cbb
7371f97882
更新了FOC控制器中的速度环和角度环PID参数以改善控制响应，并微调电流环参数提升稳定性。 feat(Filter): 改进卡尔曼滤波器初始化逻辑及速度计算方式 引入系统运行时间计数器，修正编码器角度和速度卡尔曼滤波器的初始化流程，并基于实际时间间隔优化角速度估算精度。 refactor(Filter): 移动成员变量声明顺序 调整`EncoderAngleKalman`类中`last_angle`成员变量的访问权限和声明位置，增强封装性和可读性。 feat(Flash): 新增Flash EEPROM功能支持 添加FlashEEPROM类及相关头文件，支持电机角度等关键数据掉电保存，并在CAN通信复位时进行角度存储操作。 refactor(Timer): 优化定时器配置和中断优先级设置 删除冗余的TIMER3定义，修改TIMER1中断服务函数可见性，并调整NVIC子优先级分配，确保中断响应合理有序。 feat(AngleSensor): 完善角度传感器初始化与角度设定接口 重构角度传感器初始化方法并新增角度设置函数，支持从Flash读取初始角度值并与减速比结合应用。 feat(Health): 实现母线电压监测与保护策略 新增电源管理函数，在母线电压异常下降时自动关闭电机输出，防止因供电不足导致设备损坏。
54 lines
1.3 KiB
YAML
54 lines
1.3 KiB
YAML
# A solution is a collection of related projects that share same base configuration.
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solution:
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created-for: CMSIS-Toolbox@2.12.0
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cdefault: # use CMSIS-Toolbox default Compiler options
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# Compilers that can be selected
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select-compiler:
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- compiler: AC6
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- compiler: GCC
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- compiler: IAR
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- compiler: CLANG
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# List of miscellaneous tool-specific controls
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misc:
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- for-compiler: AC6 # GDB requires DWARF 5, remove when using uVision Debugger
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C-CPP:
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- -gdwarf-5
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ASM:
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- -gdwarf-5
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# List the packs that define the device and/or board.
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packs:
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- pack: GigaDevice::GD32C10x_DFP
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- pack: ARM::CMSIS
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# List different hardware targets that are used to deploy the solution.
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target-types:
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- type: GD32C103CB
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device: GD32C103CB
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target-set:
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- set:
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images:
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- project-context: Robot_V2.Release
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debugger:
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name: ST-Link@pyOCD
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port: 3333
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protocol: swd
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clock: 10000000
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# List of different build configurations.
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build-types:
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- type: Debug
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debug: on
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optimize: none
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- type: Release
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debug: off
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optimize: balanced
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# List related projects.
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projects:
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- project: Robot_V2/Robot_V2.cproject.yml
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compiler: AC6
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