motor_ctl-2/Core/Src/adc.c

/**
  ******************************************************************************
  * File Name          : ADC.c
  * Description        : This file provides code for the configuration
  *                      of the ADC instances.
  ******************************************************************************
  ** This notice applies to any and all portions of this file
  * that are not between comment pairs USER CODE BEGIN and
  * USER CODE END. Other portions of this file, whether 
  * inserted by the user or by software development tools
  * are owned by their respective copyright owners.
  *
  * COPYRIGHT(c) 2019 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "adc.h"
#include "gpio.h"
#include "dma.h"

/* USER CODE BEGIN 0 */
#include "ntc_sensor.h"
#include "tim.h"
#include "hall_sensor.h"
#include "MC_Globals.h"
#include "gas_sensor.h"
#include "torque_sensor.h"
#include "math_tools.h"
#include "motor_control.h"

uint16_t ADC1_Result[ADC1_DATA_NUM] = {0};
uint16_t ADC1_Result_Filt[ADC1_DATA_NUM] = {0};
uint16_t ADC2_Result[ADC2_DATA_NUM] = {0};
uint16_t ADC2_Result_Filt[ADC2_DATA_NUM]= {0};
FlagStatus ADC2_ConvCpmplete_Flag = RESET;
ADC_SensorData_Struct_t ADC_SensorData = {0, 0};//力矩传感器和指拨传感器
ADC_3ShuntCurrent_OffSet_Struct_t ADC_3ShuntCurrent_OffSet = {32768, 32768, 32768};//三相电流零点
ADC_3ShuntCurrent_Struct_t ADC_3ShuntCurrent = {0};
ADC_3ShuntCurrent_Struct_t ADC_3ShuntCurrent_RMSValue = {0};
uint16_t uw_current_offset = 2048;//母线电流零点

/* USER CODE END 0 */

ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;
DMA_HandleTypeDef hdma_adc1;

/* ADC1 init function */
void MX_ADC1_Init(void)
{
  ADC_ChannelConfTypeDef sConfig;

    /**Common config 
    */
  hadc1.Instance = ADC1;
  hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
  hadc1.Init.ContinuousConvMode = DISABLE;
  hadc1.Init.DiscontinuousConvMode = DISABLE;
  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc1.Init.NbrOfConversion = 11;
  if (HAL_ADC_Init(&hadc1) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure Regular Channel   PCB温度
    */
  sConfig.Channel = ADC_CHANNEL_10;
  sConfig.Rank = ADC_REGULAR_RANK_1;
  sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure Regular Channel   母线电压
    */
  sConfig.Channel = ADC_CHANNEL_11;  
  sConfig.Rank = ADC_REGULAR_RANK_2;
	sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure Regular Channel   绕组温度
    */
  sConfig.Channel = ADC_CHANNEL_12;
  sConfig.Rank = ADC_REGULAR_RANK_3;
	sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure Regular Channel   母线电流
    */
  sConfig.Channel = ADC_CHANNEL_13;
  sConfig.Rank = ADC_REGULAR_RANK_4;
	sConfig.SamplingTime = ADC_SAMPLETIME_7CYCLES_5;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure Regular Channel   力矩传感器1
    */
  sConfig.Channel = ADC_CHANNEL_5;
  sConfig.Rank = ADC_REGULAR_RANK_5;
	sConfig.SamplingTime = ADC_SAMPLETIME_7CYCLES_5;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
	
	    /**Configure Regular Channel   力矩传感器2
    */
  sConfig.Channel = ADC_CHANNEL_4;
  sConfig.Rank = ADC_REGULAR_RANK_6;
	sConfig.SamplingTime = ADC_SAMPLETIME_7CYCLES_5;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
	
