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ADD: dummy foc

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SIMPLE

CLEAN: cleanup code and add printf handler

FIX: counters

ADD: motor

ENH: temporary disable can

ADD: dummy foc, but creepy work
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vanyabeat 2024-02-06 11:32:46 +03:00 • committed by Igor Brylyov
parent 3af1d1a710
commit bd7f049b75
20 changed files with 629 additions and 567 deletions
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52
firmware/Lib/foc/foc.h Normal file
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#pragma once
#include "stm32f4xx_hal.h"
#include <math.h>
#include <stdint.h>
#define PI 3.14159265358979323846f
typedef void (*set_pwm_handler)(TIM_HandleTypeDef *htim, uint32_t phaseA, uint32_t phaseB, uint32_t phaseC);
typedef uint16_t (*get_raw_angle)(SPI_HandleTypeDef *hspi, uint8_t *status);
typedef struct __FOC_MOTOR_CONTROL
{
float polar_pair;
float machine_angle;
float electron_angle;
float Encoder_ZeroPoint;
float Udc;
// output
float current_loop_Ud;
float current_loop_Uq;
float inv_park_U_alpha;
float inv_park_U_beta;
uint16_t svpwm_Ua;
uint16_t svpwm_Ub;
uint16_t svpwm_Uc;
set_pwm_handler set_pwm;
get_raw_angle raw_angle;
#if 0
// input
float Phase_Ia;
float Phase_Ib;
float Phase_Ic;
float clark_I_alpha;
float clark_I_beta;
float park_Id;
float park_Iq;
#endif
} foc_motor_t;
void set_torque(foc_motor_t *__obj, float Uq);
void foc_init(foc_motor_t *__obj, float polar_pair, float Encoder_ZP, float Udc, set_pwm_handler set_pwm, get_raw_angle raw_angle);
void foc_run(foc_motor_t *__obj, TIM_HandleTypeDef *htim, SPI_HandleTypeDef *hspi);
extern foc_motor_t Motor_6208;