cbb
4c4e47e9e3
添加了完整的Doxygen文档注释到FOC算法模块的所有函数、类和变量，提升了代码可读性和维护性。同时优化了SVPWM算法实现，将atan2f替换为符号法扇区判断，显著提升计算效率（约15周期vs atan2f 300周期），并改进了arm_sin_cos_f32替代sqrtf提高性能。 feat(FOC): 统一电气角度计算避免重复运算 重构代码以统一电气角度计算，在各个控制循环中只计算一次电气角度并传递给需要的函数，避免了多次重复的fmodf运算和角度归一化操作，提升了实时控制性能。 refactor(Filter): 改进α-β观测器角度处理精度 修改角度卡尔曼滤波器在归一化角度空间[0,360)内工作，避免大累积角度的浮点精度损失问题，确保静止状态下不会产生虚假速度，同时保持与下游代码的兼容性。 refactor: 为算法模块添加完整文档注释 为所有算法模块(FOC、Filter、pid、thermal)添加了详细的Doxygen文档注释，包括函数说明、参数描述、返回值说明等，便于代码理解和API文档生成。
331 lines
10 KiB
C++
331 lines
10 KiB
C++
/**
|
|
* @file device/ADC.cpp
|
|
* @brief 底层设备驱动与外设封装源文件
|
|
* @note 本文件仅补充 Doxygen 文档注释，不改变代码逻辑。
|
|
*/
|
|
|
|
#include "adc.h"
|
|
#include "Can.h"
|
|
#include "FOC.h"
|
|
#include "Filter.h"
|
|
#include "config.h"
|
|
#include "initial.h"
|
|
#include "math.h"
|
|
#include "systick.h"
|
|
#include <cstdint>
|
|
#include <cstring>
|
|
#include <gd32c10x_dma.h>
|
|
|
|
/** @brief ADC_SCALE 常量定义 */
|
|
constexpr float ADC_SCALE = 3.3f / 4096.0f;
|
|
/** @brief TEMP_FACTOR 常量定义 */
|
|
constexpr float TEMP_FACTOR = 1000.0f / 4.3f;
|
|
/** @brief VCC_FACTOR 常量定义 */
|
|
constexpr float VCC_FACTOR = 11.0f;
|
|
/** @brief CURRENT_FACTOR 常量定义 */
|
|
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
|
|
extern CAN_transmiter CAN0_transmiter;
|
|
extern FOC_Controller FOC;
|
|
sampler sampler; // 采样器初始化
|
|
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;
|
|
|
|
/**
|
|
* @brief 将电流 ADC 原始值换算为毫安值
|
|
* @param[in] raw_adc 参数
|
|
* @return float 返回值
|
|
*/
|
|
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
|
|
\param[out] none
|
|
\retval none
|
|
*/
|
|
void dma_config(void) {
|
|
/* enable DMA0 clock */
|
|
rcu_periph_clock_enable(RCU_DMA0);
|
|
/* ADC_DMA_channel configuration */
|
|
dma_parameter_struct dma_data_parameter;
|
|
|
|
/* ADC DMA_channel configuration */
|
|
dma_deinit(DMA0, DMA_CH0);
|
|
|
|
/* initialize DMA single data mode */
|
|
dma_data_parameter.periph_addr = (uint32_t)(&ADC_RDATA(ADC0));
|
|
dma_data_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
|
|
dma_data_parameter.memory_addr = (uint32_t)(adc_value);
|
|
dma_data_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
|
|
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 = 3;
|
|
dma_data_parameter.priority = DMA_PRIORITY_HIGH;
|
|
dma_init(DMA0, DMA_CH0, &dma_data_parameter);
|
|
|
|
dma_circulation_enable(DMA0, DMA_CH0);
|
|
|
|
/* enable DMA channel */
|
|
dma_channel_enable(DMA0, DMA_CH0);
|
|
}
|
|
|
|
/*!
