去掉一些无用的参数

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

Applications/bsp/gd32/board_mc100_v1.h

@@ -6,16 +6,12 @@
 #include "gd32e10x.h"
 #endif
 
-#define CONFIG_MOS_MAX_VOL 125.0F
-#define CONFIG_HW_MAX_DC_VOLTAGE 110.0F
-#define CONFIG_RATED_DC_VOL (96.0f)   /* 母线最大电压 V*/
-#define CONFIG_MIN_DC_VOL   (60.0f)
-
+#define CONFIG_HW_MAX_DC_VOLTAGE 115.0F
 #define CONFIG_HW_MAX_DC_CURRENT 250.0f
 #define CONFIG_HW_MAX_CHRG_CURRENT (-100.0f)
 #define CONFIG_HW_MAX_MOTOR_RPM      9000.0f
 #define CONFIG_HW_MAX_PHASE_CURR   500.0F
-#define CONFIG_HW_MAX_PHASE_VOL    (CONFIG_MOS_MAX_VOL - 20.0F)
+#define CONFIG_HW_MAX_PHASE_VOL    115.0f
 #define CONFIG_MAX_TORQUE       CONFIG_HW_MAX_PHASE_CURR
 #define CONFIG_MAX_LOCK_TORQUE  100
 #define CONFIG_MAX_ACTIVE_EMF   5000.0F
@@ -23,13 +19,6 @@
 //#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_UNDER_VOL_RPM     1000
-#define CONFIG_UNDER_VOL_PHASE_CURR 100.0F
-#define CONFIG_UNDER_VOL_DC_CURR 15.0F
-
-#define CONFIG_CURR_LP_WC (600.0F)
-
-#define CONFIG_CURR_LP_CEOF (CONFIG_CURR_LP_WC*2*3.14F/(float)FOC_PWM_FS)
 
 #define CONFIG_96V_MODE_VOL (60.0F)
 

Applications/bsp/gd32/board_mc105_v3.h

@@ -6,29 +6,18 @@
 #include "gd32e10x.h"
 #endif
 
-#define CONFIG_MOS_MAX_VOL 125.0F
-#define CONFIG_HW_MAX_DC_VOLTAGE 110.0F
-#define CONFIG_RATED_DC_VOL (96.0f)   /* 母线最大电压 V*/
-#define CONFIG_MIN_DC_VOL   (60.0f)
-
+#define CONFIG_HW_MAX_DC_VOLTAGE 115.0F
 #define CONFIG_HW_MAX_DC_CURRENT 250.0f
 #define CONFIG_HW_MAX_CHRG_CURRENT (-100.0f)
 #define CONFIG_HW_MAX_MOTOR_RPM      9000.0f
 #define CONFIG_HW_MAX_PHASE_CURR   500.0F
-#define CONFIG_HW_MAX_PHASE_VOL    (CONFIG_MOS_MAX_VOL - 20.0F)
+#define CONFIG_HW_MAX_PHASE_VOL    115.0f
 #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_UNDER_VOL_RPM     1000
-#define CONFIG_UNDER_VOL_PHASE_CURR 100.0F
-#define CONFIG_UNDER_VOL_DC_CURR 15.0F
-
-#define CONFIG_CURR_LP_WC (600.0F)
-
-#define CONFIG_CURR_LP_CEOF (CONFIG_CURR_LP_WC*2*3.14F/(float)FOC_PWM_FS)
 
 #define CONFIG_96V_MODE_VOL (60.0F)
 

