feat(ADC): 重构ADC采样系统以支持同步电流采集

- 将ADC缓冲区从6通道减少到3通道，专门用于MCU温度、DRV温度和VBUS监测
- 实现了注入组ADC同步采样，通过TIMER1 TRGO触发三相电流同时采样
- 添加了PWM中心对齐模式以提供更好的采样窗口
- 在FOC控制器中增加了ADC错误检查和三相公共模偏置消除
- 优化了电流采样更新机制，使用中断驱动的数据搬运
- 调整了ADC通道配置，规则组用于后台温度/VBUS采样，注入组用于PWM同步电流采样

Robot_V2/Algorithm/FOC.cpp

@@ -17,7 +17,7 @@ extern angle_sensor KTH7823;
 extern CAN_transmiter CAN0_transmiter;
 extern EncoderVelocityKalman Vel_kalman; // 速度滤波
 extern CurrentKalman Current_kalman;
-extern u16 adc_value[6]; // ADC DMA缓冲区，用于快速电压检测
+extern u16 adc_value[3]; // regular DMA缓冲区：MCU温度 / DRV温度 / VBUS
 
 // 初始变量及函数定义
 #define _constrain(amt, low, high)                                             \
@@ -52,6 +52,17 @@ void calibrate_zero_position(void) {
 // 通过Ia,Ib,Ic计算Iq,Id(目前仅输出Iq)
 inline float FOC_Controller::cal_Iq_Id(float current_a, float current_b,
 									   float current_c) {
+	if (current_a == ERROR_ADC_VAL || current_b == ERROR_ADC_VAL ||
+		current_c == ERROR_ADC_VAL) {
+		return Current_kalman.getCurrent();
+	}
+
+	// 去除三相公共模偏置，使 Ia + Ib + Ic 更接近 0
+	const float current_avg = (current_a + current_b + current_c) / 3.0f;
+	current_a -= current_avg;
+	current_b -= current_avg;
+	current_c -= current_avg;
+
 	// 计算电气角度
 	float angle_el = fmod(shaft_angle * PP - KTH7823.calibration_angle, 360.0f);
 
@@ -351,8 +362,8 @@ void FOC_Controller::update_power(float voltage) {
  * - VBUS_DEBOUNCE_COUNT: 防抖计数 (默认5次)
  */
 void FOC_Controller::fast_voltage_check(void) {
-	// 直接从DMA缓冲区读取最新ADC值（通道5是Vbus）
+	// 直接从DMA缓冲区读取最新ADC值（regular rank2 是 VBUS）
-	float current_vbus = adc_value[5] * (3.3f / 4096.0f) * 11.0f;
+	float current_vbus = adc_value[2] * (3.3f / 4096.0f) * 11.0f;
 
 	// 更新基准电压（峰值检测）
 	// 电压上升时，基准电压跟随；电压下跌时，基准电压保持

Robot_V2/device/ADC.cpp

@@ -3,6 +3,7 @@
 #include "FOC.h"
 #include "Filter.h"
 #include "config.h"
+#include "initial.h"
 #include "math.h"
 #include "systick.h"
 #include <cstdint>
@@ -17,7 +18,14 @@ constexpr float CURRENT_FACTOR =
 extern CAN_transmiter CAN0_transmiter;
 extern FOC_Controller FOC;
 sampler sampler;		// 采样器初始化
-u16 adc_value[6] = {0}; // 显式初始化数组元素为0
+u16 adc_value[3] = {0};					// regular DMA: MCU温度 / DRV温度 / VBUS
+static volatile u16 adc_current_value[3] = {0}; // injected 同步采样: U / V / W
+static volatile u8 adc_current_frame_ready = 0;
+
+static inline float current_adc_to_ma(u16 raw_adc) {
+	return (raw_adc * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR;
+}
+
 /*!
 	\brief      configure the DMA peripheral
 	\param[in]  none
@@ -41,7 +49,7 @@ void dma_config(void) {
 	dma_data_parameter.periph_width = DMA_PERIPHERAL_WIDTH_16BIT;
 	dma_data_parameter.memory_width = DMA_MEMORY_WIDTH_16BIT;
 	dma_data_parameter.direction = DMA_PERIPHERAL_TO_MEMORY;
-	dma_data_parameter.number = 6;
+	dma_data_parameter.number = 3;
 	dma_data_parameter.priority = DMA_PRIORITY_HIGH;
 	dma_init(DMA0, DMA_CH0, &dma_data_parameter);
 
