cbb
e646544f7f
- 将原本在 calibrate_cogging_tick 中的大函数拆分为多个职责单一的函数 - 新增 start_cogging_calibration、cogging_settling_tick、cogging_sampling_tick、 cogging_stopping_tick、cogging_done_tick 等状态处理函数 - 添加 process_cogging_run_data、start_next_cogging_run、build_cogging_tables、 print_cogging_table、print_cogging_c_array 等辅助函数 - 移动全局 FOC 控制器单例注释到更合适位置 - 添加齿槽转矩校准参数常量定义和详细注释 - 添加防御性编程处理默认状态分支，避免状态机卡死 - 提高代码可读性和维护性 feat(tasks): 添加任务头文件到项目配置 - 在 Robot_V2.cproject.yml 中添加 tasks.h 和 tasks.cpp 文件引用 docs(ADC): 添加ADC转换常量说明注释 - 在 ADC.cpp 中添加关于ADC换算常量的详细注释 - 说明全局采样器单例的初始化和使用方式
336 lines
10 KiB
C++
336 lines
10 KiB
C++
/**
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* @file device/ADC.cpp
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* @brief 底层设备驱动与外设封装源文件
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* @note 本文件仅补充 Doxygen 文档注释，不改变代码逻辑。
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*/
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#include "adc.h"
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#include "Can.h"
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#include "FOC.h"
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#include "Filter.h"
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#include "config.h"
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#include "initial.h"
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#include "math.h"
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#include "systick.h"
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#include <cstdint>
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#include <cstring>
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#include <gd32c10x_dma.h>
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// ADC 换算常量均为编译期常量，非可变全局状态。
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// 用于 ADC 原始值到电压、温度、电流的固定比例换算。
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/** @brief ADC_SCALE 常量定义 */
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constexpr float ADC_SCALE = 3.3f / 4096.0f;
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/** @brief TEMP_FACTOR 常量定义 */
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constexpr float TEMP_FACTOR = 1000.0f / 4.3f;
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/** @brief VCC_FACTOR 常量定义 */
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constexpr float VCC_FACTOR = 11.0f;
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/** @brief CURRENT_FACTOR 常量定义 */
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constexpr float CURRENT_FACTOR =
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1.0f / 50.0f * 100.0f; // 50倍放大，100倍电流采样电阻, 单位mA
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extern CAN_transmiter CAN0_transmiter;
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extern FOC_Controller FOC;
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// 全局采样器单例：系统只有一组 ADC 采样缓存，由 hardware_init() 调用 sampler.init() 初始化。
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// regular DMA 写 adc_value[]；injected ADC 中断写 adc_current_value[] 并置位 adc_current_frame_ready。
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sampler sampler; // 采样器初始化
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u16 adc_value[3] = {0}; // regular DMA: MCU温度 / DRV温度 / VBUS
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static volatile u16 adc_current_value[3] = {0}; // injected 同步采样: U / V / W
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static volatile u8 adc_current_frame_ready = 0;
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/**
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* @brief 将电流 ADC 原始值换算为毫安值
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* @param[in] raw_adc 参数
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* @return float 返回值
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*/
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static inline float current_adc_to_ma(u16 raw_adc) {
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return (raw_adc * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR;
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}
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/*!
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\brief configure the DMA peripheral
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\param[in] none
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\param[out] none
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\retval none
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*/
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void dma_config(void) {
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/* enable DMA0 clock */
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rcu_periph_clock_enable(RCU_DMA0);
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/* ADC_DMA_channel configuration */
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dma_parameter_struct dma_data_parameter;
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/* ADC DMA_channel configuration */
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dma_deinit(DMA0, DMA_CH0);
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/* initialize DMA single data mode */
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dma_data_parameter.periph_addr = (uint32_t)(&ADC_RDATA(ADC0));
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dma_data_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
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dma_data_parameter.memory_addr = (uint32_t)(adc_value);
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dma_data_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
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dma_data_parameter.periph_width = DMA_PERIPHERAL_WIDTH_16BIT;
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dma_data_parameter.memory_width = DMA_MEMORY_WIDTH_16BIT;
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dma_data_parameter.direction = DMA_PERIPHERAL_TO_MEMORY;
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dma_data_parameter.number = 3;
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dma_data_parameter.priority = DMA_PRIORITY_HIGH;
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dma_init(DMA0, DMA_CH0, &dma_data_parameter);
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dma_circulation_enable(DMA0, DMA_CH0);
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/* enable DMA channel */
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dma_channel_enable(DMA0, DMA_CH0);
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}
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/*!