	    /**Configure Regular Channel   力矩传感器3
    */
  sConfig.Channel = ADC_CHANNEL_15;
  sConfig.Rank = ADC_REGULAR_RANK_7;
	sConfig.SamplingTime = ADC_SAMPLETIME_7CYCLES_5;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure Regular Channel   TE工作电压
    */
  sConfig.Channel = ADC_CHANNEL_7;   
  sConfig.Rank = ADC_REGULAR_RANK_8;
	sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure Regular Channel   指拨输入
    */
  sConfig.Channel = ADC_CHANNEL_14;
  sConfig.Rank = ADC_REGULAR_RANK_9;
	sConfig.SamplingTime = ADC_SAMPLETIME_7CYCLES_5;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure Regular Channel   MCU温度
    */
  sConfig.Channel = ADC_CHANNEL_TEMPSENSOR;
  sConfig.Rank = ADC_REGULAR_RANK_10;
	sConfig.SamplingTime = ADC_SAMPLETIME_13CYCLES_5;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure Regular Channel   Vref
    */
  sConfig.Channel = ADC_CHANNEL_VREFINT;
  sConfig.Rank = ADC_REGULAR_RANK_11;
	sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

}
/* ADC2 init function */
void MX_ADC2_Init(void)
{
  ADC_InjectionConfTypeDef sConfigInjected;

    /**Common config 
    */
  hadc2.Instance = ADC2;
  hadc2.Init.ScanConvMode = ADC_SCAN_ENABLE;
  hadc2.Init.ContinuousConvMode = DISABLE;
  hadc2.Init.DiscontinuousConvMode = DISABLE;
  hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIGINJECCONV_EDGE_NONE;
  hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
  hadc2.Init.NbrOfConversion = 1;
  if (HAL_ADC_Init(&hadc2) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure Injected Channel 
    */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_1;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_1;
  sConfigInjected.InjectedNbrOfConversion = 3;
  sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_1CYCLE_5;
  sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_CC4;
  sConfigInjected.AutoInjectedConv = DISABLE;
  sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
  sConfigInjected.InjectedOffset = 0;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure Injected Channel 
    */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_2;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_2;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure Injected Channel 
    */
  sConfigInjected.InjectedChannel = ADC_CHANNEL_3;
  sConfigInjected.InjectedRank = ADC_INJECTED_RANK_3;
  if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

}

void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct;
  if(adcHandle->Instance==ADC1)
  {
  /* USER CODE BEGIN ADC1_MspInit 0 */

  /* USER CODE END ADC1_MspInit 0 */
    /* ADC1 clock enable */
    __HAL_RCC_ADC1_CLK_ENABLE();
  
    /**ADC1 GPIO Configuration    
    PC0     ------> ADC1_IN10
    PC1     ------> ADC1_IN11
    PC2     ------> ADC1_IN12
    PC3     ------> ADC1_IN13
		PA4     ------> ADC1_IN4
    PA5     ------> ADC1_IN5
    PA7     ------> ADC1_IN7
    PC4     ------> ADC1_IN14 
		PC5     ------> ADC1_IN15
    */
    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3 
                          |GPIO_PIN_4|GPIO_PIN_5;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_7;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /* ADC1 DMA Init */
    /* ADC1 Init */
    hdma_adc1.Instance = DMA1_Channel1;
    hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
    hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
    hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
    hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
    hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
    hdma_adc1.Init.Mode = DMA_CIRCULAR;
    hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
    if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
    {
      _Error_Handler(__FILE__, __LINE__);
    }

    __HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);

  /* USER CODE BEGIN ADC1_MspInit 1 */

  /* USER CODE END ADC1_MspInit 1 */
  }
  else if(adcHandle->Instance==ADC2)
  {
  /* USER CODE BEGIN ADC2_MspInit 0 */

  /* USER CODE END ADC2_MspInit 0 */
    /* ADC2 clock enable */
    __HAL_RCC_ADC2_CLK_ENABLE();
  
    /**ADC2 GPIO Configuration    
    PA1     ------> ADC2_IN1
    PA2     ------> ADC2_IN2 
		PA3     ------> ADC2_IN3
    */
    GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
		
