From c5b4ac7ba2ffd855ea89f772d793a9e386c6b99c Mon Sep 17 00:00:00 2001
From: liumin <liumin@sanyitec.com>
Date: Fri, 14 Nov 2025 17:42:01 +0800
Subject: [PATCH] =?UTF-8?q?=E8=A7=A3=E5=86=B3=E5=AE=9A=E6=97=B6=E5=99=A8?=
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---
 .../eth-xip/sf/app/app_differential_drive.c   | 50 +++++++++++++++----
 .../app_demo/eth-xip/sf/drive_rs04.c          | 16 ++++++
 2 files changed, 56 insertions(+), 10 deletions(-)

diff --git a/e3_176_ref/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c b/e3_176_ref/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c
index e74ae36..a696620 100644
--- a/e3_176_ref/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c
+++ b/e3_176_ref/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c
@@ -124,13 +124,22 @@ void setMotorOutput(float *out_torq, float max_torque, uint16_t feed_power, uint
     float abs_left_rear_speed   = 0; 
     float abs_right_rear_speed  = 0;
   
-    static float previous_time2 = 0.0f;    
+    static uint32_t previous_time2 = 0;    
+    uint32_t time1 = getCurrentTime();
+    uint32_t dt_ticks;
     
-    float time1 = (float)getCurrentTime();
-    float dt = (time1 - previous_time2) / PERIOD_TICK; 
+    if(time1 < previous_time2)//如果当前时间小于上一次保存的时间，那表示溢出了。
+    {
+        dt_ticks = (0xFFFFFFFF - previous_time2) + time1 + 1;
+    }
+    else 
+    {
+        dt_ticks = (time1 - previous_time2) ;        
+    }
+    
+    float dt = (float)dt_ticks / PERIOD_TICK;  // 最后才转换为浮点    
     previous_time2 = time1;    
-   
-    
+
     abs_left_front_speed  = dynamic_current_limit(&diff_data.out_torq_last[0],-diff_data.out_torq[0],dt);
     abs_right_front_speed = dynamic_current_limit(&diff_data.out_torq_last[1],diff_data.out_torq[1],dt);     
     abs_left_rear_speed   = dynamic_current_limit(&diff_data.out_torq_last[2],-diff_data.out_torq[2],dt);     
@@ -512,11 +521,32 @@ float mapRemoteControlSpeed(
 static void diffProcess(void *signal_id)
 {
     (void)signal_id;
-    static float previous_time1 = 0.0f;
-
-    float time1 = (float)getCurrentTime();
-    float dt = (time1 - previous_time1) / PERIOD_TICK; 
-    previous_time1 = time1;
+//    static float previous_time1 = 0.0f;
+//
+//    float time1 = (float)getCurrentTime();
+//    float dt = (time1 - previous_time1) / PERIOD_TICK; 
+//    previous_time1 = time1;
+    
+    static uint32_t previous_time1 = 0;    
+    uint32_t time1 = getCurrentTime();
+    uint32_t dt_ticks;
+    
+    if(time1 < previous_time1)//如果当前时间小于上一次保存的时间，那表示溢出了。
+    {
+        dt_ticks = (0xFFFFFFFF - previous_time1) + time1 + 1;
+    }
+    else 
+    {
+        dt_ticks = (time1 - previous_time1) ;        
+    }
+    
+    float dt = (float)dt_ticks / PERIOD_TICK;  // 最后才转换为浮点    
+    previous_time1 = time1;      
+    
+    
+    
+    
+    
 
     // 计算当前状态，包括当前速度、角速度、加速度、减速度、最大速度
     calculateCurrentState(dt);
diff --git a/e3_176_ref/boards/e3_176_ref/app_demo/eth-xip/sf/drive_rs04.c b/e3_176_ref/boards/e3_176_ref/app_demo/eth-xip/sf/drive_rs04.c
index 410221d..d248696 100644
--- a/e3_176_ref/boards/e3_176_ref/app_demo/eth-xip/sf/drive_rs04.c
+++ b/e3_176_ref/boards/e3_176_ref/app_demo/eth-xip/sf/drive_rs04.c
@@ -189,6 +189,22 @@ int8_t setMotorWrite(uint8_t master_id, uint8_t motor_id, StrTxCanFrame *unsdoda
  */
 float dynamic_current_limit(float *last_command, float target_current, float delta_time) 
 {
+    // 1. 参数有效性检查
+    if (last_command == NULL) 
+    {
+        return 0.0f; // 或者返回安全默认值
+    }  
+    
+    if (!isfinite(*last_command) || !isfinite(target_current) || !isfinite(delta_time)) {
+        return *last_command; // 输入异常时保持原值
+    }    
+  
+    // 2. 时间间隔安全性检查
+    if (delta_time <= 0.0f) {
+        // 使用最小安全时间间隔或直接返回原值
+        delta_time = 0.001f; // 1ms默认值
+    }    
+    
     // 计算期望的变化量
     float desired_change = target_current - *last_command;