@@ -67,38 +75,48 @@ void adc_config(void) {
 	adc_deinit(ADC0);
 	/* ADC模式配置 */
 	adc_mode_config(ADC_MODE_FREE);
-	/* 使能ADC连续转换功能 */
+	/* regular 组保留连续扫描，用于温度/VBUS 后台采样 */
 	adc_special_function_config(ADC0, ADC_CONTINUOUS_MODE, ENABLE);
-	/* 使能ADC扫描模式 */
 	adc_special_function_config(ADC0, ADC_SCAN_MODE, ENABLE);
+	/* injected 组用于 PWM 同步电流采样，关闭自动串联，独立由 TIMER1 触发 */
+	adc_special_function_config(ADC0, ADC_INSERTED_CHANNEL_AUTO, DISABLE);
 	/* ADC数据右对齐配置 */
 	adc_data_alignment_config(ADC0, ADC_DATAALIGN_RIGHT);
 	/* 使能ADC温度传感器和内部参考电压 */
 	adc_tempsensor_vrefint_enable();
 
 	/* 配置ADC通道长度 */
-	adc_channel_length_config(ADC0, ADC_REGULAR_CHANNEL, 6);
+	adc_channel_length_config(ADC0, ADC_REGULAR_CHANNEL, 3);
 	/* 配置ADC规则通道 */
 	adc_regular_channel_config(ADC0, 0, ADC_CHANNEL_16,
 							   ADC_SAMPLETIME_41POINT5);
 	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, 2, ADC_CHANNEL_6, 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 */
+	/* regular 组继续软件触发连续转换：本组只服务低速量 */
 	adc_external_trigger_source_config(ADC0, ADC_REGULAR_CHANNEL,
 									   ADC0_1_EXTTRIG_REGULAR_NONE);
 	adc_external_trigger_config(ADC0, ADC_REGULAR_CHANNEL, ENABLE);
 
+	/* injected 组改为 TIMER1 CH3 导出的 TRGO 触发，实现三相同一采样时刻锁存 */
+	adc_channel_length_config(ADC0, ADC_INSERTED_CHANNEL, 4);
+	adc_inserted_channel_config(ADC0, 0, ADC_CHANNEL_3, ADC_SAMPLETIME_55POINT5);
+	adc_inserted_channel_config(ADC0, 1, ADC_CHANNEL_3, ADC_SAMPLETIME_55POINT5);
+	adc_inserted_channel_config(ADC0, 2, ADC_CHANNEL_4, ADC_SAMPLETIME_55POINT5);
+	adc_inserted_channel_config(ADC0, 3, ADC_CHANNEL_5, ADC_SAMPLETIME_55POINT5);
+	adc_external_trigger_source_config(ADC0, ADC_INSERTED_CHANNEL,
+									   ADC0_1_EXTTRIG_INSERTED_T1_TRGO);
+	adc_external_trigger_config(ADC0, ADC_INSERTED_CHANNEL, ENABLE);
+
 	/* 使能ADC接口 */
 	adc_enable(ADC0);
 	/* ADC校准 */
 	adc_calibration_enable(ADC0);
 	/* 使能ADC DMA功能 */
 	adc_dma_mode_enable(ADC0);
-	/* 使能ADC软件触发 */
+	/* injected 完成中断负责搬运完整三相样本 */
+	adc_interrupt_enable(ADC0, ADC_INT_EOIC);
+	/* 先启动 regular 组连续后台采样 */
 	adc_software_trigger_enable(ADC0, ADC_REGULAR_CHANNEL);
 }
 /**
@@ -107,20 +125,22 @@ void adc_config(void) {
 u8 sampler::init() {
 	dma_config(); // DMA采样ADC初始化
 	adc_config(); // ADC初始化
+	current_sample_head = 0;
+	adc_current_frame_ready = 0;
 	delay_1ms(1);
+
+	const float current_init = current_adc_to_ma(
+		static_cast<u16>((-CURRENT_OFFSET / ADC_SCALE) + 0.5f));
 	// 初始采样
-	for (int i = 0; i < ADC_FILTER_SIZE + 1; i++) {
+	for (int i = 0; i < ADC_FILTER_SIZE; i++) {
 		mcu_temp_samples[i] =
 			(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;
 