		/* ADC2 interrupt Init */
    HAL_NVIC_SetPriority(ADC1_2_IRQn, 1, 1);
    HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
  /* USER CODE BEGIN ADC2_MspInit 1 */

  /* USER CODE END ADC2_MspInit 1 */
  }
}

void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
{

  if(adcHandle->Instance==ADC1)
  {
  /* USER CODE BEGIN ADC1_MspDeInit 0 */

  /* USER CODE END ADC1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_ADC1_CLK_DISABLE();
  
    /**ADC1 GPIO Configuration    
    PC0     ------> ADC1_IN10
    PC1     ------> ADC1_IN11
    PC2     ------> ADC1_IN12
    PC3     ------> ADC1_IN13
		PA4     ------> ADC1_IN4
    PA5     ------> ADC1_IN5
    PA7     ------> ADC1_IN7
    PC4     ------> ADC1_IN14 
		PC5     ------> ADC1_IN15 
    */
    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3 
                          |GPIO_PIN_4|GPIO_PIN_5);

    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_7);

    /* ADC1 DMA DeInit */
    HAL_DMA_DeInit(adcHandle->DMA_Handle);
  /* USER CODE BEGIN ADC1_MspDeInit 1 */

  /* USER CODE END ADC1_MspDeInit 1 */
  }
  else if(adcHandle->Instance==ADC2)
  {
  /* USER CODE BEGIN ADC2_MspDeInit 0 */

  /* USER CODE END ADC2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_ADC2_CLK_DISABLE();
  
    /**ADC2 GPIO Configuration    
    PA1     ------> ADC2_IN1
    PA2     ------> ADC2_IN2 
		PA3     ------> ADC2_IN3
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);

  /* USER CODE BEGIN ADC2_MspDeInit 1 */

  /* USER CODE END ADC2_MspDeInit 1 */
  }
} 

/* USER CODE BEGIN 1 */
void ADC_Start(void)
{
	HAL_ADCEx_Calibration_Start(&hadc1);
	HAL_ADCEx_Calibration_Start(&hadc2);
  
	HAL_ADC_Start(&hadc1);
	HAL_ADC_Start(&hadc2);
	
  HAL_ADCEx_InjectedStart_IT(&hadc2);
	
	HAL_ADC_Start_DMA(&hadc1, (uint32_t *)ADC1_Result, ADC1_DATA_NUM);	
	__HAL_DMA_DISABLE_IT(hadc1.DMA_Handle, DMA_IT_HT);	
	
	HAL_TIM_Base_Start_IT(&PWM_TIMER);
	HAL_TIM_PWM_Start(&PWM_TIMER, TIM_CHANNEL_4);
	HAL_TIMEx_PWMN_Start(&PWM_TIMER, TIM_CHANNEL_4);
}

//更新三相电流采样值
void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc)
{
	//更新3相电流采样值	
	ADC2_Result[ADC2_RANK_CURRENT_B] = HAL_ADCEx_InjectedGetValue(hadc,1) << 4;
	
	ADC2_Result[ADC2_RANK_CURRENT_C] = HAL_ADCEx_InjectedGetValue(hadc,2) << 4;
	
	ADC2_Result[ADC2_RANK_CURRENT_A] = HAL_ADCEx_InjectedGetValue(hadc,3) << 4;
 
	//计算三相电流
	ADC_3ShuntCurrent.uw_phase_a = (int16_t)(ADC_3ShuntCurrent_OffSet.uw_phase_a_offset - ADC2_Result[ADC2_RANK_CURRENT_A]);
	ADC_3ShuntCurrent.uw_phase_b = (int16_t)(ADC_3ShuntCurrent_OffSet.uw_phase_b_offset - ADC2_Result[ADC2_RANK_CURRENT_B]);
	ADC_3ShuntCurrent.uw_phase_c = (int16_t)(ADC_3ShuntCurrent_OffSet.uw_phase_c_offset - ADC2_Result[ADC2_RANK_CURRENT_C]);
	
