cbb
b33574d392
- 修正速度控制中角度传感器数据读取错误，使用current_sensorangle替代getRawAngle - 在Timer中断中统一使用angle_control进行角度闭环控制 - 完善角度传感器类的角度读取逻辑，增加current_angle_deg和current_angle_rad成员变量 - 添加getcurrent_sensorangle接口用于获取当前原始角度值
43 lines
895 B
C++
43 lines
895 B
C++
#ifndef _angsensor_H
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#define _angsensor_H
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#include <cstdio>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "gd32c10x_eval.h"
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#include "stdio.h"
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u16 spi_rw_half_word(u32 spi_periph, const u16 i_HalfWord);
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int spi_rw_half_word_dma(uint32_t spi_periph, uint16_t tx_data,
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uint16_t *rx_data);
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constexpr u16 VEL_FILTER_SIZE = 4;
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class angle_sensor {
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public:
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angle_sensor();
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float read_sensorAngle(void);
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float update(void);
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void reset(void);
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float getAngle(void) const;
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float getRawAngle(void) const;
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float getVelocity(void) const;
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float getRawVelocity(void) const;
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float getcurrent_sensorangle(void) const;
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protected:
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void KTH7823_init(void);
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float m_cumulativeAngle;
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float current_angle_deg;
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float current_angle_rad;
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bool m_firstUpdate;
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float m_lastAngle;
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float m_lastcumulativeAngle;
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float velocity[VEL_FILTER_SIZE] = {0.0f};
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};
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#ifdef __cplusplus
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}
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#endif
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#endif |