cbb
173fadadd2
- 修复类名拼写错误：FOC_Controlroller -> FOC_Controller - 移除不必要的角度归一化函数，直接使用fmod优化性能 - 添加完整的SVPWM算法实现，提高电机控制效率 - 重构PID参数配置，使用动态参数调整机制 - 增加电流反馈功能，实时监测电机运行状态 - 优化电压安全限制，提高系统稳定性 - 更新控制模式映射，支持更多控制策略 - 改进CAN通信协议，增加电流反馈传输
309 lines
8.9 KiB
C++
309 lines
8.9 KiB
C++
#include "Timer.h"
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#include "Can.h"
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#include "FOC.h"
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#include "Timer.h"
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#include "gd32c10x.h"
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#include "gd32c10x_gpio.h"
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#include "gd32c10x_misc.h"
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#include "gd32c10x_rcu.h"
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#include "gd32c10x_timer.h"
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#include "initial.h"
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volatile 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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extern FOC_Controller FOC;
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extern TaskScheduler scheduler;
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extern CAN_transmiter CAN0_transmiter;
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// 添加系统运行时间计数器
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extern u32 cnt_test;
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/**
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* @brief 设置引脚中断优先级
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* @return void
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*
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*设置引脚中断优先级
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*/
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void nvic_config(void) {
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/* 设置NVIC优先级分组，1位抢占优先级，3位响应优先级 */
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nvic_priority_group_set(NVIC_PRIGROUP_PRE2_SUB2);
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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, 0, 1);
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nvic_irq_enable(TIMER1_IRQn, 0, 2);
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}
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/**
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* @brief 配置定时器2-任务管理
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* @return void
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*
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*配置定时器2，用于定时执行FOC控制、采样、CAN发送等任务
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*/
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void TIMER2_config(void) {
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/* ----------------------------------------------------------------------------
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TIMER2 Configuration:
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TIMER2CLK = SystemCoreClock/120 = 1MHz, the period is 100us(100/1000000 =
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100us).
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----------------------------------------------------------------------------
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*/
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timer_parameter_struct timer_struct;
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/* 使能TIMER2时钟 */
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rcu_periph_clock_enable(RCU_TIMER2);
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/* 复位TIMER2外设到默认状态 */
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timer_deinit(TIMER2);
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/* 初始化TIMER初始化参数结构体 */
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timer_struct_para_init(&timer_struct);
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/* TIMER2配置参数设置 */
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timer_struct.prescaler =
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TIMER2_PRESCALER; /* 预分频值：120分频(从0开始计数) */
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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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TIMER2_PERIOD; /* 自动重装载值：100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(TIMER2, &timer_struct);
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/* 清除更新中断标志位 */
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timer_interrupt_flag_clear(TIMER2, TIMER_INT_FLAG_UP);
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/* 使能更新中断 */
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timer_interrupt_enable(TIMER2, TIMER_INT_UP);
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/* 使能TIMER2 */
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timer_enable(TIMER2);
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}
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/**
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* @brief 配置TIMER2-任务管理中断
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* @return void
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*/
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void User_timer_init(void) {
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/* 配置TIMER2 */
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TIMER2_config();
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/* 配置TIMER2中断 */
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nvic_config();
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}
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/**
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* @brief TIMER2-任务管理中断处理函数
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* @return void
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*/
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void TIMER2_IRQHandler(void) {
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// 检查更新中断标志并处理
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if (timer_interrupt_flag_get(TIMER2, TIMER_INT_UP) != RESET) {
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// 清除更新中断标志
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timer_interrupt_flag_clear(TIMER2, TIMER_INT_UP);
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// 每50us执行一次的操作 - 电机控制
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scheduler.taskFlags |=
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(1 << TASK_ANGLE_UPDATE) | (1 << TASK_VELOCITY_UPDATE);
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scheduler.taskFlags |= (1 << TASK_MOTOR_CONTROL);
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// 使用标志位控制，每100us执行一次其他任务
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static bool isEvenCall = false;
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isEvenCall = !isEvenCall;
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if (isEvenCall) {
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// 每100us执行一次的操作 - 保持原有频率
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switch (total_us100_counter) { // 每1ms执行的代码，负载均衡
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case 0: {
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scheduler.taskFlags |= (1 << TASK_MCU_TEMP_UPDATE);
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break;
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}
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case 1: {
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scheduler.taskFlags |= (1 << TASK_DRV_TEMP_UPDATE);
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break;
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}
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case 2: {
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scheduler.taskFlags |= (1 << TASK_VBUS_UPDATE);
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break;
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}
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case 3: {
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break;
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}
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case 9: {
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scheduler.taskFlags |= (1 << TASK_CAN_TRANSMIT);
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break;
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}
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}
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total_us100_counter++;
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if (total_us100_counter > 9) {
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total_us100_counter = 0;
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// 可以添加每1ms执行的代码，无负载均衡
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static u8 ms1_counter = 0;
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switch (ms1_counter) { // 每10ms执行的代码，负载均衡
