高温限制扭矩，欠压限制母线电流参数放到nv中

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

Applications/app/nv_storage.c

@@ -8,6 +8,7 @@
 static motor_params_t m_params;
 static foc_params_t   foc_params;
 static mc_gear_config_t gear_config;
+static mc_limit_t limiter;
 static int _write_position = 0;
 
 motor_params_t *nv_get_motor_params(void) {
@@ -21,6 +22,10 @@ mc_gear_config_t *nv_get_gear_configs(void) {
 	return &gear_config;
 }
 
+mc_limit_t *nv_get_limter(void) {
+	return &limiter;
+}
+
 void nv_save_hall_table(s32 *hall_table) {
 	memcpy((char *)m_params.hall_table, (char *)hall_table, sizeof(m_params.hall_table));
 	nv_save_motor_params();
@@ -44,6 +49,32 @@ static void nv_default_motor_params(void) {
 	m_params.flux_linkage = 0.0f;
 }
 
+static void nv_default_limter(void) {
+	limiter.motor[0].enter_pointer = 120;
+	limiter.motor[0].exit_pointer = 110;
+	limiter.motor[0].limit_value = 0;
+	limiter.motor[1].enter_pointer = 107;
+	limiter.motor[1].exit_pointer = 97;
+	limiter.motor[1].limit_value = CONFIG_MAX_MOTOR_TORQUE/3;
+	limiter.motor[2].enter_pointer = 94;
+	limiter.motor[2].exit_pointer = 85;
+	limiter.motor[2].limit_value = CONFIG_MAX_MOTOR_TORQUE*2/3;
+
+	limiter.mos[0].enter_pointer = 110;
+	limiter.mos[0].exit_pointer = 100;
+	limiter.mos[0].limit_value = 0;
+	limiter.mos[1].enter_pointer = 97;
+	limiter.mos[1].exit_pointer = 87;
+	limiter.mos[1].limit_value = CONFIG_MAX_MOTOR_TORQUE/3;
+	limiter.mos[2].enter_pointer = 84;
+	limiter.mos[2].exit_pointer = 78;
+	limiter.mos[2].limit_value = CONFIG_MAX_MOTOR_TORQUE*2/3;
+
+	limiter.vbus.enter_pointer = 76;
+	limiter.vbus.exit_pointer = 80;
+	limiter.vbus.limit_value = 20;
+}
+
 static void nv_default_foc_params(void) {
 	foc_params.s_maxDCVol = CONFIG_MAX_DC_VOL;
 	foc_params.s_minDCVol = CONFIG_MIN_DC_VOL;
@@ -180,6 +211,15 @@ void nv_read_motor_params(void) {
 		}
 	}
 }
+
+void nv_save_limit_config(void) {
+
+}
+
+void nv_read_limit_config(void) {
+	nv_default_limter();
+}
+
 void nv_save_foc_params(void) {
 	u16 crc = crc16_get((u8 *)&foc_params, sizeof(foc_params) - 2);
 	foc_params.crc16 = crc;
@@ -417,6 +457,7 @@ void nv_storage_init(void) {
 	nv_read_motor_params();
 	nv_read_foc_params();
 	nv_read_gear_configs();
+	nv_read_limit_config();
 	sys_debug("encoder_off = %f\n", m_params.offset);
 	if (m_params.mot_nr != MOTOR_NR) {
 		nv_default_motor_params();

Applications/app/nv_storage.h

@@ -47,6 +47,21 @@ typedef struct {
 	u16   crc16;
 }motor_params_t;
 
+typedef struct {
+	u16 limit_value;
+	s16 enter_pointer;
+	s16 exit_pointer;
+}nv_limter_t;
+
+typedef struct {
+	u16  magic;
+	nv_limter_t motor[3];
+	nv_limter_t mos[3];
+	nv_limter_t vbus;
+	u8    res[2048 - 40];
+	u16 crc16;
+}mc_limit_t;
+
 typedef struct {
 	u16 u_maxRPM;
 	u16 u_maxTorque;
@@ -104,6 +119,7 @@ void nv_storage_init(void);
 motor_params_t *nv_get_motor_params(void);
 foc_params_t *nv_get_foc_params(void);
 mc_gear_config_t *nv_get_gear_configs(void);
+mc_limit_t *nv_get_limter(void);
 void nv_save_angle_offset(float offset);
 void nv_save_motor_params(void);
 void nv_read_motor_params(void);

