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解决定时器计数器溢出问题

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liumin
2025-11-14 17:42:01 +08:00
parent 8f95f0284e
commit c5b4ac7ba2
2 changed files with 56 additions and 10 deletions
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50
e3_176_ref/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c
View File

@@ -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);

16
e3_176_ref/boards/e3_176_ref/app_demo/eth-xip/sf/drive_rs04.c
View File

@@ -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;