-		currU_samples[i] =
+		currU_samples[i] = current_init;
-			(adc_value[2] * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR;
+		currV_samples[i] = current_init;
-		currV_samples[i] =
+		currW_samples[i] = current_init;
-			(adc_value[3] * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR;
-		currW_samples[i] =
-			(adc_value[4] * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR;
 
-		vbus_samples[i] = adc_value[5] * ADC_SCALE * VCC_FACTOR;
+		vbus_samples[i] = adc_value[2] * ADC_SCALE * VCC_FACTOR;
 
 		float R_now = (float)adc_value[1] / (4096 - (float)adc_value[1]) * 4700;
 		drv_temp_samples[i] =
@@ -135,7 +155,7 @@ u8 sampler::init() {
  * 温度值，单位为摄氏度，范围应在-40到145之间，如果读取失败则返回0.0f
  */
 float sampler::get_mcu_temp() {
-	tempora_sample = medium_filter(mcu_temp_samples, ADC_FILTER_SIZE + 1);
+	tempora_sample = medium_filter(mcu_temp_samples, ADC_FILTER_SIZE);
 	// 检查温度读数是否在有效范围内
 	if (tempora_sample < MIN_TEMP or tempora_sample > MAX_TEMP) {
 		return ERROR_ADC_VAL;
@@ -151,7 +171,7 @@ float sampler::get_mcu_temp() {
  * 如果计算结果超出有效范围(-40到255摄氏度)，则重新采样计算。
  */
 float sampler::get_drv_temp() {
-	tempora_sample = medium_filter(drv_temp_samples, ADC_FILTER_SIZE + 1);
+	tempora_sample = medium_filter(drv_temp_samples, ADC_FILTER_SIZE);
 	// 检查温度读数是否在有效范围内
 	if (tempora_sample < MIN_TEMP || tempora_sample > MAX_TEMP) {
 		return ERROR_ADC_VAL;
@@ -167,24 +187,18 @@ float sampler::get_drv_temp() {
  * 通过ADC采样计算各相电流值
  */
 float sampler::get_current(char type) {
-
+	u8 idx = (current_sample_head == 0U) ? (ADC_FILTER_SIZE - 1U)
-	u8 idx = current_sample_index;
+										 : (current_sample_head - 1U);
 	switch (type) {
 	case 'U': {
-		// return currU_samples[current_sample_index];
-		// tempora_sample = medium_filter(currU_samples, ADC_FILTER_SIZE + 1);
 		tempora_sample = currU_samples[idx];
 		break;
 	}
 	case 'V': {
-		// return currV_samples[current_sample_index];
-		// tempora_sample = medium_filter(currV_samples, ADC_FILTER_SIZE + 1);
 		tempora_sample = currV_samples[idx];
 		break;
 	}
 	case 'W': {
-		// return currW_samples[current_sample_index];
-		// tempora_sample = medium_filter(currW_samples, ADC_FILTER_SIZE + 1);
 		tempora_sample = currW_samples[idx];
 		break;
 	}
@@ -207,10 +221,10 @@ float sampler::get_current(char type) {
  * 如果计算结果超出有效范围(-40到255伏特)，则重新采样计算。
  */
 float sampler::get_vbus_voltage() {
-	tempora_sample = medium_filter(vbus_samples, ADC_FILTER_SIZE + 1);
+	tempora_sample = medium_filter(vbus_samples, ADC_FILTER_SIZE);
 	// 检查电压读数是否在有效范围内
-	if (vbus_samples[ADC_FILTER_SIZE / 2] > MAX_VCC or
+	const u8 mid = ADC_FILTER_SIZE / 2;
-		vbus_samples[ADC_FILTER_SIZE / 2] < MIN_VCC) {
+	if (vbus_samples[mid] > MAX_VCC or vbus_samples[mid] < MIN_VCC) {
 		return ERROR_ADC_VAL;
 	}
 	return tempora_sample;
@@ -224,8 +238,8 @@ float sampler::get_vbus_voltage() {
  */
 void sampler::update_mcu_temp() {
 	memmove(mcu_temp_samples, mcu_temp_samples + 1,
-			ADC_FILTER_SIZE * sizeof(float));
+			(ADC_FILTER_SIZE - 1) * sizeof(float));
-	mcu_temp_samples[ADC_FILTER_SIZE] =
+	mcu_temp_samples[ADC_FILTER_SIZE - 1] =
 		(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;
 }
 
