空转起步防止打齿

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

Applications/foc/core/e_ctrl.h

@@ -117,6 +117,7 @@ static void eRamp_set_step_target(e_Ramp *ramp, float c, u32 intval) {
 	eRamp_set_step(ramp, step_val);
 }
 
+extern float PMSM_FOC_GetSpeed(void);
 static void eRamp_X2_running(e_Ramp *r) {
 #if 1
 	float target = r->target;
@@ -124,7 +125,11 @@ static void eRamp_X2_running(e_Ramp *r) {
 	bool cross_zero = false;
 	if (target > 0) {
 		if (v_now >= -CONFIG_RAMP_SECOND_TARGET && v_now <= CONFIG_RAMP_SECOND_TARGET * 1.5f) {
-			step_towards(&r->interpolation, target, 0.04f);
+			if (PMSM_FOC_GetSpeed() <= 20.0f) {
+				step_towards(&r->interpolation, target, 0.02f);
+			}else {
+				step_towards(&r->interpolation, target, 0.04f);
+			}
 			cross_zero = true;
 		}
 	}else if (target == 0) {