Applications/bsp/gd32/board_mc144_v1.h

@@ -0,0 +1,420 @@
+#ifndef _BOARD_MC_V3_H__
+#define _BOARD_MC_V3_H__
+#if defined (GD32F30X_HD) || defined (GD32F30X_XD) || defined (GD32F30X_CL)
+#include "gd32f30x.h"
+#elif defined GD32E10x
+#include "gd32e10x.h"
+#endif
+
+#define CONFIG_HW_MAX_DC_VOLTAGE 175.0F
+#define CONFIG_HW_MAX_DC_CURRENT 100.0f
+#define CONFIG_HW_MAX_CHRG_CURRENT (-100.0f)
+#define CONFIG_HW_MAX_MOTOR_RPM      8000.0f
+#define CONFIG_HW_MAX_PHASE_CURR   350.0F
+#define CONFIG_HW_MAX_PHASE_VOL    175.0f
+#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
+#ifdef CONFIG_SENSORLESS_TOW_SAMPLES
+#define CONFIG_SENSORLESS_TS (FOC_CTRL_US/2.0f)
+#else
+#define CONFIG_SENSORLESS_TS FOC_CTRL_US
+#endif
+
+#define SCHED_TIMER TIMER5
+#define SCHED_TIMER_RCU RCU_TIMER5
+#define SCHED_TIMER_IRQ TIMER5_IRQn
+#define SCHED_TIMER_IRQHandler TIMER5_IRQHandler
+
+#define PWM_DEAD_TIME_NS 400u
+#define PWM_TOFF_DELAY_MAX 240u
+#define PWM_TON_DELAY_MIN 200u
+#define HW_DEAD_TIME_NS  210u
+#define HW_RISE_TIME_NS  150u
+#define HW_NOISE_TIME_NS 300u
+
+#define CONFIG_HW_DeadTime NS_2_TCLK(HW_DEAD_TIME_NS + PWM_DEAD_TIME_NS + (PWM_TOFF_DELAY_MAX - PWM_TON_DELAY_MIN))/* ����ʱ�� */
+#define TRise NS_2_TCLK(HW_RISE_TIME_NS)/* MOS ����ʱ��*/
+#define TNoise NS_2_TCLK(HW_NOISE_TIME_NS)/* MOS��������Ŀ�������ʱ�� */
+#define TADC  ((uint16_t)((ADC_TRIG_CONV_LATENCY_CYCLES + ADC_SAMPLING_CYCLES) *2 * TIM_CLOCK_MHz) / ADC_CLOCK_MHz + 1u)/* ADC ����ʱ�� */
+#define TSampleMIN (TDead + TRise + TADC) //采样需要的总时间
+#define TSampleBefore (TDead + TRise) //采样开始前需要等待的时间
+
+//#define CONFIG_START_LINE_DTC_CURRENT 5.0F /* 死区补偿开始电流，取决于电流噪声 */
+//#define COMFIG_END_LINE_DTC_CURRENT   15.0F
+
+#define ADC_REFERENCE_VOLTAGE  (3.3F)
+#define ADC_FULL_MAX          (4095.0F)
+
+/* MOS驱动 */
+#define MOS_PWM_TIMER TIMER0
+#define PWM_MODE TIMER_OC_MODE_PWM0
+#define PWM_U_P_GROUP 	GPIOA
+#define PWM_U_P_PIN 	GPIO_PIN_8
+#define PWM_U_P_RCU 	RCU_GPIOA
+#define PWM_U_P_MODE 	GPIO_MODE_AF_PP
+
+#define PWM_U_N_GROUP 	GPIOB
+#define PWM_U_N_PIN 	GPIO_PIN_13
+#define PWM_U_N_RCU 	RCU_GPIOB
+#define PWM_U_N_MODE 	GPIO_MODE_AF_PP
+
+#define PWM_V_P_GROUP 	GPIOA
+#define PWM_V_P_PIN 	GPIO_PIN_9
+#define PWM_V_P_RCU 	RCU_GPIOA
+#define PWM_V_P_MODE 	GPIO_MODE_AF_PP
+
+#define PWM_V_N_GROUP 	GPIOB
+#define PWM_V_N_PIN 	GPIO_PIN_14
+#define PWM_V_N_RCU 	RCU_GPIOB
+#define PWM_V_N_MODE 	GPIO_MODE_AF_PP
+
+#define PWM_W_P_GROUP 	GPIOA
+#define PWM_W_P_PIN 	GPIO_PIN_10
+#define PWM_W_P_RCU 	RCU_GPIOA
+#define PWM_W_P_MODE 	GPIO_MODE_AF_PP
+
+#define PWM_W_N_GROUP 	GPIOB
