bd7f049b75
SIMPLE CLEAN: cleanup code and add printf handler FIX: counters ADD: motor ENH: temporary disable can ADD: dummy foc, but creepy work
52 lines
No EOL
1.1 KiB
C
52 lines
No EOL
1.1 KiB
C
#pragma once
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#include "stm32f4xx_hal.h"
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#include <math.h>
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#include <stdint.h>
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#define PI 3.14159265358979323846f
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typedef void (*set_pwm_handler)(TIM_HandleTypeDef *htim, uint32_t phaseA, uint32_t phaseB, uint32_t phaseC);
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typedef uint16_t (*get_raw_angle)(SPI_HandleTypeDef *hspi, uint8_t *status);
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typedef struct __FOC_MOTOR_CONTROL
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{
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float polar_pair;
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float machine_angle;
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float electron_angle;
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float Encoder_ZeroPoint;
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float Udc;
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// output
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float current_loop_Ud;
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float current_loop_Uq;
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float inv_park_U_alpha;
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float inv_park_U_beta;
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uint16_t svpwm_Ua;
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uint16_t svpwm_Ub;
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uint16_t svpwm_Uc;
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set_pwm_handler set_pwm;
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get_raw_angle raw_angle;
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#if 0
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// input
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float Phase_Ia;
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float Phase_Ib;
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float Phase_Ic;
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float clark_I_alpha;
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float clark_I_beta;
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float park_Id;
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float park_Iq;
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#endif
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} foc_motor_t;
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void set_torque(foc_motor_t *__obj, float Uq);
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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);
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void foc_run(foc_motor_t *__obj, TIM_HandleTypeDef *htim, SPI_HandleTypeDef *hspi);
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extern foc_motor_t Motor_6208; |