	///计算三相电流有效值
	PhaseCurrent_CalRMSValue(&ADC_3ShuntCurrent, &ADC_3ShuntCurrent_RMSValue);
	
	ADC2_ConvCpmplete_Flag = SET;
}

//更新ADC采样结果
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
{
  #if 1
	static uint32_t PeriodTestCnt = 0;
	PeriodTestCnt++;
	if(PeriodTestCnt > 300)
	{
	  PeriodTestCnt = 0;
	}
	#endif
		
	int16_t Temp_16;
	int32_t Temp_32;
	static int32_t BusVoltageFltSum = 0;
	static int32_t IdcFltSum = 0;
	static uint16_t T_Filt_Cnt = 0;
	static uint32_t T_Coil_Sum = 0;
	static uint32_t T_PCB_Sum = 0;
	static uint32_t T_MCU_Sum = 0;
	static TrueOrFalse_Flag_Struct_t T_MCU_Init_Flag = FALSE;
	static uint8_t T_MCU_Init = 0;
	static uint16_t T_MCU_Init_AD = 0;
	static int32_t GasSensorFltSum = 0, HardwareVersionADFltSum=0;
	static TrueOrFalse_Flag_Struct_t MOS_NTC_InitFinishedFlag = FALSE;
	//更新PCB温度,绕组温度,MCU温度
	if(VersionIdentifyFinishedFlag == FALSE) //硬件版本未识别前，温度默认为25度
	{
		MC_RunInfo.T_PCB  = 65;
		MC_RunInfo.T_Coil = 65;
		MC_RunInfo.T_MCU  = 65;
	}
	else
	{
		if( MC_HallSensorData.InverterExistFlag == FALSE ) 
		{
			if(MOS_NTC_InitFinishedFlag == FALSE)
			{
				MOS_NTC_InitFinishedFlag = TRUE;
				MOS_NTC_Init();
			}		
		}
		T_PCB_Sum += ADC1_Result[ADC1_RANK_NTC_PCB];
		T_Coil_Sum += ADC1_Result[ADC1_RANK_NTC_COIL];
		T_MCU_Sum += ADC1_Result[ADC1_RANK_TP_MCU];
		T_Filt_Cnt++;
		if(T_Filt_Cnt >= 3000)
		{
			if( MC_HallSensorData.InverterExistFlag == FALSE )
			{
				MC_RunInfo.T_PCB  = GetNTCTempera_20K(T_PCB_Sum / 3000);
				MC_RunInfo.T_Coil = GetNTCTempera_20K(T_Coil_Sum / 3000);
				MC_RunInfo.T_MCU  = GetNTCTempera_20K(T_MCU_Sum / 3000); //MOS管NTC温度
			}
			else
			{
				//计算PCB温度
				MC_RunInfo.T_PCB = GetNTCTempera(T_PCB_Sum / 3000);				
				//计算绕组温度
				MC_RunInfo.T_Coil = GetNTCTempera(T_Coil_Sum / 3000);			
				//MCU温度根据PCB初始温度进行校准
				if(T_MCU_Init_Flag == FALSE)
				{
					T_MCU_Init = MC_RunInfo.T_PCB;//校准时温度
					T_MCU_Init_AD = T_MCU_Sum / 3000;//校准时AD值
					T_MCU_Init_Flag = TRUE;
				}
				//计算MCU温度 
				MC_RunInfo.T_MCU = T_MCU_Init + ((int16_t)(T_MCU_Init_AD - T_MCU_Sum / 3000) * 192 >> 10);//4.3mV/度, 3300 / 4095 / 4.3 * 1024 = 192
				
			}
			T_Filt_Cnt = 0;
			T_PCB_Sum = 0;
			T_Coil_Sum = 0;
			T_MCU_Sum = 0;
		}
	}
	
