cbb
99cc397931
- 引入新的三值约束宏 `_constrain3` 用于SVPWM计算优化 - 修改 `setPhaseVoltage` 函数签名，移除冗余的角度参数，内部自动计算电气角度 - 调整PWM占空比计算方式，提高电压利用率和控制精度 - 移除旧的DEG2RAD和RAD2DEG常量定义，改由initial.h统一管理 - 在initial.h中新增减速比常量REDUCTION_RATIO，并修正拼写错误 - 为角度传感器类更新速度滤波器尺寸，提升速度估算稳定性 - 更新PID控制器时间片常量，简化dt计算逻辑，提高执行效率 - 切换角度闭环控制至新NPID版本，增强系统响应性能 - 修正CAN通信中的目标角度解析逻辑，确保指令正确应用
378 lines
11 KiB
C++
378 lines
11 KiB
C++
#include "Timer.h"
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#include "Can.h"
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#include "DengFOC.h"
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#include "Filter.h"
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#include "Timer.h"
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#include "adc.h"
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#include "ang_sensor.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 <cstdio>
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdio.h>
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constexpr int TIMER2_PRESCALER = 119; // 120MHz / 120 = 1MHz
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constexpr int TIMER2_PERIOD = 99; // 1MHz / 100 = 100us
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constexpr int TIMER3_PRESCALER = 119; // 120MHz / 120 = 1MHz
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constexpr int TIMER3_PERIOD = 9999; // 1MHz / 10000 = 100Hz = 10ms
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constexpr int TIMER1_PRESCALER = 0; // 不分频，计数器时钟为120MHz
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constexpr int TIMER1_PERIOD = 5999; // 120MHz / (0+1) / (5999+1) = 20kHz
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constexpr int TIMER1_CH0_PULSE = 0;
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constexpr int TIMER1_CH1_PULSE = 0;
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constexpr int TIMER1_CH2_PULSE = 0;
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static 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 CAN_transmiter CAN0_transmiter;
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// 添加系统运行时间计数器
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static volatile std::u64 system_runtime_us = 0;
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// 声明外部FOC控制器对象
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extern FOC_Controlroller FOC;
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// 声明外部采样器对象
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extern sampler sampler;
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extern angle_sensor KTH7823;
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extern EncoderVelocityKalman Vel_kalman;
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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, 1, 1);
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nvic_irq_enable(TIMER3_IRQn, 1, 2);
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}
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/**
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* @brief 配置定时器2
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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 配置定时器3
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* @return void
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*
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*配置定时器3，用于诊断恢复
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*/
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void TIMER3_config(void) {
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/* ----------------------------------------------------------------------------
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TIMER3 Configuration:
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TIMER3CLK = SystemCoreClock/120 = 1MHz, the period is 10ms(10000/1000000 =
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10ms).
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----------------------------------------------------------------------------
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*/
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timer_parameter_struct timer_struct;
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/* 使能TIMER3时钟 */
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rcu_periph_clock_enable(RCU_TIMER3);
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/* 复位TIMER3外设到默认状态 */
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timer_deinit(TIMER3);
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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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/* TIMER3配置参数设置 */
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timer_struct.prescaler =
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TIMER3_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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TIMER3_PERIOD; /* 自动重装载值：10000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(TIMER3, &timer_struct);
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/* 清除更新中断标志位 */
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timer_interrupt_flag_clear(TIMER3, TIMER_INT_FLAG_UP);
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/* 使能更新中断 */
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timer_interrupt_enable(TIMER3, TIMER_INT_UP);
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/* 使能TIMER3 */
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timer_enable(TIMER3);
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}
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/**
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* @brief 配置TIMER2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 获取系统运行时间(毫秒)
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\param[in] none
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\param[out] none
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\retval 系统运行时间，单位为毫秒
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*/
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uint64_t get_system_runtime_us(void) { return system_runtime_us; }
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/**
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* @brief TIMER2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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static u8 mode = 0;
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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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// 增加总计数器 (使用更高效的位运算代替取模运算)
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total_us100_counter++;
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// system_runtime_us += 100;
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// 每100us执行一次的操作
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sampler.update_current(); // 更新电流采样值
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KTH7823.update(); // 更新角度传感器值
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FOC.rt_velocity = Vel_kalman.update(KTH7823.getVelocity());
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if (FOC.control_mode == 1) {
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FOC.angle_control_NPID(FOC.target_angle); // 角度闭环控制
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} else if (FOC.control_mode == 2) {
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FOC.velocity_control(FOC.target_velocity);// 速度闭环控制
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} else if (FOC.control_mode == 4) {
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FOC.velocity_open_loop(); // 速度开环控制
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}
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if (total_us100_counter >= 10) {
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// 每1ms执行的代码
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total_us100_counter = 0; // 重置计数器
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// 设置CAN发送标志
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CAN0_transmiter.can0_send_flag = SET;
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mode = FOC.control_mode;
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// 过流检测
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if (sampler.get_current('U') > 2000 ||
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sampler.get_current('V') > 2000 ||
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sampler.get_current('W') > 2000) {
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FOC.over_current++;
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} else {
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FOC.over_current = 0;
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}
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// 更新各种传感器数据
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sampler.update_mcu_temp();
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sampler.update_drv_temp();
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sampler.update_vbus_voltage();
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// 停机判断及冷却
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if (FOC.over_current > 10) {
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FOC.is_shut_down = 10;
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}
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static u8 ms10_counter = 0;
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ms10_counter++;
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if (ms10_counter >= 10) {
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ms10_counter = 0;
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// 可以添加每10ms执行的代码
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FOC.update_power();
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static u8 ms100_counter = 0;
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ms100_counter++;
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if (ms100_counter >= 10) {
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ms100_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 >= 10) {
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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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* @brief TIMER3中断处理函数
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* @return void
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*/
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void TIMER3_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(TIMER3, TIMER_INT_UP) != RESET) {
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// 清除更新中断标志
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timer_interrupt_flag_clear(TIMER3, TIMER_INT_UP);
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static u8 count = 0;
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count++;
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if (FOC.is_shut_down > 0)
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FOC.is_shut_down--;
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else
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FOC.resume();
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// 10ms测试代码
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if (count >= 10) {
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count = 0;
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// 100ms测试代码
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static u8 count_10 = 0;
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count_10++;
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if (count_10 >= 10) {
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count_10 = 0;
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// 1s测试代码
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FOC.update_power();
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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 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 - 应该使用DISABLE，因为我们使用的是默认引脚 */
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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 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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// 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_pulse_value_config(TIMER1, TIMER_CH_0,
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TIMER1_CH0_PULSE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1,
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TIMER1_CH1_PULSE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2,
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TIMER1_CH2_PULSE);
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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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// 启动TIMER1
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timer_enable(TIMER1);
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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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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0,
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duty_cycle0 * TIMER1_PERIOD);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1,
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duty_cycle1 * TIMER1_PERIOD);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2,
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duty_cycle2 * TIMER1_PERIOD);
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}
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