基础测评参考：https://shequ.stmicroelectronics.cn/thread-643647-1-1.html

在FOC算法中，‌需要计算电机的角度和位置，‌这通常涉及到正弦和余弦函数的计算。‌这些计算可以帮助确定电机的最佳控制策略，‌以确保电机能够根据控制信号高效地转换电能到机械能。在实际应用中，‌由于直接计算三角函数可能较为耗时，所以‌，本次测试使用数学三角函数计算，来对比运行速度。
以Sin()为例：
在main.c中添加代码
添加头文件#include <math.h>
定义变量
uint32_t StartTimeStamp = 0;//记录运算前的时间戳
uint32_t StopTimeStamp = 0;//记录运算后前的时间戳
uint16_t RandomAngle = 0;//生成随机的角度用于计算，但发现随机的角度计算的时间差异较大，没法比较，所以程序里还是用固定值来作计算比较
uint32_t random32bit;
double  Result;//存放Sin()计算结果

在原按键响应程序中添加以下代码：
      HAL_RNG_GenerateRandomNumber(&hrng, &random32bit);
      RandomAngle = 45;//random32bit % 360;
      StartTimeStamp = __HAL_TIM_GET_COUNTER(&htim2);
      Result = sin(RandomAngle*(3.1415926)/180);
      StopTimeStamp  = __HAL_TIM_GET_COUNTER(&htim2);

      printf("\n\r");
      sprintf(DispStr, "Random angle is: %d .\n\r", RandomAngle);
      printf(DispStr);
      sprintf(DispStr, "The Start timestamp is: %d .\n\r", StartTimeStamp);
      printf(DispStr);
      sprintf(DispStr, "The Stop timestamp is: %d .\n\r", StopTimeStamp);
      printf(DispStr);
      sprintf(DispStr, "The result of calculating sin() is: %f .\n\r",  Result);
      printf(DispStr);
      sprintf(DispStr, "The time consumed by the calculation is: %d us.\n\r ", (StopTimeStamp - StartTimeStamp));
      printf(DispStr);

保持上个工程的参数，主频32M，未开启ICACHE，运行结果，94us左右

修改主频到250MHz

定时器也同步修改一下，保证1us的时基

主频250M，未开启ICACHE，运行结果，15us左右

开启ICACHE，1-way，运行结果，10us左右

开启ICACHE，2-ways，运行结果，9us左右，好像又快了一丢丢。

对于ICACHE的用法，我还不是太清楚，目前只会要把Cube来配置使用，按照测试，这个性能至少提升了30%以上，针对一些高速运算、控制方面，这个性能杠杠的。

修改代码全貌

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <math.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

COM_InitTypeDef BspCOMInit;
__IO uint32_t BspButtonState = BUTTON_RELEASED;

RNG_HandleTypeDef hrng;

TIM_HandleTypeDef htim2;

/* USER CODE BEGIN PV */
uint32_t StartTimeStamp = 0;
uint32_t StopTimeStamp = 0;
uint16_t RandomAngle = 0;
uint32_t random32bit;
double  Result;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);
static void MX_RNG_Init(void);
static void MX_ICACHE_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */
char DispStr[64];
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM2_Init();
  MX_RNG_Init();
  MX_ICACHE_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Initialize leds */
  BSP_LED_Init(LED_GREEN);

  /* Initialize USER push-button, will be used to trigger an interrupt each time it's pressed.*/
  BSP_PB_Init(BUTTON_USER, BUTTON_MODE_EXTI);

  /* Initialize COM1 port (115200, 8 bits (7-bit data + 1 stop bit), no parity */
  BspCOMInit.BaudRate   = 115200;
  BspCOMInit.WordLength = COM_WORDLENGTH_8B;
  BspCOMInit.StopBits   = COM_STOPBITS_1;
  BspCOMInit.Parity     = COM_PARITY_NONE;
  BspCOMInit.HwFlowCtl  = COM_HWCONTROL_NONE;
  if (BSP_COM_Init(COM1, &BspCOMInit) != BSP_ERROR_NONE)
  {
    Error_Handler();
  }

  /* USER CODE BEGIN BSP */

  /* -- Sample board code to send message over COM1 port ---- */
  printf("Welcome to STM32 world !\n\r");

  /* -- Sample board code to switch on leds ---- */
  BSP_LED_On(LED_GREEN);

  HAL_TIM_Base_Start(&htim2);

  /* USER CODE END BSP */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {

    /* -- Sample board code for User push-button in interrupt mode ---- */
    if (BspButtonState == BUTTON_PRESSED)
    {
      /* Update button state */
      BspButtonState = BUTTON_RELEASED;
      /* -- Sample board code to toggle leds ---- */
      BSP_LED_Toggle(LED_GREEN);
      /* ..... Perform your action ..... */

      HAL_RNG_GenerateRandomNumber(&hrng, &random32bit);
      RandomAngle = 45;//random32bit % 360;
      StartTimeStamp = __HAL_TIM_GET_COUNTER(&htim2);
      Result = sin(RandomAngle*(3.1415926)/180);
      StopTimeStamp  = __HAL_TIM_GET_COUNTER(&htim2);

      printf("\n\r");
      sprintf(DispStr, "Random angle is: %d .\n\r", RandomAngle);
      printf(DispStr);
      sprintf(DispStr, "The Start timestamp is: %d .\n\r", StartTimeStamp);
      printf(DispStr);
      sprintf(DispStr, "The Stop timestamp is: %d .\n\r", StopTimeStamp);
      printf(DispStr);
      sprintf(DispStr, "The result of calculating sin() is: %f .\n\r",  Result);
      printf(DispStr);
      sprintf(DispStr, "The time consumed by the calculation is: %d .\n\r ", (StopTimeStamp - StartTimeStamp));
      printf(DispStr);
      //sprintf(DispStr, "Random angle is: %d .\n\r The Start timestamp is: %d .\n\r The Start timestamp is: %d .\n\r The result of calculating sin() is: %f .\n\r The time consumed by the calculation is: %d .\n\r ", RandomAngle, StartTimeStamp, StopTimeStamp, a, (StopTimeStamp - StartTimeStamp));
    }

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

这不得配个线性马达玩下
' D: I8 |5 J3 ]# x9 p* I

yang9397 发表于 2024-8-6 08:57
这不得配个线性马达玩下

可以在无刷电机控制中使用