1、修改ADC初始化及DMA初始化参数，调整启动时等待电流稳定采初始电流相关代码。

Project/HC32F460/MDK/HC32F460.uvoptx

@@ -153,7 +153,24 @@
           <Name></Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>291</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>4146</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>..\source\Module\dc_motor\dc_motor.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\BombSensor\../source/Module/dc_motor/dc_motor.c\291</Expression>
+        </Bp>
+      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -248,17 +265,7 @@
         <Ww>
           <count>18</count>
           <WinNumber>1</WinNumber>
-          <ItemText>newSpeed,0x0A</ItemText>
+          <ItemText>g_motor_data</ItemText>
-        </Ww>
-        <Ww>
-          <count>19</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>g_motorSpeed,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>20</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>g_adc_val,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>
@@ -266,8 +273,8 @@
       </Tracepoint>
       <DebugFlag>
         <trace>0</trace>
-        <periodic>0</periodic>
+        <periodic>1</periodic>
-        <aLwin>1</aLwin>
+        <aLwin>0</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
         <aSer2>0</aSer2>

Project/HC32F460/source/Module/dc_motor/dc_motor.c

@@ -3,9 +3,6 @@
 #include "Debug.h"
 #include "math.h"
 
-#define ADC_CH_NUM                          3                                                   /* 需要转换的通道数目 */
-#define ADC_COLL                            100                                                /* 单采集次数 */
-#define ADC_SUM                             ADC_CH_NUM * ADC_COLL                               /* 总采集次数 */
 
 
 // 全局变量
@@ -71,15 +68,15 @@ void DCMOTORDBGOnOff(uint8_t OnOff)
 #endif
 
 
-extern uint16_t m_au16Adc1SaValue[ADC_CH_NUM * ADC_COLL];
+
 uint16_t init_adc_val;
 uint16_t AdcInitCnt = 0;
 
 
 #define Adc  0.80566	//3.3/4096=0.00080566	//ADC分辨率
-#define ADC_CH_NUM 3
-uint16_t g_adc_val[ADC_CH_NUM];
 
+uint16_t g_adc_val[ADC_CH_NUM];
+extern uint16_t m_au16Adc1SaValue[ADC_CH_NUM * ADC_COLL];
 
 /*************************************    第二部分    电压电流温度采集    **********************************************/
 
@@ -241,7 +238,7 @@ void speed_computer(int32_t encode_now, uint8_t ms)
 * 返 回 值: 无
 *****************************************************************************************/
 bool AdcInitStatus = false; //ADC初始化状态标志位
-bool AdcInitSta = false;    //ADC电流电压采集初始化标志位
+volatile bool AdcInitSta = false;    //ADC电流电压采集初始化标志位
 uint16_t AdcDly = 0;    //ADC采样定时计数
 void Adc1mSRoutine(void)
 {
@@ -266,16 +263,15 @@ void Adc1mSRoutine(void)
 *****************************************************************************************/
 void AdcLoopHander(void)
 {
+    uint32_t temp = 0;
+    int i;
     float temp_c = 0.0;
-    //开机等待电流数据稳定，采集稳定电流值为初始值
+    //开机等待电流数据稳定1秒，采集稳定电流值为初始值
     if((AdcInitStatus == true) && (AdcInitSta == false))
     {
-        AdcInitCnt++;
-        
         ADC_Start();
-        while(DMA_GetChFlag(M4_DMA1, DmaCh0Sta) != DmaTransferComplete);
+
-        init_adc_val += m_au16Adc1SaValue[2u];       /* 现在的值和上一次存储的值相加 */
+        AdcInitCnt++;
-        init_adc_val /= 2;                  /* 取平均值 */
         if(AdcInitCnt < 1000)
         {
             AdcInitStatus = false;
@@ -283,6 +279,15 @@ void AdcLoopHander(void)
         }
         else
         {
+            while(DMA_GetChFlag(M4_DMA1, DmaCh0Sta) != DmaTransferComplete);
+            for(i=0;i<ADC_COLL;i++)         /* 循环ADC_COLL次取值，累加 */
+            {
+                init_adc_val += m_au16Adc1SaValue[2+i*ADC_CH_NUM];
+                if(i > 0)
+                {
+                    init_adc_val /= 2;                  /* 取平均值 */
+                }
+            }
             DCMOTOR_DBG_LOG("init_adc_val %d.\n", init_adc_val);
             AdcInitSta = true;
         }
@@ -292,7 +297,7 @@ void AdcLoopHander(void)
     {
         float BatVoltage = 0;
         AdcDly = 1000;
-        if(AdcInitSta == true)
+        if(AdcInitSta != false)
         {
             while(DMA_GetChFlag(M4_DMA1, DmaCh0Sta) != DmaTransferComplete);
             DMA_Cmd(M4_DMA1, Disable);
@@ -303,12 +308,14 @@ void AdcLoopHander(void)
             temp_c = (g_adc_val[2]-init_adc_val)*ADC2CURT;
             DCMOTOR_DBG_LOG("ADC3_IN3 value %d.\t Current:%.1fmA \r\n", g_adc_val[2u], temp_c);
             
