/**
* @brief This function configures the source of the time base:
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is reconfigured by HAL_RCC_ClockConfig().
* @note In the default implementation, SysTick timer is the source of time base.
* It is used to generate interrupts at regular time intervals.
* Care must be taken if HAL_Delay() is called from a peripheral ISR process,
* The SysTick interrupt must have higher priority (numerically lower)
* than the peripheral interrupt. Otherwise the caller ISR process will be blocked.
* The function is declared as __weak to be overwritten in case of other
* implementation in user file.
* @param TickPriority: Tick interrupt priority.
* @retval HAL status
*/
__weak HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
HAL_StatusTypeDef status = HAL_OK;
if (uwTickFreq != 0U)
{
/* Configure the SysTick to have interrupt in 1ms time basis*/
if (HAL_SYSTICK_Config(SystemCoreClock / (1000U / uwTickFreq)) == 0U)
{
/* Configure the SysTick IRQ priority */
if (TickPriority < (1UL << __NVIC_PRIO_BITS))
{
HAL_NVIC_SetPriority(SysTick_IRQn, TickPriority, 0U);
uwTickPrio = TickPriority;
}
else
{
status = HAL_ERROR;
}
}
else
{
status = HAL_ERROR;
}
}
else
{
status = HAL_ERROR;
}
/* Return function status */
return status;
}
测试发现如果注释掉这段代码就正常了：
/*******************************************************************************
* @brief sub slove, obation angle based on gary code section and arctan
*
* @param pGE - graycode encdoer struct pointer
*
* @return
*******************************************************************************/
void Encoder_Solve_Subdivide(struct graycode_encoder* pGE)
{
float temp_angle = 0;
float X_synth;
float Y_synth;
float X_rot;
float Y_rot;
//用于解算
X_synth = pGE->channel_val_outer[3] + pGE->channel_val_outer[4] * (sqrt(3) / 2) + pGE->channel_val_outer[5] * (0.5) + pGE->channel_val_outer[1] * (0.5) + pGE->channel_val_outer[2] * (sqrt(3) / 2); //系数：1 cosd(30) cosd(60) sind(30) sind(60)
Y_synth = pGE->channel_val_outer[0] + pGE->channel_val_outer[1] * (sqrt(3) / 2) + pGE->channel_val_outer[2] * (0.5) - pGE->channel_val_outer[4] * (0.5) - pGE->channel_val_outer[5] * (sqrt(3) / 2); //系数：1 cosd(30) cosd(60) -sind(30) -sind(60)
X_rot = X_synth * cos(rotation_angle[pGE->rough_section]) + Y_synth * sin(rotation_angle[pGE->rough_section]);
Y_rot = Y_synth * cos(rotation_angle[pGE->rough_section]) - X_synth * sin(rotation_angle[pGE->rough_section]);
temp_angle = atan2f(Y_rot, X_rot);
temp_angle = rad2deg(temp_angle);
if(pGE->Cali_flag == 0)
{
temp_angle = pow(temp_angle, 5) * pGE->cali_factor[pGE->rough_section][0] + pow(temp_angle, 4) * pGE->cali_factor[pGE->rough_section][1] + pow(temp_angle, 3) * pGE->cali_factor[pGE->rough_section][2] + pow(temp_angle, 2) * pGE->cali_factor[pGE->rough_section][3]+ pow(temp_angle, 1) * pGE->cali_factor[pGE->rough_section][4]+ pGE->cali_factor[pGE->rough_section][5];
}
pGE->Absolute_Angle = temp_angle; //解算出绝对角度
pGE->angle = AdjustAngleZeroPoint(pGE->Set_CurrentPositionAngle_0, pGE->Absolute_Angle); //调整零度位置
}
对应对应结构体：
struct channel_parameter_inner
{
float offset_inner; //内圈偏移值
float gain_inner; //内圈增益
};
struct channel_parameter_outer
{
float offset_outer; //外圈偏移值
float gain_outer; //外圈增益
};
struct graycode_encoder
{
struct channel_parameter_inner chan_param_inner[6];
struct channel_parameter_outer chan_param_outer[6];
float channel_val_inner[6];
float channel_val_outer[6];
float cali_factor[168][6];
int32_t adc_val[12];
uint16_t rough_section;
float angle;
float Absolute_Angle;
float Set_CurrentPositionAngle_0;
enum calibration_state Cali_flag;
}__attribute__((aligned(4))); // 强制4字节对齐
有大佬遇到过类似问题么，求解惑
发表于 2025-11-14 10:56:26
发表于 2025-11-14 13:34:31
楼主
