270 lines
8.1 KiB
C++
270 lines
8.1 KiB
C++
#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 "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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constexpr float ADC_SCALE = 3.3f / 4096.0f;
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constexpr float TEMP_FACTOR = 1000.0f / 4.3f;
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constexpr float VCC_FACTOR = 11.0f;
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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_Controlroller FOC;
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sampler sampler; // 采样器初始化
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u16 adc_value[6] = {0}; // 显式初始化数组元素为0
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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 = 6;
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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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/* 使能ADC连续转换功能 */
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adc_special_function_config(ADC0, ADC_CONTINUOUS_MODE, ENABLE);
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/* 使能ADC扫描模式 */
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adc_special_function_config(ADC0, ADC_SCAN_MODE, ENABLE);
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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, 6);
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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_55POINT5);
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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_3, ADC_SAMPLETIME_28POINT5);
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adc_regular_channel_config(ADC0, 3, ADC_CHANNEL_4, ADC_SAMPLETIME_28POINT5);
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adc_regular_channel_config(ADC0, 4, ADC_CHANNEL_5, ADC_SAMPLETIME_28POINT5);
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adc_regular_channel_config(ADC0, 5, ADC_CHANNEL_6, ADC_SAMPLETIME_28POINT5);
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/* ADC触发配置 */
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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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/* 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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/* 使能ADC软件触发 */
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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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delay_1ms(1);
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// 初始采样
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for (int i = 0; i < ADC_FILTER_SIZE + 1; 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] =
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(adc_value[2] * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR;
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currV_samples[i] =
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(adc_value[3] * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR;
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currW_samples[i] =
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(adc_value[4] * ADC_SCALE + CURRENT_OFFSET) * CURRENT_FACTOR;
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vbus_samples[i] = adc_value[5] * 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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tempora_sample = medium_filter(mcu_temp_samples, ADC_FILTER_SIZE + 1);
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// 检查温度读数是否在有效范围内
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if (tempora_sample < MIN_TEMP or tempora_sample > MAX_TEMP) {
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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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tempora_sample = medium_filter(drv_temp_samples, ADC_FILTER_SIZE + 1);
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// 检查温度读数是否在有效范围内
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if (tempora_sample < MIN_TEMP || tempora_sample > MAX_TEMP) {
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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_index;
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switch (type) {
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case 'U': {
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// return currU_samples[current_sample_index];
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// tempora_sample = medium_filter(currU_samples, ADC_FILTER_SIZE + 1);
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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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// return currV_samples[current_sample_index];
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// tempora_sample = medium_filter(currV_samples, ADC_FILTER_SIZE + 1);
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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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// return currW_samples[current_sample_index];
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// tempora_sample = medium_filter(currW_samples, ADC_FILTER_SIZE + 1);
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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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tempora_sample = medium_filter(vbus_samples, ADC_FILTER_SIZE + 1);
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// 检查电压读数是否在有效范围内
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if (vbus_samples[ADC_FILTER_SIZE / 2] > MAX_VCC or
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vbus_samples[ADC_FILTER_SIZE / 2] < MIN_VCC) {
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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 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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memmove(mcu_temp_samples, mcu_temp_samples + 1,
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ADC_FILTER_SIZE * sizeof(float));
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mcu_temp_samples[ADC_FILTER_SIZE] =
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(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;
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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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memmove(drv_temp_samples, drv_temp_samples + 1,
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ADC_FILTER_SIZE * sizeof(float));
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float R_now = (float)adc_value[1] / (4096 - (float)adc_value[1]) * 4700;
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drv_temp_samples[ADC_FILTER_SIZE] =
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1.0f / (0.00335f + 0.00025f * log(R_now / 10000.0f)) - 273.15f;
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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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u8 idx = current_sample_index;
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extern FOC_Controller FOC;
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// 优化计算
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const float scale = ADC_SCALE * CURRENT_FACTOR;
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const float offset = CURRENT_OFFSET * CURRENT_FACTOR;
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currU_samples[idx] = adc_value[2] * scale + offset;
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currV_samples[idx] = adc_value[3] * scale + offset;
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currW_samples[idx] = adc_value[4] * scale + offset;
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// 更新索引
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current_sample_index++;
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if (current_sample_index >= ADC_FILTER_SIZE - 1) {
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current_sample_index = 0;
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}
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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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memmove(vbus_samples, vbus_samples + 1, ADC_FILTER_SIZE * sizeof(float));
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vbus_samples[ADC_FILTER_SIZE] = adc_value[5] * ADC_SCALE * VCC_FACTOR;
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} |