@@ -234,9 +248,9 @@ void sampler::update_mcu_temp() {
  */
 void sampler::update_drv_temp() {
 	memmove(drv_temp_samples, drv_temp_samples + 1,
-			ADC_FILTER_SIZE * sizeof(float));
+			(ADC_FILTER_SIZE - 1) * sizeof(float));
 	float R_now = (float)adc_value[1] / (4096 - (float)adc_value[1]) * 4700;
-	drv_temp_samples[ADC_FILTER_SIZE] =
+	drv_temp_samples[ADC_FILTER_SIZE - 1] =
 		1.0f / (0.00335f + 0.00025f * log(R_now / 10000.0f)) - 273.15f;
 }
 
@@ -244,27 +258,41 @@ void sampler::update_drv_temp() {
  * @brief 更新相电流
  */
 void sampler::update_current() {
-	u8 idx = current_sample_index;
+	if (adc_current_frame_ready == 0U) {
-	extern FOC_Controller FOC;
+		return;
-	// 优化计算
-	const float scale = ADC_SCALE * CURRENT_FACTOR;
-	const float offset = 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 >= ADC_FILTER_SIZE - 1) {
-		current_sample_index = 0;
 	}
+
+	const u8 idx = current_sample_head;
+	currU_samples[idx] = current_adc_to_ma(adc_current_value[0]);
+	currV_samples[idx] = current_adc_to_ma(adc_current_value[1]);
+	currW_samples[idx] = current_adc_to_ma(adc_current_value[2]);
+
+	current_sample_head++;
+	if (current_sample_head >= ADC_FILTER_SIZE) {
+		current_sample_head = 0;
+	}
+	adc_current_frame_ready = 0U;
 }
 
 /**
  * @brief 更新供电电压
  */
 void sampler::update_vbus_voltage() {
-	memmove(vbus_samples, vbus_samples + 1, ADC_FILTER_SIZE * sizeof(float));
+	memmove(vbus_samples, vbus_samples + 1, (ADC_FILTER_SIZE - 1) * sizeof(float));
-	vbus_samples[ADC_FILTER_SIZE] = adc_value[5] * ADC_SCALE * VCC_FACTOR;
+	vbus_samples[ADC_FILTER_SIZE - 1] = adc_value[2] * ADC_SCALE * VCC_FACTOR;
+}
+
+extern "C" void ADC0_1_IRQHandler(void) {
+	if (adc_interrupt_flag_get(ADC0, ADC_INT_FLAG_EOIC) != RESET) {
+		/* 丢弃 rank0 dummy，真实样本使用 rank1/2/3，对应 U/V/W 同一 PWM 时刻 */
+		(void)adc_inserted_data_read(ADC0, ADC_INSERTED_CHANNEL_0);
+		adc_current_value[0] = adc_inserted_data_read(ADC0, ADC_INSERTED_CHANNEL_1);
+		adc_current_value[1] = adc_inserted_data_read(ADC0, ADC_INSERTED_CHANNEL_2);
+		adc_current_value[2] = adc_inserted_data_read(ADC0, ADC_INSERTED_CHANNEL_3);
+		adc_current_frame_ready = 1U;
+		adc_interrupt_flag_clear(ADC0, ADC_INT_FLAG_EOIC);
+
+		extern TaskScheduler scheduler;
+		scheduler.taskFlags |= (1u << TASK_CURRENT_UPDATE);
+	}
 }

Robot_V2/device/Timer.cpp

@@ -10,7 +10,7 @@
 #include "initial.h"
 
 volatile u32 total_us100_counter = 0; // 总计数器，每 100 微秒增加 1
-extern u16 adc_value[7];
+extern u16 adc_value[3];
 extern FOC_Controller FOC;
 extern TaskScheduler scheduler;
 extern CAN_transmiter CAN0_transmiter;
@@ -59,6 +59,7 @@ void nvic_config(void) {
 	nvic_priority_group_set(NVIC_PRIGROUP_PRE2_SUB2);
 	/* 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, 0, 1);
+	nvic_irq_enable(ADC0_1_IRQn, 0, 0);
 	nvic_irq_enable(TIMER1_IRQn, 0, 2);
 }
 
