feat(ADC): 电流采样支持负数
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。
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@@ -11,7 +11,6 @@
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#include <stdint.h>
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#include <stdio.h>
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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 TIMER3_PRESCALER = 119; // 120MHz / 120 = 1MHz
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@@ -22,6 +21,8 @@ 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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constexpr int TIMER1_CH3_COMPARE_VALUE =
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(TIMER1_PERIOD + 1) * 0.5 - 1; // PWM周期50%位置触发中断
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static u32 total_us100_counter = 0; // 总计数器，每100微秒增加1
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extern u16 adc_value[7];
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@@ -42,6 +43,8 @@ void nvic_config(void) {
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/* 使能TIMER2中断，设置抢占优先级为1，子优先级为1 */
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nvic_irq_enable(TIMER2_IRQn, 1, 1);
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nvic_irq_enable(TIMER3_IRQn, 1, 2);
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nvic_irq_enable(TIMER1_IRQn, 2,
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1); // 使能TIMER1中断，抢占优先级2，子优先级1
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}
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/**
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@@ -94,8 +97,8 @@ void TIMER2_config(void) {
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void TIMER3_config(void) {
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/* ----------------------------------------------------------------------------
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TIMER3 Configuration:
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TIMER3CLK = SystemCoreClock/120 = 1MHz, the period is 10ms(10000/1000000 =
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10ms).
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TIMER3CLK = SystemCoreClock/120 = 1MHz, the period is 50us(50/1000000 =
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50us).
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----------------------------------------------------------------------------
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*/
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timer_parameter_struct timer_struct;
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@@ -113,7 +116,7 @@ void TIMER3_config(void) {
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timer_struct.alignedmode = TIMER_COUNTER_EDGE; /* 边沿对齐模式 */
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timer_struct.counterdirection = TIMER_COUNTER_UP; /* 向上计数模式 */
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timer_struct.period =
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TIMER3_PERIOD; /* 自动重装载值：10000次计数(从0开始计数) */
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TIMER3_PERIOD; /* 自动重装载值：50次计数(从0开始计数) */
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timer_struct.clockdivision = TIMER_CKDIV_DIV1; /* 时钟分频值：1分频 */
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timer_init(TIMER3, &timer_struct);
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@@ -158,13 +161,12 @@ void TIMER2_IRQHandler(void) {
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// 每100us执行一次的操作
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total_us100_counter++;
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scheduler.taskFlags |=
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(1 << TASK_CURRENT_UPDATE) | (1 << TASK_ANGLE_UPDATE) |
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(1 << TASK_VELOCITY_UPDATE) | (1 << TASK_MOTOR_CONTROL);
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scheduler.taskFlags |= (1 << TASK_ANGLE_UPDATE) |
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(1 << TASK_VELOCITY_UPDATE) |
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(1 << TASK_MOTOR_CONTROL);
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switch (total_us100_counter) { // 每1ms执行的代码，负载均衡
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case 1: {
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mode = FOC.control_mode;
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scheduler.taskFlags |= (1 << TASK_MCU_TEMP_UPDATE);
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break;
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}
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@@ -180,6 +182,10 @@ void TIMER2_IRQHandler(void) {
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scheduler.taskFlags |= (1 << TASK_CAN_TRANSMIT);
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break;
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}
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case 9: {
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mode = FOC.control_mode;
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break;
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}
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}
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if (total_us100_counter >= 10) {
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total_us100_counter = 0;
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@@ -304,10 +310,18 @@ void timer1_pwm_config(void) {
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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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// 配置第四个通道(CH3)用于在PWM周期x%位置触发中断
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timer_ocinitpara.outputstate =
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TIMER_CCX_DISABLE; // 不输出PWM波形，仅用于触发中断
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timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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timer_channel_output_config(TIMER1, TIMER_CH_3, &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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timer_channel_output_mode_config(TIMER1, TIMER_CH_3,
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TIMER_OC_MODE_PWM0); // CH3也设为PWM模式
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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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@@ -315,15 +329,40 @@ void timer1_pwm_config(void) {
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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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// 设置CH3比较值为PWM周期x%位置
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_3,
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TIMER1_CH3_COMPARE_VALUE);
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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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// 使能CH3比较中断
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timer_interrupt_enable(TIMER1, TIMER_INT_CH3);
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nvic_irq_enable(TIMER1_IRQn, 0,
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2); // 使能TIMER1中断，抢占优先级2，子优先级1
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// 启动TIMER1
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timer_enable(TIMER1);
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}
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// 添加TIMER1中断处理函数
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/**
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* @brief TIMER1中断处理函数
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* @return void
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*/
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extern "C" void TIMER1_IRQHandler(void) {
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// 检查CH3比较中断标志并处理
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if (timer_interrupt_flag_get(TIMER1, TIMER_INT_FLAG_CH3) != RESET) {
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// 清除CH3比较中断标志
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timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_CH3);
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scheduler.taskFlags |= (1 << TASK_CURRENT_UPDATE);
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// 在这里添加需要在PWM周期90%位置执行的代码
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// 例如触发ADC采样或其他操作
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}
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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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