	//更新母线电压 
	BusVoltageFltSum += ((ADC1_Result[ADC1_RANK_VIN] << 10) - BusVoltageFltSum) >> 9;
	MC_RunInfo.BusVoltage = (uint32_t)((BusVoltageFltSum >> 10) * 18382) >> 10;//3300 * 1047 / (4095 * 47)
	MC_RunInfo.BusVoltage += (MC_RunInfo.BusCurrent >> 7) * 8; //根据母线电流和估算的线阻进行补偿, 补偿电阻 0.2 * 128 = 25.6
	if( MCUManufacturer == HK32F103RBT6 )
	{
	   MC_RunInfo.BusVoltage = ((MC_RunInfo.BusVoltage - 8100) * 1402) >> 10;
	}
	
	//更新母线电流
	if( MC_HallSensorData.InverterExistFlag == FALSE )
	{
		Temp_32 = (ADC1_Result[ADC1_RANK_CURRENT] - uw_current_offset) * 39449 >> 10; //3300/4095* 0.98/8.2 /0.0025
	}
	else
	{
		Temp_32 = (ADC1_Result[ADC1_RANK_CURRENT] - uw_current_offset) * 50000 >> 11;  //3300/4095* 0.98/13 /0.0025
	}
	Temp_32 = (Temp_32 <= 0) ? 0 : ((Temp_32 >= 50000) ? 50000 : Temp_32);
	IdcFltSum += ((Temp_32 << 10) - IdcFltSum) >> 9;
	MC_RunInfo.BusCurrent = IdcFltSum >> 10;
	
	//更新力矩传感器
	switch(TorsueSensorFaultStatus.FaultStatusCode)
	{
	  case 0x00://无传感器异常，取三个传感器的平均值
		{
			Temp_16 = (ADC1_Result[ADC1_RANK_TORQUE_SENSOR_1] - TorqueSensor_1_Param.Torque_OffSetData.PresentData) * 100 / TorqueSensor_1_Param.Torque_Cal_K;
			Temp_16 = (Temp_16 <= 0) ? 0 : Temp_16;
			MC_RunInfo.TorqueSensorData1 = Temp_16 / 28;
			Temp_32 = Temp_16;
			
			Temp_16 = (ADC1_Result[ADC1_RANK_TORQUE_SENSOR_2] - TorqueSensor_2_Param.Torque_OffSetData.PresentData) * 100 / TorqueSensor_2_Param.Torque_Cal_K;
			Temp_16 = (Temp_16 <= 0) ? 0 : Temp_16;
			MC_RunInfo.TorqueSensorData2 = Temp_16 / 28;
			Temp_32 += Temp_16;
			
			Temp_16 = (ADC1_Result[ADC1_RANK_TORQUE_SENSOR_3] - TorqueSensor_3_Param.Torque_OffSetData.PresentData) * 100 / TorqueSensor_3_Param.Torque_Cal_K;
			Temp_16 = (Temp_16 <= 0) ? 0 : Temp_16;
			MC_RunInfo.TorqueSensorData3 = Temp_16 / 28;
			Temp_32 += Temp_16;
			
			Temp_32 = ((Temp_32 <= 0) ? 0 : Temp_32 / 3);
			break;
		}
		case 0x01://传感器1异常，取传感器2，3平均值
		{
		  Temp_16 = (ADC1_Result[ADC1_RANK_TORQUE_SENSOR_2] - TorqueSensor_2_Param.Torque_OffSetData.PresentData) * 100 / TorqueSensor_2_Param.Torque_Cal_K;
			Temp_16 = (Temp_16 <= 0) ? 0 : Temp_16;
			MC_RunInfo.TorqueSensorData2 = Temp_16 / 28;
			Temp_32 = Temp_16;
			
			Temp_16 = (ADC1_Result[ADC1_RANK_TORQUE_SENSOR_3] - TorqueSensor_3_Param.Torque_OffSetData.PresentData) * 100 / TorqueSensor_3_Param.Torque_Cal_K;
			Temp_16 = (Temp_16 <= 0) ? 0 : Temp_16;
			MC_RunInfo.TorqueSensorData3 = Temp_16 / 28;
			Temp_32 += Temp_16;
			