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\brief configure the ADC peripheral
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\param[in] none
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\param[out] none
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\retval none
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*/
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void adc_config(void) {
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/* enable ADC clock */
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rcu_periph_clock_enable(RCU_ADC0);
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/* config ADC clock */
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rcu_adc_clock_config(RCU_CKADC_CKAPB2_DIV4);
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/* 复位ADC */
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adc_deinit(ADC0);
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/* ADC模式配置 */
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adc_mode_config(ADC_MODE_FREE);
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/* regular 组保留连续扫描，用于温度/VBUS 后台采样 */
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adc_special_function_config(ADC0, ADC_CONTINUOUS_MODE, ENABLE);
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adc_special_function_config(ADC0, ADC_SCAN_MODE, ENABLE);
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/* injected 组用于 PWM 同步电流采样，关闭自动串联，独立由 TIMER1 触发 */
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adc_special_function_config(ADC0, ADC_INSERTED_CHANNEL_AUTO, DISABLE);
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/* ADC数据右对齐配置 */
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adc_data_alignment_config(ADC0, ADC_DATAALIGN_RIGHT);
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/* 使能ADC温度传感器和内部参考电压 */
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adc_tempsensor_vrefint_enable();
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/* 配置ADC通道长度 */
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adc_channel_length_config(ADC0, ADC_REGULAR_CHANNEL, 3);
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/* 配置ADC规则通道 */
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adc_regular_channel_config(ADC0, 0, ADC_CHANNEL_16,
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ADC_SAMPLETIME_41POINT5);
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adc_regular_channel_config(ADC0, 1, ADC_CHANNEL_9, ADC_SAMPLETIME_28POINT5);
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adc_regular_channel_config(ADC0, 2, ADC_CHANNEL_6, ADC_SAMPLETIME_28POINT5);
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/* regular 组继续软件触发连续转换：本组只服务低速量 */
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adc_external_trigger_source_config(ADC0, ADC_REGULAR_CHANNEL,
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ADC0_1_EXTTRIG_REGULAR_NONE);
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adc_external_trigger_config(ADC0, ADC_REGULAR_CHANNEL, ENABLE);
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/* injected 组改为 TIMER1 CH3 导出的 TRGO 触发，实现三相同一采样时刻锁存 */
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adc_channel_length_config(ADC0, ADC_INSERTED_CHANNEL, 4);
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adc_inserted_channel_config(ADC0, 0, ADC_CHANNEL_3, ADC_SAMPLETIME_55POINT5);
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adc_inserted_channel_config(ADC0, 1, ADC_CHANNEL_3, ADC_SAMPLETIME_55POINT5);
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adc_inserted_channel_config(ADC0, 2, ADC_CHANNEL_4, ADC_SAMPLETIME_55POINT5);
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adc_inserted_channel_config(ADC0, 3, ADC_CHANNEL_5, ADC_SAMPLETIME_55POINT5);
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adc_external_trigger_source_config(ADC0, ADC_INSERTED_CHANNEL,
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ADC0_1_EXTTRIG_INSERTED_T1_TRGO);
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adc_external_trigger_config(ADC0, ADC_INSERTED_CHANNEL, ENABLE);
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/* 使能ADC接口 */
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adc_enable(ADC0);
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/* ADC校准 */
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adc_calibration_enable(ADC0);
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/* 使能ADC DMA功能 */
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adc_dma_mode_enable(ADC0);
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/* injected 完成中断负责搬运完整三相样本 */
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adc_interrupt_enable(ADC0, ADC_INT_EOIC);
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/* 先启动 regular 组连续后台采样 */
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adc_software_trigger_enable(ADC0, ADC_REGULAR_CHANNEL);
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}
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/**
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* @brief 采样类初始化
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*/
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u8 sampler::init() {
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dma_config(); // DMA采样ADC初始化
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adc_config(); // ADC初始化
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current_sample_head = 0;
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adc_current_frame_ready = 0;
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delay_1ms(1);
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const float current_init = current_adc_to_ma(
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static_cast<u16>((-CURRENT_OFFSET / ADC_SCALE) + 0.5f));
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// 初始采样
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for (int i = 0; i < ADC_FILTER_SIZE; i++) {
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mcu_temp_samples[i] =
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(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;
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currU_samples[i] = current_init;
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currV_samples[i] = current_init;
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currW_samples[i] = current_init;
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vbus_samples[i] = adc_value[2] * ADC_SCALE * VCC_FACTOR;
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float R_now = (float)adc_value[1] / (4096 - (float)adc_value[1]) * 4700;
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drv_temp_samples[i] =
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1.0f / (0.00335f + 0.00025f * log(R_now / 10000.0f)) - 273.15f;
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delay_1ms(1);
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}
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return 0;
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}
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/**
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* @brief 获取MCU温度
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* @return float
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* 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
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*/
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float sampler::get_mcu_temp() {
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return cached_mcu_temp;
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}
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/**
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* @brief 获取电机驱动温度
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* @return float 温度值，单位为摄氏度
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*
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* 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。
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* 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。
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*/
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float sampler::get_drv_temp() {
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return cached_drv_temp;
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}
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/**
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* @brief 获取电流值
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* @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
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* @return float 电流值，单位为安培
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*
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* 通过ADC采样计算各相电流值
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*/
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float sampler::get_current(char type) {
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u8 idx = (current_sample_head == 0U) ? (ADC_FILTER_SIZE - 1U)
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: (current_sample_head - 1U);
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switch (type) {
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case 'U': {
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tempora_sample = currU_samples[idx];
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break;