+#define PWM_W_N_PIN 	GPIO_PIN_15
+#define PWM_W_N_RCU 	RCU_GPIOB
+#define PWM_W_N_MODE 	GPIO_MODE_AF_PP
+
+#define PWM_BRAKE_GROUP 	GPIOB
+#define PWM_BRAKE_PIN 	GPIO_PIN_12
+#define PWM_BRAKE_RCU 	RCU_GPIOB
+#define PWM_BRAKE_MODE 	GPIO_MODE_IN_FLOATING
+
+#ifdef GD32F30X_CL
+#define PWM_BRK_IRQ TIMER0_BRK_TIMER8_IRQn
+#define PWM_UP_IRQ  TIMER0_UP_TIMER9_IRQn
+#define PWM_UP_IRQHandler   TIMER0_UP_TIMER9_IRQHandler
+#define PWM_BRK_IRQHandler  TIMER0_BRK_TIMER8_IRQHandler
+
+#else
+#define PWM_BRK_IRQ TIMER0_BRK_IRQn
+#define PWM_UP_IRQ  TIMER0_UP_IRQn
+#define PWM_UP_IRQHandler   TIMER0_UP_IRQHandler
+#define PWM_BRK_IRQHandler  TIMER0_BRK_IRQHandler
+#endif
+
+
+#define HALL_SENSOR_CEOF 0.303F
+
+/* 高边电流传感器采样 */
+#define HIGH_SIDE_CURRENT_SENSOR
+
+#define V_PHASE_I_CHAN  ADC_CHANNEL_14
+#define W_PHASE_I_CHAN  ADC_CHANNEL_10
+
+#define V_PHASE_ADC_GROUP 	GPIOC
+#define V_PHASE_ADC_PIN 	GPIO_PIN_4
+#define V_PHASE_ADC_RCU 	RCU_GPIOC
+#define V_PHASE_ADC_MODE 	GPIO_MODE_AIN
+
+#define W_PHASE_ADC_GROUP 	GPIOC
+#define W_PHASE_ADC_PIN 	GPIO_PIN_0
+#define W_PHASE_ADC_RCU 	RCU_GPIOC
+#define W_PHASE_ADC_MODE 	GPIO_MODE_AIN
+
+#define ADC_TO_CURR_ceof1  (HALL_SENSOR_CEOF)
+#define ADC_TO_CURR_ceof2  (HALL_SENSOR_CEOF)
+
+#define CONFIG_PWM_UV_SWAP 1
+
+//#define CONFIG_HW_MUTISAMPLE ADC_OVERSAMPLING_RATIO_MUL8
+//#define CONFIG_HW_MUTISAMPLE_SHIFT ADC_OVERSAMPLING_SHIFT_3B
+//#define CONFIG_SW_MUTISAMPLE 1
+
+/* 母线电压采集 */
+#define VBUS_V_CHAN 		ADC_CHANNEL_12  //adc012
+#define VBUS_V_ADC_GROUP 	GPIOC
+#define VBUS_V_ADC_PIN 		GPIO_PIN_2
+#define VBUS_V_ADC_RCU 		RCU_GPIOC
+#define VBUS_V_ADC_MODE 	GPIO_MODE_AIN
+#define VBUS_VOL_CEOF 		(ADC_REFERENCE_VOLTAGE*41/ADC_FULL_MAX)
+
+#define ACC_V_CHAN 			ADC_CHANNEL_11    //adc012
+#define ACC_V_ADC_GROUP 	GPIOC
+#define ACC_V_ADC_PIN 		GPIO_PIN_1
+#define ACC_V_ADC_RCU 		RCU_GPIOC
+#define ACC_V_ADC_MODE 		GPIO_MODE_AIN
+#define ACC_VOL_CEOF 		(ADC_REFERENCE_VOLTAGE*41/ADC_FULL_MAX)
+
+#define VBUS_I_CHAN 		ADC_CHANNEL_0 //adc012
+#define VBUS_I_ADC_GROUP 	GPIOA
+#define VBUS_I_ADC_PIN 		GPIO_PIN_0
+#define VBUS_I_ADC_RCU 		RCU_GPIOA
+#define VBUS_I_ADC_MODE 	GPIO_MODE_AIN
+#define VBUS_I_CEOF         (0.303f)
+#define VBUS_I_POSITIVE     1
+
+/* MOS 温度采集 */
+#define MOS_TEMP_ADC_CHAN    ADC_CHANNEL_8
+#define MOS_TEMP_ADC_GROUP 	 GPIOB
+#define MOS_TEMP_ADC_PIN 	 GPIO_PIN_0
+#define MOS_TEMP_ADC_RCU 	 RCU_GPIOB
+#define MOS_TEMP_ADC_MODE 	 GPIO_MODE_AIN
+#define MOS_TEMP_R(adc) ((adc)/ADC_FULL_MAX / ((1.0f - (adc)/ADC_FULL_MAX)/(10.0f*1000.0f)))
+