			Temp_32 = ((Temp_32 <= 0) ? 0 : Temp_32 / 2);
			break;
		}
		case 0x02://传感器2异常，取传感器1，3平均值
		{
		  Temp_16 = (ADC1_Result[ADC1_RANK_TORQUE_SENSOR_1] - TorqueSensor_1_Param.Torque_OffSetData.PresentData) * 100 / TorqueSensor_1_Param.Torque_Cal_K;
			Temp_16 = (Temp_16 <= 0) ? 0 : Temp_16;
			MC_RunInfo.TorqueSensorData1 = Temp_16 / 28;
			Temp_32 = Temp_16;
			
			Temp_16 = (ADC1_Result[ADC1_RANK_TORQUE_SENSOR_3] - TorqueSensor_3_Param.Torque_OffSetData.PresentData) * 100 / TorqueSensor_3_Param.Torque_Cal_K;
			Temp_16 = (Temp_16 <= 0) ? 0 : Temp_16;
			MC_RunInfo.TorqueSensorData3 = Temp_16 / 28;
			Temp_32 += Temp_16;
			
			Temp_32 = ((Temp_32 <= 0) ? 0 : Temp_32 / 2);
			break;
		}
		case 0x04://传感器3异常，取传感器1，2平均值
		{
			Temp_16 = (ADC1_Result[ADC1_RANK_TORQUE_SENSOR_1] - TorqueSensor_1_Param.Torque_OffSetData.PresentData) * 100 / TorqueSensor_1_Param.Torque_Cal_K;
			Temp_16 = (Temp_16 <= 0) ? 0 : Temp_16;
			MC_RunInfo.TorqueSensorData1 = Temp_16 / 28;
			Temp_32 = Temp_16;
			
			Temp_16 = (ADC1_Result[ADC1_RANK_TORQUE_SENSOR_2] - TorqueSensor_2_Param.Torque_OffSetData.PresentData) * 100 / TorqueSensor_2_Param.Torque_Cal_K;
			Temp_16 = (Temp_16 <= 0) ? 0 : Temp_16;
			MC_RunInfo.TorqueSensorData2 = Temp_16 / 28;
			Temp_32 += Temp_16;
						
			Temp_32 = ((Temp_32 <= 0) ? 0 : Temp_32 / 2);
			break;
		}
		case 0x03://传感器1 2异常，取传感器3
		{
			Temp_16 = (ADC1_Result[ADC1_RANK_TORQUE_SENSOR_3] - TorqueSensor_3_Param.Torque_OffSetData.PresentData) * 100 / TorqueSensor_3_Param.Torque_Cal_K;
			Temp_16 = (Temp_16 <= 0) ? 0 : Temp_16;
			MC_RunInfo.TorqueSensorData3 = Temp_16 / 28;
			Temp_32 = Temp_16;
			break;
		}
		case 0x05://传感器1 3异常，取传感器2
		{
			Temp_16 = (ADC1_Result[ADC1_RANK_TORQUE_SENSOR_2] - TorqueSensor_2_Param.Torque_OffSetData.PresentData) * 100 / TorqueSensor_2_Param.Torque_Cal_K;
			Temp_16 = (Temp_16 <= 0) ? 0 : Temp_16;
			MC_RunInfo.TorqueSensorData2 = Temp_16 / 28;
			Temp_32 = Temp_16;
			break;
		}
		case 0x06://传感器2 3异常，取传感器1
		{
			Temp_16 = (ADC1_Result[ADC1_RANK_TORQUE_SENSOR_1] - TorqueSensor_1_Param.Torque_OffSetData.PresentData) * 100 / TorqueSensor_1_Param.Torque_Cal_K;
			Temp_16 = (Temp_16 <= 0) ? 0 : Temp_16;
			MC_RunInfo.TorqueSensorData1 = Temp_16 / 28;
			Temp_32 = Temp_16;
			break;
		}	
		default://超过3个传感器异常
		{
		  Temp_32 = 0;
			break;
		}
	}
	
