitpara.outputstate =
TIMER_CCX_DISABLE; // 不输出PWM波形，仅用于触发中断
timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
timer_channel_output_config(TIMER1, TIMER_CH_3, &timer_ocinitpara);
// 设置PWM模式和占空比
timer_channel_output_mode_config(TIMER1, TIMER_CH_0, TIMER_OC_MODE_PWM0);
timer_channel_output_mode_config(TIMER1, TIMER_CH_1, TIMER_OC_MODE_PWM0);
timer_channel_output_mode_config(TIMER1, TIMER_CH_2, TIMER_OC_MODE_PWM0);
timer_channel_output_mode_config(TIMER1, TIMER_CH_3,
TIMER_OC_MODE_PWM0); // CH3也设为PWM模式
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0,
TIMER1_CH0_PULSE);
@@ -315,15 +329,40 @@ void timer1_pwm_config(void) {
TIMER1_CH1_PULSE);
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2,
TIMER1_CH2_PULSE);
// 设置CH3比较值为PWM周期x%位置
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_3,
TIMER1_CH3_COMPARE_VALUE);
// 使能主输出和自动重载
timer_primary_output_config(TIMER1, ENABLE);
timer_auto_reload_shadow_enable(TIMER1);
// 使能CH3比较中断
timer_interrupt_enable(TIMER1, TIMER_INT_CH3);
nvic_irq_enable(TIMER1_IRQn, 0,
2); // 使能TIMER1中断，抢占优先级2，子优先级1
// 启动TIMER1
timer_enable(TIMER1);
}
// 添加TIMER1中断处理函数
/**
* @brief TIMER1中断处理函数
* @return void
*/
extern "C" void TIMER1_IRQHandler(void) {
// 检查CH3比较中断标志并处理
if (timer_interrupt_flag_get(TIMER1, TIMER_INT_FLAG_CH3) != RESET) {
// 清除CH3比较中断标志
timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_CH3);
scheduler.taskFlags |= (1 << TASK_CURRENT_UPDATE);
// 在这里添加需要在PWM周期90%位置执行的代码
// 例如触发ADC采样或其他操作
}
}
/*!
\brief set PWM
\param[in] channel: TIMER_CH_0/TIMER_CH_1/TIMER_CH_2/TIMER_CH_3 (valid
Robot_V2/device/Timer.h
+3 -1
View File
@@ -16,6 +16,8 @@ void TIMER3_IRQHandler(void);
void timer1_pwm_config(void);
void timer1_gpio_config(void);
void TIMER1_IRQHandler(void); // 添加TIMER1中断处理函数声明
/* 获取系统运行时间 */
uint64_t get_system_runtime_us(void);
@@ -24,4 +26,4 @@ uint64_t get_system_runtime_us(void);
}
#endif
#endif
#endif
Robot_V2/main.cpp
+14 -14
View File
@@ -41,6 +41,16 @@ int main(void) {
scheduler.taskFlags &= ~currentTasks;
// 按照优先级和重要性处理任务
if (currentTasks & (1 << TASK_CURRENT_UPDATE)) { // 更新电流采样值
sampler.update_current();
}
if (currentTasks & (1 << TASK_ANGLE_UPDATE)) { // 更新角度传感器值
KTH7823.update();
FOC.rt_angle = KTH7823.getAngle();
}
if (currentTasks & (1 << TASK_VELOCITY_UPDATE)) { // 更新速度传感器值
FOC.rt_velocity = Vel_kalman.update(KTH7823.getVelocity());
}
if (currentTasks &
(1 << TASK_MOTOR_CONTROL)) { // 电机控制任务(最高优先级)
switch (FOC.control_mode) {
@@ -65,20 +75,6 @@ int main(void) {
}
}
}
if (currentTasks & (1 << TASK_CURRENT_UPDATE)) { // 更新电流采样值
sampler.update_current();
}
if (currentTasks & (1 << TASK_ANGLE_UPDATE)) { // 更新角度传感器值
KTH7823.update();
FOC.rt_angle = KTH7823.getAngle();
}
if (currentTasks & (1 << TASK_VELOCITY_UPDATE)) { // 更新速度传感器值
FOC.rt_velocity = Vel_kalman.update(KTH7823.getVelocity());
}
if (currentTasks & (1 << TASK_VBUS_UPDATE)) { // 更新vbus电压值
sampler.update_vbus_voltage();
FOC.update_power();
}
if (currentTasks & (1 << TASK_MCU_TEMP_UPDATE)) { // 更新mcu温度传感器值
sampler.update_mcu_temp();
}
@@ -89,6 +85,10 @@ int main(void) {
if (currentTasks & (1 << TASK_THERMAL_CONTROL)) { // 热量控制
CAN0_transmiter.testfloat_union.f = thermalController.update();
}
if (currentTasks & (1 << TASK_VBUS_UPDATE)) { // 更新vbus电压值
sampler.update_vbus_voltage();
FOC.update_power();
}
if (currentTasks & (1 << TASK_CAN_TRANSMIT)) { // CAN通信
CAN0_transmiter.can0_send_flag = SET;
CAN0_transmiter.communication_check();