cbb
7c4aaa5ee6
- 重构cal_Iq_Id函数，移除电角度参数传递，改用预计算的sin/cos值 以避免重复三角函数计算，提升性能约15-300周期 - 修复角度同步Uq前馈学习中的运动方向判断逻辑，解决反转时的 震荡问题和正转正常反转震荡的根本原因 - 实现低速缩放因子函数get_mode3_velocity_scale，改进静摩擦 hunting抑制效果 - 优化电压检测逻辑，将阻塞式ADC读取改为连续模式零等待， 提升实时性能 - 修复初始化期间电压分母为零的问题，添加下限保护防止P增益 无穷大 - 实现PID控制器测量微分功能，消除目标阶跃时的微分冲击 - 改进积分抗饱和策略，添加外部饱和泄放功能，优化到位稳定 性能 perf(Filter): 优化中值滤波算法性能 - 针对ADC_FILTER_SIZE=6的固定场景实现最优排序网络， 用12次比较替代通用std::nth_element算法，显著提升性能 - 保留通用回退路径处理其他尺寸情况
343 lines
12 KiB
C++
343 lines
12 KiB
C++
/**
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* @file device/Timer.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 "Timer.h"
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#include "Can.h"
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#include "FOC.h"
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#include "Timer.h"
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#include "config.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 "initial.h"
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volatile u32 total_us100_counter = 0; // TIMER2 ISR 内部 100us 调度索引
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extern FOC_Controller FOC;
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extern TaskScheduler scheduler;
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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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extern u32 cnt_test;
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// 任务调度查找表 - 每 100us 执行的任务 (1ms 周期内)
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// MCU/DRV 温度保持 1kHz：热模型兼作过流保护，温度积累按 1ms 步进，
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// 每毫秒都要拿到新温度采样。
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static const u32 task_schedule_100us[10] = {
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(1u << TASK_MCU_TEMP_UPDATE), // 0: MCU 温度更新
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(1u << TASK_DRV_TEMP_UPDATE), // 1: 驱动温度更新
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(1u << TASK_VBUS_UPDATE), // 2: 电压更新
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0, 0, 0, 0, 0, 0, // 3~8: 空闲
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(1u << TASK_CAN_TRANSMIT) // 9: CAN 发送
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};
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// 任务调度查找表 - 每 1ms 执行的任务 (10ms 周期内)
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static const u32 task_schedule_1ms[10] = {
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(1u << TASK_THERMAL_CONTROL), // 0: 热量控制
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(1u << TASK_MAGNETIC_CHECK), // 1: 磁感应强度检测
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0, 0, 0, 0, 0, 0, 0, 0 // 空闲
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};
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// 任务调度查找表 - 每 10ms 执行的任务 (100ms 周期内)
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static const u32 task_schedule_10ms[10] = {
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0 // 当前无任务，预留扩展
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};
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// 任务调度查找表 - 每 100ms 执行的任务 (1s 周期内)
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static const u32 task_schedule_100ms[10] = {
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0 // 当前无任务，预留扩展
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};
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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, 0, 1);
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nvic_irq_enable(ADC0_1_IRQn, 0, 0);
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nvic_irq_enable(TIMER1_IRQn, 0, 2);
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}
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/**
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* @brief 配置定时器 2-任务管理
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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 TIMER2-任务管理中断
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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 TIMER2-任务管理中断处理函数 (优化版)
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* @return void
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* @note 使用查找表替代多层 switch-case，减少代码复杂度和执行时间
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* 中断周期：50us
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* - 每 50us: 电机控制任务 (角度、速度更新)
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* - 每 100us: 传感器采样、CAN 通信
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* - 每 1ms: 热量控制、磁检
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* - 每 10ms/100ms/1s: 预留扩展任务
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*/
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void TIMER2_IRQHandler(void) {
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// 快速路径：检查并清除中断标志
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if (timer_interrupt_flag_get(TIMER2, TIMER_INT_UP) == RESET) {
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return;
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}
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timer_interrupt_flag_clear(TIMER2, TIMER_INT_UP);
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// 固定任务：每 50us 执行电机控制
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scheduler.taskFlags |= (1u << TASK_ANGLE_UPDATE) |
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(1u << TASK_VELOCITY_UPDATE) |
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(1u << TASK_MOTOR_CONTROL);
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// 每 100us 执行一次的任务（使用位运算替代布尔变量）
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static u32 call_counter = 0;
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call_counter++;
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if ((call_counter & 1u) == 0u) { // 偶数次调用（每 100us）
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// 使用查找表设置 1ms 周期内的任务
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scheduler.taskFlags |= task_schedule_100us[total_us100_counter];
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total_us100_counter++;
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if (total_us100_counter >= 10u) {
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total_us100_counter = 0;
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// 每 1ms 执行的任务
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static u32 ms1_counter = 0;
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ms1_counter++;
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if (ms1_counter >= 10u) {
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ms1_counter = 0;
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// 每 10ms 执行的任务
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static u32 ms10_counter = 0;
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ms10_counter++;
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if (ms10_counter >= 10u) {
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ms10_counter = 0;