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case 0: {
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scheduler.taskFlags |= (1 << TASK_THERMAL_CONTROL);
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break;
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}
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case 1: {
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scheduler.taskFlags |= (1 << TASK_MAGNETIC_CHECK);
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break;
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}
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case 2: {
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break;
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}
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}
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ms1_counter++;
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if (ms1_counter > 9) {
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ms1_counter = 0;
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// 可以添加每10ms执行的代码，无负载均衡
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static u8 ms10_counter = 0;
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ms10_counter++;
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if (ms10_counter > 9) {
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ms10_counter = 0;
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// 可以添加每100ms执行的代码
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static u8 sec_counter = 0;
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sec_counter++;
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if (sec_counter > 9) {
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sec_counter = 0;
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// 可以添加每1s执行的代码
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}
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}
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}
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}
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}
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}
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}
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/**
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* @brief TIMER1-PWM GPIO配置函数
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*/
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void timer1_gpio_config(void) {
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// 时钟使能
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rcu_periph_clock_enable(RCU_GPIOA);
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rcu_periph_clock_enable(RCU_GPIOB);
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rcu_periph_clock_enable(RCU_AF);
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rcu_periph_clock_enable(RCU_TIMER1);
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// TIMER1 GPIO初始化
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gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0);
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gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_1);
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gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_2);
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gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ,
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GPIO_PIN_0 | GPIO_PIN_12);
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gpio_bit_set(GPIOB, GPIO_PIN_0);
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gpio_bit_set(GPIOB, GPIO_PIN_12);
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/* 配置TIMER1完全重映射*/
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gpio_pin_remap_config(GPIO_TIMER1_FULL_REMAP, DISABLE);
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}
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/**
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* @brief TIMER1-PWM 配置函数
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*/
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void timer1_pwm_config(void) {
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timer_parameter_struct timer_initpara;
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timer_oc_parameter_struct timer_ocinitpara;
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// 使能TIMER1时钟
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rcu_periph_clock_enable(RCU_TIMER1);
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// 复位TIMER1
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timer_deinit(TIMER1);
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// 配置TIMER1基本参数
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timer_struct_para_init(&timer_initpara);
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timer_initpara.prescaler = TIMER1_PRESCALER; // 预分频器
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timer_initpara.counterdirection = TIMER_COUNTER_UP; // 向上计数
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timer_initpara.period = TIMER1_PERIOD; // 计数周期
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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timer_init(TIMER1, &timer_initpara);
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// 配置通道输出参数
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timer_channel_output_struct_para_init(&timer_ocinitpara);
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timer_ocinitpara.outputstate = TIMER_CCX_ENABLE;
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timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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// 配置三个通道为PWM模式
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timer_channel_output_config(TIMER1, TIMER_CH_0, &timer_ocinitpara);
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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_DEFAULT_PULSE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1,
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TIMER1_DEFAULT_PULSE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2,
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TIMER1_DEFAULT_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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// 启动TIMER1
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timer_enable(TIMER1);
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}
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// 添加TIMER1-PWM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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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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// 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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values: 0, 1, 2, 3)
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\param[in] pulse: PWM pulse value
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\param[out] none
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\retval none
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\note The channel parameter must be between 0 and 3 inclusive.
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*/
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void Set_Pwm(u16 channel, float duty_cycle) {
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float pulse = duty_cycle * TIMER1_PERIOD;
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if (channel <= 3) {
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timer_channel_output_pulse_value_config(TIMER1, channel, pulse);
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} else {
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} // Ensure channel is within valid range
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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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values: 0, 1, 2, 3)
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\param[in] pulse: PWM pulse value
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\param[out] none
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\retval none
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\note The channel parameter must be between 0 and 3 inclusive.
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*/
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void Set_3Pwm(float duty_cycle0, float duty_cycle1, float duty_cycle2) {
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// 直接写寄存器
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TIMER_CH0CV(TIMER1) = (uint32_t)(duty_cycle0 * TIMER1_PERIOD);
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TIMER_CH1CV(TIMER1) = (uint32_t)(duty_cycle1 * TIMER1_PERIOD);
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TIMER_CH2CV(TIMER1) = (uint32_t)(duty_cycle2 * TIMER1_PERIOD);
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}
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