Applications/bsp/uart.h

@@ -11,7 +11,7 @@
 #define CH_ESC_END						0x06
 #define CH_ESC_ESC						0x07
 
-#define SHARK_UART_TX_MEM_SIZE			(22 * 1024)
+#define SHARK_UART_TX_MEM_SIZE			(10 * 1024)
 #define SHARK_UART_RX_MEM_SIZE			512
 #define RX_FRAME_MAX_LEN 260
 #define RX_OLD_FRAME_MAX_LEN 256

Applications/foc/limit.c

@@ -4,26 +4,35 @@
 #include "foc/motor/motor_param.h"
 #include "foc/samples.h"
 #include "foc/mc_error.h"
+#include "libs/logger.h"
 
-static limter_t motor_temp_lim[] = {//电机过温限流，限制相电流
-	{.enter_pointer = 120, .exit_pointer = 110, .limit_value = 0},
-	{.enter_pointer = 110, .exit_pointer = 100, .limit_value = CONFIG_MAX_MOTOR_TORQUE/2},
-	{.enter_pointer = 100, .exit_pointer = 90, .limit_value = CONFIG_MAX_MOTOR_TORQUE/3*2},
-}; 
-static limter_t mos_temp_lim[] = { //mos过温限流，限制相电流
-	{.enter_pointer = 95, .exit_pointer = 85, .limit_value = 0},
-	{.enter_pointer = 86, .exit_pointer = 80, .limit_value = CONFIG_MAX_MOTOR_TORQUE/2},
-	{.enter_pointer = 81, .exit_pointer = 70, .limit_value = CONFIG_MAX_MOTOR_TORQUE/3*2},
-};  
-static limter_t vol_under_lim[] = { //欠压限流,限制母线
-	{.enter_pointer = 20, .exit_pointer = 20, .limit_value = 10},
-};
-
+static limter_t motor_temp_lim[3];
+static limter_t mos_temp_lim[3];
+static limter_t vol_under_lim[1];
+static bool _inited = false;
 void limter_set_under_voltage(s16 und_vol) {
 	vol_under_lim[0].enter_pointer = und_vol;
 	vol_under_lim[0].exit_pointer = und_vol + 8;
 }
 
+static void limiter_init(void) {
+	mc_limit_t *limiter = nv_get_limter();
+	for (int i = 0; i < 3; i++) {
+		motor_temp_lim[i].enter_pointer = limiter->motor[i].enter_pointer;
+		motor_temp_lim[i].exit_pointer = limiter->motor[i].exit_pointer;
+		motor_temp_lim[i].limit_value = limiter->motor[i].limit_value;
+		sys_debug("%d-%d-%d\n", motor_temp_lim[i].enter_pointer, motor_temp_lim[i].exit_pointer, motor_temp_lim[i].limit_value);
+		mos_temp_lim[i].enter_pointer = limiter->mos[i].enter_pointer;
+		mos_temp_lim[i].exit_pointer = limiter->mos[i].exit_pointer;
+		mos_temp_lim[i].limit_value = limiter->mos[i].limit_value;
+		sys_debug("%d-%d-%d\n", mos_temp_lim[i].enter_pointer, mos_temp_lim[i].exit_pointer, mos_temp_lim[i].limit_value);
+	}
+	vol_under_lim[0].enter_pointer = limiter->vbus.enter_pointer;
+	vol_under_lim[0].exit_pointer = limiter->vbus.exit_pointer;
+	vol_under_lim[0].limit_value = limiter->vbus.limit_value;
+	sys_debug("%d-%d-%d\n", vol_under_lim[0].enter_pointer, vol_under_lim[0].exit_pointer, vol_under_lim[0].limit_value);
+}
+
 static u16 _temp_limiter(s16 temp, limter_t *lim) {
 	if (!lim->is_limit) {
 		if (temp < lim->enter_pointer) {
@@ -119,12 +128,20 @@ static u16 _mos_limit(void) {
 }
 
 u16 torque_temp_high_limit(void) {
+	if (!_inited) {
+		_inited = true;
+		limiter_init();
+	}
 	u16 motor_lim = _motor_limit();
 	u16 mos_lim   = _mos_limit();
 	return min(motor_lim, mos_lim);
 }
 
 u16 vbus_current_vol_lower_limit(void) {
+	if (!_inited) {
+		_inited = true;
+		limiter_init();
+	}
 	s16 vol = get_vbus_int();
 	for(int i = 0; i < ARRAY_SIZE(vol_under_lim); i++) {
 		limter_t *lim = vol_under_lim + i;