首先你要计算一下换算比例,然后修改user.h中的USER_ADC_FULL_SCALE_CURRENT_A
其次: 修改hal.h中的readAdcData函数,如下标黄色三个值的正负符号,注意,算法里面以流进去电机电流的方向为正,如果你用霍尔采样,再经过运放,最终确定一下这个电流方向,如果反相了,则在value前面加符号。
static inline void HAL_readAdcData(HAL_Handle handle,HAL_AdcData_t *pAdcData)
{
HAL_Obj *obj = (HAL_Obj *)handle;
_iq value;
_iq current_sf = HAL_getCurrentScaleFactor(handle);
_iq voltage_sf = HAL_getVoltageScaleFactor(handle);
// convert current A
// sample the first sample twice due to errata sprz342f, ignore the first sample
value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_1);
value = _IQ12mpy(value,current_sf) - obj->adcBias.I.value[0]; // divide by 2^numAdcBits = 2^12
pAdcData->I.value[0] = value;
// convert current B
value = (_iq)ADC_read