+/* 电机温度采集 */
+#define MOTOR_TEMP_ADC_CHAN     ADC_CHANNEL_5
+#define MOTOR_TEMP_ADC_GROUP 	GPIOA
+#define MOTOR_TEMP_ADC_PIN 	GPIO_PIN_5
+#define MOTOR_TEMP_ADC_RCU 	RCU_GPIOA
+#define MOTOR_TEMP_ADC_MODE 	GPIO_MODE_AIN
+#define MOTOR_TEMP_R(adc) ((adc)/ADC_FULL_MAX / ((1.0f - (adc)/ADC_FULL_MAX)/2000.0f))
+
+/* 是否有母线电流采集 */
+//#define NO_SAMPLE_IDC //如果硬件没有采集母线电流，定义一下
+
+/* 转把信号电压采集 */
+#define THROTTLE_CHAN           ADC_CHANNEL_4
+#define THROTTLE_V_ADC_GROUP 	GPIOA
+#define THROTTLE_V_ADC_PIN 		GPIO_PIN_4
+#define THROTTLE_V_ADC_RCU 		RCU_GPIOA
+#define THROTTLE_V_ADC_MODE 	GPIO_MODE_AIN
+#define THROTTLE_VOL_CEOF 		(ADC_REFERENCE_VOLTAGE*(15.1f/10.0f)/ADC_FULL_MAX)
+
+/* 第二路转把信号电压采集 */
+#define THROTTLE2_CHAN           	ADC_CHANNEL_7
+#define THROTTLE2_V_ADC_GROUP 		GPIOA
+#define THROTTLE2_V_ADC_PIN 		GPIO_PIN_7
+#define THROTTLE2_V_ADC_RCU 		RCU_GPIOA
+#define THROTTLE2_V_ADC_MODE 		GPIO_MODE_AIN
+
+/* 转把供电5V电压采集 */
+#define THROTTLE_5V_CHAN           ADC_CHANNEL_6
+#define THROTTLE_5V_ADC_GROUP 	GPIOA
+#define THROTTLE_5V_ADC_PIN 		GPIO_PIN_6
+#define THROTTLE_5V_ADC_RCU 		RCU_GPIOA
+#define THROTTLE_5V_ADC_MODE 	GPIO_MODE_AIN
+
+/* 第二路供电5V电压采集 */
+#define THROTTLE2_5V_CHAN           	ADC_CHANNEL_9
+#define THROTTLE2_5V_ADC_GROUP 		GPIOB
+#define THROTTLE2_5V_ADC_PIN 		GPIO_PIN_1
+#define THROTTLE2_5V_ADC_RCU 		RCU_GPIOB
+#define THROTTLE2_5V_ADC_MODE 		GPIO_MODE_AIN
+
+
+/* UVW三相对地电压采集 */
+#define U_VOL_ADC_CHAN     ADC_CHANNEL_15
+#define U_VOL_ADC_GROUP 	GPIOC
+#define U_VOL_ADC_PIN 	GPIO_PIN_5
+#define U_VOL_ADC_RCU 	RCU_GPIOC
+#define U_VOL_ADC_MODE 	GPIO_MODE_AIN
+
+#define V_VOL_ADC_CHAN     ADC_CHANNEL_1 //adc012
+#define V_VOL_ADC_GROUP 	GPIOA
+#define V_VOL_ADC_PIN 	GPIO_PIN_1
+#define V_VOL_ADC_RCU 	RCU_GPIOA
+#define V_VOL_ADC_MODE 	GPIO_MODE_AIN
+
+#define W_VOL_ADC_CHAN     ADC_CHANNEL_2 //adc012
+#define W_VOL_ADC_GROUP 	GPIOA
+#define W_VOL_ADC_PIN 	GPIO_PIN_2
+#define W_VOL_ADC_RCU 	RCU_GPIOA
+#define W_VOL_ADC_MODE 	GPIO_MODE_AIN
+#define UVW_VOL_CEOF (ADC_REFERENCE_VOLTAGE*(41.0f)/ADC_FULL_MAX)
+
+/* 模拟5v电压采集 */
+#define DC5V_ADC_CHAN     ADC_CHANNEL_3 //adc012
+#define DC5V_ADC_GROUP 	GPIOA
+#define DC5V_ADC_PIN 	GPIO_PIN_3
+#define DC5V_ADC_RCU 	RCU_GPIOA
+#define DC5V_ADC_MODE 	GPIO_MODE_AIN
+
+/* 0v电压采集，主要是用来给上一次的采集放电 */
+#define ZERO_ADC_CHAN     ADC_CHANNEL_13 //adc012
+#define ZERO_ADC_GROUP 	GPIOC
+#define ZERO_ADC_PIN 	GPIO_PIN_3
+#define ZERO_ADC_RCU 	RCU_GPIOC
+#define ZERO_ADC_MODE 	GPIO_MODE_AIN
+
+/* 刹车手把输入 */
+#define GPIO_BREAK_MODE GPIO_LOW_BRK_MODE
+#define GPIO_BRAKE_IN_GROUP 	GPIOB
