96vmode 修改未高压mode

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

Applications/bsp/at32/board_at_mc100_v1.h

@@ -29,7 +29,7 @@
 
 #define CONFIG_CURR_LP_CEOF (CONFIG_CURR_LP_WC*2*3.14F/(float)FOC_PWM_FS)
 
-#define CONFIG_96V_MODE_VOL (60.0F)
+#define CONFIG_HIGH_VOL_MODE_MIN_VOL (60.0F)
 
 #define CONFIG_SMO_OBSERVER 1
 
@@ -343,7 +343,7 @@
 #define CONFIG_MOT_TYPE MOTOR_BLUESHARK_A1
 
 #if (CONFIG_MOT_TYPE==MOTOR_BLUESHARK_A1)
-#define CONFIG_FORCE_96V_MODE 1
+#define CONFIG_FORCE_HIGH_VOL_MODE 1
 #endif
 
 //#define CONFIG_DQ_STEP_RESPONSE

Applications/bsp/at32/board_at_mc105_v3.h

@@ -31,17 +31,17 @@
 
 #define CONFIG_CURR_LP_CEOF (CONFIG_CURR_LP_WC*2*3.14F/(float)FOC_PWM_FS)
 
-#define CONFIG_96V_MODE_VOL (60.0F)
+#define CONFIG_HIGH_VOL_MODE_MIN_VOL (60.0F)
 
 #define CONFIG_LADRC_OBSERVER
-//#define CONFIG_FORCE_96V_MODE
+//#define CONFIG_FORCE_HIGH_VOL_MODE
 #ifdef CONFIG_SENSORLESS_TOW_SAMPLES
 #define CONFIG_SENSORLESS_TS (FOC_CTRL_US/2.0f)
 #else
 #define CONFIG_SENSORLESS_TS FOC_CTRL_US
 #endif
 
-//#define CONFIG_FORCE_96V_MODE 1
+//#define CONFIG_FORCE_HIGH_VOL_MODE 1
 
 #define SCHED_TIMER TMR5
 #define SCHED_TIMER_RCU CRM_TMR5_PERIPH_CLOCK

Applications/bsp/gd32/board_mc100_v1.h

@@ -20,7 +20,7 @@
 #define CONFIG_STALL_MAX_CURRENT 100.0f //最大堵转相电流电流
 #define CONFIG_STALL_MAX_TIME    3000   //ms, 超过最大堵转电流持续时间，判断堵转
 
-#define CONFIG_96V_MODE_VOL (60.0F)
+#define CONFIG_HIGH_VOL_MODE_MIN_VOL (60.0F)
 
 #define CONFIG_SMO_OBSERVER 1
 //#define CONFIG_SPEED_LADRC  1

Applications/bsp/gd32/board_mc105_v3.h

@@ -15,18 +15,19 @@
 #define CONFIG_MAX_TORQUE       CONFIG_HW_MAX_PHASE_CURR
 #define CONFIG_MAX_LOCK_TORQUE  100
 #define CONFIG_MAX_ACTIVE_EMF   5000.0F
-//#define CONFIG_BEEP 
 #define CONFIG_STALL_MAX_CURRENT 100.0f //最大堵转相电流电流
 #define CONFIG_STALL_MAX_TIME    3000   //ms, 超过最大堵转电流持续时间，判断堵转
 
-#define CONFIG_96V_MODE_VOL (60.0F)
-
 #define CONFIG_DAUL_THROTTLE 1  //双转把
-//#define CONFIG_SENSORLESS_TOW_SAMPLES
 //#define CONFIG_SMO_OBSERVER 
 #define CONFIG_LADRC_OBSERVER
 //#define CONFIG_SPEED_LADRC  
-#define CONFIG_FORCE_96V_MODE
+#define CONFIG_FORCE_HIGH_VOL_MODE
+
+#ifndef CONFIG_FORCE_HIGH_VOL_MODE
+#define CONFIG_HIGH_VOL_MODE_MIN_VOL (60.0F)
+#endif
+
 #ifdef CONFIG_SENSORLESS_TOW_SAMPLES
 #define CONFIG_SENSORLESS_TS (FOC_CTRL_US/2.0f)
 #else

Applications/bsp/gd32/board_yuanqu.h

@@ -30,7 +30,7 @@
 
 #define CONFIG_CURR_LP_PARAM (CONFIG_CURR_LP_CUT_FREQ*2*3.14F/(float)FOC_PWM_FS)
 
-#define CONFIG_96V_MODE_VOL (55.0F)
+#define CONFIG_HIGH_VOL_MODE_MIN_VOL (55.0F)
 
 #define SCHED_TIMER TIMER5
 #define SCHED_TIMER_RCU RCU_TIMER5

Applications/bsp/n32/board_n32_mc105_v3.h

@@ -24,11 +24,11 @@
 
 #define CONFIG_CURR_LP_CEOF (CONFIG_CURR_LP_WC*2*3.14F/(float)FOC_PWM_FS)
 
-#define CONFIG_96V_MODE_VOL (60.0F)
+#define CONFIG_HIGH_VOL_MODE_MIN_VOL (60.0F)
 
 #define CONFIG_SMO_OBSERVER 1
 //#define CONFIG_SPEED_LADRC  1
-//#define CONFIG_FORCE_96V_MODE 1
+//#define CONFIG_FORCE_HIGH_VOL_MODE 1
 
 #define SCHED_TIMER TIM5
 #define SCHED_TIMER_RCU RCU_TIMER5

Applications/foc/motor/motor.c

@@ -35,7 +35,7 @@ static shark_timer_t _led_off_timer = TIMER_INIT(_led_off_timer, _led_off_timer_
 m_contrl_t motor = {
 	.s_direction = POSITIVE,
 	.n_gear = 0,
-	.b_is96Mode = false,
+	.b_high_vol_mode = false,
 	.mode = CTRL_MODE_OPEN,
 	.mos_lim = 0,
 	.motor_lim = 0,
@@ -176,13 +176,13 @@ static u32 _self_check_task(void *p) {
 }
 
 static bool mc_detect_vbus_mode(void) {
-#ifdef CONFIG_FORCE_96V_MODE
-	motor.b_is96Mode = true;
+#ifdef CONFIG_FORCE_HIGH_VOL_MODE
+	motor.b_high_vol_mode = true;
 	return false;
 #else
-	bool is_96mode = motor.b_is96Mode;
-	motor.b_is96Mode = get_vbus_int() >= CONFIG_96V_MODE_VOL;
-	return (is_96mode != motor.b_is96Mode);
+	bool is_96mode = motor.b_high_vol_mode;
+	motor.b_high_vol_mode = get_vbus_int() >= CONFIG_HIGH_VOL_MODE_MIN_VOL;
+	return (is_96mode != motor.b_high_vol_mode);
 #endif
 }
 
@@ -253,7 +253,7 @@ gear_t *mc_gear_conf_by_gear(u8 n_gear) {
 	if (!foc_observer_is_encoder()) { //无感模式，受限运行
 		return &sensorless_gear;
 	}
-	if (motor.b_is96Mode) {
+	if (motor.b_high_vol_mode) {
 		gears = &mc_conf()->g_n[0];
 	}else {
 		gears = &mc_conf()->g_l[0];

Applications/foc/motor/motor.h

@@ -52,7 +52,7 @@ typedef struct {
 	u32    n_brake_errors;
 	u32    n_CritiCalErrMask;
 	u8     mode;
-	bool   b_is96Mode;
+	bool   b_high_vol_mode;
 	u8     n_gear;
 	bool   b_limit_pending;
 	gear_t *gear_cfg;