1 MC124母线电流极性修改

2. servo 配置文件修改

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

Applications/bsp/at32/board_at_mc105_v3.h

@@ -153,7 +153,7 @@
 #define VBUS_I_ADC_RCU 				CRM_GPIOA_PERIPH_CLOCK
 #define VBUS_I_ADC_MODE 			GPIO_MODE_ANALOG
 #define VBUS_I_CEOF         		(HALL_SENSOR_CEOF)
-#define VBUS_I_POSITIVE     		1
+#define CONFIG_VBUS_I_POSITIVE     		1
 
 /* MOS 温度采集 */
 #define MOS_TEMP_ADC_CHAN    		ADC_CHANNEL_8

Applications/bsp/gd32/board_mc105_v3.h

@@ -159,7 +159,6 @@
 #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

Applications/bsp/gd32/bsp.h

@@ -32,12 +32,15 @@
 #define CONFIG_BOARD_MCXXX
 #define CONFIG_BOARD_NAME "MC100"
 #define CONFIG_MC105_HW_VERSION 2
+
 #elif defined (CONFIG_MC105_HW_V3)
 #define CONFIG_BOARD_MAX_DC 115.0F
+#define CONFIG_VBUS_I_POSITIVE 1
 #include "bsp/gd32/board_mc105_v3.h"
 #define CONFIG_BOARD_MCXXX
 #define CONFIG_BOARD_NAME "MC105"
 #define CONFIG_MC105_HW_VERSION 3
+
 #elif defined (CONFIG_BOARD_MC124)
 #define CONFIG_BOARD_MAX_DC 84.0F
 #include "bsp/gd32/board_mc105_v3.h"

Applications/bsp/n32/board_n32_mc105_v3.h

@@ -145,7 +145,7 @@
 #define VBUS_I_ADC_RCU 		RCU_GPIOA
 #define VBUS_I_ADC_MODE 	GPIO_MODE_AIN
 #define VBUS_I_CEOF         (HALL_SENSOR_CEOF)
-#define VBUS_I_POSITIVE     1
+#define CONFIG_VBUS_I_POSITIVE     1
 
 /* MOS 温度采集 */
 #define MOS_TEMP_ADC_CHAN    ADC_CH_3  //adc2

Applications/foc/samples.c

@@ -212,7 +212,7 @@ void sample_vbus(void){
 }
 
 float sample_ibus_raw(void) {
-#ifdef VBUS_I_POSITIVE
+#ifdef CONFIG_VBUS_I_POSITIVE
 	s16 vadc = adc_get_ibus() - _ibus.adc_offset;
 #else
 	s16 vadc = _ibus.adc_offset - adc_get_ibus();

configs/mc_servo.yml

@@ -1,4 +1,4 @@
-##### 配置文件自动生成，不要手动修改!! 2023/10/12 9:51:38
+##### 配置文件自动生成，不要手动修改!! 2023/10/12 14:29:02
 Version: 1
 CheckCrc: 0
 Motor:
@@ -14,7 +14,7 @@ Motor:
   WheelC: 145
   GearRatio: 6.25
   MaxFwDCurr: 100
-  MaxTorque: 200
+  MaxTorque: 300
   EncOffset: -103
 Foc:
   MaxDCVol: 110
@@ -25,7 +25,7 @@ Foc:
   MaxEPMTorque: 100
   MaxEPMRPMBk: 170
   MaxEPMTorqueBk: 80
-  MaxTorque: 200
+  MaxTorque: 300
   MaxEbrkTorque: 40
   MaxIDC: 100
   MaxAutoHoldTorque: 100