增加读取力矩传感器AD采集噪声。

3.BasicFunction/Include/torquesensor.h

@@ -33,7 +33,7 @@ typedef _Bool  BOOL;
 #define TORQUE_VOLTAGE_MIN_RANGE   700         // MIN voltage mV
 #define TORQUE_VOLTAGE_SEN2MCUGAIN 100 * 1 / 1 // gain of sensor output to Mcu ADC   0.01
 #define TORQUE_VOLTAGE_PER_NM      18          // 18mV/Nm
-#define TORQUE_SENSOR_LPF_FRQ      2           // Hz
+#define TORQUE_SENSOR_LPF_FRQ      100           // Hz
 #define TORQUE_LPF_DISCRETEHZ      1000        // Hz   T=1/f,T is used in discreting LPF s function
 
 #define TORQ_OFFSET_NUM 7

3.BasicFunction/Source/torquesensor.c

@@ -35,6 +35,9 @@ static LPF_OUT   scm_stTorSensorLpf;
 LPF_OUT   torsensor_test_Lpf;
 TORQUESENSOR_OUT torsensor_stTorSensorOut = TORQUESENSOR_OUT_DEFAULT;
 
+UWORD TorqueTemp[1024], TorqueFltTemp[1024];
+UWORD TorqueTempCnt = 0;
+
 //volatile  SWORD TorqOffsetReg[TORQ_OFFSET_NUM]= {
 const  SWORD TorqOffsetReg[TORQ_OFFSET_NUM]= {
 640,    //-11 C
@@ -313,8 +316,15 @@ void torsensor_voTorADC(void) // need to match ADC_StartConversion(ADC1);
         }
 
 #endif
-        mth_voLPFilter(torsensor_stTorSensorOut.uwTorquePu, &scm_stTorSensorLpf);
+        mth_voLPFilter(torsensor_stTorSensorOut.uwTorqueReg, &scm_stTorSensorLpf);
         torsensor_stTorSensorOut.uwTorqueLPFPu = scm_stTorSensorLpf.slY.sw.hi;
+
+        //测试力矩噪声
+        TorqueTemp[TorqueTempCnt] = torsensor_stTorSensorOut.uwTorqueReg;
+        TorqueFltTemp[TorqueTempCnt] = torsensor_stTorSensorOut.uwTorqueLPFPu;
+        TorqueTempCnt++;
+        if(TorqueTempCnt >= 1024) TorqueTempCnt = 0;
+
         torsensor_stTorSensorOut.uwTorquePercent =
             (((ULONG)torsensor_stTorSensorOut.uwTorqueLPFPu) << 14) /
             (torsensor_stTorSensorCof.uwMaxSensorTorquePu - torsensor_stTorSensorCof.uwMinSensorTorquePu); // Q15