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// 每 100ms 执行的任务
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static u32 ms100_counter = 0;
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ms100_counter++;
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if (ms100_counter >= 10u) {
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ms100_counter = 0;
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// 每 1s 任务预留位置
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}
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scheduler.taskFlags |= task_schedule_100ms[ms100_counter];
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}
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scheduler.taskFlags |= task_schedule_10ms[ms10_counter];
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}
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scheduler.taskFlags |= task_schedule_1ms[ms1_counter];
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}
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}
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}
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/**
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* @brief TIMER1-PWM 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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#if GATE_DRIVER_DRV8323
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/* 新板：PB12(DRVSLP=ENABLE+INLx) 由 gate_driver 统一管理——
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* gate_driver_preinit() 已置低保持芯片睡眠，gate_driver_bringup()
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* 在 SPI 配置完成后才拉高。此处严禁提前置高（SPI 未配置前芯片
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* 带默认 6x PWM 模式醒来，INLx=1 时上管永远无法导通）。
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* PB0 板上接地未用，不配置。 */
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#else
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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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#endif
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/* 配置 TIMER1 完全重映射*/
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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-PWM 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.alignedmode = TIMER_COUNTER_CENTER_BOTH; // 中心对齐，给采样留对称平台窗
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timer_initpara.counterdirection = TIMER_COUNTER_UP;
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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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// 配置第四个通道 (CH3) 为固定采样点，只用于导出 ADC 触发
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timer_ocinitpara.outputstate =
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TIMER_CCX_DISABLE; // 不输出 PWM 波形，仅用于比较事件
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timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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timer_channel_output_config(TIMER1, TIMER_CH_3, &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_mode_config(TIMER1, TIMER_CH_3,
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TIMER_OC_MODE_PWM0); // CH3 也设为 PWM 模式
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/* 将 CH3 预装载比较点作为 TRGO 导出，供 ADC injected 组同步采样 */
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timer_master_output_trigger_source_select(TIMER1, TIMER_TRI_OUT_SRC_O3CPRE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0,
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TIMER1_DEFAULT_PULSE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1,
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TIMER1_DEFAULT_PULSE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2,
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TIMER1_DEFAULT_PULSE);
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// 设置 CH3 为固定 ADC 采样点，避免与三相 PWM duty 耦合
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_3,
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TIMER1_CH3_COMPARE_VALUE);
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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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// CH3 现在仅作为 TRGO 采样点保留；采样完成由 ADC injected 中断接管
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/**
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* @brief TIMER1 中断处理函数
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* @return void
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*/
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void TIMER1_IRQHandler(void) {
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if (timer_interrupt_flag_get(TIMER1, TIMER_INT_FLAG_CH3) != RESET) {
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timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_CH3);
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}
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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 GATE_DRIVER_DRV8323
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/* 新板通道重映射：逻辑相 A→CH2、B→CH1、C→CH0（硬件 INHA/B/C
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* 分别接 PWM1/2/3 = PA2/PA1/PA0），与 Set_3Pwm 保持一致 */
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if (channel == 0) {
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channel = 2;
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} else if (channel == 2) {
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channel = 0;
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}
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#endif
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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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#if GATE_DRIVER_DRV8323
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/* 新板硬件映射：CH0(PA0)→PWM3→INHC，CH1(PA1)→PWM2→INHB，
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* CH2(PA2)→PWM1→INHA。入参按 (A,B,C) 相序书写，此处把 A/C 换到
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* 物理通道，修正新板与老板相反的 INHx 接线。 */
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TIMER_CH0CV(TIMER1) = (uint32_t)(duty_cycle2 * TIMER1_PERIOD);
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TIMER_CH1CV(TIMER1) = (uint32_t)(duty_cycle1 * TIMER1_PERIOD);
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TIMER_CH2CV(TIMER1) = (uint32_t)(duty_cycle0 * TIMER1_PERIOD);
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#else
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// 直接写寄存器（老板：CH0/1/2 = IN1/2/3 = A/B/C 相）
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TIMER_CH0CV(TIMER1) = (uint32_t)(duty_cycle0 * TIMER1_PERIOD);
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TIMER_CH1CV(TIMER1) = (uint32_t)(duty_cycle1 * TIMER1_PERIOD);
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TIMER_CH2CV(TIMER1) = (uint32_t)(duty_cycle2 * TIMER1_PERIOD);
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#endif
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}
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