+//            g_motor_data.current = temp_c;
+            
             g_motor_data.current = (float)((g_motor_data.current * (float)0.60) + ((float)0.40 * temp_c));  /* 一阶低通滤波 */
-            if (g_motor_data.current <= 20)                                                                 /* 过滤掉微弱浮动电流 */
+            if (abs(g_motor_data.current) <= 20)                                                                 /* 过滤掉微弱浮动电流 */
             {
                 g_motor_data.current = 0.0;
             }
-            DCMOTOR_DBG_LOG("\t\t\t g_motor_data.current:%.1fmA \r\n", g_adc_val[2u], g_motor_data.current);
+            DCMOTOR_DBG_LOG("\t\t\t g_motor_data.current:%.1fmA \r\n", g_motor_data.current);
             DMA_Cmd(M4_DMA1, Enable);
         }
       }

Project/HC32F460/source/Module/dc_motor/dc_motor.h

@@ -2,6 +2,10 @@
 #ifndef __DCMOTOR_H
 #define __DCMOTOR_H
 
+#define ADC_CH_NUM                          3                                                   /* 需要转换的通道数目 */
+#define ADC_COLL                            100                                                /* 单采集次数 */
+#define ADC_SUM                             ADC_CH_NUM * ADC_COLL                               /* 总采集次数 */
+
 
 
 #define HC32F170        (0u)       //HC32F170JATA

Project/HC32F460/source/User/Src/bsp.c

@@ -17,7 +17,7 @@
 
 
 static void SystemClockConfig(void);
-uint16_t m_au16Adc1SaValue[4];
+uint16_t m_au16Adc1SaValue[ADC_CH_NUM * ADC_COLL];
 
 void FlashWrite(uint32_t *wData, uint32_t wLen)
 {
@@ -1163,15 +1163,15 @@ static void AdcSetChannelPinMode(uint32_t u32Channel)
 static void AdcChannelConfig(void)
 {
 	stc_adc_ch_cfg_t stcChCfg;
-	uint8_t au8Adc1SaSampTime[4] = {255, 255, 255, 255};
+	uint8_t au8Adc1SaSampTime[3] = {2255, 255, 255};
 
 	MEM_ZERO_STRUCT(stcChCfg);
 
-	stcChCfg.u32Channel  = ADC1_CH0 | ADC1_CH1 | ADC1_CH2 | ADC1_CH3;
+	stcChCfg.u32Channel  = ADC1_CH1 | ADC1_CH2 | ADC1_CH3;
 	stcChCfg.u8Sequence  = ADC_SEQ_A;
 	stcChCfg.pu8SampTime = au8Adc1SaSampTime;
 
-	AdcSetChannelPinMode(ADC1_CH0);
+//	AdcSetChannelPinMode(ADC1_CH0);
 	AdcSetChannelPinMode(ADC1_CH1);
 	AdcSetChannelPinMode(ADC1_CH2);
 	AdcSetChannelPinMode(ADC1_CH3);
@@ -1210,12 +1210,12 @@ static void AdcDmaConfig(void)
 
 	MEM_ZERO_STRUCT(stcDmaCfg);
 
-	stcDmaCfg.u16BlockSize   = 4;
+	stcDmaCfg.u16BlockSize   = 3;
 	stcDmaCfg.u16TransferCnt = 0u;
-	stcDmaCfg.u32SrcAddr     = (uint32_t)(&M4_ADC1->DR0);
+	stcDmaCfg.u32SrcAddr     = (uint32_t)(&M4_ADC1->DR1);
 	stcDmaCfg.u32DesAddr     = (uint32_t)(m_au16Adc1SaValue);
-	stcDmaCfg.u16DesRptSize  = 4;
+	stcDmaCfg.u16DesRptSize  = ADC_SUM;
-	stcDmaCfg.u16SrcRptSize  = 4;
+	stcDmaCfg.u16SrcRptSize  = 3;
 	stcDmaCfg.u32DmaLlp      = 0u;
 	stcDmaCfg.stcSrcNseqCfg.u16Cnt    = 0u;
 	stcDmaCfg.stcSrcNseqCfg.u32Offset = 0u;
@@ -1228,7 +1228,7 @@ static void AdcDmaConfig(void)
 	stcDmaCfg.stcDmaChCfg.enSrcNseqEn = Disable;
 	stcDmaCfg.stcDmaChCfg.enDesNseqEn = Disable;
 	stcDmaCfg.stcDmaChCfg.enTrnWidth  = Dma16Bit;
-	stcDmaCfg.stcDmaChCfg.enLlpEn     = Disable;
+	stcDmaCfg.stcDmaChCfg.enLlpEn     = Enable;
 	 /* Enable DMA interrupt. */
 	stcDmaCfg.stcDmaChCfg.enIntEn     = Enable;
 

Project/HC32F460/source/User/Src/main.c

@@ -640,5 +640,6 @@ void RtcPeriod_IrqCallback(void)
 
 void ADC_DMA_CallBack(void)
 {
+    
 }