	#if 1 //采用原始采集值
	  #if NormalWork //正常运行
	  ADC_SensorData.TorqueSensor = Temp_32;
	  #else //用于寿命测试，模拟输入力矩
	  if(HAL_GetTick() < 5000)
		{
			Temp_32 = 0;
		}
		else
		{
			static uint32_t WaveTime_Zero = 0;
			static uint32_t Time_Enter = 0;
			if((HAL_GetTick() - Time_Enter) > 10)
			{
				WaveTime_Zero = HAL_GetTick();
			}
			Time_Enter = HAL_GetTick();
			Temp_32  = TriangleWaveGenerate(WaveTime_Zero, 250, 500 ,1500);  
		}
		ADC_SensorData.TorqueSensor = Temp_32;
	  #endif
	#else  //采用滤波值
	static int32_t TorqueFltSum = 0;
	TorqueFltSum += ((Temp_32 << 10) - TorqueFltSum) >> 8;
	ADC_SensorData.TorqueSensor = TorqueFltSum >> 10;
	#endif
			
	//更新指拨
	if(IsGasSensorConnectedFlag == TRUE)
	{
		Temp_32 = ADC1_Result[ADC1_RANK_GAS] - GasSensor_OffSet;
		Temp_32 = (Temp_32 <= 0) ? 0 : Temp_32;
		GasSensorFltSum += ((Temp_32 << 10) - GasSensorFltSum) >> 8;  //滤波延时0.33*256=85.3ms
		ADC_SensorData.GasSensor = GasSensorFltSum >> 10;
	}
  else
	{
	  ADC_SensorData.GasSensor = 0;
	}	
	
	//更新硬件版本AD
	HardwareVersionADFltSum += ((ADC1_Result[ADC1_RANK_HARDWARE_VER] << 10) - HardwareVersionADFltSum) >> 9;
	HardwareVersion_AD = (uint16_t)(HardwareVersionADFltSum >> 10);
	
	PowerDownProtection(ADC1_Result[ADC1_RANK_VIN]);
}

//ADC1和ADC2数据滑动滤波
void ADC_SensorData_Filt(uint16_t* p_ADC1_Result_Filt, uint16_t* p_ADC2_Result_Filt)
{
  static uint32_t PeriodTimeCnt = 0;
	static int32_t ADC1_FltSum[ADC1_DATA_NUM] = {0};
	static int32_t ADC2_FltSum[ADC2_DATA_NUM] = {0};
	uint8_t i;
	
	if((HAL_GetTick() - PeriodTimeCnt) >= 2)
	{
		for(i=0; i<ADC1_DATA_NUM; i++)
		{
		  ADC1_FltSum[i] += ((ADC1_Result[i] << 10) - ADC1_FltSum[i]) >> 7;
			p_ADC1_Result_Filt[i] = ADC1_FltSum[i] >> 10;
		}
		for(i=0; i<ADC2_DATA_NUM; i++)
		{
		  ADC2_FltSum[i] += ((ADC2_Result[i] << 10) - ADC2_FltSum[i]) >> 7;
			p_ADC2_Result_Filt[i] = ADC2_FltSum[i] >> 10;
		}
		
		PeriodTimeCnt = HAL_GetTick();
	}
}

//相电流有效值计算，有效值 = 最大值 * 0.707，运行频率15K
void PhaseCurrent_CalRMSValue(ADC_3ShuntCurrent_Struct_t* ADC_3ShuntCurrent, ADC_3ShuntCurrent_Struct_t* PhaseCurrent_RMS)
{
  static int16_t	PhaseCurrentA_Max = 0;
	static int16_t PhaseCurrentB_Max = 0;
	static int16_t PhaseCurrentC_Max = 0;
	static int16_t Count = 0;
	int16_t DataTemp;
	static int32_t PhaseCurrentA_FltSum = 0;
	static int32_t PhaseCurrentB_FltSum = 0;
	static int32_t PhaseCurrentC_FltSum = 0;
	