+#define GPIO_BRAKE_IN_PIN 	GPIO_PIN_3
+#define GPIO_BRAKE_IN_RCU 	RCU_GPIOB
+#define GPIO_BRAKE_IN_MODE 	GPIO_MODE_IN_FLOATING
+#define GPIO_BRAKE_IRQ  EXTI3_IRQn
+#define GPIO_BRAKE_EXTI EXTI_3
+#define GPIO_BRAKE_EXIT_SRC_GROUP GPIO_PORT_SOURCE_GPIOB
+#define GPIO_BRAKE_EXIT_SRC_PIN GPIO_PIN_SOURCE_3
+#define GPIO_BRAKE_PIN_REMAP GPIO_SWJ_SWDPENABLE_REMAP
+
+/* 锁电机线,  使用查询模式 */
+#define GPIO_MLOCK_IN_GROUP GPIOC
+#define GPIO_MLOCK_IN_PIN GPIO_PIN_13
+#define GPIO_MLOCK_IN_RCU RCU_GPIOC
+#define GPIO_MLOCK_IN_MODE 	GPIO_MODE_IN_FLOATING
+
+/* 触发U相检测 */
+#define GPIO_UDEC_OUT_GROUP 	GPIOB
+#define GPIO_UDEC_OUT_PIN 	GPIO_PIN_7
+#define GPIO_UDEC_OUT_RCU 	RCU_GPIOB
+#define GPIO_UDEC_OUT_MODE 	GPIO_MODE_OUT_PP
+
+/* 风扇 PWM */
+#define GPIO_FAN_OUT_GROUP 	GPIOC
+#define GPIO_FAN_OUT_PIN 	GPIO_PIN_8
+#define GPIO_FAN_OUT_RCU 	RCU_GPIOC
+#define GPIO_FAN_OUT_MODE 	GPIO_MODE_AF_PP
+#define FAN_PWM_TIMER TIMER7
+#define FAN_PWM_CHAN  TIMER_CH_2
+#define FAN_TIMER_RCU  RCU_TIMER7
+
+/* 风扇1检测 */
+#define GPIO_FAN1_IN_GROUP 	GPIOC
+#define GPIO_FAN1_IN_PIN 	GPIO_PIN_11
+#define GPIO_FAN1_IN_RCU 	RCU_GPIOC
+#define GPIO_FAN1_IN_MODE 	GPIO_MODE_IN_FLOATING
+#define GPIO_FAN1_IRQ  EXTI10_15_IRQn
+#define GPIO_FAN1_EXTI EXTI_11
+#define GPIO_FAN1_EXIT_SRC_GROUP GPIO_PORT_SOURCE_GPIOC
+#define GPIO_FAN1_EXIT_SRC_PIN GPIO_PIN_SOURCE_11
+
+/* LED 灯控制 */
+#define GPIO_LED_OUT_GROUP 	GPIOC
+#define GPIO_LED_OUT_PIN 	GPIO_PIN_14
+#define GPIO_LED_OUT_RCU 	RCU_GPIOC
+#define GPIO_LED_OUT_MODE 	GPIO_MODE_OUT_PP
+
+/* 刹车灯控制，能量回收的时候需要电量刹车灯 */
+#define GPIO_BRAKE_LIGHT_OUT_GROUP 	GPIOD
+#define GPIO_BRAKE_LIGHT_OUT_PIN 	GPIO_PIN_2
+#define GPIO_BRAKE_LIGHT_OUT_RCU 	RCU_GPIOD
+#define GPIO_BRAKE_LIGHT_OUT_MODE 	GPIO_MODE_OUT_PP
+
+/* 一键修复，低电平有效 */
+#define REPEAR_IN_GROUP 	GPIOC
+#define REPEAR_IN_PIN 	GPIO_PIN_10
+#define REPEAR_IN_RCU 	RCU_GPIOC
+#define REPEAR_IN_MODE 	GPIO_MODE_IN_FLOATING
+
+/* CAN 定义 */
+#define CAN_TX_GROUP GPIOB
+#define CAN_TX_PIN   GPIO_PIN_9
+#define CAN_RX_GROUP GPIOB
+#define CAN_RX_PIN   GPIO_PIN_8
+#define CAN_PIN_RCU  RCU_GPIOB
+#ifdef GD32F30X_CL
+#define CAN_REMAP    GPIO_CAN0_PARTIAL_REMAP
+#define CAN_IRQ0     CAN0_RX0_IRQn
+#define CAN_RX0_IRQHandler  CAN0_RX0_IRQHandler
+#else
+#define CAN_REMAP    GPIO_CAN_PARTIAL_REMAP
+#define CAN_IRQ0     USBD_LP_CAN0_RX0_IRQn
+#define CAN_RX0_IRQHandler  USBD_LP_CAN0_RX0_IRQHandler
+#endif
+/* 是否用编码器 */
+#define USE_ENCODER_ABI
+#define ENCODER_TYPE ENCODER_MT
+
+/* 编码器 */
+#define ENC_A_GROUP GPIOB
+#define ENC_A_PIN GPIO_PIN_4
+#define ENC_A_RCU RCU_GPIOB
