更新编码器处理，pwm duty适当放宽

Signed-off-by: huhui <huhui@sharkgulf.com>

Applications/bsp/board_mc100_v1.h

@@ -303,14 +303,17 @@
 #define ENC_Pluse_Nr_2_angle(Nr) (360.0f/(float)ENC_MAX_RES * (Nr))
 
 #if ENCODER_TYPE==ENCODER_MPS
-#define ENC_PWM_Min_P (1.0f/131.0f)
+#define ENC_PWM_Min_P (1.0f/(131.0f + 1.0f))
+#define ENC_PWM_Max_P  1.0f
 #define ENC_Duty(d, t) ((1.0f/128.0f) * (130.0f * (d)/(t) - 1.0f))
 #elif ENCODER_TYPE==ENCODER_MT
 /*min. 994 hz*/
 #define ENC_PWM_MAX_RES    4119.0F
 #define ENC_PWM_INIT_WIDTH 16.0F //PWM 起始宽度
 #define ENC_PWM_END_WIDTH   4.0F
-#define ENC_PWM_Min_P      (ENC_PWM_INIT_WIDTH/ENC_PWM_MAX_RES)
+#define ENC_PWM_Min_P      (ENC_PWM_INIT_WIDTH/(ENC_PWM_MAX_RES + 1.0f))
+#define ENC_PWM_Max_P      ((ENC_PWM_MAX_RES-ENC_PWM_END_WIDTH)/(ENC_PWM_MAX_RES - 1.0f))
+
 #define PWM_Duty(d, t) ((d)/(t))
 #define ENC_Duty(d, t) ((PWM_Duty(d, t)*ENC_PWM_MAX_RES - ENC_PWM_INIT_WIDTH)/(ENC_PWM_MAX_RES - ENC_PWM_END_WIDTH - ENC_PWM_INIT_WIDTH)
 #else

Applications/bsp/board_yuanqu.h

@@ -237,6 +237,7 @@
 /* 编码器参数      */
 #define ENC_MAX_RES  1024
 #define ENC_PWM_Min_P (1.0f/131.0f)
+#define ENC_PWM_Max_P  1.0f
 
 #define ENC_Duty_2_Pluse_Nr(duty) (duty * ENC_MAX_RES) //通过占空比计算有几个脉冲
 #define ENC_Pluse_Nr_2_angle(Nr) (360.0f/(float)ENC_MAX_RES * (Nr))

Applications/foc/motor/encoder.c

@@ -317,12 +317,14 @@ static int pwm_count = 0;
 static int pwm_check_count = 0;
 void ENC_PWM_Duty_Handler(float t, float d) {
 	float duty = ENC_Duty(d, t);
-	if (duty < ENC_PWM_Min_P || duty > 1.0f) {
+	if (duty < ENC_PWM_Min_P || duty > ENC_PWM_Max_P) {
 		return;
 	}
 	float Nr = ENC_Duty_2_Pluse_Nr(duty);
 	if (Nr < 0) {
-		return;
+		Nr = 0;
+	}else if (Nr > ENC_MAX_RES) {
+		Nr = ENC_MAX_RES;
 	}
 	u32 n_nr = (u32)Nr;
 	if (Nr - n_nr >= 0.5f) {