	//计算A相电流峰值
	if(PhaseCurrentA_Max < ADC_3ShuntCurrent->uw_phase_a)
	{
	  PhaseCurrentA_Max = ADC_3ShuntCurrent->uw_phase_a;
	}
	//计算B相电流峰值
	if(PhaseCurrentB_Max < ADC_3ShuntCurrent->uw_phase_b)
	{
	  PhaseCurrentB_Max = ADC_3ShuntCurrent->uw_phase_b;
	}
	//计算C相电流峰值
	if(PhaseCurrentC_Max < ADC_3ShuntCurrent->uw_phase_c)
	{
	  PhaseCurrentC_Max = ADC_3ShuntCurrent->uw_phase_c;
	}
	
	Count++;
	if(Count >= 500)
	{
	  //计算A相电流有效值
		DataTemp = PhaseCurrentA_Max;
		PhaseCurrentA_Max = 0;
		PhaseCurrentA_FltSum += (((abs(DataTemp) * 724)) - PhaseCurrentA_FltSum) >> 5;
		PhaseCurrent_RMS->uw_phase_a = PhaseCurrentA_FltSum >> 10;
		//计算B相电流有效值
		DataTemp = PhaseCurrentB_Max;
		PhaseCurrentB_Max = 0;
		PhaseCurrentB_FltSum += (((abs(DataTemp) * 724)) - PhaseCurrentB_FltSum) >> 5;
		PhaseCurrent_RMS->uw_phase_b = PhaseCurrentB_FltSum >> 10;
		//计算C相电流有效值
		DataTemp = PhaseCurrentC_Max;
		PhaseCurrentC_Max = 0;
		PhaseCurrentC_FltSum += (((abs(DataTemp) * 724)) - PhaseCurrentC_FltSum) >> 5;
		PhaseCurrent_RMS->uw_phase_c = PhaseCurrentC_FltSum >> 10;
		
		Count = 0;
	}
	
}


//PA0切换AD，采集MOS管NTC
void MOS_NTC_Init( void )
{
	GPIO_InitTypeDef GPIO_InitStruct;
	ADC_ChannelConfTypeDef sConfig;
	
	GPIO_InitStruct.Pin = GPIO_PIN_0;
	GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
	
	__HAL_ADC_DISABLE(&hadc1);
	/**Configure Regular Channel   MOS温度 */
	sConfig.Channel = ADC_CHANNEL_0;
	sConfig.Rank = ADC_REGULAR_RANK_10;
	sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
	if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
	{
		_Error_Handler(__FILE__, __LINE__);
	}	
}

void PowerDownProtection( uint16_t BusVoltage_AD )
{
	static uint16_t poweroncount=0, powerdowncount=0;
	static TrueOrFalse_Flag_Struct_t poweronFlag = FALSE;
	
	if(poweronFlag == FALSE)
	{
		if( BusVoltage_AD > 1671 )  //1671对应的母线电压为30V
		{
			if( ++poweroncount > 30000 ) //电压大于30V并持续10s左右
			{
				poweroncount=0;
				poweronFlag = TRUE;
			}
		}
		else poweroncount=0;
	}
	else
	{
		if( BusVoltage_AD < 1504 )  //1504对应的母线电压为27V
		{
			if( ++powerdowncount > 60 ) //电压小于27V并连续60次，大约持续20ms左右
			{
				Disable_PwmGpio_Out();
				poweronFlag = FALSE;
				PowerDown_SaveFlag = TRUE;
			}
		}
		else
		{
			powerdowncount=0;
		}
	}
}
/* USER CODE END 1 */

/**
  * @}
  */

/**
  * @}
  */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/