83 lines
1.6 KiB
C
83 lines
1.6 KiB
C
#ifndef __FOC_H_
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#define __FOC_H_
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/* 电机控旋转实现结构体 */
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#define SPEED_FILTER_NUM 30 // 速度滤波次数
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typedef struct
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{
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int timeout; // 定时器更新计数
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float speed; // 电机速度 rps（转/秒）
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int enable_flag; // 电机使能标志
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int speed_group[SPEED_FILTER_NUM];
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}motor_rotate_t;
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/**
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* @brief Two components q, d type definition
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*/
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typedef struct
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{
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int q;
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int d;
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} qd_t;
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/**
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* @brief Two components a,b type definition
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*/
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typedef struct
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{
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int a;
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int b;
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} ab_t;
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/**
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* @brief Two components alpha, beta type definition
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*/
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typedef struct
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{
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int alpha;
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int beta;
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} alphabeta_t;
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typedef enum {
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MC_NO_CTRL_MODE = 0x00,
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MC_OPEN_MODE = 0x01,
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MC_ELEC_CALIB_MODE = 0x02,
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MC_TEST_MODE = 0x03,
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MC_SPD_CLOSE_LOOP_MODE = 0x04,
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MC_POS_CLOSE_LOOP_MODE = 0x05,
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} mc_ctrl_loop_mode_e;
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typedef struct {
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mc_ctrl_loop_mode_e ctrl_loop_mode;
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} mc_flag_t;
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extern mc_flag_t mc_flag;
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#define UINT15_MAX 32768
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#define UINT32_MAX 0xFFFFFFFF
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#define ANGLE_0 ((int)(0))
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#define ANGLE_90 ((int)(65536 * 90 / 360))
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#define ANGLE_180 ((int)(65536 * 180 / 360))
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#define PWM_FREQ (22000) // 5 k
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#define PWM_PERIOD_CYCLES (uint32_t)(11*(unsigned long long)1000000u/((uint32_t)(PWM_FREQ)))
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#define SQRT3FACTOR (uint32_t) 0xDDB4 /* = (16384 * 1.732051 * 2)*/ // 根号3的q15格式表示？
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#define hT_Sqrt3 ((PWM_PERIOD_CYCLES*SQRT3FACTOR)/16384u)
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void svpwm_calc(alphabeta_t v_alpha_beta);
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void foc_v_qd_set(qd_t set);
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void foc_update(void);
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#endif
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