|
|
\brief configure the ADC peripheral
|
|
\param[in] none
|
|
\param[out] none
|
|
\retval none
|
|
*/
|
|
void adc_config(void) {
|
|
/* enable ADC clock */
|
|
rcu_periph_clock_enable(RCU_ADC0);
|
|
/* config ADC clock */
|
|
rcu_adc_clock_config(RCU_CKADC_CKAPB2_DIV4);
|
|
|
|
/* 复位ADC */
|
|
adc_deinit(ADC0);
|
|
/* ADC模式配置 */
|
|
adc_mode_config(ADC_MODE_FREE);
|
|
/* 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);
|
|
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, 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_6, ADC_SAMPLETIME_28POINT5);
|
|
|
|
/* 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);
|
|
/* 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);
|
|
}
|
|
/**
|
|
* @brief 采样类初始化
|
|
*/
|
|
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; i++) {
|
|
mcu_temp_samples[i] =
|
|
(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;
|
|
|
|
currU_samples[i] = current_init;
|
|
currV_samples[i] = current_init;
|
|
currW_samples[i] = current_init;
|
|
|
|
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] =
|
|
1.0f / (0.00335f + 0.00025f * log(R_now / 10000.0f)) - 273.15f;
|
|
delay_1ms(1);
|
|
}
|
|
return 0;
|
|
}
|
|
/**
|
|
* @brief 获取MCU温度
|
|
* @return float
|
|
* 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() {
|
|
return cached_mcu_temp;
|
|
}
|
|
|
|
/**
|
|
* @brief 获取电机驱动温度
|
|
* @return float 温度值，单位为摄氏度
|
|
*
|
|
* 通过热敏电阻分压电路计算温度值，使用Steinhart-Hart方程进行温度转换。
|
|
* 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() {
|
|
return cached_drv_temp;
|
|
}
|
|
|
|
/**
|
|
* @brief 获取电流值
|
|
* @param type 电流类型，'U'表示U相电流，'V'表示V相电流，'W'表示W相电流
|
|
* @return float 电流值，单位为安培
|
|
*
|
|
* 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)
|
|
: (current_sample_head - 1U);
|
|
switch (type) {
|
|
case 'U': {
|
|
tempora_sample = currU_samples[idx];
|
|
break;
|
|
}
|
|
case 'V': {
|
|
tempora_sample = currV_samples[idx];
|
|
break;
|
|
}
|
|
case 'W': {
|
|
tempora_sample = currW_samples[idx];
|
|
break;
|
|
}
|
|
default: {
|
|
return ERROR_ADC_VAL;
|
|
}
|
|
}
|
|
if (tempora_sample < MIN_CURRENT or tempora_sample > MAX_CURRENT) {
|
|
return ERROR_ADC_VAL;
|
|
}
|
|
|
|
return tempora_sample;
|
|
}
|
|
|
|
/**
|
|
* @brief 获取供电电压
|
|
* @return float 电压值，单位为伏特
|
|
*
|
|
* 通过ADC采样计算供电电压值，使用迭代方式确保获取有效的电压读数。
|
|
* 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() {
|
|
return cached_vbus;
|
|
}
|
|
|
|
/**
|
|
* @brief 更新MCU温度
|
|
*
|
|
* 通过ADC采样计算MCU温度值，使用Steinhart-Hart方程进行温度转换。
|
|
* 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。
|
|
*/
|
|
void sampler::update_mcu_temp() {
|
|
// 环形缓冲区写入，替代 memmove
|
|
mcu_temp_samples[mcu_temp_head] =
|
|
(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;
|
|
mcu_temp_head++;
|
|
if (mcu_temp_head >= ADC_FILTER_SIZE) mcu_temp_head = 0;
|
|
|
|
// 更新缓存：中值滤波
|
|
tempora_sample = medium_filter(mcu_temp_samples, ADC_FILTER_SIZE);
|
|
if (tempora_sample < MIN_TEMP || tempora_sample > MAX_TEMP) {
|
|
cached_mcu_temp = ERROR_ADC_VAL;
|
|
} else {
|
|
cached_mcu_temp = tempora_sample;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief 更新MCU温度
|
|
*/
|
|
void sampler::update_drv_temp() {
|
|
// 环形缓冲区写入，替代 memmove
|
|
float R_now = (float)adc_value[1] / (4096 - (float)adc_value[1]) * 4700;
|
|
drv_temp_samples[drv_temp_head] =
|
|
1.0f / (0.00335f + 0.00025f * log(R_now / 10000.0f)) - 273.15f;
|
|
drv_temp_head++;
|
|
if (drv_temp_head >= ADC_FILTER_SIZE) drv_temp_head = 0;
|
|
|
|
// 更新缓存：中值滤波
|
|
tempora_sample = medium_filter(drv_temp_samples, ADC_FILTER_SIZE);
|
|
if (tempora_sample < MIN_TEMP || tempora_sample > MAX_TEMP) {
|
|
cached_drv_temp = ERROR_ADC_VAL;
|
|
} else {
|
|
cached_drv_temp = tempora_sample;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief 更新相电流
|
|
*/
|
|
void sampler::update_current() {
|
|
if (adc_current_frame_ready == 0U) {
|
|
return;
|
|
}
|
|
|
|
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() {
|
|
// 环形缓冲区写入，替代 memmove
|
|
vbus_samples[temp_vbus_head] = adc_value[2] * ADC_SCALE * VCC_FACTOR;
|
|
temp_vbus_head++;
|
|
if (temp_vbus_head >= ADC_FILTER_SIZE) temp_vbus_head = 0;
|
|
|
|
// 更新缓存：中值滤波 + 范围检查
|
|
tempora_sample = medium_filter(vbus_samples, ADC_FILTER_SIZE);
|
|
const u8 mid = ADC_FILTER_SIZE / 2;
|
|
if (vbus_samples[mid] > MAX_VCC || vbus_samples[mid] < MIN_VCC) {
|
|
cached_vbus = ERROR_ADC_VAL;
|
|
} else {
|
|
cached_vbus = tempora_sample;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief ADC0_1_IRQHandler 中断处理函数
|
|
* @return void
|
|
*/
|
|
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);
|
|
}
|
|
}
|