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}
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case 'V': {
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tempora_sample = currV_samples[idx];
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break;
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}
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case 'W': {
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tempora_sample = currW_samples[idx];
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break;
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}
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default: {
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return ERROR_ADC_VAL;
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}
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}
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if (tempora_sample < MIN_CURRENT or tempora_sample > MAX_CURRENT) {
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return ERROR_ADC_VAL;
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}
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return tempora_sample;
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}
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/**
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* @brief 获取供电电压
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* @return float 电压值，单位为伏特
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*
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* 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。
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* 如果计算结果超出有效范围(-40到255伏特)，则重新采样计算。
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*/
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float sampler::get_vbus_voltage() {
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return cached_vbus;
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}
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/**
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* @brief 更新MCU温度
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*
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* 通过ADC采样计算MCU温度值，使用Steinhart-Hart方程进行温度转换。
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* 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。
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*/
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void sampler::update_mcu_temp() {
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// 环形缓冲区写入，替代 memmove
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mcu_temp_samples[mcu_temp_head] =
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(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;
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mcu_temp_head++;
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if (mcu_temp_head >= ADC_FILTER_SIZE) mcu_temp_head = 0;
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// 更新缓存：中值滤波
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tempora_sample = medium_filter(mcu_temp_samples, ADC_FILTER_SIZE);
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if (tempora_sample < MIN_TEMP || tempora_sample > MAX_TEMP) {
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cached_mcu_temp = ERROR_ADC_VAL;
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} else {
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cached_mcu_temp = tempora_sample;
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}
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}
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/**
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* @brief 更新MCU温度
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*/
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void sampler::update_drv_temp() {
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// 环形缓冲区写入，替代 memmove
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float R_now = (float)adc_value[1] / (4096 - (float)adc_value[1]) * 4700;
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drv_temp_samples[drv_temp_head] =
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1.0f / (0.00335f + 0.00025f * log(R_now / 10000.0f)) - 273.15f;
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drv_temp_head++;
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if (drv_temp_head >= ADC_FILTER_SIZE) drv_temp_head = 0;
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// 更新缓存：中值滤波
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tempora_sample = medium_filter(drv_temp_samples, ADC_FILTER_SIZE);
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if (tempora_sample < MIN_TEMP || tempora_sample > MAX_TEMP) {
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cached_drv_temp = ERROR_ADC_VAL;
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} else {
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cached_drv_temp = tempora_sample;
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}
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}
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/**
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* @brief 更新相电流
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*/
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void sampler::update_current() {
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if (adc_current_frame_ready == 0U) {
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return;
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}
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const u8 idx = current_sample_head;
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currU_samples[idx] = current_adc_to_ma(adc_current_value[0]);
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currV_samples[idx] = current_adc_to_ma(adc_current_value[1]);
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currW_samples[idx] = current_adc_to_ma(adc_current_value[2]);
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current_sample_head++;
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if (current_sample_head >= ADC_FILTER_SIZE) {
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current_sample_head = 0;
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}
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adc_current_frame_ready = 0U;
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}
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/**
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* @brief 更新供电电压
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*/
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void sampler::update_vbus_voltage() {
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// 环形缓冲区写入，替代 memmove
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vbus_samples[temp_vbus_head] = adc_value[2] * ADC_SCALE * VCC_FACTOR;
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temp_vbus_head++;
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if (temp_vbus_head >= ADC_FILTER_SIZE) temp_vbus_head = 0;
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// 更新缓存：中值滤波 + 范围检查
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tempora_sample = medium_filter(vbus_samples, ADC_FILTER_SIZE);
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const u8 mid = ADC_FILTER_SIZE / 2;
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if (vbus_samples[mid] > MAX_VCC || vbus_samples[mid] < MIN_VCC) {
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cached_vbus = ERROR_ADC_VAL;
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} else {
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cached_vbus = tempora_sample;
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}
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}
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/**
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* @brief ADC0_1_IRQHandler 中断处理函数
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* @return void
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*/
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extern "C" void ADC0_1_IRQHandler(void) {
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if (adc_interrupt_flag_get(ADC0, ADC_INT_FLAG_EOIC) != RESET) {
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/* 丢弃 rank0 dummy，真实样本使用 rank1/2/3，对应 U/V/W 同一 PWM 时刻 */
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(void)adc_inserted_data_read(ADC0, ADC_INSERTED_CHANNEL_0);
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adc_current_value[0] = adc_inserted_data_read(ADC0, ADC_INSERTED_CHANNEL_1);
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adc_current_value[1] = adc_inserted_data_read(ADC0, ADC_INSERTED_CHANNEL_2);
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adc_current_value[2] = adc_inserted_data_read(ADC0, ADC_INSERTED_CHANNEL_3);
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adc_current_frame_ready = 1U;
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adc_interrupt_flag_clear(ADC0, ADC_INT_FLAG_EOIC);
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extern TaskScheduler scheduler;
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scheduler.taskFlags |= (1u << TASK_CURRENT_UPDATE);
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}
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}
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