/********************************************************************************* file boost_control.c* brief 简化 Boost 开环/闭环 PI 控制实现。*******************************************************************************/#include boost_control.hstatic float Boost_Control_Clamp(float value, float low, float high){/* 所有输出占空比都经过本函数保证不会超过 Init() 规定的安全范围。 */if (value low) return low;if (value high) return high;return value;}static uint8_t Boost_Control_IsReady(const Boost_Control_t *device){/* 每个公开接口先检查对象和 PWM 指针避免错误参数访问寄存器。 */return (uint8_t)((device ! NULL) (device-initialized ! 0U) (device-pwm ! NULL));}static Boost_Status_t Boost_Control_ApplyDuty(Boost_Control_t *device, float duty){/* 先限幅再写 PWM调用者给出 -0.1 或 0.9 都不能越过 min/max。 */if (PWM_Driver_SetDuty(device-pwm,Boost_Control_Clamp(duty, device-min_duty,device-max_duty)) ! PWM_STATUS_OK){return BOOST_STATUS_PWM_ERROR;}/* 只有底层写 CCR 成功后才更新软件中记录的“实际占空比”。 */device-duty Boost_Control_Clamp(duty, device-min_duty, device-max_duty);return BOOST_STATUS_OK;}Boost_Status_t Boost_Control_Init(Boost_Control_t *device, PWM_Driver_t *pwm,float min_duty, float max_duty,float over_voltage){/* 此处只保存参数不启动 PWMStart() 才是真正打开输出的动作。 */if ((device NULL) || (pwm NULL) || (pwm-initialized 0U) ||!(min_duty 0.0f) || !(max_duty min_duty) || !(max_duty 1.0f) ||!(over_voltage 0.0f)){return BOOST_STATUS_INVALID_ARGUMENT;}device-pwm pwm; /* 记住要控制的普通 PWM 通道。 */device-min_duty min_duty;device-max_duty max_duty;device-duty 0.0f; /* 上电软件状态从 0% 开始。 */device-target_voltage 0.0f;device-over_voltage over_voltage;device-kp 0.0f;device-ki 0.0f;device-integral 0.0f;device-measured_voltage 0.0f;device-last_update_tick HAL_GetTick();device-mode BOOST_MODE_OPEN_LOOP;/* 默认开环避免未调 PI 时自动升压。 */device-running 0U;device-initialized 1U;return BOOST_STATUS_OK;}Boost_Status_t Boost_Control_Start(Boost_Control_t *device){/* Start 只负责“允许 PWM 输出”不会跳到目标电压或之前的占空比。 */if (Boost_Control_IsReady(device) 0U) return BOOST_STATUS_NOT_INITIALIZED;/* 先把 CCR 写为 0再打开 PWM避免沿用上一次的高占空比。 */if (PWM_Driver_SetDuty(device-pwm, 0.0f) ! PWM_STATUS_OK ||PWM_Driver_Start(device-pwm) ! PWM_STATUS_OK){return BOOST_STATUS_PWM_ERROR;}device-duty 0.0f; /* 软件镜像同步为 0%。 */device-integral 0.0f;device-last_update_tick HAL_GetTick();device-running 1U;return BOOST_STATUS_OK;}Boost_Status_t Boost_Control_SetOpenLoopDuty(Boost_Control_t *device, float duty){/* 开环就是把调用者给定的固定 duty 写到 PWM不读取 ADC。 */if (Boost_Control_IsReady(device) 0U) return BOOST_STATUS_NOT_INITIALIZED;if (device-running 0U) return BOOST_STATUS_NOT_RUNNING;if (!(duty device-min_duty) || !(duty device-max_duty))return BOOST_STATUS_INVALID_ARGUMENT;device-mode BOOST_MODE_OPEN_LOOP;/* 后续 Update() 不再调节 PWM。 */device-integral 0.0f;return Boost_Control_ApplyDuty(device, duty);}Boost_Status_t Boost_Control_EnableClosedLoop(Boost_Control_t *device,float target_voltage,float kp, float ki){/* 此函数只切换模式和保存 PI 参数真正的调节从下一次 Update() 开始。 */if (Boost_Control_IsReady(device) 0U) return BOOST_STATUS_NOT_INITIALIZED;if (device-running 0U) return BOOST_STATUS_NOT_RUNNING;if (!(target_voltage 0.0f) || !(kp 0.0f) || !(ki 0.0f))return BOOST_STATUS_INVALID_ARGUMENT;device-target_voltage target_voltage;device-kp kp;device-ki ki;device-integral 0.0f; /* 丢弃开环/旧参数留下的积分量。 */device-last_update_tick HAL_GetTick();device-mode BOOST_MODE_CLOSED_LOOP;return BOOST_STATUS_OK;}Boost_Status_t Boost_Control_Update(Boost_Control_t *device, float measured_voltage){uint32_t now;float dt;float error;float new_duty;if (Boost_Control_IsReady(device) 0U) return BOOST_STATUS_NOT_INITIALIZED;if (device-running 0U) return BOOST_STATUS_NOT_RUNNING;if (!(measured_voltage 0.0f)) return BOOST_STATUS_INVALID_ARGUMENT;/* 该值必须是 Vout 的真实电压而不是 ADC 引脚或 ADC 原始码。 */device-measured_voltage measured_voltage;if ((device-over_voltage 0.0f) (measured_voltage device-over_voltage)){(void)Boost_Control_Stop(device);/* 简化版不过压锁存停止后由应用决定是否重启。 */return BOOST_STATUS_OVERVOLTAGE;}if (device-mode BOOST_MODE_OPEN_LOOP){return BOOST_STATUS_OK;}now HAL_GetTick(); /* HAL 时基单位为 ms用它得到本次积分的实际时间间隔。 */dt (float)(now - device-last_update_tick) / 1000.0f;device-last_update_tick now;if (dt 0.0f) dt 0.001f;error device-target_voltage - measured_voltage; /* 正值表示电压偏低应增加占空比。 */device-integral error * dt; /* I 项误差持续越久累计补偿越多。 */device-integral Boost_Control_Clamp(device-integral, -10.0f, 10.0f);/* 在当前占空比基础上做 PI 微调。这样从开环切到闭环时不会立刻掉到 0%。 */new_duty device-duty device-kp * error device-ki * device-integral;return Boost_Control_ApplyDuty(device, new_duty); /* 最后仍由统一限幅函数写入 PWM。 */}Boost_Status_t Boost_Control_Stop(Boost_Control_t *device){/* Stop 是普通停机不保存故障标志之后可以直接再次 Start。 */if (Boost_Control_IsReady(device) 0U) return BOOST_STATUS_NOT_INITIALIZED;device-running 0U;device-duty 0.0f;device-integral 0.0f;return (PWM_Driver_Stop(device-pwm) PWM_STATUS_OK) ?BOOST_STATUS_OK : BOOST_STATUS_PWM_ERROR;}float Boost_Control_GetDuty(const Boost_Control_t *device){return (Boost_Control_IsReady(device) ! 0U) ? device-duty : 0.0f;}float Boost_Control_GetMeasuredVoltage(const Boost_Control_t *device){return (Boost_Control_IsReady(device) ! 0U) ? device-measured_voltage : 0.0f;}