Winnie Liu / Hobbyking_Cheetah_modify1105

hobbyking_cheetah source code modified 2020/12/15

Dependencies:   mbed-dev-f303 FastPWM3

structs.h@55:71a6e5fe5805, 2020-12-15 (annotated)

Committer:
WinnieLiu
Date:
Tue Dec 15 07:28:27 2020 +0000
Revision:
55:71a6e5fe5805
Parent:
48:74a40481740c 
2020/12/15

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 20:bf9ea5125d52 1 #ifndef STRUCTS_H
benkatz 20:bf9ea5125d52 2 #define STRUCTS_H
benkatz 20:bf9ea5125d52 3
benkatz 20:bf9ea5125d52 4 #include "mbed.h"
benkatz 20:bf9ea5125d52 5 #include "FastPWM.h"
benkatz 20:bf9ea5125d52 6
WinnieLiu 55:71a6e5fe5805 7 /* -----
WinnieLiu 55:71a6e5fe5805 8 移除速度控制，把位置控制改成PID
WinnieLiu 55:71a6e5fe5805 9
WinnieLiu 55:71a6e5fe5805 10 log file:
WinnieLiu 55:71a6e5fe5805 11 11/05: 在ControllerStruct新增ki(desired KI)，保留v_des(desired velocity)
WinnieLiu 55:71a6e5fe5805 12 ----- */
benkatz 20:bf9ea5125d52 13
benkatz 20:bf9ea5125d52 14 typedef struct{
benkatz 20:bf9ea5125d52 15 DigitalOut *enable;
benkatz 37:c0f352d6e8e3 16 DigitalOut *led;
benkatz 20:bf9ea5125d52 17 FastPWM *pwm_u, *pwm_v, *pwm_w;
benkatz 20:bf9ea5125d52 18 } GPIOStruct;
benkatz 20:bf9ea5125d52 19
benkatz 20:bf9ea5125d52 20 typedef struct{
benkatz 20:bf9ea5125d52 21
benkatz 20:bf9ea5125d52 22 }COMStruct;
benkatz 20:bf9ea5125d52 23
benkatz 20:bf9ea5125d52 24 typedef struct{
benkatz 45:26801179208e 25 int adc1_raw, adc2_raw, adc3_raw; // Raw ADC Values
benkatz 45:26801179208e 26 float i_a, i_b, i_c; // Phase currents
benkatz 45:26801179208e 27 float v_bus; // DC link voltage
benkatz 45:26801179208e 28 float theta_mech, theta_elec; // Rotor mechanical and electrical angle
benkatz 45:26801179208e 29 float dtheta_mech, dtheta_elec, dtheta_elec_filt; // Rotor mechanical and electrical angular velocit
benkatz 47:e1196a851f76 30 float i_d, i_q, i_q_filt, i_d_filt; // D/Q currents
benkatz 45:26801179208e 31 float v_d, v_q; // D/Q voltages
benkatz 45:26801179208e 32 float dtc_u, dtc_v, dtc_w; // Terminal duty cycles
benkatz 45:26801179208e 33 float v_u, v_v, v_w; // Terminal voltages
benkatz 45:26801179208e 34 float k_d, k_q, ki_d, ki_q, alpha; // Current loop gains, current reference filter coefficient
benkatz 45:26801179208e 35 float d_int, q_int; // Current error integrals
benkatz 45:26801179208e 36 int adc1_offset, adc2_offset; // ADC offsets
benkatz 45:26801179208e 37 float i_d_ref, i_q_ref, i_d_ref_filt, i_q_ref_filt; // Current references
benkatz 45:26801179208e 38 int loop_count; // Degubbing counter
benkatz 45:26801179208e 39 int timeout; // Watchdog counter
benkatz 22:60276ba87ac6 40 int mode;
benkatz 45:26801179208e 41 int ovp_flag; // Over-voltage flag
WinnieLiu 55:71a6e5fe5805 42 float p_des, v_des, kp, ki, kd, t_ff; // Desired position, velocity, gians, torque
benkatz 47:e1196a851f76 43 float v_ref, fw_int; // output voltage magnitude, field-weakening integral
benkatz 23:2adf23ee0305 44 float cogging[128];
benkatz 20:bf9ea5125d52 45 } ControllerStruct;
benkatz 20:bf9ea5125d52 46
benkatz 22:60276ba87ac6 47 typedef struct{
benkatz 48:74a40481740c 48 double temperature; // Estimated temperature
benkatz 48:74a40481740c 49 double temperature2;
benkatz 48:74a40481740c 50 float resistance;
benkatz 48:74a40481740c 51 } ObserverStruct;
benkatz 20:bf9ea5125d52 52 #endif