cbb
d0198fdff7
refactor(build): 更新项目配置和链接器设置 - 修改GD32C103CB的ROM基地址和大小配置 - 更新系统时钟向量表偏移量设置 - 在cproject.yml中添加BIN输出格式支持 - 增加-O3优化级别和代码移除选项 - 更新csolution版本依赖 feat(device): 优化ADC采样和配置管理 - 将DengFOC依赖替换为FOC模块 - 从config.h引入配置常量 - 重命名FILTER_SIZE为ADC_FILTER_SIZE以提高清晰度 - 优化温度和电流采样滤波实现 refactor(algorithm): 简化FOC控制函数接口 - 为angle_control、velocity_control等函数移除不必要的参数 - 统一函数指针类型定义 - 优化电流计算函数的代码格式 - 调整PID控制器初始化参数
105 lines
3.1 KiB
C++
105 lines
3.1 KiB
C++
#include "health.h"
|
|
#include "config.h"
|
|
#include <stdint.h>
|
|
#include "Can.h"
|
|
#include "FOC.h"
|
|
#include "adc.h"
|
|
#include "flash.h"
|
|
|
|
|
|
extern sampler sampler;
|
|
extern CAN_transmiter CAN0_transmiter;
|
|
extern FOC_Controlroller FOC;
|
|
extern FlashEEPROM flashEEP;
|
|
ThermalController thermalController; // 热量控制器初始化
|
|
|
|
#define max(a, b, c) \
|
|
((a) > (b) ? ((a) > (c) ? (a) : (c)) : ((b) > (c) ? (b) : (c)))
|
|
constexpr u16 PROTECT_TIME = 6000; // 过热保护时间，单位*10ms
|
|
/**
|
|
** @brief 热能计算
|
|
** @param None
|
|
** @retval 热量值
|
|
*/
|
|
u32 ThermalController::update() {
|
|
thermal_value = Q16_16_MUL(thermal_value, thermalRate);
|
|
// 添加温度积累
|
|
int drv_temp = (int)sampler.get_drv_temp();
|
|
int mcu_temp = (int)sampler.get_mcu_temp();
|
|
if (drv_temp == 255)
|
|
drv_temp = 0;
|
|
if (mcu_temp == 255)
|
|
mcu_temp = 0;
|
|
thermal_value += drv_temp * drv_temp + mcu_temp * mcu_temp;
|
|
|
|
if (remainingTime10Ms) {
|
|
// 过热停机状态
|
|
// 检查是否可以恢复
|
|
q16_16_t recovery_threshold =
|
|
Q16_16_MUL(thermal_capacity, recoveryRate);
|
|
if (thermal_value < recovery_threshold) {
|
|
remainingTime10Ms = 1; // 可以恢复工作
|
|
}
|
|
if (remainingTime10Ms == 1) { // 过热恢复
|
|
FOC.resume();
|
|
CAN0_transmiter.ThermalStatus = 0;
|
|
return --remainingTime10Ms;
|
|
}
|
|
return --remainingTime10Ms;
|
|
} else {
|
|
// 当前没有过热停机
|
|
// 添加电流热积累
|
|
u32 currents[3] = {(u32)(sampler.get_current('U') * 1000),
|
|
(u32)(sampler.get_current('V') * 1000),
|
|
(u32)(sampler.get_current('W') * 1000)};
|
|
|
|
// 找最大电流（原始ADC值）
|
|
current_max = max(currents[0], currents[1], currents[2]);
|
|
if (current_max < 2000) {
|
|
thermal_value += current_max * current_max * gapTimeMs *
|
|
0.00007f; // 计算当前电流热积累值
|
|
} else if (current_max > 3800) {
|
|
thermal_value += current_max * current_max * gapTimeMs *
|
|
0.01f; // 添加当前电流热积累值
|
|
} else if (current_max > 3400) {
|
|
thermal_value += current_max * current_max * gapTimeMs *
|
|
0.005f; // 计算当前电流热积累值
|
|
} else if (current_max > 3000) {
|
|
thermal_value += current_max * current_max * gapTimeMs *
|
|
0.0002f; // 计算当前电流热积累值
|
|
} else if (current_max > 2000) {
|
|
thermal_value += current_max * current_max * gapTimeMs *
|
|
0.0001f; // 计算当前电流热积累值
|
|
}
|
|
}
|
|
|
|
if (thermal_value > thermal_capacity) {
|
|
FOC.shut_down();
|
|
remainingTime10Ms = PROTECT_TIME; // 过热停机
|
|
CAN0_transmiter.ThermalStatus = 1;
|
|
return remainingTime10Ms;
|
|
}
|
|
return thermal_value;
|
|
}
|
|
/**
|
|
** @brief 温度检测
|
|
** @param None
|
|
*/
|
|
void angsens_MG_check(void) {
|
|
bool MGH = gpio_input_bit_get(GPIOB, GPIO_PIN_10);
|
|
bool MGL = gpio_input_bit_get(GPIOB, GPIO_PIN_11);
|
|
CAN0_transmiter.MagStatus = MGH or MGL;
|
|
}
|
|
|
|
void power_manage(void) {
|
|
float last_vbus = sampler.get_vbus_voltage();
|
|
sampler.update_vbus_voltage();
|
|
FOC.update_power();
|
|
float vbus = sampler.get_vbus_voltage();
|
|
if ((vbus < 22.0f) and (last_vbus > vbus) and vbus > 8.0f) {
|
|
FOC.shut_down();
|
|
flashEEP.save_system_config(true);
|
|
} else {
|
|
FOC.resume();
|
|
}
|
|
} |