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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
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Robot_V2/device/ADC.cpp
+6 -6
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@@ -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,