+#define ENC_A_MODE GPIO_MODE_IN_FLOATING
+
+#define ENC_B_GROUP GPIOB
+#define ENC_B_PIN GPIO_PIN_5
+#define ENC_B_RCU RCU_GPIOB
+#define ENC_B_MODE GPIO_MODE_IN_FLOATING
+
+#define TIMER2_PB4_PB5_REMAP GPIO_TIMER2_PARTIAL_REMAP
+
+#define ENC_PWM_GROUP GPIOA
+#define ENC_PWM_PIN GPIO_PIN_15
+#define ENC_PWM_RCU RCU_GPIOA
+#define ENC_PWM_MODE GPIO_MODE_IN_FLOATING
+#define TIMER1_PA15_REMAP GPIO_TIMER1_PARTIAL_REMAP0
+
+#define ENC_I_GROUP GPIOB     /*测量编码器的ABI的I信号，360度同步一次*/
+#define ENC_I_PIN GPIO_PIN_6
+#define ENC_I_RCU RCU_GPIOB
+#if 0
+#define ENC_I_MODE GPIO_MODE_IPU
+#define ENC_I_IRQ  EXTI5_9_IRQn
+#define ENC_I_EXTI EXTI_6
+#define ENC_I_EXIT_SRC_GROUP GPIO_PORT_SOURCE_GPIOB
+#define ENC_I_EXIT_SRC_PIN GPIO_PIN_SOURCE_6
+#else
+#define ENC_I_MODE GPIO_MODE_IN_FLOATING
+#define ENC_I_TIMER TIMER3    /* 测量绝对编码器PWM输出的占空比，获取转子angle*/
+#define ENC_I_TIMER_RCU RCU_TIMER3
+#define ENC_I_TIMER_IRQ TIMER3_IRQn
+#define ENC_I_TIMER_CHAN  TIMER_CH_0
+#define ENC_I_TIMER_IRQ_CH TIMER_INT_CH0
+#define ENC_I_TIMER_INT_FLG TIMER_INT_FLAG_CH0
+#define ENC_I_IRQHandler TIMER3_IRQHandler
+#endif
+#define ENC_TIMER TIMER2  /* 测量编码器的ABI信号的AB信号 */
+#define ENC_TIMER_RCU RCU_TIMER2
+#define ENC_TIMER_IRQ TIMER2_IRQn
+#define ENC_TIMER_IRQHandler TIMER2_IRQHandler
+
+#define ENC_PWM_TIMER TIMER1    /* 测量绝对编码器PWM输出的占空比，获取转子angle*/
+#define ENC_PWM_TIMER_RCU RCU_TIMER1
+#define ENC_PWM_TIMER_IRQ TIMER1_IRQn
+#define ENC_PWM_TIMER_CHAN  TIMER_CH_0
+#define ENC_PWM_TIMER_IRQ_CH TIMER_INT_CH0
+#define ENC_PWM_TIMER_INT_FLG TIMER_INT_FLAG_CH0
+#define ENC_PWM_IRQHandler TIMER1_IRQHandler
+
+/* board id, 0x01=>v3, 0x02=>v4 */
+#define BOOT_PIN_0_GROUP GPIOC 
+#define BOOT_PIN_0_PIN   GPIO_PIN_6
+#define BOOT_PIN_1_GROUP GPIOC 
+#define BOOT_PIN_1_PIN   GPIO_PIN_7
+
+#define ENC_MAX_interpolation 1.0F
+
+#define CONFIG_ENC_FILTER_NR          12 //1100： fSAMP=fDTS/16, N=8,采样率 120M/16 = 7.5M
+#define CONFIG_PWM_FILTER_NR          12
+
+#ifdef CONFIG_PWM_UV_SWAP
+#define ENCODER_CC_INVERT 1
+#endif
+/* 编码器参数      */
+#define ENC_MAX_RES  4096.0f
+#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))
+#define ENC_PWM_Min_P 0.0f//(1.0f/(131.0f + 1.0f))
+#define ENC_PWM_Max_P  1.0f
+
+#if ENCODER_TYPE==ENCODER_MPS
+#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   8.0F
+//#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
+#error "Postion sensor ERROR"
+#endif
+
+#define DEBUG_PORT_UART2
+//#define CONFIG_MOTOR_TORQUE_CONF "foc/motor/A1_motor_config.c"
+
+//#define CONFIG_DQ_STEP_RESPONSE
+
+#endif /*_BOARD_MC_V3_H__ */
+
+