@@ -216,7 +217,8 @@ void timer1_pwm_config(void) {
 	// 配置 TIMER1 基本参数
 	timer_struct_para_init(&timer_initpara);
 	timer_initpara.prescaler = TIMER1_PRESCALER;		// 预分频器
-	timer_initpara.counterdirection = TIMER_COUNTER_UP; // 向上计数
+	timer_initpara.alignedmode = TIMER_COUNTER_CENTER_BOTH; // 中心对齐，给采样留对称平台窗
+	timer_initpara.counterdirection = TIMER_COUNTER_UP;
 	timer_initpara.period = TIMER1_PERIOD;				// 计数周期
 	timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
 	timer_init(TIMER1, &timer_initpara);
@@ -231,9 +233,9 @@ 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
+	// 配置第四个通道 (CH3) 为固定采样点，只用于导出 ADC 触发
 	timer_ocinitpara.outputstate =
-		TIMER_CCX_DISABLE; // 不输出 PWM 波形，仅用于触发中断
+		TIMER_CCX_DISABLE; // 不输出 PWM 波形，仅用于比较事件
 	timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
 	timer_channel_output_config(TIMER1, TIMER_CH_3, &timer_ocinitpara);
 
@@ -244,13 +246,16 @@ void timer1_pwm_config(void) {
 	timer_channel_output_mode_config(TIMER1, TIMER_CH_3,
 									 TIMER_OC_MODE_PWM0); // CH3 也设为 PWM 模式
 
+	/* 将 CH3 预装载比较点作为 TRGO 导出，供 ADC injected 组同步采样 */
+	timer_master_output_trigger_source_select(TIMER1, TIMER_TRI_OUT_SRC_O3CPRE);
+
 	timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0,
 											TIMER1_DEFAULT_PULSE);
 	timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1,
 											TIMER1_DEFAULT_PULSE);
 	timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2,
 											TIMER1_DEFAULT_PULSE);
-	// 设置 CH3 比较值为 PWM 周期 x% 位置
+	// 设置 CH3 为固定 ADC 采样点，避免与三相 PWM duty 耦合
 	timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_3,
 											TIMER1_CH3_COMPARE_VALUE);
 
@@ -258,26 +263,18 @@ void timer1_pwm_config(void) {
 	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);
-
 	// 启动 TIMER1
 	timer_enable(TIMER1);
 }
 
-// 添加 TIMER1-PWM 中断处理函数
+// CH3 现在仅作为 TRGO 采样点保留；采样完成由 ADC injected 中断接管
 /**
  * @brief   TIMER1 中断处理函数
  * @return void
  */
 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);
-		// 例如触发 ADC 采样或其他操作
 	}
 }
 

Robot_V2/device/adc.h

@@ -9,13 +9,13 @@ extern "C" {
 
 class sampler {
   private:
-	float vbus_samples[ADC_FILTER_SIZE + 1];
+	float vbus_samples[ADC_FILTER_SIZE];
-	float currU_samples[ADC_FILTER_SIZE + 1];
+	float currU_samples[ADC_FILTER_SIZE];
-	float currV_samples[ADC_FILTER_SIZE + 1];
+	float currV_samples[ADC_FILTER_SIZE];
-	float currW_samples[ADC_FILTER_SIZE + 1];
+	float currW_samples[ADC_FILTER_SIZE];
-	float mcu_temp_samples[ADC_FILTER_SIZE + 1];
+	float mcu_temp_samples[ADC_FILTER_SIZE];
-	float drv_temp_samples[ADC_FILTER_SIZE + 1];
+	float drv_temp_samples[ADC_FILTER_SIZE];
-	u8 current_sample_index;
+	u8 current_sample_head;
 
 	float tempora_sample;
 
@@ -32,6 +32,8 @@ class sampler {
 	float get_current(char);
 };
 
+void ADC0_1_IRQHandler(void);
+
 #ifdef __cplusplus
 }
 #endif