修改s_motRPMFilted 为 s_motVelocityFiltered

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

Applications/foc/core/PMSM_FOC_Core.c

@@ -367,8 +367,8 @@ static __INLINE bool PMSM_FOC_Update_Input(void) {
 		gFoc_Ctrl.in.s_motAngle = enc_angle;
 	}
 	gFoc_Ctrl.in.s_motVelocity = enc_vel;
-	LowPass_Filter(gFoc_Ctrl.in.s_motRPMFilted, gFoc_Ctrl.in.s_motVelocity, 0.01f);
-	gFoc_Ctrl.in.s_motVelDegreePers = gFoc_Ctrl.in.s_motRPMFilted / 30.0f * PI * gFoc_Ctrl.params.n_poles;
+	LowPass_Filter(gFoc_Ctrl.in.s_motVelocityFiltered, gFoc_Ctrl.in.s_motVelocity, 0.01f);
+	gFoc_Ctrl.in.s_motVelDegreePers = gFoc_Ctrl.in.s_motVelocityFiltered / 30.0f * PI * gFoc_Ctrl.params.n_poles;
 #ifdef CONFIG_DQ_STEP_RESPONSE
 	gFoc_Ctrl.in.s_motAngle = 0;
 #endif
@@ -384,7 +384,7 @@ static __INLINE bool PMSM_FOC_Update_Input(void) {
 	LowPass_Filter(gFoc_Ctrl.out.s_FilterIdq.d, gFoc_Ctrl.out.s_RealIdq.d, 0.004f);
 	LowPass_Filter(gFoc_Ctrl.out.s_FilterIdq.q, gFoc_Ctrl.out.s_RealIdq.q, 0.004f);
 #ifdef Volvec_Delay_Comp
-	if (gFoc_Ctrl.in.s_motRPMFilted >= Volvec_Delay_Comp_Start_Vel) {
+	if (gFoc_Ctrl.in.s_motVelocityFiltered >= Volvec_Delay_Comp_Start_Vel) {
 		float next_angle = gFoc_Ctrl.in.s_motAngle + gFoc_Ctrl.in.s_motVelDegreePers / PI * 180.0f * (FOC_CTRL_US * 0.8f);
 		rand_angle(next_angle);
 		SinCos_Lut(next_angle, &gFoc_Ctrl.out.sin, &gFoc_Ctrl.out.cos);

Applications/foc/core/PMSM_FOC_Core.h

@@ -103,7 +103,7 @@ typedef struct {
 	bool    b_eBrake;
 	bool    b_epmMode;
 	bool    b_fwEnable;
-	float   s_motRPMFilted; //电机滤波后的转速
+	float   s_motVelocityFiltered; //电机滤波后的转速
 	float   s_motVelDegreePers; //电机的电角速度
 	volatile bool    b_MTPA_calibrate;
 	float   s_manualAngle; //mainly used when calibrate hall/mtpa.