Applications/foc/core/PMSM_FOC_Core.c

@@ -234,14 +234,13 @@ void PMSM_FOC_CoreInit(void) {
 	}
 	gFoc_Ctrl.userLim.s_TorqueBrkLim = mc_get_ebrk_torque();
 	gFoc_Ctrl.params.n_modulation = CONFIG_SVM_MODULATION;//SVM_Modulation;
-	gFoc_Ctrl.params.n_PhaseFilterCeof = CONFIG_CURR_LP_CEOF;
 	gFoc_Ctrl.params.n_poles = mc_conf()->m.poles;//MOTOR_POLES;
 	gFoc_Ctrl.params.lq = mc_conf()->m.lq;
 	gFoc_Ctrl.params.ld = mc_conf()->m.lq;
 	gFoc_Ctrl.params.flux = mc_conf()->m.flux;
 	gFoc_Ctrl.in.s_manualAngle = INVALID_ANGLE;
 	gFoc_Ctrl.in.s_dqAngle     = INVALID_ANGLE;
-	gFoc_Ctrl.in.s_vDC = sample_vbus_raw();//(CONFIG_RATED_DC_VOL);
+	gFoc_Ctrl.in.s_vDC = sample_vbus_raw();
 	gFoc_Ctrl.in.s_angleLast = INVALID_ANGLE;
 	gFoc_Ctrl.out.n_RunMode = CTRL_MODE_OPEN;
 	gFoc_Ctrl.out.f_vdqRation = 0;

Applications/foc/core/PMSM_FOC_Core.h

@@ -90,7 +90,6 @@ typedef struct {
 	float lq;
 	float ld;
 	float flux;
-	float n_PhaseFilterCeof;
 }FOC_Params;
 
 typedef struct {

Applications/foc/samples.c

@@ -46,7 +46,7 @@ void samples_init(void){
 	_vbus.lowpass = (0.01f);
 #ifdef ACC_V_CHAN
 	acc_vol.value = ((float)adc_get_acc() * VBUS_VOL_CEOF);
-	acc_vol.filted_value = (CONFIG_RATED_DC_VOL);
+	acc_vol.filted_value = acc_vol.value;
 	acc_vol.lowpass = (0.01f);
 #endif
 	sample_vbus();